Experimental Robotics

Experimental Robotics
Author: Oussama Khatib
Publisher: Springer
Total Pages: 919
Release: 2013-08-20
Genre: Technology & Engineering
ISBN: 3642285724

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Incorporating papers from the 12th International Symposium on Experimental Robotics (ISER), December 2010, this book examines the latest advances across the various fields of robotics. Offers insights on both theoretical concepts and experimental results.

Time-of-Flight and Structured Light Depth Cameras

Time-of-Flight and Structured Light Depth Cameras
Author: Pietro Zanuttigh
Publisher: Springer
Total Pages: 360
Release: 2016-05-24
Genre: Computers
ISBN: 3319309730

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This book provides a comprehensive overview of the key technologies and applications related to new cameras that have brought 3D data acquisition to the mass market. It covers both the theoretical principles behind the acquisition devices and the practical implementation aspects of the computer vision algorithms needed for the various applications. Real data examples are used in order to show the performances of the various algorithms. The performance and limitations of the depth camera technology are explored, along with an extensive review of the most effective methods for addressing challenges in common applications. Applications covered in specific detail include scene segmentation, 3D scene reconstruction, human pose estimation and tracking and gesture recognition. This book offers students, practitioners and researchers the tools necessary to explore the potential uses of depth data in light of the expanding number of devices available for sale. It explores the impact of these devices on the rapidly growing field of depth-based computer vision.

Real-time 3D Reconstruction and Rendering for Minimally Invasive Surgery with Multi Cameras Array

Real-time 3D Reconstruction and Rendering for Minimally Invasive Surgery with Multi Cameras Array
Author: Jianwei Ke
Publisher:
Total Pages: 0
Release: 2024
Genre:
ISBN:

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Advancements in digital camera technologies have led to significantly smaller camera sensors without compromising imaging quality. This trend opens avenues for replacing single-camera systems with multi-camera arrays, offering benefits such as an expanded field-of-view and 3D information. However, camera arrays require additional processing to interpret the collected image data. This report addresses two significant algorithmic challenges in developing a camera array. The first challenge involves virtual view generation, which is the task of estimating the image for a virtual camera using image data from multiview cameras. Ideally, if the geometry of the underlying scene is known, the virtual view can be generated by projecting the 3D geometry to the virtual camera. However, finding the 3D geometry of a scene from multiview cameras is an active research topic in Computer Vision. Considering the real-time processing requirement (

Consumer Depth Cameras for Computer Vision

Consumer Depth Cameras for Computer Vision
Author: Andrea Fossati
Publisher: Springer Science & Business Media
Total Pages: 220
Release: 2012-10-04
Genre: Computers
ISBN: 1447146395

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The potential of consumer depth cameras extends well beyond entertainment and gaming, to real-world commercial applications. This authoritative text reviews the scope and impact of this rapidly growing field, describing the most promising Kinect-based research activities, discussing significant current challenges, and showcasing exciting applications. Features: presents contributions from an international selection of preeminent authorities in their fields, from both academic and corporate research; addresses the classic problem of multi-view geometry of how to correlate images from different viewpoints to simultaneously estimate camera poses and world points; examines human pose estimation using video-rate depth images for gaming, motion capture, 3D human body scans, and hand pose recognition for sign language parsing; provides a review of approaches to various recognition problems, including category and instance learning of objects, and human activity recognition; with a Foreword by Dr. Jamie Shotton.

A Framework for Realtime 3-D Reconstruction by Space Carving Using Graphics Hardware

A Framework for Realtime 3-D Reconstruction by Space Carving Using Graphics Hardware
Author: Christian Nitschke
Publisher: diplom.de
Total Pages: 153
Release: 2007-03-05
Genre: Technology & Engineering
ISBN: 3956362012

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Inhaltsangabe:Introduction: Reconstruction of real-world scenes from a set of multiple images is a topic in Computer Vision and 3D Computer Graphics with many interesting applications. There is a relation to Augmented and Mixed Reality (AR/MR), Computer-Supported Collaborative Work (CSCW), Computer-Aided industrial/architectural Design (CAD), modeling of the real-world (e.g. computer games, scenes/effects in movies), entertainment (e.g. 3D TV/Video) and recognition/analyzing of real-world characteristics by computer systems and robots. There exists a powerful algorithm theory for shape reconstruction from arbitrary viewpoints, called shape from photo-consistency. However, it is computationally expensive and hence can not be used with applications in the field of 3D video or CSCW as well as interactive 3D model creation. Attempts have been made to achieve real-time framerates using PC cluster systems. While these provide enough performance they are also expensive and less flexible. Approaches that use GPU hardware-acceleration on single workstations achieve interactive framerates for novel-view synthesis, but do not provide an explicit volumetric representation of the whole scene. The proposed approach shows the efforts in developing a GPU hardware-accelerated framework for obtaining the volumetric photo hull of a dynamic 3D scene as seen from multiple calibrated cameras. High performance is achieved by employing a shape from silhouette technique in advance to obtain a tight initial volume for shape from photo-consistency. Also several speed-up techniques are presented to increase efficiency. Since the entire processing is done on a single PC, the framework can be applied to mobile setups, enabling a wide range of further applications. The approach is explained using programmable vertex and fragment processors and compared to highly optimized CPU implementations. It is shown that the new approach can outperform the latter by more than one magnitude. The thesis is organized as follows: Chapter 1 contains an introduction, giving an overview with classification of related techniques, statement of the main problem, novelty of the proposed approach and its fields of application. Chapter 2 surveys related work in the area of dynamic scene reconstruction by shape from silhouette and shape from photo-consistency. The focus lies on high performance reconstruction and hardware-acceleration. Chapter 3 introduces the theoretical basis for the proposed [...]

