Proceedings Article•
A dense map building approach from spherical RGBD images
01 Jan 2014-pp 656-663
TL;DR: This work proposes to tackle the pose estimation problem by using both photometric and geometric information in a direct RGBD image registration method and a pose graph representation, whereby, given a database of augmented visual spheres, a travelled trajectory with redundant information is pruned out to a skeletal pose graph.
Abstract: Visual mapping is a required capability for practical autonomous mobile robots where there exists a growing industry with applications ranging from the service to industrial sectors. Prior to map building, Visual Odometry(VO) is an essential step required in the process of pose graph construction. In this work, we first propose to tackle the pose estimation problem by using both photometric and geometric information in a direct RGBD image registration method. Secondly, the mapping problem is tackled with a pose graph representation, whereby, given a database of augmented visual spheres, a travelled trajectory with redundant information is pruned out to a skeletal pose graph. Both methods are evaluated with data acquired with a recently proposed omnidirectional RGBD sensor for indoor environments.
Citations
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TL;DR: The main novelty behind the method is to perform detection and regularization in tandem, which improves data fitting and provides guidance for clustering small parts into larger planar parts.
Abstract: We present a method for planar shape detection and regularization from raw point sets. The geometric modelling and processing of man-made environments from measurement data often relies upon robust detection of planar primitive shapes. In addition, the detection and reinforcement of regularities between planar parts is a means to increase resilience to missing or defect-laden data as well as to reduce the complexity of models and algorithms down the modelling pipeline. The main novelty behind our method is to perform detection and regularization in tandem. We first sample a sparse set of seeds uniformly on the input point set, and then perform in parallel shape detection through region growing, interleaved with regularization through detection and reinforcement of regular relationships coplanar, parallel and orthogonal. In addition to addressing the end goal of regularization, such reinforcement also improves data fitting and provides guidance for clustering small parts into larger planar parts. We evaluate our approach against a wide range of inputs and under four criteria: geometric fidelity, coverage, regularity and running times. Our approach compares well with available implementations such as the efficient random sample consensus-based approach proposed by Schnabel and co-authors in 2007.
79 citations
06 Nov 2014
TL;DR: This paper proposes a new uncomplicated technique for extrinsic calibration of range cameras that relies on finding and matching planes, providing a versatile solution that is extremely fast and easy to apply.
Abstract: The integration of several range cameras in a mobile platform is useful for applications in mobile robotics and autonomous vehicles that require a large field of view. This situation is increasingly interesting with the advent of low cost range cameras like those developed by Primesense. Calibrating such combination of sensors for any geometric configuration is a problem that has been recently solved through visual odometry (VO) and SLAM. However, this kind of solution is laborious to apply, requiring robust SLAM or VO in controlled environments. In this paper we propose a new uncomplicated technique for extrinsic calibration of range cameras that relies on finding and matching planes. The method that we present serves to calibrate two or more range cameras in an arbitrary configuration, requiring only to observe one plane from differ- ent viewpoints. The conditions to solve the problem are studied, and several practical examples are presented covering different geometric configurations, including an omnidirectional RGB- D sensor composed of 8 range cameras. The quality of this calibration is evaluated with several experiments that demon- strate an improvement of accuracy over design parameters, while providing a versatile solution that is extremely fast and easy to apply.
47 citations
Cites background from "A dense map building approach from ..."
...The disadvantages of previous calibration approaches were clear after the construction of a device for omnidirectional intensity and range image acquisition based on a rig of RGBD cameras (figure 5) [5]....
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01 Jan 2014
TL;DR: The first task was to register over a thousand strings of them in the Petrie Collection, but for the registration of whole strings of beads, there are some other informations which should be recorded as well.
Abstract: When I started work on beads, the first task was to register over a thousand strings of them in the Petrie Collection. At that time, I did not know what I might need in the later stage of my work, let alone what other people in the field or museum my require for their purposes. The obvious course naturally resorted to is to follow some system or other with certain modifications. As stated by Beck, “to describe a bead fully it is necessary, to state its form, perforation, colour, material, and decoration” But for the registration of whole strings of beads, there are some other informations which should be recorded as well.
36 citations
TL;DR: A flexible strategy to register scenes based on its planar structure, which can be used with different sensors that acquire 3D data like LIDAR, time-of-flight cameras, RGB-D sensors and stereo vision is presented.
28 citations
Cites methods from "A dense map building approach from ..."
...If this situation cannot be guaranteed, as it happens for a hand-held RGBD camera, then visual-range odometry may be used [23,24], as in the experiments in Section 5....
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Journal Article•
TL;DR: In this paper, a new approach based on morphological color operators to restore the color text is presented, and the morphological tools are based on three color spaces, HSI well known in morphological processes, YCrCb and YIQ rarely used in morphology procedures.
