48,545 research outputs found
Real-time 3D Face Recognition using Line Projection and Mesh Sampling
The main contribution of this paper is to present a novel method for automatic 3D face recognition based on sampling a 3D mesh structure in the presence of noise. A structured light method using line projection is employed where a 3D face is reconstructed from a single 2D shot. The process from image acquisition to recognition is described with focus on its real-time operation. Recognition results are presented and it is demonstrated that it can perform recognition in just over one second per subject in continuous operation mode and thus, suitable for real time operation
Regrasp Planning using 10,000s of Grasps
This paper develops intelligent algorithms for robots to reorient objects.
Given the initial and goal poses of an object, the proposed algorithms plan a
sequence of robot poses and grasp configurations that reorient the object from
its initial pose to the goal. While the topic has been studied extensively in
previous work, this paper makes important improvements in grasp planning by
using over-segmented meshes, in data storage by using relational database, and
in regrasp planning by mixing real-world roadmaps. The improvements enable
robots to do robust regrasp planning using 10,000s of grasps and their
relationships in interactive time. The proposed algorithms are validated using
various objects and robots
Towards Real-Time Detection and Tracking of Spatio-Temporal Features: Blob-Filaments in Fusion Plasma
A novel algorithm and implementation of real-time identification and tracking
of blob-filaments in fusion reactor data is presented. Similar spatio-temporal
features are important in many other applications, for example, ignition
kernels in combustion and tumor cells in a medical image. This work presents an
approach for extracting these features by dividing the overall task into three
steps: local identification of feature cells, grouping feature cells into
extended feature, and tracking movement of feature through overlapping in
space. Through our extensive work in parallelization, we demonstrate that this
approach can effectively make use of a large number of compute nodes to detect
and track blob-filaments in real time in fusion plasma. On a set of 30GB fusion
simulation data, we observed linear speedup on 1024 processes and completed
blob detection in less than three milliseconds using Edison, a Cray XC30 system
at NERSC.Comment: 14 pages, 40 figure
Combined 3D thinning and greedy algorithm to approximate realistic particles with corrected mechanical properties
The shape of irregular particles has significant influence on micro- and
macro-scopic behavior of granular systems. This paper presents a combined 3D
thinning and greedy set-covering algorithm to approximate realistic particles
with a clump of overlapping spheres for discrete element method (DEM)
simulations. First, the particle medial surface (or surface skeleton), from
which all candidate (maximal inscribed) spheres can be generated, is computed
by the topological 3D thinning. Then, the clump generation procedure is
converted into a greedy set-covering (SCP) problem.
To correct the mass distribution due to highly overlapped spheres inside the
clump, linear programming (LP) is used to adjust the density of each component
sphere, such that the aggregate properties mass, center of mass and inertia
tensor are identical or close enough to the prototypical particle. In order to
find the optimal approximation accuracy (volume coverage: ratio of clump's
volume to the original particle's volume), particle flow of 3 different shapes
in a rotating drum are conducted. It was observed that the dynamic angle of
repose starts to converge for all particle shapes at 85% volume coverage
(spheres per clump < 30), which implies the possible optimal resolution to
capture the mechanical behavior of the system.Comment: 34 pages, 13 figure
A parallel edge orientation algorithm for quadrilateral meshes
One approach to achieving correct finite element assembly is to ensure that
the local orientation of facets relative to each cell in the mesh is consistent
with the global orientation of that facet. Rognes et al. have shown how to
achieve this for any mesh composed of simplex elements, and deal.II contains a
serial algorithm to construct a consistent orientation of any quadrilateral
mesh of an orientable manifold.
The core contribution of this paper is the extension of this algorithm for
distributed memory parallel computers, which facilitates its seamless
application as part of a parallel simulation system.
Furthermore, our analysis establishes a link between the well-known
Union-Find algorithm and the construction of a consistent orientation of a
quadrilateral mesh. As a result, existing work on the parallelisation of the
Union-Find algorithm can be easily adapted to construct further parallel
algorithms for mesh orientations.Comment: Second revision: minor change
Load-Balancing for Parallel Delaunay Triangulations
Computing the Delaunay triangulation (DT) of a given point set in
is one of the fundamental operations in computational geometry.
Recently, Funke and Sanders (2017) presented a divide-and-conquer DT algorithm
that merges two partial triangulations by re-triangulating a small subset of
their vertices - the border vertices - and combining the three triangulations
efficiently via parallel hash table lookups. The input point division should
therefore yield roughly equal-sized partitions for good load-balancing and also
result in a small number of border vertices for fast merging. In this paper, we
present a novel divide-step based on partitioning the triangulation of a small
sample of the input points. In experiments on synthetic and real-world data
sets, we achieve nearly perfectly balanced partitions and small border
triangulations. This almost cuts running time in half compared to
non-data-sensitive division schemes on inputs exhibiting an exploitable
underlying structure.Comment: Short version submitted to EuroPar 201
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