Search results for "Solid modeling"
showing 10 items of 16 documents
Adaptive Control of Soft Robots Based on an Enhanced 3D Augmented Rigid Robot Matching
2021
Despite having proven successful in generating precise motions under dynamic conditions in highly deformable soft-bodied robots, model based techniques are also prone to robustness issues connected to the intrinsic uncertain nature of the dynamics of these systems. This letter aims at tackling this challenge, by extending the augmented rigid robot formulation to a stable representation of three dimensional motions of soft robots, under Piecewise Constant Curvature hypothesis. In turn, the equivalence between soft-bodied and rigid robots permits to derive effective adaptive controllers for soft-bodied robots, achieving perfect posture regulation under considerable errors in the knowledge of …
On the Objective Evaluation of Motion Cueing in Vehicle Simulations
2021
Motion-based simulators are used for a variety of applications, such as research, education, entertainment and training. In fact, motion cues are required to achieve the highest regulatory certifications in training vehicle simulators. Nonetheless, the reproduction of self-motion cues presents technological and economic limitations that are not present in the generation of audiovisual cues. For this reason, the generated motion does not generally match the expected one. Therefore, it is necessary to define means to assess the suitability/fidelity of the generated motion cues. After more than 50 years of motion-based vehicle simulation, no mechanism has been universally accepted as the stand…
Comparison of Metrics for the Classification of Soils Under Variable Geometrical Conditions Using Hyperspectral Data
2008
International audience; The objective of this letter is to find a distance metric between reflectance spectra that is not sensitive to the variations on the soil reflectance induced by the geometry of solar-view angles. This is motivated by the fact that differences between spectra measured for the same soil under different observation and illumination configurations can lead to misclassifications. Using 26 soils of different compositions simulated with Hapke’s model and 92 soils of different compositions measured under 28 solarview angle geometries in laboratory conditions, we tested three metrics, namely, root-mean-square error, spectral angle mapper, and R2 (the coefficient of determinat…
Generic attribute deviation metric for assessing mesh simplification algorithm quality
2002
International audience; This paper describes an efficient method to compare two triangular meshes. Meshes considered here contain geometric features as well as other surface attributes such as material colors, texture, temperature, radiation, etc. Two deviation measurements are presented to assess the differences between two meshes. The first measurement, called geometric deviation, returns geometric differences. The second measurement , called attribute deviation, returns attribute differences regardless of the attribute type. In this paper we present an application of this method to the Mesh Simplification Algorithm (MSA) quality assessment according to the appearance attributes. This ass…
Improving light propagation Monte Carlo simulations with accurate 3D modeling of skin tissue
2008
In this paper, we present a 3D light propagation model to simulate multispectral reflectance images of large skin surface areas. In particular, we aim to simulate more accurately the effects of various physiological properties of the skin in the case of subcutaneous vein imaging compared to existing models. Our method combines a Monte Carlo light propagation model, a realistic three-dimensional model of the skin using parametric surfaces and a vision system for data acquisition. We describe our model in detail, present results from the Monte Carlo modeling and compare our results with those obtained with a well established Monte Carlo model and with real skin reflectance images.
Multimodal 2D Image to 3D Model Registration via a Mutual Alignment of Sparse and Dense Visual Features
2018
International audience; Many fields of application could benefit from an accurate registration of measurements of different modalities over a known 3D model. However, aligning a 2D image to a 3D model is a challenging task and is even more complex when the two have a different modality. Most of the 2D/3D registration methods are based on either geometric or dense visual features. Both have their own advantages and their own drawbacks. We propose, in this paper, to mutually exploit the advantages of one feature type to reduce the drawbacks of the other one. For this, an hybrid registration framework has been designed to mutually align geometrical and dense visual features in order to obtain …
A Parallel Approach to HRTF Approximation and Interpolation Based on a Parametric Filter Model
2017
[EN] Spatial audio-rendering techniques using head-related transfer functions (HRTFs) are currently used in many different contexts such as immersive teleconferencing systems, gaming, or 3-D audio reproduction. Since all these applications usually involve real-time constraints, efficient processing structures for HRTF modeling and interpolation are necessary for providing real-time binaural audio solutions. This letter presents a parametric parallel model that allows us to perform HRTF filtering and interpolation efficiently from an input HRTF dataset. The resulting model, which is an adaptation from a recently proposed modeling technique, not only reduces the size of HRTF datasets signific…
A robust blind 3-D mesh watermarking based on wavelet transform for copyright protection
2019
Nowadays, three-dimensional meshes have been extensively used in several applications such as, industrial, medical, computer-aided design (CAD) and entertainment due to the processing capability improvement of computers and the development of the network infrastructure. Unfortunately, like digital images and videos, 3-D meshes can be easily modified, duplicated and redistributed by unauthorized users. Digital watermarking came up while trying to solve this problem. In this paper, we propose a blind robust watermarking scheme for three-dimensional semiregular meshes for Copyright protection. The watermark is embedded by modifying the norm of the wavelet coefficient vectors associated with th…
Reduced reference 3D mesh quality assessment based on statistical models
2015
International audience; During their geometry processing and transmission 3D meshes are subject to various visual processing operations like compression, watermarking, remeshing, noise addition and so forth. In this context it is indispensable to evaluate the quality of the distorted mesh, we talk here about the mesh visual quality (MVQ) assessment. Several works have tried to evaluate the MVQ using simple geometric measures, However this metrics do not correlate well with the subjective score since they fail to reflect the perceived quality. In this paper we propose a new objective metric to evaluate the visual quality between a mesh with a perfect quality called reference mesh and its dis…
Computer vision-based approach for rite decryption in old societies
2015
International audience; This paper presents an approach to determine the spatial arrangement of bones of horses in an excavation site and perform the 3D reconstruction of the scene. The relative 3D positioning of the bones was computed exploiting the information in images acquired at different levels, and used to relocate provided 3D models of the bones. A novel semi-supervised approach was proposed to generate dense point clouds of the bones from sparse features. The point clouds were later matched with the given models using Iterative Closest Point (ICP).