86 research outputs found
A Low-Cost Tele-Presence Wheelchair System
This paper presents the architecture and implementation of a tele-presence
wheelchair system based on tele-presence robot, intelligent wheelchair, and
touch screen technologies. The tele-presence wheelchair system consists of a
commercial electric wheelchair, an add-on tele-presence interaction module, and
a touchable live video image based user interface (called TIUI). The
tele-presence interaction module is used to provide video-chatting for an
elderly or disabled person with the family members or caregivers, and also
captures the live video of an environment for tele-operation and
semi-autonomous navigation. The user interface developed in our lab allows an
operator to access the system anywhere and directly touch the live video image
of the wheelchair to push it as if he/she did it in the presence. This paper
also discusses the evaluation of the user experience
Neural 3D Scene Reconstruction from Multiple 2D Images without 3D Supervision
Neural 3D scene reconstruction methods have achieved impressive performance
when reconstructing complex geometry and low-textured regions in indoor scenes.
However, these methods heavily rely on 3D data which is costly and
time-consuming to obtain in real world. In this paper, we propose a novel
neural reconstruction method that reconstructs scenes using sparse depth under
the plane constraints without 3D supervision. We introduce a signed distance
function field, a color field, and a probability field to represent a scene. We
optimize these fields to reconstruct the scene by using differentiable ray
marching with accessible 2D images as supervision. We improve the
reconstruction quality of complex geometry scene regions with sparse depth
obtained by using the geometric constraints. The geometric constraints project
3D points on the surface to similar-looking regions with similar features in
different 2D images. We impose the plane constraints to make large planes
parallel or vertical to the indoor floor. Both two constraints help reconstruct
accurate and smooth geometry structures of the scene. Without 3D supervision,
our method achieves competitive performance compared with existing methods that
use 3D supervision on the ScanNet dataset.Comment: 10 pages, 6 figure
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