1,156 research outputs found
A Minimalist Approach to Type-Agnostic Detection of Quadrics in Point Clouds
This paper proposes a segmentation-free, automatic and efficient procedure to
detect general geometric quadric forms in point clouds, where clutter and
occlusions are inevitable. Our everyday world is dominated by man-made objects
which are designed using 3D primitives (such as planes, cones, spheres,
cylinders, etc.). These objects are also omnipresent in industrial
environments. This gives rise to the possibility of abstracting 3D scenes
through primitives, thereby positions these geometric forms as an integral part
of perception and high level 3D scene understanding.
As opposed to state-of-the-art, where a tailored algorithm treats each
primitive type separately, we propose to encapsulate all types in a single
robust detection procedure. At the center of our approach lies a closed form 3D
quadric fit, operating in both primal & dual spaces and requiring as low as 4
oriented-points. Around this fit, we design a novel, local null-space voting
strategy to reduce the 4-point case to 3. Voting is coupled with the famous
RANSAC and makes our algorithm orders of magnitude faster than its conventional
counterparts. This is the first method capable of performing a generic
cross-type multi-object primitive detection in difficult scenes. Results on
synthetic and real datasets support the validity of our method.Comment: Accepted for publication at CVPR 201
Effective reconstruction of generic genus 4 curves from their theta hyperplanes
Effective reconstruction formulas of a curve from its theta hyperplanes are
known classically in genus 2 (where the theta hyperplanes are Weierstrass
points), and 3 (where, for a generic curve, the theta hyperplanes are
bitangents to a plane quartic). However, for higher genera, no formula or
algorithm are known. In this paper we give an explicit (and simple) algorithm
for computing a generic genus 4 curve from it's theta hyperplanes.Comment: no content modification to previous version; presentation
modification following referees comment
Autocalibration with the Minimum Number of Cameras with Known Pixel Shape
In 3D reconstruction, the recovery of the calibration parameters of the
cameras is paramount since it provides metric information about the observed
scene, e.g., measures of angles and ratios of distances. Autocalibration
enables the estimation of the camera parameters without using a calibration
device, but by enforcing simple constraints on the camera parameters. In the
absence of information about the internal camera parameters such as the focal
length and the principal point, the knowledge of the camera pixel shape is
usually the only available constraint. Given a projective reconstruction of a
rigid scene, we address the problem of the autocalibration of a minimal set of
cameras with known pixel shape and otherwise arbitrarily varying intrinsic and
extrinsic parameters. We propose an algorithm that only requires 5 cameras (the
theoretical minimum), thus halving the number of cameras required by previous
algorithms based on the same constraint. To this purpose, we introduce as our
basic geometric tool the six-line conic variety (SLCV), consisting in the set
of planes intersecting six given lines of 3D space in points of a conic. We
show that the set of solutions of the Euclidean upgrading problem for three
cameras with known pixel shape can be parameterized in a computationally
efficient way. This parameterization is then used to solve autocalibration from
five or more cameras, reducing the three-dimensional search space to a
two-dimensional one. We provide experiments with real images showing the good
performance of the technique.Comment: 19 pages, 14 figures, 7 tables, J. Math. Imaging Vi
Instanton bundles on Fano threefolds
We introduce the notion of an instanton bundle on a Fano threefold of index
2. For such bundles we give an analogue of a monadic description and discuss
the curve of jumping lines. The cases of threefolds of degree 5 and 4 are
considered in a greater detail.Comment: 31 page, to appear in CEJ
On tangents to quadric surfaces
We study the variety of common tangents for up to four quadric surfaces in
projective three-space, with particular regard to configurations of four
quadrics admitting a continuum of common tangents.
We formulate geometrical conditions in the projective space defined by all
complex quadric surfaces which express the fact that several quadrics are
tangent along a curve to one and the same quadric of rank at least three, and
called, for intuitive reasons: a basket. Lines in any ruling of the latter will
be common tangents.
These considerations are then restricted to spheres in Euclidean three-space,
and result in a complete answer to the question over the reals: ``When do four
spheres allow infinitely many common tangents?''.Comment: 50 page
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