Search results for "STRUCTURE FROM MOTION"
showing 10 items of 44 documents
Unmanned Aerial Vehicle (UAV) Survey with Commercial-Grade Instruments: A Case Study from the Eastern Ḫabur Archaeological Survey, Iraq
2018
Low-altitude photography in archaeology is now common practice at the scale of excavations; however, landscape-scale applications are a relatively new endeavor with promising analytical potential. From 2014–2016, an unmanned aerial vehicle (UAV) with a mounted camera was used to document sites recorded as part of the Eastern Ḫabur Archaeological Survey (EḪAS), an archaeological reconnaissance project in western Dohuk Province, Iraqi Kurdistan. The EḪAS team documented over 70 archaeological sites with the UAV, from single-phase artifact scatters, to archaeological remains with standing architecture, to tells that cover more than 30 hectares. Representative examples from this survey are pres…
Homography based egomotion estimation with a common direction
2017
International audience; In this paper, we explore the different minimal solutions for egomotion estimation of a camera based on homography knowing the gravity vector between calibrated images. These solutions depend on the prior knowledge about the reference plane used by the homography. We then demonstrate that the number of matched points can vary from two to three and that a direct closed-form solution or a Gröbner basis based solution can be derived according to this plane. Many experimental results on synthetic and real sequences in indoor and outdoor environments show the efficiency and the robustness of our approach compared to standard methods.
Vision guided robotic inspection for parts in manufacturing and remanufacturing industry
2020
AbstractEnvironmental and commercial drivers are leading to a circular economy, where systems and components are routinely recycled or remanufactured. Unlike traditional manufacturing, where components typically have a high degree of tolerance, components in the remanufacturing process may have seen decades of wear, resulting in a wider variation of geometries. This makes it difficult to translate existing automation techniques to perform Non-Destructive Testing (NDT) for such components autonomously. The challenge of performing automated inspections, with off-line tool-paths developed from Computer Aided Design (CAD) models, typically arises from the fact that those paths do not have the r…
Accurate keyframe selection and keypoint tracking for robust visual odometry
2016
This paper presents a novel stereo visual odometry (VO) framework based on structure from motion, where a robust keypoint tracking and matching is combined with an effective keyframe selection strategy. In order to track and find correct feature correspondences a robust loop chain matching scheme on two consecutive stereo pairs is introduced. Keyframe selection is based on the proportion of features with high temporal disparity. This criterion relies on the observation that the error in the pose estimation propagates from the uncertainty of 3D points—higher for distant points, that have low 2D motion. Comparative results based on three VO datasets show that the proposed solution is remarkab…
Design and Calibration of a Specialized Polydioptric Camera Rig
2017
International audience; It has been observed in the nature that all creatures have evolved highly exclusive sensory organs depending on their habitat and the form of resources availability for their survival. In this project, a novel omnidirectional camera rig, inspired from natural vision sensors, is proposed. It is exclusively designed to operate for highly specified tasks in the field of mobile robotics. Navigation problems on uneven terrains and detection of the moving objects while the robot is itself in motion are the core problems that omnidirectional systems tackle. The proposed omnidirectional system is a compact and a rigid vision system with dioptric cameras that provide a 360° f…
Developing a framework for using structure-from-motion techniques for road distress applications
2020
On Urban road networks, road agencies need to quickly identify road pavement distresses in order to identify appropriate maintenance and rehabilitation strategies. This is integral as agencies are plagued with financial and time constraint issues. There have been several attempts over the last few years to identify new solutions and techniques to solve these issues. Several of these have shown merit and accuracy in identifying distresses. However, the techniques in many instances are not correlated to available distress identification standards. One of the considered techniques is the use of Structure-from-Motion, which tries to recreate 3D distress models for identification and analysis. T…
SAMSLAM: Simulated Annealing Monocular SLAM
2013
This paper proposes a novel monocular SLAM approach. For a triplet of successive keyframes, the approach inteleaves the registration of the three 3D maps associated to each image pair in the triplet and the refinement of the corresponding poses, by progressively limiting the allowable reprojection error according to a simulated annealing scheme. This approach computes only local overlapping maps of almost constant size, thus avoiding problems of 3D map growth. It does not require global optimization, loop closure and back-correction of the poses.
Vision metrology and Structure from Motion for archaeological heritage 3D reconstruction: A Case Study of various Roman mosaics
2017
<p class="Abstract">Vision metrology and computer vision can be successfully used for archaeological heritage 3D reconstruction in very high precision 3D measurement projects. Of those archaeological objects requiring very accurate measurements (&lt;1 mm), ancient mosaics comprise some of the most important. The aim of this paper is to assess the photogrammetric/computer vision approach in a vision metrology context as part of a 3D mosaics survey. In order to evaluate the optimal photogrammetric/computer vision workflow in this work, three different surveys were performed on three mosaics of different sizes and locations. Two of these are stored at the <em>Antonino Salinas&l…
Exploiting Low-Cost 3D Imagery for the Purposes of Detecting and Analyzing Pavement Distresses
2020
Road pavement conditions have significant impacts on safety, travel times, costs, and environmental effects. It is the responsibility of road agencies to ensure these conditions are kept in an acceptable state. To this end, agencies are tasked with implementing pavement management systems (PMSs) which effectively allocate resources towards maintenance and rehabilitation. These systems, however, require accurate data. Currently, most agencies rely on manual distress surveys and as a result, there is significant research into quick and low-cost pavement distress identification methods. Recent proposals have included the use of structure-from-motion techniques based on datasets from unmanned a…
Impiego di 3D Web-service e software open-source nel rilievo di reperti archeologici: valutazioni metriche
2013
The Structure From Motion (SFM) algorithms derived from Computer Vision community make image-based techniquesa competitive and user friendly approach to obtain 3D information of real objects. These algorithms have been implemented in many 3D web-service and open source softwareto develop free instruments for the reconstruction of very detailed 3D digital models. Their useare becoming very common above all in archaeological studies but their potentiality for metric application have not been tested at all.The aim of the work is to investigate the quality and the accuracy of 3D models obtained through 3D web-service and SFM open source software.Different tests have been performed using some 3D…