1,890 research outputs found

    Keyframe-based monocular SLAM: design, survey, and future directions

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    Extensive research in the field of monocular SLAM for the past fifteen years has yielded workable systems that found their way into various applications in robotics and augmented reality. Although filter-based monocular SLAM systems were common at some time, the more efficient keyframe-based solutions are becoming the de facto methodology for building a monocular SLAM system. The objective of this paper is threefold: first, the paper serves as a guideline for people seeking to design their own monocular SLAM according to specific environmental constraints. Second, it presents a survey that covers the various keyframe-based monocular SLAM systems in the literature, detailing the components of their implementation, and critically assessing the specific strategies made in each proposed solution. Third, the paper provides insight into the direction of future research in this field, to address the major limitations still facing monocular SLAM; namely, in the issues of illumination changes, initialization, highly dynamic motion, poorly textured scenes, repetitive textures, map maintenance, and failure recovery

    LiveCap: Real-time Human Performance Capture from Monocular Video

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    We present the first real-time human performance capture approach that reconstructs dense, space-time coherent deforming geometry of entire humans in general everyday clothing from just a single RGB video. We propose a novel two-stage analysis-by-synthesis optimization whose formulation and implementation are designed for high performance. In the first stage, a skinned template model is jointly fitted to background subtracted input video, 2D and 3D skeleton joint positions found using a deep neural network, and a set of sparse facial landmark detections. In the second stage, dense non-rigid 3D deformations of skin and even loose apparel are captured based on a novel real-time capable algorithm for non-rigid tracking using dense photometric and silhouette constraints. Our novel energy formulation leverages automatically identified material regions on the template to model the differing non-rigid deformation behavior of skin and apparel. The two resulting non-linear optimization problems per-frame are solved with specially-tailored data-parallel Gauss-Newton solvers. In order to achieve real-time performance of over 25Hz, we design a pipelined parallel architecture using the CPU and two commodity GPUs. Our method is the first real-time monocular approach for full-body performance capture. Our method yields comparable accuracy with off-line performance capture techniques, while being orders of magnitude faster

    Sparse Coding Predicts Optic Flow Specificities of Zebrafish Pretectal Neurons

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    Zebrafish pretectal neurons exhibit specificities for large-field optic flow patterns associated with rotatory or translatory body motion. We investigate the hypothesis that these specificities reflect the input statistics of natural optic flow. Realistic motion sequences were generated using computer graphics simulating self-motion in an underwater scene. Local retinal motion was estimated with a motion detector and encoded in four populations of directionally tuned retinal ganglion cells, represented as two signed input variables. This activity was then used as input into one of two learning networks: a sparse coding network (competitive learning) and backpropagation network (supervised learning). Both simulations develop specificities for optic flow which are comparable to those found in a neurophysiological study (Kubo et al. 2014), and relative frequencies of the various neuronal responses are best modeled by the sparse coding approach. We conclude that the optic flow neurons in the zebrafish pretectum do reflect the optic flow statistics. The predicted vectorial receptive fields show typical optic flow fields but also "Gabor" and dipole-shaped patterns that likely reflect difference fields needed for reconstruction by linear superposition.Comment: Published Conference Paper from ICANN 2018, Rhode
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