6,317 research outputs found
Data-Driven Shape Analysis and Processing
Data-driven methods play an increasingly important role in discovering
geometric, structural, and semantic relationships between 3D shapes in
collections, and applying this analysis to support intelligent modeling,
editing, and visualization of geometric data. In contrast to traditional
approaches, a key feature of data-driven approaches is that they aggregate
information from a collection of shapes to improve the analysis and processing
of individual shapes. In addition, they are able to learn models that reason
about properties and relationships of shapes without relying on hard-coded
rules or explicitly programmed instructions. We provide an overview of the main
concepts and components of these techniques, and discuss their application to
shape classification, segmentation, matching, reconstruction, modeling and
exploration, as well as scene analysis and synthesis, through reviewing the
literature and relating the existing works with both qualitative and numerical
comparisons. We conclude our report with ideas that can inspire future research
in data-driven shape analysis and processing.Comment: 10 pages, 19 figure
A Co-optimal Coverage Path Planning Method for Aerial Scanning of Complex Structures
The utilization of unmanned aerial vehicles (UAVs) in survey and inspection of civil infrastructure has been growing rapidly. However, computationally efficient solvers that find optimal flight paths while ensuring high-quality data acquisition of the complete 3D structure remains a difficult problem. Existing solvers typically prioritize efficient flight paths, or coverage, or reducing computational complexity of the algorithm – but these objectives are not co-optimized holistically. In this work we introduce a co-optimal coverage path planning (CCPP) method that simultaneously co-optimizes the UAV path, the quality of the captured images, and reducing computational complexity of the solver all while adhering to safety and inspection requirements. The result is a highly parallelizable algorithm that produces more efficient paths where quality of the useful image data is improved. The path optimization algorithm utilizes a particle swarm optimization (PSO) framework which iteratively optimizes the coverage paths without needing to discretize the motion space or simplify the sensing models as is done in similar methods. The core of the method consists of a cost function that measures both the quality and efficiency of a coverage inspection path, and a greedy heuristic for the optimization enhancement by aggressively exploring the viewpoints search spaces. To assess the proposed method, a coverage path quality evaluation method is also presented in this research, which can be utilized as the benchmark for assessing other CPP methods for structural inspection purpose. The effectiveness of the proposed method is demonstrated by comparing the quality and efficiency of the proposed approach with the state-of-art through both synthetic and real-world scenes. The experiments show that our method enables significant performance improvement in coverage inspection quality while preserving the path efficiency on different test geometries
Past, Present, and Future of Simultaneous Localization And Mapping: Towards the Robust-Perception Age
Simultaneous Localization and Mapping (SLAM)consists in the concurrent
construction of a model of the environment (the map), and the estimation of the
state of the robot moving within it. The SLAM community has made astonishing
progress over the last 30 years, enabling large-scale real-world applications,
and witnessing a steady transition of this technology to industry. We survey
the current state of SLAM. We start by presenting what is now the de-facto
standard formulation for SLAM. We then review related work, covering a broad
set of topics including robustness and scalability in long-term mapping, metric
and semantic representations for mapping, theoretical performance guarantees,
active SLAM and exploration, and other new frontiers. This paper simultaneously
serves as a position paper and tutorial to those who are users of SLAM. By
looking at the published research with a critical eye, we delineate open
challenges and new research issues, that still deserve careful scientific
investigation. The paper also contains the authors' take on two questions that
often animate discussions during robotics conferences: Do robots need SLAM? and
Is SLAM solved
Towards Outdoor Collaborative Mixed Reality: Lessons Learnt from a Prototype System
Most research on collaborative mixed reality (CMR) has focused on indoor spaces. In this paper, we present our ongoing work aimed at investigating the potential of CMR in outdoor spaces. These spaces present unique challenges due to their larger and more complex nature, particularly in terms of reconstruction, tracking, and interaction. Our prototype system utilises a photorealistic model to facilitate collaboration between remote virtual reality (VR) users and a local augmented reality (AR) user. We discuss our design considerations, lessons learnt, and areas for future work
4K-NeRF: High Fidelity Neural Radiance Fields at Ultra High Resolutions
In this paper, we present a novel and effective framework, named 4K-NeRF, to
pursue high fidelity view synthesis on the challenging scenarios of ultra high
resolutions, building on the methodology of neural radiance fields (NeRF). The
rendering procedure of NeRF-based methods typically relies on a pixel wise
manner in which rays (or pixels) are treated independently on both training and
inference phases, limiting its representational ability on describing subtle
details especially when lifting to a extremely high resolution. We address the
issue by better exploring ray correlation for enhancing high-frequency details
benefiting from the use of geometry-aware local context. Particularly, we use
the view-consistent encoder to model geometric information effectively in a
lower resolution space and recover fine details through the view-consistent
decoder, conditioned on ray features and depths estimated by the encoder. Joint
training with patch-based sampling further facilitates our method incorporating
the supervision from perception oriented regularization beyond pixel wise loss.
