REGISTRATION OF TERRESTRIAL LASER SCANNER DATA USING IMAGERY INTRODUCTION
|
|
- Lily Owen
- 6 years ago
- Views:
Transcription
1 EGISTATION OF TEESTIAL LASE SCANNE DATA USING IMAGEY Khall Al-Manasr, Ph.D student Clve S. Fraser, Professor Department of Geomats Unversty of Melbourne Vtora 3010 Australa ABSTACT Buldng 3D models usng terrestral laser sanner (TLS) data s urrently an atve area of researh, espeally n the felds of hertage reordng and ste doumentaton. Multple TLS sans are often requred to generate an oluson-free 3D model n stuatons where the objet to be reorded has a omplex geometry. The frst task assoated wth buldng 3D models from laser sanner data n suh ases s to transform the data from the sanner s loal oordnate system nto a unform Cartesan referene datum, whh requres suffent overlap between the sans. Many TLS systems are now suppled wth an SL-type dgtal amera, suh that the sene to be sanned an also be photographed. The provson of overlappng magery offers an alternatve, photogrammetr means to aheve pont loud regstraton between adjaent sans. The mages from the dgtal amera mounted on top of the laser sanner are used to frst relatvely orent the network of mages, and then to transfer ths orentaton to the TLS statons to provde exteror orentaton. The proposed approah, alled the IB method for Image-Based egstraton, offers a one-step regstraton of the pont louds from eah sanner poston. In the ase of multple sans, exteror orentaton s smultaneously determned for all TLS statons by bundle adjustment. Ths paper outlnes the IB method and dsusses test results obtaned wth the approah. It wll be shown that the photogrammetr orentaton proess for TLS pont loud regstraton s effent and aurate, and offers a vable alternatve to other approahes, suh as the well-known teratve losest pont algorthm. INTODUCTION The frst requrement of 3D modelng an objet or sene va terrestral laser sannng (TLS) s to transform the overlappng pont louds from adjaent sans nto a unform Cartesan referene oordnate system. One of the popular approahes adopted for ths regstraton proess s the Iteratve Closest Pont (ICP) algorthm for surfae mathng developed by Besl & MaKay (1992). Several varatons of the ICP algorthm have been formulated (Chen & Medon, 1992; Zhang, 1994; Masuda & Yokoya, 1995; Bergevn et al., 1996), nludng the use of sensor aquston geometry to searh for pont orrespondenes, as proposed by Park & Subbarao (2003). Also, an ntal soluton for a subsequent applaton of the ICP method usng the normal dstrbuton transform (NDT) has been reported by pperda & Brenner (2005), whle Gruen & Aka (2005) have suggested the Least Squares 3D Surfae Mathng (LS3D) method. For a revew of urrent 3D surfae regstraton algorthms the reader s referred to Campbell & Flynn, (2001) and Gruen & Aka (2005). Terrestral laser sanner manufaturers generally supply an SL-type dgtal amera wth the laser sanner to faltate generaton of photo-realst 3D vrtual models. In ths paper, a pont loud regstraton method s desrbed, whh makes use of the magery aompanyng the TLS pont loud to determne sanner exteror orentaton and thus san-to-san regstraton. The dgtal amera s frst photogrammetrally albrated va a self-albraton proess, after whh t s mounted on the sanner. The amera s exteror orentaton wth respet to the TLS referene oordnate system s then determned, agan photogrammetrally. Subsequently, the photogrammetr orentaton of magery from a dgtal amera mounted on the TLS s performed va relatve orentaton or bundle adjustment n order to transform all the sanned data nto a ommon oordnate system. ASPS 2006 Annual Conferene