Abstract: An obstacle in old document interpretation comes from the lack of image quality. Old documents frequently appear with digitization errors, uneven background, bleed-through effect. A new approach based on morphological color operators to restore the color text is presented. The morphological tools are based on three color spaces, HSI well known in morphological processes, YCrCb and YIQ rarely used in morphological procedures. Experimental results carried onto 100 old documents have proven that using YCrCb and YIQ is as effective as using HSI to recover ancient texts in uneven and foxed background images, without presenting problems in hue ordination.
16 citations
References
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TL;DR: In this paper, the authors describe a general-purpose representation-independent method for the accurate and computationally efficient registration of 3D shapes including free-form curves and surfaces, based on the iterative closest point (ICP) algorithm, which requires only a procedure to find the closest point on a geometric entity to a given point.
Abstract: The authors describe a general-purpose, representation-independent method for the accurate and computationally efficient registration of 3-D shapes including free-form curves and surfaces. The method handles the full six degrees of freedom and is based on the iterative closest point (ICP) algorithm, which requires only a procedure to find the closest point on a geometric entity to a given point. The ICP algorithm always converges monotonically to the nearest local minimum of a mean-square distance metric, and the rate of convergence is rapid during the first few iterations. Therefore, given an adequate set of initial rotations and translations for a particular class of objects with a certain level of 'shape complexity', one can globally minimize the mean-square distance metric over all six degrees of freedom by testing each initial registration. One important application of this method is to register sensed data from unfixtured rigid objects with an ideal geometric model, prior to shape inspection. Experimental results show the capabilities of the registration algorithm on point sets, curves, and surfaces. >
17,598 citations
26 Oct 2011
TL;DR: A system for accurate real-time mapping of complex and arbitrary indoor scenes in variable lighting conditions, using only a moving low-cost depth camera and commodity graphics hardware, which fuse all of the depth data streamed from a Kinect sensor into a single global implicit surface model of the observed scene in real- time.
Abstract: We present a system for accurate real-time mapping of complex and arbitrary indoor scenes in variable lighting conditions, using only a moving low-cost depth camera and commodity graphics hardware. We fuse all of the depth data streamed from a Kinect sensor into a single global implicit surface model of the observed scene in real-time. The current sensor pose is simultaneously obtained by tracking the live depth frame relative to the global model using a coarse-to-fine iterative closest point (ICP) algorithm, which uses all of the observed depth data available. We demonstrate the advantages of tracking against the growing full surface model compared with frame-to-frame tracking, obtaining tracking and mapping results in constant time within room sized scenes with limited drift and high accuracy. We also show both qualitative and quantitative results relating to various aspects of our tracking and mapping system. Modelling of natural scenes, in real-time with only commodity sensor and GPU hardware, promises an exciting step forward in augmented reality (AR), in particular, it allows dense surfaces to be reconstructed in real-time, with a level of detail and robustness beyond any solution yet presented using passive computer vision.
4,184 citations
"A dense map building approach from ..." refers background in this paper
...Recent works of the same domain includes that of (Newcombe et al., 2011) whereby a preliminary frame to frame registration is fed to a surface reconstruction module which improves the perceived model over time together with the estimated pose....
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TL;DR: A new approach is proposed which works on range data directly and registers successive views with enough overlapping area to get an accurate transformation between views and is performed by minimizing a functional which does not require point-to-point matches.
2,850 citations
Additional excerpts
...With the aim of robustifying the above cost function, a geometric point to plane constraint (Chen and Medioni, 1992) is added to the equation (2) as follows: FS= 1 2 ‖eI‖ 2 DI + λ2 2 ‖eρ‖ 2 DD , (3) which can be written in its explicit form: FS= 1 2 k ∑ i ηHUB ∥∥∥∥I ( w(T̂T(x)...
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TL;DR: This paper presents RGB-D Mapping, a full 3D mapping system that utilizes a novel joint optimization algorithm combining visual features and shape-based alignment to achieve globally consistent maps.
Abstract: RGB-D cameras (such as the Microsoft Kinect) are novel sensing systems that capture RGB images along with per-pixel depth information. In this paper we investigate how such cameras can be used for building dense 3D maps of indoor environments. Such maps have applications in robot navigation, manipulation, semantic mapping, and telepresence. We present RGB-D Mapping, a full 3D mapping system that utilizes a novel joint optimization algorithm combining visual features and shape-based alignment. Visual and depth information are also combined for view-based loop-closure detection, followed by pose optimization to achieve globally consistent maps. We evaluate RGB-D Mapping on two large indoor environments, and show that it effectively combines the visual and shape information available from RGB-D cameras.
1,223 citations
"A dense map building approach from ..." refers methods in this paper
...The RGB-D slam framework of (Henry et al., 2012) used a variant of the Iterative Closest Point algorithm (ICP) - direct alignment of 3D point clouds (Besl and McKay, 1992), (Zhang, 1992), together with photometry....
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01 Jan 2004
1,103 citations
"A dense map building approach from ..." refers methods in this paper
...The reconstruction of a group action̂T ∈ SE(3) from the twist consists of applying the exponential map using Rodriguez formula (Ma et al., 2004)....
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