17,768 research outputs found
Kinect Range Sensing: Structured-Light versus Time-of-Flight Kinect
Recently, the new Kinect One has been issued by Microsoft, providing the next
generation of real-time range sensing devices based on the Time-of-Flight (ToF)
principle. As the first Kinect version was using a structured light approach,
one would expect various differences in the characteristics of the range data
delivered by both devices. This paper presents a detailed and in-depth
comparison between both devices. In order to conduct the comparison, we propose
a framework of seven different experimental setups, which is a generic basis
for evaluating range cameras such as Kinect. The experiments have been designed
with the goal to capture individual effects of the Kinect devices as isolatedly
as possible and in a way, that they can also be adopted, in order to apply them
to any other range sensing device. The overall goal of this paper is to provide
a solid insight into the pros and cons of either device. Thus, scientists that
are interested in using Kinect range sensing cameras in their specific
application scenario can directly assess the expected, specific benefits and
potential problem of either device.Comment: 58 pages, 23 figures. Accepted for publication in Computer Vision and
Image Understanding (CVIU
On-Manifold Preintegration for Real-Time Visual-Inertial Odometry
Current approaches for visual-inertial odometry (VIO) are able to attain
highly accurate state estimation via nonlinear optimization. However, real-time
optimization quickly becomes infeasible as the trajectory grows over time, this
problem is further emphasized by the fact that inertial measurements come at
high rate, hence leading to fast growth of the number of variables in the
optimization. In this paper, we address this issue by preintegrating inertial
measurements between selected keyframes into single relative motion
constraints. Our first contribution is a \emph{preintegration theory} that
properly addresses the manifold structure of the rotation group. We formally
discuss the generative measurement model as well as the nature of the rotation
noise and derive the expression for the \emph{maximum a posteriori} state
estimator. Our theoretical development enables the computation of all necessary
Jacobians for the optimization and a-posteriori bias correction in analytic
form. The second contribution is to show that the preintegrated IMU model can
be seamlessly integrated into a visual-inertial pipeline under the unifying
framework of factor graphs. This enables the application of
incremental-smoothing algorithms and the use of a \emph{structureless} model
for visual measurements, which avoids optimizing over the 3D points, further
accelerating the computation. We perform an extensive evaluation of our
monocular \VIO pipeline on real and simulated datasets. The results confirm
that our modelling effort leads to accurate state estimation in real-time,
outperforming state-of-the-art approaches.Comment: 20 pages, 24 figures, accepted for publication in IEEE Transactions
on Robotics (TRO) 201
Monte Carlo-based Noise Compensation in Coil Intensity Corrected Endorectal MRI
Background: Prostate cancer is one of the most common forms of cancer found
in males making early diagnosis important. Magnetic resonance imaging (MRI) has
been useful in visualizing and localizing tumor candidates and with the use of
endorectal coils (ERC), the signal-to-noise ratio (SNR) can be improved. The
coils introduce intensity inhomogeneities and the surface coil intensity
correction built into MRI scanners is used to reduce these inhomogeneities.
However, the correction typically performed at the MRI scanner level leads to
noise amplification and noise level variations. Methods: In this study, we
introduce a new Monte Carlo-based noise compensation approach for coil
intensity corrected endorectal MRI which allows for effective noise
compensation and preservation of details within the prostate. The approach
accounts for the ERC SNR profile via a spatially-adaptive noise model for
correcting non-stationary noise variations. Such a method is useful
particularly for improving the image quality of coil intensity corrected
endorectal MRI data performed at the MRI scanner level and when the original
raw data is not available. Results: SNR and contrast-to-noise ratio (CNR)
analysis in patient experiments demonstrate an average improvement of 11.7 dB
and 11.2 dB respectively over uncorrected endorectal MRI, and provides strong
performance when compared to existing approaches. Conclusions: A new noise
compensation method was developed for the purpose of improving the quality of
coil intensity corrected endorectal MRI data performed at the MRI scanner
level. We illustrate that promising noise compensation performance can be
achieved for the proposed approach, which is particularly important for
processing coil intensity corrected endorectal MRI data performed at the MRI
scanner level and when the original raw data is not available.Comment: 23 page
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