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Real-time tracking of 3D elastic objects with an RGB-D sensor
2015
2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
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This paper presents a method to track in real-time a 3D textureless object which undergoes large deformations such as elastic ones, and rigid motions, using the point cloud data provided by an RGB-D sensor ...
The segmented point cloud is registered first in a rigid manner and then by non-rigidly fitting the mesh, based on the Finite Element Method to model elasticity, and on geometrical point-to-point correspondences ...
RGB
Fig. 3 : 3 Temporal consistency for segmentation. ...
doi:10.1109/iros.2015.7353928
dblp:conf/iros/PetitLS15
fatcat:br6lupeudvem5mnszdv4czaeni
Curved Buildings Reconstruction from Airborne LiDAR Data by Matching and Deforming Geometric Primitives
[article]
2020
arXiv
pre-print
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The input LiDAR point cloud are first converted into contours where individual buildings are identified. ...
To polish assembly models, we employ a warping field for model refinements. Specifically, an embedded deformation (ED) graph is constructed via downsampling the initial model. ...
For details on contour topology based segmentation, please refer to [3] for technical details.
D. ...
arXiv:2003.09934v1
fatcat:ifntkixaefgt7huecqfc35cmpu
Identification and Visualization of the Full-Ring Deformation Characteristics of a Large Stormwater Sewage and Storage Tunnel Using Terrestrial Laser Scanning Technology
2019
Energies
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A data processing methodology was developed to extract the key data points of the lining segments from the original data cloud by removing noise points and mitigating data jump, based on which the deformation ...
capturing the full-ring deformation of the tunnel lining is significant for a comprehensive understanding of the tunnel's mechanical behaviors. ...
Acknowledgments: The technical support from the staff of Shanghai Tunnel Engineering Co. Ltd. during the full-scale loading tests is highly appreciated.
Conflicts of Interest: None. ...
doi:10.3390/en12071304
fatcat:yc22jggg6jhrrjoa3fgt3sum5a
Tracking elastic deformable objects with an RGB-D sensor for a pizza chef robot
2017
Robotics and Autonomous Systems
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This paper presents a method to track in real-time a 3D object which undergoes large deformations such as elastic ones, and fast rigid motions, using the point cloud data provided by a RGB-D sensor. ...
The segmented point cloud is then registered first in a rigid manner and then by non-rigidly fitting the mesh, based on the Finite Element Method to model elasticity and on geometrical pointto-point correspondences ...
REGISTRATION WITH POINT CLOUD DATA Our deformable registration problem consists in fitting the point cloud data provided by an RGB-D sensor, with the tetrahedral mesh. ...
doi:10.1016/j.robot.2016.08.023
fatcat:fkrgdl3ijzerpevwljpxryqjaa
A Transmission Tower Tilt State Assessment Approach Based on Dense Point Cloud from UAV-Based LiDAR
2022
Remote Sensing
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Second, an accurate and efficient extraction and simplification strategy of the contour of the feature plane point cloud was proposed. ...
A robust histogram local extremum extraction method with additional constraints was proposed to achieve adaptive segmentation of the tower head and tower body point cloud. ...
Conflicts of Interest: The authors declare no conflict of interest. ...
doi:10.3390/rs14020408
fatcat:n3hbrlfcd5cnraxi4fi72ts3d4
An innovative subdivision-ICP registration method for tool-path correction applied to deformed aircraft parts machining
2010
The International Journal of Advanced Manufacturing Technology
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A Subdivision Iterative Closest Point algorithm, which considers different parts of the contour with respect to curvature, allows to obtain far better results than classical methods, without complicated ...
The procedure has shown to be effective for porthole and nose-cone deburring. Experimental tests conducted on robotic milling workcell demonstrated the efficiency of the registration method. ...
Acknowledgements The Authors wish to thank Mr. Xu Z. for programming the algorithm and Mr. Helle X. and Mr. Olabi A. for their contributions to the experimental validations. ...
doi:10.1007/s00170-010-2875-0
fatcat:dzzvx6fccnffdphlfxi6qgu77q
Deep Statistic Shape Model for Myocardium Segmentation
[article]
2022
arXiv
pre-print
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Deep neural network is used to predict the transformation parameters (both affine and deformation), which are then used to warp the mean point cloud to the image domain. ...
Additionally, the predicted point cloud guarantees boundary correspondence for sequential images, which contributes to the downstream tasks, such as the motion estimation of myocardium. ...
2: Generate the mean shape M mean via Generalized Procrustes Analysis 3: Generate mean point cloud P mean from obtained mean shape mask M mean 4: for i from 1 to N do 5: Deformation to obtain the point ...
arXiv:2207.10607v1
fatcat:jgeovlzcabgsvmnq3nvuywpuj4
Shrinking tube mesh: combined mesh generation and smoothing for pathologic vessels
2020
Current Directions in Biomedical Engineering
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A start shape is fitted iteratively to the point cloud. The presented algorithm was successfully used to generate meshes of the inner and outer contour from vessels in histologic images. ...