2 OVEVIEW OF THE EGISTATION METHOD A Nkon D100 6-megapxel dgtal amera wth an 18mm lens s shown rgdly mounted on a egl LMS-Z210 TLS n Fg. 1. If the exteror orentaton parameters of the amera oordnate system (x,y,z) wth respet to the laser oordnate system (X,Y,Z) are known, then the relatve orentaton between overlappng mages from two statons reorded wth the metrally albrated amera an also provde the transformaton parameters requred to o-regster the two aompanyng laser pont louds. Fgure 1. The Nkon D100 amera rgdly attahed to the egl TLS. Followng a self-albraton stage, the amera poston wth respet to the laser sanner oordnate system need only be reovered one. TLS and mage data from two or more statons are then reorded, wth there beng a requrement for mage overlap, but not neessarly overlap between the TLS pont louds. A photogrammetr orentaton for the two or more overlappng mages provdes the exteror orentaton parameters for the amera statons wth respet to a sngle referene oordnate system. By also knowng the amera poston wthn the TLS oordnate system, the regstraton of pont louds s dretly establshed. A prmary motvaton for ths mage-based regstraton (IB) proess s avodane of the often problemat proess of dentfyng onjugate ponts wthn the laser san data. THE MATHEMATICAL MODEL 3D Coordnate Transformaton The mathematal relatonshp between two overlappng TLS pont louds an be smply expressed as a 3D smlarty transformaton: X X X 1 2 = Y λ Y Y 1 2 Z Z Z 1 2 (1) where (X 1, Y 1, Z 1 ) and (X 2, Y 2, Z 2 ) represent San 1 and San 2 oordnates; a rotaton matrx, whh s formed from three axal rotaton angles here termed ω, φ and к; and (X, Y, Z ) the translaton omponents between San 1 and San 2. Sne the laser range data establshes absolute sale, the applable sale fator λ has unt value, so Eq. 1 represents a rgd body transformaton. One the sx transformaton parameters (sale s assumed fxed) are omputed between the pont louds, the XYZ oordnates of all san ponts an be transformed nto a ommon oordnate system. Camera Calbraton The photogrammetr regstraton approah ntally nvolves a one-off amera albraton va an ndependent self-albraton network. Wth the use of approprate oded targets and software, the mage measurement and omputaton of albraton parameters s a fully automat proess, as desrbed for example n Cronk et al. (2006). The software system used for ths stage of the projet was Australs (Fraser & Edmundson, 2000; Photometrx, ASPS 2006 Annual Conferene
3 2006). The automaton aspet s of mportane for amera albraton beause t s wse to perodally re-hek the amera nteror orentaton parameters. The albraton model s that of the extended ollnearty equatons, wth eght addtonal parameters: where and 1 x x +Δ x = y y +Δ y = = X Y Z X Y Z x Δ x = x Δ + xr K + xr K + xr K + (2 x + r ) P+ 2Pxy y Δ y= y Δ + yr K + yr K + yr K + 2 Pxy+ (2 y + r ) P (2) (3) Here, (x,y) are mage oordnates, x and y departures from ollnearty; a orreton to the prnpal dstane ; x 0 and y 0 the prnpal pont oordnates; X,Y,Z objet pont oordnates; X, Y and Z translatons; K the oeffents of radal lens dstorton and P those of deentrng dstorton. Ths physal addtonal parameter model s urrently preferred for dgtal amera self-albraton (eg Fraser, 1997). For pratal reasons, the amera s removed from the TLS for self-albraton, sne amera roll s preluded whle t s mounted, yet roll angle dversty s rtal for an aurate reovery of nteror orentaton parameters. Camera to TLS Orentaton Followng the albraton phase, the amera s agan mounted on the TLS at a fxed algnment, as n Fg. 1, and an mage and a san are reorded. Ths one-off operaton allows the poston and orentaton of the amera wth respet to the TLS oordnate system to be determned usng spatal reseton. The mathematal model for spatal reseton s the well-known formulaton based on the ollnearty equatons. It s effetvely that of Eq. 2 wth (x,y) onsttutng the observatons, and the parameters of exteror orentaton (the three rotaton angles formng and X, Y and Z ) beng the unknowns. Intal startng values for the least-squares soluton of the reseton problem are determned by a losed-form algorthm smlar to that of Quan & Lan (1999) and Zeng & Wang (1992). The ontrol ponts used, whh should number 10 or more well spread ponts for auray and relablty, are seleted from the TLS san data. elatve Orentaton of Images Wthn the TLS survey, two or more sans are reorded, suh that the mages from the TLS statons suffently overlap to support a photogrammetr relatve orentaton or bundle adjustment. The well-known oplanarty model (eg Mkhal et al., 2001) has been adopted to solve the relatve orentaton of an mage par, sne approxmated objet spae oordnates are not requred for a soluton. The oplanarty model an be formulated from the perspetve projeton represented by Eq. 2, for the ase of one mage beng relatvely orented to a seond, as: 0 bz by Τ Τ u 0 = 0 1 bz bx u (4) by bx where T u = x' y' ( ) ASPS 2006 Annual Conferene
