Search results for "point cloud"
showing 10 items of 81 documents
Influence of the metaphysis positioning in a new reverse shoulder prosthesis
2016
Aim of this work is to investigate the behaviour of a new reverse shoulder prosthesis, characterized by a humeral metaphysis with a variable offset, designed to increase the range of movements and to reduce the impingement. In particular, by means of virtual prototypes of the prosthesis, different offset values of the humeral metaphysis have been analysed in order to find the best positioning able to maximize the range of movements of the shoulder joint. The abduction force of the deltoid, at different offset values, has been also estimated. The study has been organized as follows. In the first step, the point clouds of the surfaces of the different components of the prosthesis have been ac…
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…
Toward a real-time tracking of dense point-sampled geometry
2012
4 pages; International audience; In this paper, we address the problem of tracking temporal deformations between two arbitrary densely sampled point-based surfaces. We propose an intuitive and efficient resolution to the point matching problem within two frames of a sequence. The proposed method utilizes two distinct space partition trees, one for each point cloud, which both are defined on a unique discrete space. Our method takes advantage of multi-resolution concerns, voxel adjacency relations, and a specific distance function. Experimental results obtained from both simulated and real reconstructed data sets demonstrate that the proposed method can handle efficiently the tracking proces…
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…
3D reconstruction of hot metallic surfaces for industrial part characterization
2009
During industrial forging of big hot metallic shells, it is necessary to regularly measure the dimensions of the parts, especially the inner and outer diameters and the thickness of the walls, in order to decide when to stop the forging process. The inner and outer diameters of the shells range from 4 to 6 meters and to measure them a large ruler is placed horizontally at the end of the shell. Two blacksmiths standing on each side of the ruler at about ten meters from it visually reads the graduations on the ruler in order to determine the inner and outer diameters from which the thickness of the wall is determined. This operation is carried out several times during a forging process and it…
Low cost three-dimensional virtual model construction for remanufacturing industry
2018
Remanufactured products can save up to 80% of production and energy costs whilst generating lower CO2 emissions. The key success factors for remanufacturing are quality, lead-time and cost. Extensive work within the industry and the detailed analysis of the remanufacturing process has shown that component inspection has significant bearing on overall productivity. Remanufacturing lacks automation because activities are predominantly manual. Automation of remanufacturing process will not only decrease the number of non-remanufacturable components, through decreasing cost and increasing consistency in quality, but also attract industries to design for remanufacture. A digital model of the com…
Reshaping Field of View and Resolution with Segmented Reflectors: Bridging the Gap between Rotating and Solid-State LiDARs
2020
This paper describes the first simulations and experimental results of a novel segmented Light Detection And Ranging (LiDAR) reflector. Large portions of the rotating LiDAR data are typically discarded due to occlusion or a misplaced field of view (FOV). The proposed reflector solves this problem by reflecting the entire FOV of the rotating LiDAR towards a target. Optical simulation results, using Zemax OpticStudio, suggest that adding a reflector reduces the range of the embedded LiDAR with only 3 . 9 . Furthermore, pattern simulation results show that a radially reshaped FOV can be configured to maximize point cloud density, maximize coverage, or a combination. Here, the maximum density i…
GPU-accelerated integral imaging and full-parallax 3D display using stereo-plenoptic camera system
2019
Abstract In this paper, we propose a novel approach to produce integral images ready to be displayed onto an integral-imaging monitor. Our main contribution is the use of commercial plenoptic camera, which is arranged in a stereo configuration. Our proposed set-up is able to record the radiance, spatial and angular, information simultaneously in each different stereo position. We illustrate our contribution by composing the point cloud from a pair of captured plenoptic images, and generate an integral image from the properly registered 3D information. We have exploited the graphics processing unit (GPU) acceleration in order to enhance the integral-image computation speed and efficiency. We…
Embedded Processing and Compression of 3D Sensor Data for Large Scale Industrial Environments
2019
This paper presents a scalable embedded solution for processing and transferring 3D point cloud data. Sensors based on the time-of-flight principle generate data which are processed on a local embedded computer and compressed using an octree-based scheme. The compressed data is transferred to a central node where the individual point clouds from several nodes are decompressed and filtered based on a novel method for generating intensity values for sensors which do not natively produce such a value. The paper presents experimental results from a relatively large industrial robot cell with an approximate size of 10 m ×