123,997 research outputs found
General Dynamic Scene Reconstruction from Multiple View Video
This paper introduces a general approach to dynamic scene reconstruction from
multiple moving cameras without prior knowledge or limiting constraints on the
scene structure, appearance, or illumination. Existing techniques for dynamic
scene reconstruction from multiple wide-baseline camera views primarily focus
on accurate reconstruction in controlled environments, where the cameras are
fixed and calibrated and background is known. These approaches are not robust
for general dynamic scenes captured with sparse moving cameras. Previous
approaches for outdoor dynamic scene reconstruction assume prior knowledge of
the static background appearance and structure. The primary contributions of
this paper are twofold: an automatic method for initial coarse dynamic scene
segmentation and reconstruction without prior knowledge of background
appearance or structure; and a general robust approach for joint segmentation
refinement and dense reconstruction of dynamic scenes from multiple
wide-baseline static or moving cameras. Evaluation is performed on a variety of
indoor and outdoor scenes with cluttered backgrounds and multiple dynamic
non-rigid objects such as people. Comparison with state-of-the-art approaches
demonstrates improved accuracy in both multiple view segmentation and dense
reconstruction. The proposed approach also eliminates the requirement for prior
knowledge of scene structure and appearance
Temporally coherent 4D reconstruction of complex dynamic scenes
This paper presents an approach for reconstruction of 4D temporally coherent
models of complex dynamic scenes. No prior knowledge is required of scene
structure or camera calibration allowing reconstruction from multiple moving
cameras. Sparse-to-dense temporal correspondence is integrated with joint
multi-view segmentation and reconstruction to obtain a complete 4D
representation of static and dynamic objects. Temporal coherence is exploited
to overcome visual ambiguities resulting in improved reconstruction of complex
scenes. Robust joint segmentation and reconstruction of dynamic objects is
achieved by introducing a geodesic star convexity constraint. Comparative
evaluation is performed on a variety of unstructured indoor and outdoor dynamic
scenes with hand-held cameras and multiple people. This demonstrates
reconstruction of complete temporally coherent 4D scene models with improved
nonrigid object segmentation and shape reconstruction.Comment: To appear in The IEEE Conference on Computer Vision and Pattern
Recognition (CVPR) 2016 . Video available at:
https://www.youtube.com/watch?v=bm_P13_-Ds
The Role of Nonlinear Dynamics in Quantitative Atomic Force Microscopy
Various methods of force measurement with the Atomic Force Microscope (AFM)
are compared for their ability to accurately determine the tip-surface force
from analysis of the nonlinear cantilever motion. It is explained how
intermodulation, or the frequency mixing of multiple drive tones by the
nonlinear tip-surface force, can be used to concentrate the nonlinear motion in
a narrow band of frequency near the cantilevers fundamental resonance, where
accuracy and sensitivity of force measurement are greatest. Two different
methods for reconstructing tip-surface forces from intermodulation spectra are
explained. The reconstruction of both conservative and dissipative tip-surface
interactions from intermodulation spectra are demonstrated on simulated data.Comment: 25 pages (preprint, double space) 7 figure
Dynamic Body VSLAM with Semantic Constraints
Image based reconstruction of urban environments is a challenging problem
that deals with optimization of large number of variables, and has several
sources of errors like the presence of dynamic objects. Since most large scale
approaches make the assumption of observing static scenes, dynamic objects are
relegated to the noise modeling section of such systems. This is an approach of
convenience since the RANSAC based framework used to compute most multiview
geometric quantities for static scenes naturally confine dynamic objects to the
class of outlier measurements. However, reconstructing dynamic objects along
with the static environment helps us get a complete picture of an urban
environment. Such understanding can then be used for important robotic tasks
like path planning for autonomous navigation, obstacle tracking and avoidance,
and other areas. In this paper, we propose a system for robust SLAM that works
in both static and dynamic environments. To overcome the challenge of dynamic
objects in the scene, we propose a new model to incorporate semantic
constraints into the reconstruction algorithm. While some of these constraints
are based on multi-layered dense CRFs trained over appearance as well as motion
cues, other proposed constraints can be expressed as additional terms in the
bundle adjustment optimization process that does iterative refinement of 3D
structure and camera / object motion trajectories. We show results on the
challenging KITTI urban dataset for accuracy of motion segmentation and
reconstruction of the trajectory and shape of moving objects relative to ground
truth. We are able to show average relative error reduction by a significant
amount for moving object trajectory reconstruction relative to state-of-the-art
methods like VISO 2, as well as standard bundle adjustment algorithms
Dynamical system analysis and forecasting of deformation produced by an earthquake fault
We present a method of constructing low-dimensional nonlinear models
describing the main dynamical features of a discrete 2D cellular fault zone,
with many degrees of freedom, embedded in a 3D elastic solid. A given fault
system is characterized by a set of parameters that describe the dynamics,
rheology, property disorder, and fault geometry. Depending on the location in
the system parameter space we show that the coarse dynamics of the fault can be
confined to an attractor whose dimension is significantly smaller than the
space in which the dynamics takes place. Our strategy of system reduction is to
search for a few coherent structures that dominate the dynamics and to capture
the interaction between these coherent structures. The identification of the
basic interacting structures is obtained by applying the Proper Orthogonal
Decomposition (POD) to the surface deformations fields that accompany
strike-slip faulting accumulated over equal time intervals. We use a
feed-forward artificial neural network (ANN) architecture for the
identification of the system dynamics projected onto the subspace (model space)
spanned by the most energetic coherent structures. The ANN is trained using a
standard back-propagation algorithm to predict (map) the values of the observed
model state at a future time given the observed model state at the present
time. This ANN provides an approximate, large scale, dynamical model for the
fault.Comment: 30 pages, 12 figure
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