4 Here, (x,y ) represent mage oordnates refned and orreted for prnpal pont offset and lens dstorton, the matrx 2 desrbes the rotaton of the seond mage wth respet to the frst, and by and bz are translatons. The translaton bx, whh les n the baselne, an be assgned an arbtrary value sne sale annot be reovered from the oplanarty model. Sale s appled to the relatvely orented network usng pont-to-pont dstanes determned between mage dentfable laser sanned ponts. The oplanarty equatons are solved va least-squares, wth a mnmum of fve sutably dstrbuted ponts beng neessary to reover the three rotaton angles and two translatons, though use of 10 or more orrespondng ponts s reommended. As n the earler reseton, the determnaton of ntal values n the least-squares soluton s rtal f the proess s to be hghly automated. To solve the problem of ntal value determnaton, a Monte Carlo approah desrbed n Cronk et al. (2006) has been adopted. In ths approah, the most plausble ntal relatve orentaton solutons are determned, effetvely by tral and error. These are then refned by least squares and the orret soluton s automatally determned. In the ase of multple overlappng mages and TLS data sets, t s possble to further refne the exteror orentaton n a bundle adjustment, though ths well known model wll not be further desrbed n detal here. Pont Cloud egstraton The mathematal relatonshp between the amera and TLS oordnate system an be expressed as follows: x y z = λ C X X Y Y Z Z (5) where (x, y, z) represent the amera s oordnate system and (X, Y, Z) are the TLS pont oordnates. The rotaton matrx C expresses the relatve algnment between the axes of the two systems and (X, Y, Z ) desrbes the poston of the amera wth respet to the orgn of the TLS oordnate system. In ths ase the sale fator λ agan has unt value. Wth the relatve orentaton between two mages and j determned, the pont loud regstraton an be establshed va the transformaton establshed from a ombnaton of Eqs. 4 and 5: where X Y Z = 1 A. 1 C. 1 j,. x y z j bx + by bz + X Y Z (6) x y z j = C. A j X. Y Z j X Y Z and s the referene pont loud wth j beng the data set whose oordnates are to be transformed. The amera poston and orentaton n the TLS oordnate system at a spef algnment of the sanner, when the rotaton angle A of the sanner shown n Fg. 2 s zero, are expressed by the 3x3 rotaton matrx C and the translaton vetor (X, Y, Z ). The 3x3 rotaton matrx j, and the translaton vetor (bx, by, bz) are formed by the exteror orentaton of amera staton j wthn the referene oordnate system of amera staton ; and A s a 3x3 rotaton matrx defnng the TLS rotaton around ts Z-axs desrbed by the angle A at the tme of exposure. EXPEIMENTAL ESULTS Three expermental applatons of the IB method are now summarzed. The frst was a 3-san survey of amera albraton testfeld omprsng an array of targets of known oordnates, the seond nvolved the 3D ASPS 2006 Annual Conferene
5 modelng of a ultural hertage ste, and the thrd was seleted to llustrate the regstraton of non-overlappng TLS pont louds usng the IB approah. Fgure 2. elatonshp between the TLS oordnate system and the optal axs of the amera. Survey of a Calbraton Testfeld The frst experment nvolved the modelng of a target feld used for researh nto sensor albraton n lose range photogrammetry. The testfeld omprses a mostly planar array of 160 retro-refletve targets, mounted upon both a wall and a seton of elng, as shown n Fg. 3. Ths testfeld represented an deal ste at whh to evaluate the automat relatve orentaton and regstraton of overlappng pont louds. The nne large square targets were used to ompute the amera poston and orentaton wthn the TLS oordnate system (Eq. 5). Fgure 3. The albraton wall omprsed of retro-refletve targets. A photogrammetr network of 14 onvergent mages was establshed to self-albrate the amera. The mages were reorded from a set-bak dstane of about 4m. The oded targets n Fg. 3 (small squares) were used to faltate automat network orentaton and self-albraton va the Australs software system. The hgh qualty of the albraton s ndated by the low magntude of the mage oordnate resduals, whh