Mobile 3D Reconstruction and Planar Region Detection Paradigms

Context is critical. It determines how people relate to each other, how intelligent agents should act and react to their surroundings, and facilitates the absolute transfer of knowledge. In the interest of transferring as much information as possible, we as a society should be interested in finding increasingly novel and information-rich ways of capturing and sharing contexts. Fortunately, modern advances in affordable consumer sensors are making it increasingly possible for us to investigate new ways of context-sharing. In particular, the recent advent of affordable depth sensors makes 3D reconstruction a very realistic option for such information transfer. With this in mind, along with cutting-edge techniques for real-time 3D reconstruction, we propose an infrastructure that would support a two-fold iOS application. This application would gather information from an attached depth sensor and utilize it in order to construct a 3D reconstruction, intelligently identify regions of missing data, and alert the user to these regions. As a proof of concept and precursor to such an infrastructure, we construct an iOS application that utilizes raw depth and surface normal information from the depth sensor in conjunction with RGB information from an iPhone 6’s camera in order to gather all the information necessary to create a real-time point cloud based 3D representation, and that further utilizes this information to identify planar regions within the captured depth frames

Structural testing for message-passing concurrent programs: an extended test model

Developing high-quality, error-free message-passing concurrent programs is not trivial. Although a number of different primitives with associated semantics are available to assist such development, they often increase the complexity of the testing process. In this paper, we extend our previous test model for message-passing programs and present new structural testing criteria, taking into account additional features used in this paradigm, such as collective communication, non-blocking sends, distinct semantics for non-blocking receives, and persistent operations. Our new model also recognizes that sender primitives cannot always be matched with every receive primitive. This improvement allows us to remove statically a significant number of infeasible synchronization edges that would otherwise have to be analyzed later by the tester. In this paper, the test model is presented using the Message-Passing Interface standard; however, our new model has been designed to be flexible, and it can be configured to support a range of different message-passing environments or languages. We have carried out case studies showing the applicability of the new test model to represent message-passing programs and also to reveal errors, mainly those errors related to inter-process communication. In addition to increasing the number of features supported by the test model, we have also reduced the overall cost of testing significantly. Our case studies suggest that the number of synchronization edges can be reduced by up to 93%, mainly by eliminating infeasible edges between unmatchable communication primitives. The main contribution of the paper is to present a more flexible test model that provides improved coverage for message-passing programs and at the same time reduces the cost of testing significantly