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Grasping unknown objects based on real-world visual input is a challenging problem. In this paper, we present an Early Cognitive Vision system that builds a hierarchical representation based on edge and texture information, which is a sparse but powerful description of the scene. Based on this representation we generate edge-based and surface-based grasps. The results show that the method generates...
This paper proposes a novel recognition scheme for semantic labeling of 2D objects present in still images. The principle consists of matching unknown 2D objects with categorized 3D models in order to associate the semantics of the 3D object to the image. We tested our new recognition framework by using the MPEG-7 and Princeton 3D model databases in order to label unknown images randomly selected...
We present an analysis of the requirement for input synchronisation in a multi-camera 3D reconstruction system for real-time applications such as telepresence. Synchronisation of the cameras at the acquisition stage is universally used to ensure the images feeding the reconstruction algorithm were taken at the same time. However, this requirement adds delays to the reconstruction pipeline, therefore...
Consumer depth cameras, such as the Microsoft Kinect, are capable of providing frames of dense depth values at real time. One fundamental question in utilizing depth cameras is how to best extract features from depth frames. Motivated by local descriptors on images, in particular kernel descriptors, we develop a set of kernel features on depth images that model size, 3D shape, and depth edges in a...
This paper presents a study of approaches for selecting an eficient attack pose when loading piled materials with industrial construction vehicles. Automated handling of piled materials is a highly desired goal in many construction and mining applications. The main contributions of the paper are an experimental study of two novel approaches for selecting an attack pose from 3D data, compared to previously...
For tunnel system has complex topology, and there are many problems in 3D modeling. according to spacial structure, This paper classified the tunnel into four basic shape units: linear-shaped, broken line-shaped, T-shaped and X-shaped, and puts forward a new modeling methodology of organizing the four basic units to form the hole tunnel system which improve working efficiency obviously. Principles...
Motivated by the increasing availability of 3D sensors capable of delivering both shape and texture information, this paper presents a novel descriptor for feature matching in 3D data enriched with texture. The proposed approach stems from the theory of a recently proposed descriptor for 3D data which relies on shape only, and represents its generalization to the case of multiple cues associated with...
This paper proposes a novel extension of the 3L algorithm to the B-Splines solution space. The 3L algorithm is a fast algebraic method for fitting a set of points through implicit curves or surfaces. It was originally proposed for Implicit Polynomials, which although simple and attractive are not flexible representations. In this paper Implicit B-Splines (IBSs) are used to define the solution space...
In this paper, we propose a novel surface completion method to generate plausible shapes and textures for missing regions of 3D models. The missing regions are filled in by minimizing two energy functions for shape and texture, which are both based on similarities between the missing region and the rest of the object; in doing so, we take into account the positive correlation between shape and texture...
Facial landmark detection has proved to be a very challenging task in biometrics due to the numerous sources of variation. In this work, we present an algorithm for robust detection of facial component-landmarks. Specifically, we address the variation due to extreme pose and illumination. To achieve robust detection for extreme poses, we use a set of independent pose and landmark specific detectors...
Facial landmark detection is an essential module in many face related applications and it often appears as the most time consuming part in face processing pipeline. This paper proposes a fast and effective method for facial landmark detection using Haar cascade classifiers and a simple 3D head model, which not only detects the position of landmark points but also gives an estimation of head pose such...
We consider a class of projector-based light field 3D displays (horizontal parallax only) that use reflective or refractive anisotropic diffusers, and analyze the implications that at slated projection the light spreading is not in an ideally vertical plane, but instead is shaped like a cone. We demonstrate how this causes geometric distortions, some of which can be corrected by proper choice of projected...
Recently, the view-based 3D model retrieval methods have received great research attentions. However, these methods are difficult to preserve the spatial structure of 3D models. In this paper, we propose a novel view-based 3D model retrieval method to solve this problem. Our method is based on the two-level (3D model-level and 2D image-level) spatial structure. Firstly, we extract the spatial structure...
Although numerous methods have been recently proposed in recovering shape from image focus, all follow similar precedent of focus measure application after image acquisition and depth is recovered by maximizing the focus curves obtained via this application. This is followed by utilizing approximation techniques to refine the initial depth map. In this paper we have followed an unorthodox approach...
This paper presents a novel descriptor for recognizing objects in highly occluded and cluttered 2.5D scenes produced by range scans. This new compact regional shape descriptor, called “projection images”, is designed to be robust against noise, partial occlusion and clutter. Projection images are formed by “projections” of points onto the plane centered at the basis point which is perpendicular to...
The iterative closest point (ICP) algorithm is an accurate approach for the registration between two point sets on the same scale. However, it can not handle the case with different scales. This paper proposes a fast and robust ICP algorithm for isotropic scaling point sets registration (FRISICP). In order to accurately and directly estimate the scale factor without any constraints, we introduce a...
In this paper, we propose a novel gait recognition framework which is Spherical Space Model with Human Point Clouds (SSM-HPC). A new gait representation is also introduced, which is called Marching in Place (MIP) gait and preserves the spatiotemporal characteristics of individual gait manner. Various researches for gait recognition have used human silhouette images from moving picture. This research...
This paper presents a mesh-based approach for 3D face recognition using a novel local shape descriptor and a SIFT-like matching process. Both maximum and minimum curvatures estimated in the 3D Gaussian scale space are employed to detect salient points. To comprehensively characterize 3D facial surfaces and their variations, we calculate weighted statistical distributions of multiple order surface...
Color and depth play important roles in natural scenes and in vision, and their perception is related. Extensive work has been conducted on studying the luminance statistics of natural scenes; however, there is very little work done on analyzing the statistics between luminance and range in natural scenes, not to mention color and range. In this paper, we present the LIVE Color+3D Database, which...
Our paper handles the elastic shape registration by combining the incremental free form deformation (IFFD) with the point-based registration technique using the sum of least squares method. The iterative closest point (ICP) algorithm is used as criteria to establish point correspondences in each level of the IFFD framework. The IFFD control lattice resolution is increased step by step to achieve a...
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