had an MS value of 0.05 pxels or 0.4 m. The Nkon D100 was mounted on the egl TLS, as per Fg. 1, followng the amera albraton. In the next stage of the proess the relatonshp between the amera and TLS oordnate systems was establshed. A sngle san of the albraton wall was reorded, along wth a sngle mage. The entrods of the nne promnent retro-targets seen n Fg. 3 were measured n the mage and a spatal reseton performed. The resultng auray of the amera poston and orentaton was 0.5mm for poston and 10 seonds of ar for the three orentaton angles. Gven the nherent auray of the egl sanner, of about 25mm over a 4m dstane, the reseton result was deemed satsfatory for the subsequent regstraton and was expeted to produe a regstraton auray that would surpass that usng TLS san data alone. The IB method was performed to regster the three overlappng sans of the albraton wall, as shown n Fg. 4. Frstly, mages assoated wth San 3 and 2 were relatvely orented va Eq. 4, usng more than 25 automatally extrated mage ponts. After the reseton of the mage assoated wth San 1, usng the 3D objet pont oordnates whh were determned from the relatve orentaton proess of mages 2 and 3, a bundle adjustment was performed usng all three mages. ASPS 2006 Annual Conferene
6 The transformaton of the TLS ponts n Sans 1 and 2 nto San 3 was performed usng Eq. 6, thus ompletng the regstraton proess. Beause the retro-targets ould be dentfed by ther ntensty haratersts, t was possble to ompare the fnal XYZ oordnates to known values whh had prevously been determned n a photogrammetr survey of sgnfantly hgher auray. The resultng resduals aganst the 100 hek ponts are shown n Table 1. The 2mm auray aheved s vewed as qute aeptable and well wthn that antpated for the TLS. A further regstraton of the three TLS pont louds was reated usng the ICP method, n whh the retrotargets were dentfed by ther ntensty values and ompared to the known hek ponts. As shown n Table 1, ths regstraton yelded an auray of 2.5mm. Fgure 4. Three-san overage of the albraton wall. Table 1. MSE of regstered pont louds wth respet to albraton wall ontrol ponts. egstraton method No. of ontrol ponts Overall MSE (mm) ICP IB method Modelng of Captan Cook s Cottage The seond experment nvolved the 3D modelng of Captan Cook s Cottage, a hertage ste and popular tourst attraton n Melbourne. The ottage was sanned from seven dfferent statons wth the egl sanner. The laser data omprsed about 3.5 mllon ponts. Seven mages were reorded wth the mounted Nkon D100 amera, one from eah TLS staton. Suffent overlap was provded between mages so as to ensure robust relatve orentaton and subsequent bundle adjustment. All mages were reorded wth the laser sanner ponted n ts X-dreton so A = I as ndated n Fg. 5. Fgure 5. Sanner/amera staton geometry for the survey of Cook s ottage. ASPS 2006 Annual Conferene
7 In the photogrammetr soluton, the mage n San 1 was adopted as the referene san for the network, and the subsequent bundle adjustment of all seven mages was then performed. The mage measurements were manual sne no speal targets were plaed on the objet. The mages assoated wth San 1 and 2 were frst relatvely orented va Eq. 4 usng more than 30 manually extrated mage ponts. Care was taken to selet ponts suh that at least four, the mnmum requred for the losedform spatal reseton algorthm, would be dentfable and measurable n the mages from the statons San 3 though to San 7. A bundle adjustment of all mages was then performed, whh produed an MS value of mage oordnates of 0.5 pxels. The resultng 1-sgma auray of the photogrammetrally determned objet ponts was at the 2mm level, e well wthn the spefed auray of the egl TLS. egstraton of the laser sans was then arred out va Eq. 6, wth the resultng, regstered 3D pont loud beng shown n Fg. 6. Fgure 6. The 3D model of Cooks' ottage from TLS data. The resultng MS dsrepany between the model regstered va the IB approah and that of an ICPgenerated model was 2.7mm, wth the largest resduals beng 4mm n the grassed area n front of the ottage (see Fg. 7). A vsual analyss of the error map does not suggest the presene of any systemat msalgnment between the two 3D models, whh ndated that for all pratal purposes the two solutons were equvalent. Fgure 7. Map of dsrepanes between fnal losest ponts n the IB & ICP data sets (unts are m). ASPS 2006 Annual Conferene
