points with low contrast and edge response features along an edge are discarded in order to ..... executed on a machine
Traditional modelling systems such as Maya,. 3D Max or Blender enable graphic designers to construct ... constructing a
This thesis addresses techniques for automated point cloud classification and the reconstruction ... distance of 20cm or measured reference points from existing software to evaluate their quality. The ...... Sampath and Shan (2010), Seo et al.
Jul 17, 2015 - Images of street views are typically captured by driving recorders mounted in the front of a moving ..... 0° and 360° like Figure 7a. ..... (b) are the side and oblique bird's-eye view of two buildings from Google Earth, respectively
May 26, 2015 - Smartphone companies, such as Google, Microsoft, Apple, and Samsung, have ...... Available online: http://en.wikipedia.org/wiki/Open_data.
predictions, the total 3D modeling and mapping market is expected to grow from $1.1 ... robust methods for the pipeline from the original point cloud to 3D model ...
Professor Stephan Nebiker, University of Applied Sciences Northwestern .... thankful to Professor Hannu Hyyppä from Aalto University and Helsinki Metropolia.
Nov 16, 2016 - of the system, it was tested on the well-known Kitti vision benchmark. ... of the laser beams and the proximity of the objects present in the scene.
Camera Calibration and 3D Scene Reconstruction from image sequence and rotation sensor data. Jan-Michael Frahm and Reinhard Koch. Christian Albrechts ...
2950 Hobson Way. WPAFB, OH, USA. [email protected]. Eli Saber. Department of Electrical. Engineering and. Chester F. Carlson Center for Imaging Science.
We describe a reconstruction method of multiple motion scenes, which are ... era motion and scene structure from image sequences, has various applications ...
A novel method able to recover scene planes of arbitrary position and orientation from oriented ..... The 'Laptop' data-set consists of two images with resolution.
Scene graphs are subject to a number of forces in the software design of an ...... frees the developer from much bookkeeping and overhead work in creating the ...
Prof. Dr. Canan Ãzgen. Director. I certify that this thesis satisfies all the requirements as a thesis for the degree of Master of Science.
about multiple sensors with overlapping field-of-views. Careful error ... m above the surface of water, as Kinect has a minimum depth sensing limit of ~50 ..... detected in-line with the incident NIR ray along the normal to the actual point. ..... Th
The fitting procedure is applied to introduce robustness with respect to pixel noise. For non- uniform camera ..... Pedrotti, F.L.: Introduction to Optics, 2nd Edition.
3D reconstruction from multiple view videos over the past decade. In this paper ... considerable interest as a production tool in film, broadcast and games [5][6].
Nov 9, 2012 - We further leverage the boundary enhancement filters as a post-processing to sharpen the object boundaries in obtained depth maps for better ...
This paper presents practical applications of volume spline ... with sculpting. An overview of the considered problem can be found in[1]. Surface .... Figure 3a, 3b.
map of the scene and the rigid motion parameters of the camera (at most 6 scalar num- bers for ..... depends on the depth map via the following equation Ï2(x) =.
[email protected]. Martin Pruzinec. Institute for Algorithms ... Meu07a] and Jack [Tra07a, Bur07a] but also free research projects like the AnyBody Project ...
May 11, 2015 - Moreover, in the field of Cultural Heritage, the use of automated ... methods. Photogrammetric tools enable an intuitive and cost- efficient way of ...
Nelson, 2003] and in 3D [Greminger and Nelson, 2008]. Comparisons ...... these outliers, the most common scheme is to rely on a RANSAC [Fischler and Bolles, ...... [Carr et al., 2001] J.C. Carr, Richard R.K. Beatson, J.B. Cherrie, T.J. Mitchell,.
Sound of Vision â 3D scene reconstruction from stereo vision in an ... Implemented in Python using. Csound ... Processing of the disparity map. Removal of ...
Sound of Vision – 3D scene reconstruction from stereo vision in an electronic travel aid for the visually impaired
M. Owczarek, P. Skulimowski, P. Strumillo Date: 14.7.2016
Sound of Vision project EU Horizon 2020 - prototype wearable electronic travel aid • Aim of the project: a wearable ETA for assisting blind persons by rendering the image of the environment through an auditory display • The prototype device captures a 3D image of the environment, processes it in realtime, and presents the relevant information to a blind user • New approaches to 3D scene reconstruction and segmentation
Page: 2
Stereovision -> Disparity map
xL
d = |XL-XR| Page: 3
xR
UV-disparity representation of disparity map
Page: 4
Proposed methods for 3D scene reconstruction • Direct sonification of the “U-disparity” • The concept of the simplified sound icons Stereovision camera
Disparity
Estimation of ground plane
(on CPU)
(based on disparity and depth maps)
Depth
Obstacle detection
“U-disparity”
(after ground plane and background removal)
(representation of the scene)
Obstacle blobs
“Obstacle map”
(image moments, mask, etc.)
(s cene segmented into ground and obstacles)
Point cloud (of extracted obstacles)
Page: 5
Basic UV-disparity sonification What was done: Simple U-disparity image sonification Implemented in Python using Csound Moog Ladder synthesizer Pentatonic scale, 6-9th octave. Stereo panning Nonlinear distance scaling
Page: 6
The concept of the simplified sound icons Raw disparity map
Page: 8
Processing of the disparity map Removal of background, ground plane and all elements >2m above it
Page: 9
The concept of the simplified sound icons Minimum-area bounding rotated rectangles outlining the detected obstacles
Page: 10
The concept of the simplified sound icons Result segmentation map
Current and future work • Merging stereovision data with Structure Sensor data (for improved indor vision) • Detection and sonification of special object categories: • Walls • Stairs • Holes/dropoffs • Hanging face/torso level obstacles • Doors • Text • Persons
Page: 12
Summary
• A simple and effective method of detecting obstacles and the ground plane has been developed • Obstacles can be detected even if the quality of the disparity map is low • Assumption: the ground plane occupies significant part of the image and is clearly visible • Weakness: only significantly large obstacles can be detected due to narrow base of the stereovision system
http://icchp2016.naviton.pl/
Page: 13
Acknowledgment
This work received funding from the European Union’s Horizon 2020 research and innovation programme under grant agreement No 643636 ”Sound of Vision”.
