5,854 research outputs found
Mesh-based 3D Textured Urban Mapping
In the era of autonomous driving, urban mapping represents a core step to let
vehicles interact with the urban context. Successful mapping algorithms have
been proposed in the last decade building the map leveraging on data from a
single sensor. The focus of the system presented in this paper is twofold: the
joint estimation of a 3D map from lidar data and images, based on a 3D mesh,
and its texturing. Indeed, even if most surveying vehicles for mapping are
endowed by cameras and lidar, existing mapping algorithms usually rely on
either images or lidar data; moreover both image-based and lidar-based systems
often represent the map as a point cloud, while a continuous textured mesh
representation would be useful for visualization and navigation purposes. In
the proposed framework, we join the accuracy of the 3D lidar data, and the
dense information and appearance carried by the images, in estimating a
visibility consistent map upon the lidar measurements, and refining it
photometrically through the acquired images. We evaluate the proposed framework
against the KITTI dataset and we show the performance improvement with respect
to two state of the art urban mapping algorithms, and two widely used surface
reconstruction algorithms in Computer Graphics.Comment: accepted at iros 201
Deep learning in remote sensing: a review
Standing at the paradigm shift towards data-intensive science, machine
learning techniques are becoming increasingly important. In particular, as a
major breakthrough in the field, deep learning has proven as an extremely
powerful tool in many fields. Shall we embrace deep learning as the key to all?
Or, should we resist a 'black-box' solution? There are controversial opinions
in the remote sensing community. In this article, we analyze the challenges of
using deep learning for remote sensing data analysis, review the recent
advances, and provide resources to make deep learning in remote sensing
ridiculously simple to start with. More importantly, we advocate remote sensing
scientists to bring their expertise into deep learning, and use it as an
implicit general model to tackle unprecedented large-scale influential
challenges, such as climate change and urbanization.Comment: Accepted for publication IEEE Geoscience and Remote Sensing Magazin
Efficient Match Pair Retrieval for Large-scale UAV Images via Graph Indexed Global Descriptor
SfM (Structure from Motion) has been extensively used for UAV (Unmanned
Aerial Vehicle) image orientation. Its efficiency is directly influenced by
feature matching. Although image retrieval has been extensively used for match
pair selection, high computational costs are consumed due to a large number of
local features and the large size of the used codebook. Thus, this paper
proposes an efficient match pair retrieval method and implements an integrated
workflow for parallel SfM reconstruction. First, an individual codebook is
trained online by considering the redundancy of UAV images and local features,
which avoids the ambiguity of training codebooks from other datasets. Second,
local features of each image are aggregated into a single high-dimension global
descriptor through the VLAD (Vector of Locally Aggregated Descriptors)
aggregation by using the trained codebook, which remarkably reduces the number
of features and the burden of nearest neighbor searching in image indexing.
Third, the global descriptors are indexed via the HNSW (Hierarchical Navigable
Small World) based graph structure for the nearest neighbor searching. Match
pairs are then retrieved by using an adaptive threshold selection strategy and
utilized to create a view graph for divide-and-conquer based parallel SfM
reconstruction. Finally, the performance of the proposed solution has been
verified using three large-scale UAV datasets. The test results demonstrate
that the proposed solution accelerates match pair retrieval with a speedup
ratio ranging from 36 to 108 and improves the efficiency of SfM reconstruction
with competitive accuracy in both relative and absolute orientation
Three-dimensional grain mapping by x-ray diffraction contrast tomography and the use of Friedel pairs in diffraction data analysis
X-ray diffraction contrast tomography (DCT) is a technique for mapping grain shape and orientation in plastically undeformed polycrystals. In this paper, we describe a modified DCT data acquisition strategy which permits the incorporation of an innovative Friedel pair method for analyzing diffraction data. Diffraction spots are acquired during a 360 degree rotation of the sample and are analyzed in terms of the Friedel pairs ((hkl) and (hkl -) reflections, observed 180 degrees apart in rotation). The resulting increase in the accuracy with which the diffraction vectors are determined allows the use of improved algorithms for grain indexing (assigning diffraction spots to the grains from which they arise) and reconstruction. The accuracy of the resulting grain maps is quantified with reference to synchrotron microtomography data for a specimen made from a beta titanium system in which a second phase can be precipitated at grain boundaries, thereby revealing the grain shapes. The simple changes introduced to the DCT methodology are equally applicable to other variants of grain mapping. Copyright 2009 American Institute of Physics
Real-time motion data annotation via action string
Even though there is an explosive growth of motion capture data, there is still a lack of efficient and reliable methods to automatically annotate all the motions in a database. Moreover, because of the popularity of mocap devices in home entertainment systems, real-time human motion annotation or recognition becomes more and more imperative. This paper presents a new motion annotation method that achieves both the aforementioned two targets at the same time. It uses a probabilistic pose feature based on the Gaussian Mixture Model to represent each pose. After training a clustered pose feature model, a motion clip could be represented as an action string. Then, a dynamic programming-based string matching method is introduced to compare the differences between action strings. Finally, in order to achieve the real-time target, we construct a hierarchical action string structure to quickly label each given action string. The experimental results demonstrate the efficacy and efficiency of our method
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
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