8 Modelng a Buldng Entrane The thrd experment was arred out to demonstrate the ablty of the proposed IB method to regster nonoverlappng TLS pont louds, as llustrated n Fg. 8. Two sans were reorded wth the egl sanner, along wth two mages from the Nkon D100 amera. The amera was pontng to an adjaent buldng next to the ste beng sanned. Ths ensured that there would be suffent overlap between mages to support robust relatve orentaton and subsequent bundle adjustment but no overlap between the TLS pont louds. Another two mages were reorded (shown as Image 1 and Image 2) usng the demounted Nkon D100, n order to mprove the strength of the photogrammetr network. Fgure 8. Sanner/amera staton geometry hghlghtng non-overlappng TLS data. A relatve orentaton was performed between the mages from the statons San 1 and San 2, followed by a 4- mage bundle adjustment whh produed an MS value of mage oordnate resduals of 0.4 pxels. The resultng 1-sgma auray of the photogrammetrally determned objet ponts was 2mm. egstraton of the two laser sans was then arred out va the IB method (Eq. 6). In order to hek the auray of the regstered 3D pont loud from the IB approah, nne ontrol ponts, whh had prevously been determned n a photogrammetr survey of sgnfantly hgher auray, were dentfed manually n the regstered 3D pont loud. The resultng absolute MS pont postonng errors from the IB approah are shown n Table 2, where X & Y are planmetr oordnates. Table 2: Pont postonng errors n the IB regstraton. Number of hek ponts MSE X(mm) MSE Y(mm) MSE Z(mm) CONCLUSIONS The IB method for regstraton of laser sanner data usng photogrammetr orentaton has been desrbed, and test results from three tral applatons of the method have been reported. The IB method has been shown to provde a pratal alternatve to urrent TLS regstraton approahes suh as the ICP algorthm. Moreover, the method s fast ompared to the ICP algorthm, and has the prospet of beng more aurate, though ths aspet needs further onfrmaton. One beneft of the IB method s that the seleton of onjugate ponts n dgtal magery s generally a more straghtforward and less error prone proess than the same operaton wth laser san data that nludes ntensty values. The proposed method s robust and does not requre any overlap between the separate TLS pont louds. Ths an be a sgnfant beneft. Also, the IB approah an overome known dffultes assoated wth exstng laser sanner regstraton algorthms and n many nstanes t an serve as an alternatve to the ICP algorthm and LS3D approah. The IB method an also onsttute an ntal soluton for both the ICP and the LS3D approahes where regstraton va these algorthms mght be more approprate, for example where t s only possble to form a weak relatvely orented network of mages. ASPS 2006 Annual Conferene
9 EFEENCES Bergevn,., Souy, M., Gagnon, H. and Laurendeau, D. (1996). Towards a general mult-vew regstraton tehnque. IEEE Transatons on Pattern Analyss and Mahne Intellgene, 18(5), Besl, P.J. and MKay, N.D. (1992). A method for regstraton of 3-D shapes. IEEE Transatons on Pattern Analyss and Mahne Intellgene, 14(2): Campbell,.J. and Flynn, P.J. (2001). A survey of free-form objet representaton and reognton tehnques. Computer Vson and Image Understandng, 81(2): Chen, Y. and Medon, G. (1992). Objet modellng by regstraton of multple range mages. Image and Vson Computng, 10(3): Cronk, S., Fraser, C.S. and Hanley, H. (2006). Automat albraton of olour dgtal ameras. Submtted to Photogrammetr eord, 19 pages. Fraser, C.S. (1997). Dgtal amera self-albraton. ISPS Journal of Photogrammetry and emote Sensng, 52(4): Fraser, C.S. and Edmundson, K.L. (2000). Desgn and mplementaton of a omputatonal proessng system for off-lne dgtal lose-range photogrammetry. ISPS Journal of Photogrammetry and emote Sensng, 55(2): Gruen, A. and Aka, D. (2005). Least squares 3D surfae and urve mathng. ISPS Journal of Photogrammetry and emote Sensng, 59(3): Masuda, T. and Yokoya, N. (1995). A robust method for regstraton and segmentaton of multple range mages. Computer Vson and Image Understandng, 61(3): Mkhal, E.M., Bethel, J.S. and