While histologic slices have a high in-plane resolution, the large slice distance and deformations during tissue deformations are challenging for 3D model generation. ...
In the images the inner and outer contour is segmented. To get a 3D point cloud of these contour points, a z-coordinate based on the slide number and distance between slides is added. ...
doi:10.1515/cdbme-2020-0035
fatcat:66vylnjk4zclpj6obecai64sum
CONTOUR INTERPOLATION USING LEVEL-SET ANALYSIS
2012
International Journal of Image and Graphics
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For meteorological applications, the proposed algorithm can generate intermediate shapes of, for example, a developing storm, when satellite images are taken at considerably apart time points. ...
The interpolated contours between an initial and a target contour act as a missing link and establish a path along which contour deformation has taken place. ...
To construct intermediate contours for [11] which is a point based path tracing approach, generated contour points are joined with linear segments. 3(e) shows the path from red initial contour ( ...
doi:10.1142/s0219467812500040
fatcat:3gfwgizptnd4xmpuwuksvstt3y
Segmentation for Range Image Based on Snake Active Contour Model
2016
International Journal of Signal Processing, Image Processing and Pattern Recognition
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First, this paper expresses the snake active contour model in the form of parameters, and illustrates the contour line data points inside and outside of the movement and pseudo code description of the ...
In view of the defect about traditional range image segmentation methods, this paper introduces a new range image segmentation method based on snake active contour model (SCAM). ...
Then use point cloud based on picture processing of mesh method for image segmentation to get the segmented plane domain. ...
doi:10.14257/ijsip.2016.9.8.33
fatcat:wjkmr5j2rjaqxly7qqvad3wwsq
Tracking Fractures of Deformable Objects in Real-Time with an RGB-D Sensor
2015
2015 International Conference on 3D Vision
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This paper introduces a method able to track in real-time a 3D elastic deformable objects which undergo fractures, using the point cloud data provided by an RGB-D sensor. ...
The segmented point cloud is registered by non-rigidly fitting the mesh, based on the Finite Element Method to physically model elasticity, and on geometrical point-to-point correspondences to compute ...
the segmented point cloud. ...
doi:10.1109/3dv.2015.78
dblp:conf/3dim/PetitLS15
fatcat:pzkun32d5jefjmv5m6qtvphsua
Cell Resolution 3D Reconstruction of Developing Multilayer Tissues from Sparsely Sampled Volumetric Microscopy Images
2011
2011 IEEE International Conference on Bioinformatics and Biomedicine
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We show that the 3D reconstruction can lead to 3D shape models of complete cell clusters, which is an essential first step towards obtaining growth statistics for individual cells. ...
Motivated by the physical structure of the cells, we propose to reconstruct a cell cluster as a packing of truncated ellipsoids representing the individual cells. ...
At this stopping point, each of the 3D points in the dense point cloud (computed in step 3) in SAM is inside atleast one of the deformed ellipsoids ( Fig. 1(G) , Sec. III-C). 4. ...
doi:10.1109/bibm.2011.123
dblp:conf/bibm/ChakrabortyYRC11
fatcat:udbulfrodzfgfdpbebm5hxe6py
Point-Based Geometric Deformable Models for Medical Image Segmentation
[chapter]
2005
Lecture Notes in Computer Science
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Conventional level set based image segmentations are performed upon certain underlying grid/mesh structures for explicit spatial discretization of the problem and evolution domains. ...
and image information, thus rid of the needs for computational grids and the associated refinements. ...
Methodology
Geometric Deformable Models Level Set Formulation: Suppose we want to model a dynamic deformable contour C(t) ∈ R d under a known velocity field F (x, C(t)), where x ∈ R d and the initial ...
doi:10.1007/11566465_35
fatcat:7qrrvts73rfx5mm2qdcjmw3u74
Knowledge-based Registration for Reliable Correlated Change Detection on High-pier Curved Continuous Rigid Frame Bridge
2018
Intelligent Computing in Engineering and Architecture
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This study proposed a knowledge-based registration approach that segments point clouds into structural elements for recovering the correlated torsional and bending behaviors of connected bridge elements ...
The proposed approach uses the joint equilibrium condition between structural elements as domain knowledge to guide the selection of correspondences for point cloud registration and element-level change ...
The supports are gratefully acknowledged. ...
dblp:conf/egice/SunSXT18
fatcat:wlpftlrm3fhudlihedtgxs53fe
Quantification of osteoarticular joint defects through bone segmentation and modeling
2014
Bio-medical materials and engineering
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Experimental results demonstrate that the proposed method can effectively segment the joint structures from the CT image. ...
Joint structures with mirror symmetry are matched using the Iterative Closest Point registration algorithm. ...
Fig. 4 . 4 Result of the point cloud registration. (a) and (b) are the rendering of the registered point clouds and the meshes of the bone structures. ...
doi:10.3233/bme-141172
pmid:25227059
fatcat:6og4rc2k6fapthqks7wxgl63ga
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