Muestreo de imágenes de rango en el espacio de variación de la orientación

La información proveniente de un conjunto de imágenes de rango puede utilizarse para producir modelos computacionales en 3D de la escena. Sin embargo, cada imagen esta referida a las coordenadas de la cámara en el momento de la adquisición. Encontrar un conjunto de transformaciones tales que, aplicadas a las imágenes, lleven el conjunto a un sistema coordenado común, es usualmente denominado registro de imágenes de rango. Uno de los grandes problemas en dicho proceso está relacionado con datos seleccionados de forma arbitraria y que no son relevantes en el registro. En éste artículo se propone un nuevo método de muestreo, basado en el uso de la información local de variación de la orientación (curvatura). Se muestra que, el rendimiento del algoritmo es adecuado en comparación con las técnicas habituales en la reconstrucción de modelos a partir de imágenes de rango.Palabras claves: Imágenes de rango, métodos de muestreo, registro

Scan segments matching for pairwise 3D alignment

Abstract — This paper presents a method for pairwise 3D alignment which solves data association by matching scan segments across scans. Generating accurate segment associa-tions allows to run a modified version of the Iterative Closest Point (ICP) algorithm where the search for point-to-point correspondences is constrained to associated segments. The novelty of the proposed approach is in the segment matching process which takes into account the proximity of segments, their shape, and the consistency of their relative locations in each scan. Scan segmentation is here assumed to be given (recent studies provide various alternatives [10], [19]). The method is tested on seven sequences of Velodyne scans acquired in urban environments. Unlike various other standard versions of ICP, which fail to recover correct alignment when the displacement between scans increases, the proposed method is shown to be robust to displacements of several meters. In addition, it is shown to lead to savings in computational times which are potentially critical in real-time applications. I

Sistema de digitalização 3D usando super-resolução em imagens RGBD

Orientador : Prof. Dr. Luciano SilvaCo-orientadora : Profª. Drª. Olga R. P. BellonDissertação (mestrado) - Universidade Federal do Paraná, Setor de Ciências Exatas, Programa de Pós-Graduação em Informática. Defesa: Curitiba, 10/09/2013Inclui referênciasResumo: Com o advento de novos sensores de profundidade de baixo custo e com o aumento do poder de processamento paralelo das placas gr_a_cas, houve um aumento signi_cativo em pesquisas na _area de reconstru_c~ao 3D em tempo real. No grupo de pesquisa IMAGO, existe um sistema de reconstru_c~ao 3D para a preserva _c~ao digital, adaptado aos scanners a laser de alta resolu_c~ao. Visando aumentar a exibilidade deste sistema, o objetivo deste trabalho _e a amplia_c~ao do atual pipeline de reconstru_c~ao 3D do IMAGO para permitir a cria_c~ao de modelos utilizando os novos sensores em tempo real. Outro objetivo _e a aplica_c~ao de um m_etodo para o tratamento das imagens de baixa qualidade desses sensores, proporcionando modelos reconstru__dos a partir das novas imagens de melhor resolu_c~ao. A principal meta da preserva_c~ao digital _e a _delidade tanto na geometria quanto na textura do modelo _nal, o tempo e custo computacional s~ao objetivos secund_arios. Portanto, o novo pipeline se resume a tr^es etapas: a modelagem geom_etrica em tempo real, a super-resolu_c~ao e a reconstru_c~ao 3D de alto custo. O objetivo da primeira _e proporcionar a captura completa e o armazenamento de todas as imagens, ambos em tempo real, usando o modelo atualizado apenas para guiar o usu_ario. Na segunda etapa, aumentamos a qualidade e resolu_c~ao das imagens capturadas para a cria_c~ao de um modelo mais _dedigno na etapa _nal, a etapa de reconstru_c~ao 3D utilizando o atual sistema do IMAGO.Abstract: With the advent of new low-cost depth sensors and with the increasing parallel processing power of graphics cards, there was a signi_cant increase in research involving the _eld of real-time 3D reconstruction. In the IMAGO research group, there is a 3D reconstruction system for digital preservation, applied to high resolution laser scanners. To increase the exibility of the mentioned system, our goal is to contributes to the expansion of IMAGO's current 3D reconstruction pipeline to enable the creation of models using new real-time depth sensors. Another objective is the employment of a method that process the sensor's low resolution images, providing reconstructed models using higher resolution images. The aim of digital preservation is the accuracy in both geometry and texture for the _nal model, the computational time and cost are secondary goals. Therefore, the new pipeline is summarized in three steps: a real-time geometric modeling, a super-resolution technique, and high-cost geometric modeling. The goal of the _rst step is to provide a complete capture and image storage, using the real-time model to guide the user. In the second step, we increase the quality and resolution of the captured images to create smooth and accurate models in the 3D reconstruction step using IMAGO's current system

Revista Colombiana de Computación. Volumen 7 Número 2 Diciembre de 2006

Tenemos la satisfacción de presentar a la comunidad académica el último número del año 2006 de la Revista Colombiana de Computación. Continuamos recibiendo artículos de diferentes países del mundo, de gran calidad, como los que se publican en este número.We are pleased to present to the academic community the last issue of 2006 of the Revista Colombiana de Computación. We continue to receive articles from different countries around the world, of great quality, such as those published in this issue