MGlone, J.C. (2001). Introduton to Modern Photogrammetry. John Wley & Sons, New York. 479 pp. Park, S.Y. and Subbarao, M. (2003). A fast pont-to-tangent plane tehnque for mult-vew regstraton. IEEE Internatonal Conferene on 3-D Dgtal Imagng and Modelng, Banff, Otober 6-10, pp Photometrx (2006). Webste for Australs system: aessed 30 January Quan, L. and Lan Z. (1999). Lnear N-pont amera pose determnaton. IEEE Transatons on Pattern Analyss and Mahne Intellgene, 21(8): pperda, N. and Brenner, C. (2005). Marker-Free regstraton of terrestral laser sans usng the normal dstrbuton transform. ISPS Workshop on Vrtual eonstruton and Vsualzaton of Complex Arhtetures, Mestre-Vene, Italy, August 22-24, on CD-OM. Zeng, Z. and X. Wang (1992). A general soluton of a losed-form spae reseton. Photogrammetr Engneerng and emote Sensng, 58(3): Zhang, Z. (1994). Iteratve pont mathng for regstraton of free-form urves and surfaes. Internatonal Journal of Computer Vson, 13(2): ASPS 2006 Annual Conferene
FULLY AUTOMATIC IMAGE-BASED REGISTRATION OF UNORGANIZED TLS DATA
FULLY AUTOMATIC IMAGE-BASED REGISTRATION OF UNORGANIZED TLS DATA Martn Wenmann, Bors Jutz Insttute of Photogrammetry and Remote Sensng, Karlsruhe Insttute of Tehnology (KIT) Kaserstr. 12, 76128 Karlsruhe,
More informationRange images. Range image registration. Examples of sampling patterns. Range images and range surfaces
Range mages For many structured lght scanners, the range data forms a hghly regular pattern known as a range mage. he samplng pattern s determned by the specfc scanner. Range mage regstraton 1 Examples
More informationMeasurement and Calibration of High Accuracy Spherical Joints
1. Introduton easurement and Calbraton of Hgh Auray Spheral Jonts Ale Robertson, Adam Rzepnewsk, Alexander Sloum assahusetts Insttute of Tehnolog Cambrdge, A Hgh auray robot manpulators are requred for
More informationImproved Accurate Extrinsic Calibration Algorithm of Camera and Two-dimensional Laser Scanner
JOURNAL OF MULTIMEDIA, VOL. 8, NO. 6, DECEMBER 013 777 Improved Aurate Extrns Calbraton Algorthm of Camera and Two-dmensonal Laser Sanner Janle Kong, Le Yan*, Jnhao Lu, Qngqng Huang, and Xaokang Dng College
More informationProper Choice of Data Used for the Estimation of Datum Transformation Parameters
Proper Choce of Data Used for the Estmaton of Datum Transformaton Parameters Hakan S. KUTOGLU, Turkey Key words: Coordnate systems; transformaton; estmaton, relablty. SUMMARY Advances n technologes and
More informationON THE USE OF THE SIFT TRANSFORM TO SELF-LOCATE AND POSITION EYE-IN-HAND MANIPULATORS USING VISUAL CONTROL
XVIII Congresso Braslero de Automáta / a 6-setembro-00, Bonto-MS ON THE USE OF THE SIFT TRANSFORM TO SELF-LOCATE AND POSITION EYE-IN-HAND MANIPULATORS USING VISUAL CONTROL ILANA NIGRI, RAUL Q. FEITOSA
More informationGPU Accelerated Elevation Map based Registration of Aerial Images
GPU Aelerated Elevaton Map based Regstraton of Aeral Images Joseph Frenh, Student Member, IEEE, Wllam Turr, Joseph Fernando, Member, IEEE and Er Balster Senor Member IEEE {joseph.frenh, Wllam.turr, joseph.fernando}@udr.udayton.edu,
More informationThe Simulation of Electromagnetic Suspension System Based on the Finite Element Analysis
308 JOURNAL OF COMPUTERS, VOL. 8, NO., FEBRUARY 03 The Smulaton of Suspenson System Based on the Fnte Element Analyss Zhengfeng Mng Shool of Eletron & Mahanal Engneerng, Xdan Unversty, X an, Chna Emal:
More informationThe Codesign Challenge
ECE 4530 Codesgn Challenge Fall 2007 Hardware/Software Codesgn The Codesgn Challenge Objectves In the codesgn challenge, your task s to accelerate a gven software reference mplementaton as fast as possble.
More informationA Toolbox for Easily Calibrating Omnidirectional Cameras
A oolbox for Easly Calbratng Omndretonal Cameras Davde Saramuzza, Agostno Martnell, Roland Segwart Autonomous Systems ab Swss Federal Insttute of ehnology Zurh EH) CH-89, Zurh, Swtzerland {davdesaramuzza,
More informationMatrix-Matrix Multiplication Using Systolic Array Architecture in Bluespec
Matrx-Matrx Multplaton Usng Systol Array Arhteture n Bluespe Team SegFault Chatanya Peddawad (EEB096), Aman Goel (EEB087), heera B (EEB090) Ot. 25, 205 Theoretal Bakground. Matrx-Matrx Multplaton on Hardware
