17,702 research outputs found
Long-term experiments with an adaptive spherical view representation for navigation in changing environments
Real-world environments such as houses and offices change over time, meaning that a mobile robot’s map will become out of date. In this work, we introduce a method to update the reference views in a hybrid metric-topological map so that a mobile robot can continue to localize itself in a changing environment. The updating mechanism, based on the multi-store model of human memory, incorporates a spherical metric representation of the observed visual features for each node in the map, which enables the robot to estimate its heading and navigate using multi-view geometry, as well as representing the local 3D geometry of the environment. A series of experiments demonstrate the persistence performance of the proposed system in real changing environments, including analysis of the long-term stability
An adaptive spherical view representation for navigation in changing environments
Real-world environments such as houses and offices change over time, meaning that a mobile robot’s map will become out of date. In previous work we introduced a method to update the reference views in a topological map so that a mobile robot could continue to localize itself in a changing environment using omni-directional vision. In this work we extend this longterm updating mechanism to incorporate a spherical metric representation of the observed visual features for each node in the topological map. Using multi-view geometry we are then able to estimate the heading of the robot, in order to enable navigation between the nodes of the map, and to simultaneously adapt the spherical view representation in response to environmental changes. The results demonstrate the persistent performance of the proposed system in a long-term experiment
Automatic Spatial Calibration of Ultra-Low-Field MRI for High-Accuracy Hybrid MEG--MRI
With a hybrid MEG--MRI device that uses the same sensors for both modalities,
the co-registration of MRI and MEG data can be replaced by an automatic
calibration step. Based on the highly accurate signal model of ultra-low-field
(ULF) MRI, we introduce a calibration method that eliminates the error sources
of traditional co-registration. The signal model includes complex sensitivity
profiles of the superconducting pickup coils. In ULF MRI, the profiles are
independent of the sample and therefore well-defined. In the most basic form,
the spatial information of the profiles, captured in parallel ULF-MR
acquisitions, is used to find the exact coordinate transformation required. We
assessed our calibration method by simulations assuming a helmet-shaped
pickup-coil-array geometry. Using a carefully constructed objective function
and sufficient approximations, even with low-SNR images, sub-voxel and
sub-millimeter calibration accuracy was achieved. After the calibration,
distortion-free MRI and high spatial accuracy for MEG source localization can
be achieved. For an accurate sensor-array geometry, the co-registration and
associated errors are eliminated, and the positional error can be reduced to a
negligible level.Comment: 11 pages, 8 figures. This work is part of the BREAKBEN project and
has received funding from the European Union's Horizon 2020 research and
innovation programme under grant agreement No 68686
DeLight-Net: Decomposing Reflectance Maps into Specular Materials and Natural Illumination
In this paper we are extracting surface reflectance and natural environmental
illumination from a reflectance map, i.e. from a single 2D image of a sphere of
one material under one illumination. This is a notoriously difficult problem,
yet key to various re-rendering applications. With the recent advances in
estimating reflectance maps from 2D images their further decomposition has
become increasingly relevant.
To this end, we propose a Convolutional Neural Network (CNN) architecture to
reconstruct both material parameters (i.e. Phong) as well as illumination (i.e.
high-resolution spherical illumination maps), that is solely trained on
synthetic data. We demonstrate that decomposition of synthetic as well as real
photographs of reflectance maps, both in High Dynamic Range (HDR), and, for the
first time, on Low Dynamic Range (LDR) as well. Results are compared to
previous approaches quantitatively as well as qualitatively in terms of
re-renderings where illumination, material, view or shape are changed.Comment: Stamatios Georgoulis and Konstantinos Rematas contributed equally to
this wor
Deep Reflectance Maps
Undoing the image formation process and therefore decomposing appearance into
its intrinsic properties is a challenging task due to the under-constraint
nature of this inverse problem. While significant progress has been made on
inferring shape, materials and illumination from images only, progress in an
unconstrained setting is still limited. We propose a convolutional neural
architecture to estimate reflectance maps of specular materials in natural
lighting conditions. We achieve this in an end-to-end learning formulation that
directly predicts a reflectance map from the image itself. We show how to
improve estimates by facilitating additional supervision in an indirect scheme
that first predicts surface orientation and afterwards predicts the reflectance
map by a learning-based sparse data interpolation.
In order to analyze performance on this difficult task, we propose a new
challenge of Specular MAterials on SHapes with complex IllumiNation (SMASHINg)
using both synthetic and real images. Furthermore, we show the application of
our method to a range of image-based editing tasks on real images.Comment: project page: http://homes.esat.kuleuven.be/~krematas/DRM
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