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This paper presents a new unified feature parametrization approach for monocular SLAM. The parametrization is based on the parallax angle and can reliably represent both nearby and distant features, as well as features in the direction of camera motion and features observed only once. A new bundle adjustment (BA) algorithm using the proposed parallax angle parametrization is developed and shown to...
The tasks of region or object segmentation and environment change detection in a 3D context are investigated and tested on an autonomous skid steer loader. This is achieved through a technique analogous to background subtraction utilising 3D scan data which is first aligned before a voxel subtraction operation against a prior map. We highlight the close relationships between the scan-to-map alignment,...
This paper describes the use of a probabilistic quality metric for planning camera placement for 3D reconstructions. A probabilistic quality metric estimates the probability of a reconstruction achieving a desired goal. This probabilistic model leads to the natural integration of many different factors influencing the quality of a reconstruction without relying on arbitrary weights for those factors...
The outdoor perception problem is a major challenge for driver-assistance and autonomous vehicle systems. While these systems can often employ active sensors such as sonar, radar, and lidar to perceive their surroundings, the state of standard traffic lights can only be perceived visually. By using a prior map, a perception system can anticipate and predict the locations of traffic lights and improve...
In this work we address joint object category and instance recognition in the context of RGB-D (depth) cameras. Motivated by local distance learning, where a novel view of an object is compared to individual views of previously seen objects, we define a view-to-object distance where a novel view is compared simultaneously to all views of a previous object. This novel distance is based on a weighted...
The quality of depth maps is crucial for 2D to 3D conversion, but high quality depth map generation methods are usually very time consuming. We propose an efficient semi-automatic depth map generation scheme based on limited user inputs and depth propagation. First, the original image is over-segmented. Then, the depth values of selected pixels and the approximate locations of T-junctions are specified...
In this paper, we come up with a new algorithm for node localization in three-dimensional wireless sensor networks, DB. Based on the two well-known algorithms, DV-Hop and Bounding Cube, DB uses the distance of known nodes and unknown nodes as the radius of the cubes which are used for centroid estimate, and then evaluate location of the unknown nodes according to the intersection of the cubes. And...
Partial discharges (PD) are electrical discharges that occur when the insulation system of high voltage equipment is in the process of degradation. Radio frequency (RF) measurement methods may be employed for detecting radiated energy from PD activity and subsequent location of the PD source. Based on suitable arrangements of multiple antennas and measured time differences of arrival between detected...
This paper presents a hand-gesture based interface for facilitating communication among speech- and hearing-impaired disabilities. In the system, a wireless sensor glove equipped with five flex sensors and a 3D accelerometer is used as the input device. By integrating the speech synthesizer onto an automatic gesture recognition system, user's hand gestures can be translated into sounds. In this study,...
This paper presents the first performance evaluation of interest points on scalar volumetric data. Such data encodes 3D shape, a fundamental property of objects. The use of another such property, texture (\ie 2D surface colouration), or appearance, for object detection, recognition and registration has been well studied, 3D shape less so. However, the increasing prevalence of depth sensors and the...
In stereo vision researches, feature-based stereo matching algorithms have been widely used in the preference of low computation cost and high matching accuracy. This paper presents a new stereo matching algorithm based on feature links. The proposed method, which is called feature link matching, utilizes the length and color information of feature links in stereo images. The proposed algorithm is...
In this paper, we use the notion of affordances, proposed in cognitive science, as a framework to propose a developmental method that would enable a robot to ground symbolic planning mechanisms in the continuous sensory-motor experiences of a robot. We propose a method that allows a robot to learn the symbolic relations that pertain to its interactions with the world and show that they can be used...
The Three-Dimensional Normal Distributions Transform (3D-NDT) is a spatial modeling technique with applications in point set registration, scan similarity comparison, change detection and path planning. This work concentrates on evaluating three common variations of the 3D-NDT in terms of accuracy of representing sampled semi-structured environments. In a novel approach to spatial representation quality...
Classification of electric appliance parts is one of the interesting and practically valuable applications for 3D object recognition. Based on existing works, in this paper we try classifying electric appliance parts data obtained in an automatable process, which becomes a basis for automated recycling system. The dataset includes deformable objects such as cables as well as various rigid objects,...
The paper outlines the integral equation based method for analysis of rotationally symmetric 3D resonators. The method combines the Body of Revolution (BOR) and the Method of Analytical regularization to stabilize the kernel.
In this paper, we present an infrastructure-based ground-truth localization system suitable for deployment in large worksite environments. In particular, the system is low-cost, simple-to-deploy, and is able to provide full six-degree-of-freedom relative localization for three-dimensional laser scanners with centimetre-level accuracy in translation, and half-degree accuracy in orientation. This system...
Brain-computer interfaces (BCIs) are devices that allow for thought-based control of computer systems. However, sophisticated control of multi-dimensional BCIs has only recently been achieved in non-invasive systems. The design of these systems has focused on giving users fast, autonomous control that is both intuitive and accurate. Through the use of electroencephalographic recording techniques,...
Tracking a user's hand for 3D rendering and visualization creates a sense of presence in virtual reality environments. At present, tracking devices built for both research and consumer use are increasingly accessible, with ever improving spatiotemporal accuracy. This work seeks to contribute a new design which offers an ability to track the fingers and palm. The hand tracking method described herein...
This article discussed measurement accuracy and application domain of the terrestrial laser scanning system in the field of architectural heritage. Experiments showed that the positional accuracy of this technology only achieved 1 centimeter and its length relative error also was bigger than that of a direct measurement method. According to analysis on the accuracy level of the laser scanner and requirements...
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