More information3D Scene Reconstruction System from Multiple Synchronized Video Images
3D Sene Reonstruton Sstem from Multple Snhronzed Vdeo Images aewoo Han 1, Juho Lee 2, Hung S. Yang 3 AIM Lab., EE/CS Dept., KAIS 1,2,3 373-1, Guseong-dong, Yuseong-gu, Daejon, Republ of Korea { bluebrd
More informationA high-resolution and high-speed 3D imaging system and its application on ATR
A hgh-resoluton and hgh-speed 3D magng sstem and ts applaton on AR A hgh-resoluton and hgh-speed 3D magng sstem and ts applaton on AR homas. Lu and en-hsn Chao Jet Propulson Laborator/Calforna Insttute
More informationTAR based shape features in unconstrained handwritten digit recognition
TAR based shape features n unonstraned handwrtten dgt reognton P. AHAMED AND YOUSEF AL-OHALI Department of Computer Sene Kng Saud Unversty P.O.B. 578, Ryadh 543 SAUDI ARABIA shamapervez@gmal.om, yousef@s.edu.sa
More informationColor Texture Classification using Modified Local Binary Patterns based on Intensity and Color Information
Color Texture Classfaton usng Modfed Loal Bnary Patterns based on Intensty and Color Informaton Shvashankar S. Department of Computer Sene Karnatak Unversty, Dharwad-580003 Karnataka,Inda shvashankars@kud.a.n
More informationBit-level Arithmetic Optimization for Carry-Save Additions
Bt-leel Arthmet Optmzaton for Carry-Sae s Ke-Yong Khoo, Zhan Yu and Alan N. Wllson, Jr. Integrated Cruts and Systems Laboratory Unersty of Calforna, Los Angeles, CA 995 khoo, zhanyu, wllson @sl.ula.edu
More informationESTIMATION OF INTERIOR ORIENTATION AND ECCENTRICITY PARAMETERS OF A HYBRID IMAGING AND LASER SCANNING SENSOR
ESTIMATION OF INTERIOR ORIENTATION AND ECCENTRICITY PARAMETERS OF A HYBRID IMAGING AND LASER SCANNING SENSOR A. Wendt a, C. Dold b a Insttute for Appled Photogrammetry and Geonformatcs, Unversty of Appled
More informationPattern Classification: An Improvement Using Combination of VQ and PCA Based Techniques
Ameran Journal of Appled Senes (0): 445-455, 005 ISSN 546-939 005 Sene Publatons Pattern Classfaton: An Improvement Usng Combnaton of VQ and PCA Based Tehnques Alok Sharma, Kuldp K. Palwal and Godfrey
More information,.,,
ISSN 49-99 6. 9... /.......... 989.... 85-9.... - /.... //.. 5.. 8.. 5-55. 4... /.... //... 978.... 65-7. 5... :.... - :.: 5..6. /. 99. 46. Vtor su leturer Vtor alh Prof. PhD teh. s. lexandr Ddy ssos.
More informationResearch on Neural Network Model Based on Subtraction Clustering and Its Applications
Avalable onlne at www.senedret.om Physs Proeda 5 (01 ) 164 1647 01 Internatonal Conferene on Sold State Deves and Materals Sene Researh on Neural Networ Model Based on Subtraton Clusterng and Its Applatons
More informationA NEW IMPLEMENTATION OF THE ICP ALGORITHM FOR 3D SURFACE REGISTRATION USING A COMPREHENSIVE LOOK UP MATRIX
A NEW IMPLEMENTATION OF THE ICP ALGORITHM FOR 3D SURFACE REGISTRATION USING A COMPREHENSIVE LOOK UP MATRIX A. Almhde, C. Léger, M. Derche 2 and R. Lédée Laboratory of Electroncs, Sgnals and Images (LESI),
More informationImprovement of Spatial Resolution Using BlockMatching Based Motion Estimation and Frame. Integration
Improvement of Spatal Resoluton Usng BlockMatchng Based Moton Estmaton and Frame Integraton Danya Suga and Takayuk Hamamoto Graduate School of Engneerng, Tokyo Unversty of Scence, 6-3-1, Nuku, Katsuska-ku,
More informationSubspace clustering. Clustering. Fundamental to all clustering techniques is the choice of distance measure between data points;
Subspace clusterng Clusterng Fundamental to all clusterng technques s the choce of dstance measure between data ponts; D q ( ) ( ) 2 x x = x x, j k = 1 k jk Squared Eucldean dstance Assumpton: All features
More informationSession 4.2. Switching planning. Switching/Routing planning
ITU Semnar Warsaw Poland 6-0 Otober 2003 Sesson 4.2 Swthng/Routng plannng Network Plannng Strategy for evolvng Network Arhtetures Sesson 4.2- Swthng plannng Loaton problem : Optmal plaement of exhanges
More informationSLAM Summer School 2006 Practical 2: SLAM using Monocular Vision
SLAM Summer School 2006 Practcal 2: SLAM usng Monocular Vson Javer Cvera, Unversty of Zaragoza Andrew J. Davson, Imperal College London J.M.M Montel, Unversty of Zaragoza. josemar@unzar.es, jcvera@unzar.es,
