Search results for "methodologie"
showing 10 items of 2141 documents
Real-time Multispectral Image Processing and Registration on 3D Point Cloud for Vineyard Analysis
2021
International audience; Nowadays, precision agriculture and precision viticulture are under strong development. In order to accomplish effective actions, robots require robust perception of the culture and the surrounding environment. Computer vision systems have to identify plant parts (branches, stems, leaves, flowers, fruits, vegetables, etc.) and their respective health status. Moreover, they must merge various plant information, to measure agronomic indices, to classify them and finally to extract data to enable the agriculturist or expert to make a relevant decision. We propose a real-time method to acquire, process and register multispectral images fused to 3D. The sensors system, co…
High Quality Reconstruction of Dynamic Objects using 2D-3D Camera Fusion
2017
International audience; In this paper, we propose a complete pipeline for high quality reconstruction of dynamic objects using 2D-3D camera setup attached to a moving vehicle. Starting from the segmented motion trajectories of individual objects, we compute their precise motion parameters, register multiple sparse point clouds to increase the density, and develop a smooth and textured surface from the dense (but scattered) point cloud. The success of our method relies on the proposed optimization framework for accurate motion estimation between two sparse point clouds. Our formulation for fusing it closest-point and it consensus based motion estimations, respectively in the absence and pres…
STEP 3: Restart Target DB2
2011
Finally, we RESTART TARGET DB2 and it's stopped databases.
Multisensory texture exploration at the tip of the pen
2016
A tool for the multisensory stylus-based exploration of virtual textures was used to investigate how different feedback modalities (static or dynamically deformed images, vibration, sound) affect exploratory gestures. To this end, we ran an experiment where participants had to steer a path with the stylus through a curved corridor on the surface of a graphic tablet/display, and we measured steering time, dispersion of trajectories, and applied force. Despite the variety of subjective impressions elicited by the different feedback conditions, we found that only nonvisual feedback induced significant variations in trajectories and an increase in movement time. In a post-experiment, using a pa…
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.
3D models of humanoid soccer robot in USAR sim and robotics studio simulators
2008
This paper describes our experience in the simulation of humanoid soccer robots using two general purposes 3D simulators, namely USARSim and Microsoft Robotics Studio. We address the problem of the simulation of a soccer match among two teams of small humanoid robots in the RoboCup Soccer Kid-Size Humanoid competitions. The paper reports the implementation of the virtual models of the Robovie-M humanoid robot platform in the two simulators. Robovie-M was the robot used by our team "Artisti" in the RoboCup 2006 competitions. This paper focuses on the procedures needed to implement the virtual models of the robot and in the details of the models. We describe experiments assessing the feasibi…
Localization of 2D Cameras in a Known Environment Using Direct 2D-3D Registration
2014
International audience; In this paper we propose a robust and direct 2D-to- 3D registration method for localizing 2D cameras in a known 3D environment. Although the 3D environment is known, localizing the cameras remains a challenging problem that is particularly undermined by the unknown 2D-3D correspondences, outliers, scale ambiguities and occlusions. Once the cameras are localized, the Structure-from-Motion reconstruction obtained from image correspondences is refined by means of a constrained nonlinear optimization that benefits from the knowledge of the scene. We also propose a common optimization framework for both localization and refinement steps in which projection errors in one v…
Search for the neutral Higgs bosons of the Minimal Supersymmetric Standard Model in $pp$ collisions at $\sqrt{s}=7$ TeV with the ATLAS detector
2013
A search for neutral Higgs bosons of the Minimal Supersymmetric Standard Model (MSSM) is reported. The analysis is based on a sample of proton-proton collisions at a centre-of-mass energy of 7 TeV recorded with the ATLAS detector at the Large Hadron Collider. The data were recorded in 2011 and correspond to an integrated luminosity of 4.7 fb[superscript −1] to 4.8 fb[superscript −1]. Higgs boson decays into oppositely-charged muon or τ lepton pairs are considered for final states requiring either the presence or absence of b-jets. No statistically significant excess over the expected background is observed and exclusion limits at the 95% confidence level are derived. The exclusion limits ar…
Study of cosmic ray events with high muon multiplicity using the ALICE detector at the CERN Large Hadron Collider
2016
ALICE is one of four large experiments at the CERN Large Hadron Collider near Geneva, specially designed to study particle production in ultra-relativistic heavy-ion collisions. Located 52 meters underground with 28 meters of overburden rock, it has also been used to detect muons produced by cosmic ray interactions in the upper atmosphere. In this paper, we present the multiplicity distribution of these atmospheric muons and its comparison with Monte Carlo simulations. This analysis exploits the large size and excellent tracking capability of the ALICE Time Projection Chamber. A special emphasis is given to the study of high multiplicity events containing more than 100 reconstructed muons a…
Color constancy in dermatoscopy with smartphone
2017
The recent spread of cheap dermatoscopes for smartphones can empower patients to acquire images of skin lesions on their own and send them to dermatologists. Since images are acquired by different smartphone cameras under unique illumination conditions, the variability in colors is expected. Therefore, the mobile dermatoscopic systems should be calibrated in order to ensure the color constancy in skin images. In this study, we have tested a dermatoscope DermLite DL1 basic, attached to Samsung Galaxy S4 smartphone. Under the controlled conditions, jpeg images of standard color patches were acquired and a model between an unknown device-dependent RGB and a device independent Lab color space h…