Optimization of Pose, Texture and Geometry in 3d Reconstruction with Consumer Depth Cameras

Optimization of Pose, Texture and Geometry in 3d Reconstruction with Consumer Depth Cameras
Author: Chao Wang (Computer graphics engineer)
Publisher:
Total Pages:
Release: 2019
Genre: Computer vision
ISBN:

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3D Reconstruction is one of the most popular topics in the area of computer graphics and vision. A typical 3D reconstruction process is to reconstruct the 3D model or other similar geometry representations from different sources of data, including color images and depth data captured by depth cameras. Online and offline RGB-D (RGB and depth) reconstruction techniques have been developing rapidly in this decade with the prevalence of consumer depth cameras. However, current 3D construction methods still lack robustness in the tracking process, and also pay little attention on the quality of final reconstructed 3D models. This dissertation is focused on improving the robustness of camera tracking in the online RGB-D reconstruction process, as well as optimizing camera pose, face texture and geometry quality of 3D models in the offline RGB-D reconstruction with consumer depth cameras. One problem in online 3D reconstruction is that, existing camera pose estimation approaches in online RGB-D reconstruction systems always suffer from fast-scanned data and generate inaccurate relative transformations between consecutive frames. In order to improve the tracking robustness of online 3D reconstruction, we propose a novel feature-based camera pose optimization algorithm for real-time 3D reconstruction systems. We have demonstrated that our method improves current methods by utilizing matched features across all frames, and is robust on reconstructing RGB-D data with large adjacent shifts across frames. Another problem in RGB-D reconstruction is that the geometry of reconstructed 3D models is usually too dense and coarse, and texture quality of mesh faces is always too low. To deal with this problem, we introduce a new plane-based RGB-D reconstruction approach with plane, geometry and texture optimization to improve the geometry and texture quality of reconstructed models. Compared to existing planar reconstruction methods which cover only large planar regions in the scene, our method reconstructs the entire original scene without losing geometry details in the low-polygonal lightweight result meshes with clear face textures and sharp features. We have demonstrated the effectiveness of our approach by applying it onto different RGB-D benchmarks and comparing it with other state-of-the-art reconstruction methods.

Level Set Methods and Dynamic Implicit Surfaces

Level Set Methods and Dynamic Implicit Surfaces
Author: Stanley Osher
Publisher: Springer Science & Business Media
Total Pages: 292
Release: 2006-04-06
Genre: Mathematics
ISBN: 0387227466

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Very hot area with a wide range of applications; Gives complete numerical analysis and recipes, which will enable readers to quickly apply the techniques to real problems; Includes two new techniques pioneered by Osher and Fedkiw; Osher and Fedkiw are internationally well-known researchers in this area

Real-Time Interactive 3D Reconstruction of Indoor Environments With High Accuracy

Real-Time Interactive 3D Reconstruction of Indoor Environments With High Accuracy
Author: Shakil Ahmed
Publisher:
Total Pages: 0
Release: 2021
Genre:
ISBN:

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3D registration of depth images has been studied extensively in the past. With emergence of low cost RGB-D cameras, many applications have emerged. Yet, the quality of alignment has much to improve. It remains a challenge to create a 3D model of the environment with high accuracy which could be used for engineering applications. Moreover, challenging scenarios where features are scarce, handling large areas as scene, enabling the user to freely roam around the scene for image acquisition in a practical manner, guiding the user in taking better images and accomplishing all of this with low cost RGB-D camera in real time is a subject which is yet to be improved. In this thesis, we address all this challenges by designing and implementing a mobile system that rely on markers. Our system detects and matches markers in real-time with very low CPU load. Moreover, this mobile 3D reconstruction system is interactive which enables a user not only to move freely while doing 3D reconstruction, but also makes the user aware of current status of 3D reconstruction in real-time.

Computer Vision – ECCV 2016

Computer Vision – ECCV 2016
Author: Bastian Leibe
Publisher: Springer
Total Pages: 910
Release: 2016-09-16
Genre: Computers
ISBN: 3319464663

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The eight-volume set comprising LNCS volumes 9905-9912 constitutes the refereed proceedings of the 14th European Conference on Computer Vision, ECCV 2016, held in Amsterdam, The Netherlands, in October 2016. The 415 revised papers presented were carefully reviewed and selected from 1480 submissions. The papers cover all aspects of computer vision and pattern recognition such as 3D computer vision; computational photography, sensing and display; face and gesture; low-level vision and image processing; motion and tracking; optimization methods; physics-based vision, photometry and shape-from-X; recognition: detection, categorization, indexing, matching; segmentation, grouping and shape representation; statistical methods and learning; video: events, activities and surveillance; applications. They are organized in topical sections on detection, recognition and retrieval; scene understanding; optimization; image and video processing; learning; action, activity and tracking; 3D; and 9 poster sessions.