Search results for "point cloud"
showing 10 items of 81 documents
Integral-Imaging display from stereo-Kinect capture
2017
In this paper, we propose a new approach in order to improve the quality of microimages and display them onto an integral imaging monitor. Our main proposal is based on the stereo-hybrid 3D camera system. Originally, hybrid camera system has dissimilarity itself. We interpret our method in order to equalize the hybrid sensor's characteristics and 3D data modification strategy. We generate integral image by using synthetic back-projection mapping method. Finally, we project the integral image onto our proposed display system. We illustrate this procedure with some imaging experiments in order to prove an advantage of our approach.
Processing and Assessment of Spectrometric, Stereoscopic Imagery Collected Using a Lightweight UAV Spectral Camera for Precision Agriculture
2013
Imaging using lightweight, unmanned airborne vehicles (UAVs) is one of the most rapidly developing fields in remote sensing technology. The new, tunable, Fabry-Perot interferometer-based (FPI) spectral camera, which weighs less than 700 g, makes it possible to collect spectrometric image blocks with stereoscopic overlaps using light-weight UAV platforms. This new technology is highly relevant, because it opens up new possibilities for measuring and monitoring the environment, which is becoming increasingly important for many environmental challenges. Our objectives were to investigate the processing and use of this new type of image data in precision agriculture. We developed the entire pro…
Individual Tree Detection and Classification with UAV-Based Photogrammetric Point Clouds and Hyperspectral Imaging
2017
Made available in DSpace on 2018-12-11T17:11:58Z (GMT). No. of bitstreams: 0 Previous issue date: 2017-03-01 Suomen Akatemia Small unmanned aerial vehicle (UAV) based remote sensing is a rapidly evolving technology. Novel sensors and methods are entering the market, offering completely new possibilities to carry out remote sensing tasks. Three-dimensional (3D) hyperspectral remote sensing is a novel and powerful technology that has recently become available to small UAVs. This study investigated the performance of UAV-based photogrammetry and hyperspectral imaging in individual tree detection and tree species classification in boreal forests. Eleven test sites with 4151 reference trees repr…
Airborne-laser-scanning-derived auxiliary information discriminating between broadleaf and conifer trees improves the accuracy of models for predicti…
2020
Managing forests for ecosystem services and biodiversity requires accurate and spatially explicit forest inventory data. A major objective of forest management inventories is to estimate the standing timber volume for certain forest areas. In order to improve the efficiency of an inventory, field based sample-plots can be statistically combined with remote sensing data. Such models usually incorporate auxiliary variables derived from canopy height models. The inclusion of forest type variables, which quantify broadleaf and conifer volume proportions, has been shown to further improve model performance. Currently, the most common way of quantifying broadleaf and conifer forest types is by ca…
Scalability of GPU-Processed 3D Distance Maps for Industrial Environments
2018
This paper contains a benchmark analysis of the open source library GPU-Voxels together with the Robot Operating System (ROS) in large-scale industrial robotics environment. Six sensor nodes with embedded computing generate real-time point cloud data as ROS topics. The overall data from all sensor nodes is processed by a combination of CPU and GPU on a central ROS node. Experimental results demonstrate that the system is able to handle frame rates of 10 and 20 Hz with voxel sizes of 4, 6, 8 and 12 cm without saturation of the CPU or the GPU used by the GPU-Voxels library. The results in this paper show that ROS, in combination with GPU-Voxels, can be used as a viable solution for real-time …
Summarizing Large Scale 3D Point Cloud for Navigation Tasks
2017
International audience; Democratization of 3D sensor devices makes 3D maps building easier especially in long term mapping and autonomous navigation. In this paper we present a new method for summarizing a 3D map (dense cloud of 3D points). This method aims to extract a summary map facilitating the use of this map by navigation systems with limited resources (smartphones, cars, robots...). This Vision-based summarizing process is applied in a fully automatic way using the photometric, geometric and semantic information of the studied environment.
Autonomous 3D geometry reconstruction through robot-manipulated optical sensors
2021
Abstract Many industrial sectors face increasing production demands and need to reduce costs, without compromising the quality. Whereas mass production relies on well-established protocols, small production facilities with small lot sizes struggle to update their highly changeable production at reasonable costs. The use of robotics and automation has grown significantly in recent years, but extremely versatile robotic manipulators are still not commonly used in small factories. Beside of the investments required to enable efficient and profitable use of robot technology, the efforts needed to program robots are only economically viable in case of large lot sizes. Generating robot programs f…
Real-time human collision detection for industrial robot cells
2017
A collision detection system triggering on human motion was developed using the Robot Operating System (ROS) and the Point Cloud Library (PCL). ROS was used as the core of the programs and for the communication with an industrial robot. Combining the depths fields from the 3D cameras was accomplished by the use of PCL. The library was also the underlying tool for segmenting the human from the registrated point clouds. Benchmarking of several collision algorithms was done in order to compare the solution. The registration process gave satisfactory results when testing the repetitiveness and the accuracy of the implementation. The segmentation algorithm was able to segment a person represente…
3D Point Cloud Descriptor for Posture Recognition
2018
International audience
Static and Dynamic Objects Analysis as a 3D Vector Field
2017
International audience; In the context of scene modelling, understanding, and landmark-based robot navigation, the knowledge of static scene parts and moving objects with their motion behaviours plays a vital role. We present a complete framework to detect and extract the moving objects to reconstruct a high quality static map. For a moving 3D camera setup, we propose a novel 3D Flow Field Analysis approach which accurately detects the moving objects using only 3D point cloud information. Further, we introduce a Sparse Flow Clustering approach to effectively and robustly group the motion flow vectors. Experiments show that the proposed Flow Field Analysis algorithm and Sparse Flow Clusterin…