Quantitative and qualitative comparisons with modern NeRF methods demonstrate
that our method can significantly boost rendering quality for retaining
high-frequency details, achieving the state-of-the-art visual quality on 4K
ultra-high-resolution scenario. Code Available at
\url{https://github.com/frozoul/4K-NeRF
Nonrigid reconstruction of 3D breast surfaces with a low-cost RGBD camera for surgical planning and aesthetic evaluation
Accounting for 26% of all new cancer cases worldwide, breast cancer remains
the most common form of cancer in women. Although early breast cancer has a
favourable long-term prognosis, roughly a third of patients suffer from a
suboptimal aesthetic outcome despite breast conserving cancer treatment.
Clinical-quality 3D modelling of the breast surface therefore assumes an
increasingly important role in advancing treatment planning, prediction and
evaluation of breast cosmesis. Yet, existing 3D torso scanners are expensive
and either infrastructure-heavy or subject to motion artefacts. In this paper
we employ a single consumer-grade RGBD camera with an ICP-based registration
approach to jointly align all points from a sequence of depth images
non-rigidly. Subtle body deformation due to postural sway and respiration is
successfully mitigated leading to a higher geometric accuracy through
regularised locally affine transformations. We present results from 6 clinical
cases where our method compares well with the gold standard and outperforms a
previous approach. We show that our method produces better reconstructions
qualitatively by visual assessment and quantitatively by consistently obtaining
lower landmark error scores and yielding more accurate breast volume estimates
Testing Structure-from-Motion imaging technique to quantify Blue mussels (Mytilus spp.) abundance
Masteroppgave i biologiBIO399MAMN-HAVSJMAMN-BI
X-Mesh: Towards Fast and Accurate Text-driven 3D Stylization via Dynamic Textual Guidance
Text-driven 3D stylization is a complex and crucial task in the fields of
computer vision (CV) and computer graphics (CG), aimed at transforming a bare
mesh to fit a target text. Prior methods adopt text-independent multilayer
perceptrons (MLPs) to predict the attributes of the target mesh with the
supervision of CLIP loss. However, such text-independent architecture lacks
textual guidance during predicting attributes, thus leading to unsatisfactory
stylization and slow convergence. To address these limitations, we present
X-Mesh, an innovative text-driven 3D stylization framework that incorporates a
novel Text-guided Dynamic Attention Module (TDAM). The TDAM dynamically
integrates the guidance of the target text by utilizing text-relevant spatial
and channel-wise attentions during vertex feature extraction, resulting in more
accurate attribute prediction and faster convergence speed. Furthermore,
existing works lack standard benchmarks and automated metrics for evaluation,
often relying on subjective and non-reproducible user studies to assess the
quality of stylized 3D assets. To overcome this limitation, we introduce a new
standard text-mesh benchmark, namely MIT-30, and two automated metrics, which
will enable future research to achieve fair and objective comparisons. Our
extensive qualitative and quantitative experiments demonstrate that X-Mesh
outperforms previous state-of-the-art methods.Comment: Technical repor
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