1,890 research outputs found
Keyframe-based monocular SLAM: design, survey, and future directions
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
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
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
- …