Journal ArticleDOI
On-line range images registration with GPGPU
Janusz Bedkowski,Jacek Naruniec +1 more
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TLDR
The research is related to the problem of collecting 3D data with a RGB-D camera mounted on a rotated head, to be used in mobile robot applications and the iterative closest point (ICP) approach is chosen as a registration method.Abstract:
This paper concerns implementation of algorithms in the two important aspects of modern 3D data processing: data registration and segmentation. Solution proposed for the first topic is based on the 3D space decomposition, while the latter on image processing and local neighbourhood search. Data processing is implemented by using NVIDIA compute unified device architecture (NIVIDIA CUDA) parallel computation. The result of the segmentation is a coloured map where different colours correspond to different objects, such as walls, floor and stairs. The research is related to the problem of collecting 3D data with a RGB-D camera mounted on a rotated head, to be used in mobile robot applications. Performance of the data registration algorithm is aimed for on-line processing. The iterative closest point (ICP) approach is chosen as a registration method. Computations are based on the parallel fast nearest neighbour search. This procedure decomposes 3D space into cubic buckets and, therefore, the time of the matching is deterministic. First technique of the data segmentation uses accele-rometers integrated with a RGB-D sensor to obtain rotation compensation and image processing method for defining pre-requisites of the known categories. The second technique uses the adapted nearest neighbour search procedure for obtaining normal vectors for each range point.read more
Citations
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Journal ArticleDOI
Improve 3D laser scanner measurements accuracy using a FFBP neural network with Widrow-Hoff weight/bias learning function
Julio C. Rodriguez-Quinonez,Oleg Sergiyenko,Daniel Hernandez-Balbuena,Moises Rivas-Lopez,Wendy Flores-Fuentes,Luis C. Basaca-Preciado +5 more
TL;DR: The current laser scanner technologies are introduced, a description of the 3D laser scanner is given, and their measurement error is adjusted by a previously trained feed forward back propagation (FFBP) neural network with a Widrow-Hoff weight/bias learning function.
Journal ArticleDOI
Synthesis of arbitrary pulse waveforms in QCL-seeded ns-pulse CO 2 laser for optimization of an LPP EUV source.
Krzysztof M. Nowak,Yoshiaki Kurosawa,Takashi Suganuma,Yasufumi Kawasuji,Hiroaki Nakarai,Saito Takashi,Junichi Fujimoto,Hakaru Mizoguchi +7 more
TL;DR: Experimental results are reported on that are, to the best knowledge, the first demonstration of such functionality obtainable from nanosecond-pulse CO2 laser technology.
Journal ArticleDOI
Efficient multiline nanosecond pulse amplification in planar waveguide CO₂ amplifier for extreme UV laser-produced plasma source.
Krzysztof M. Nowak,Takeshi Ohta,Takashi Suganuma,Junichi Fujimoto,Hakaru Mizoguchi,Akira Sumitani,Akira Endo +6 more
TL;DR: It is reported for the first time, to the best knowledge, a highly efficient pulsed amplification in a multipass amplifier built on RF-discharge-excited, diffusion-cooled CO2, planar waveguide industrial CO2 laser.
Proceedings ArticleDOI
QCL seeded, ns-pulse, multi-line, CO2 laser oscillator for Laser-Produced-Plasma EUV source
Krzysztof Nowak,Takashi Suganuma,Yoshiaki Kurosawa,Takeshi Ohta,Yasufumi Kawasuji,Hiroaki Nakarai,Saito Takashi,Junichi Fujimoto,Hakaru Mizoguchi,Akira Sumitani,Akira Endo +10 more
TL;DR: In this paper, the authors describe the operation principle and unique properties of the output of a solid-state seeded CO2 laser, such as multi-line operation, excellent spectro-temporal stability and pulse waveform control.
References
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Journal ArticleDOI
Random sample consensus: a paradigm for model fitting with applications to image analysis and automated cartography
TL;DR: New results are derived on the minimum number of landmarks needed to obtain a solution, and algorithms are presented for computing these minimum-landmark solutions in closed form that provide the basis for an automatic system that can solve the Location Determination Problem under difficult viewing.
Journal ArticleDOI
A method for registration of 3-D shapes
Paul J. Besl,H.D. McKay +1 more
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.
Proceedings ArticleDOI
Efficient variants of the ICP algorithm
Szymon Rusinkiewicz,Marc Levoy +1 more
TL;DR: An implementation is demonstrated that is able to align two range images in a few tens of milliseconds, assuming a good initial guess, and has potential application to real-time 3D model acquisition and model-based tracking.
Proceedings ArticleDOI
Fast Point Feature Histograms (FPFH) for 3D registration
TL;DR: This paper modifications their mathematical expressions and performs a rigorous analysis on their robustness and complexity for the problem of 3D registration for overlapping point cloud views, and proposes an algorithm for the online computation of FPFH features for realtime applications.
Book ChapterDOI
RGB-D Mapping: Using Depth Cameras for Dense 3D Modeling of Indoor Environments
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.
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