More informationR s s f. m y s. SPH3UW Unit 7.3 Spherical Concave Mirrors Page 1 of 12. Notes
SPH3UW Unt 7.3 Sphercal Concave Mrrors Page 1 of 1 Notes Physcs Tool box Concave Mrror If the reflectng surface takes place on the nner surface of the sphercal shape so that the centre of the mrror bulges
More informationDETECTING AND ANALYZING CORROSION SPOTS ON THE HULL OF LARGE MARINE VESSELS USING COLORED 3D LIDAR POINT CLOUDS
ISPRS Annals of the Photogrammetry, Remote Sensng and Spatal Informaton Senes, Volume III-3, 2016 XXIII ISPRS Congress, 12 19 July 2016, Prague, Czeh Republ DETECTING AND ANALYZING CORROSION SPOTS ON THE
More informationAccounting for the Use of Different Length Scale Factors in x, y and z Directions
1 Accountng for the Use of Dfferent Length Scale Factors n x, y and z Drectons Taha Soch (taha.soch@kcl.ac.uk) Imagng Scences & Bomedcal Engneerng, Kng s College London, The Rayne Insttute, St Thomas Hosptal,
More informationCS 534: Computer Vision Model Fitting
CS 534: Computer Vson Model Fttng Sprng 004 Ahmed Elgammal Dept of Computer Scence CS 534 Model Fttng - 1 Outlnes Model fttng s mportant Least-squares fttng Maxmum lkelhood estmaton MAP estmaton Robust
More informationy and the total sum of
Lnear regresson Testng for non-lnearty In analytcal chemstry, lnear regresson s commonly used n the constructon of calbraton functons requred for analytcal technques such as gas chromatography, atomc absorpton
More informationA Volumetric Approach for Interactive 3D Modeling
A Volumetrc Approach for Interactve 3D Modelng Dragan Tubć Patrck Hébert Computer Vson and Systems Laboratory Laval Unversty, Ste-Foy, Québec, Canada, G1K 7P4 Dens Laurendeau E-mal: (tdragan, hebert, laurendeau)@gel.ulaval.ca
More informationSIMULTANEOUS REGISTRATION OF MULTIPLE VIEWS OF A 3D OBJECT
SIMULTANEOUS REGISTRATION OF MULTIPLE VIEWS OF A 3D OBJECT Helmut Pottmann a, Stefan Leopoldseder a, Mchael Hofer a a Insttute of Geometry, Venna Unversty of Technology, Wedner Hauptstr. 8 10, A 1040 Wen,
More informationMultiscale Heterogeneous Modeling with Surfacelets
759 Multsale Heterogeneous Modelng wth Surfaelets Yan Wang 1 and Davd W. Rosen 2 1 Georga Insttute of Tehnology, yan.wang@me.gateh.edu 2 Georga Insttute of Tehnology, davd.rosen@me.gateh.edu ABSTRACT Computatonal
More informationA Range Image Refinement Technique for Multi-view 3D Model Reconstruction
A Range Image Refnement Technque for Mult-vew 3D Model Reconstructon Soon-Yong Park and Mural Subbarao Electrcal and Computer Engneerng State Unversty of New York at Stony Brook, USA E-mal: parksy@ece.sunysb.edu
More informationSteganalysis of DCT-Embedding Based Adaptive Steganography and YASS
Steganalyss of DCT-Embeddng Based Adaptve Steganography and YASS Qngzhong Lu Department of Computer Sene Sam Houston State Unversty Huntsvlle, TX 77341, U.S.A. lu@shsu.edu ABSTRACT Reently well-desgned
More informationAdaptive Class Preserving Representation for Image Classification
Adaptve Class Preservng Representaton for Image Classfaton Jan-Xun M,, Qankun Fu,, Wesheng L, Chongqng Key Laboratory of Computatonal Intellgene, Chongqng Unversty of Posts and eleommunatons, Chongqng,
More informationExterior Orientation using Coplanar Parallel Lines
Exteror Orentaton usng Coplanar Parallel Lnes Frank A. van den Heuvel Department of Geodetc Engneerng Delft Unversty of Technology Thsseweg 11, 69 JA Delft, The Netherlands Emal: F.A.vandenHeuvel@geo.tudelft.nl
More informationWhat are the camera parameters? Where are the light sources? What is the mapping from radiance to pixel color? Want to solve for 3D geometry
Today: Calbraton What are the camera parameters? Where are the lght sources? What s the mappng from radance to pel color? Why Calbrate? Want to solve for D geometry Alternatve approach Solve for D shape
More informationGabor-Filtering-Based Completed Local Binary Patterns for Land-Use Scene Classification
Gabor-Flterng-Based Completed Loal Bnary Patterns for Land-Use Sene Classfaton Chen Chen 1, Lbng Zhou 2,*, Janzhong Guo 1,2, We L 3, Hongjun Su 4, Fangda Guo 5 1 Department of Eletral Engneerng, Unversty
More information3D INDUSTRIAL RECONSTRUCTION BY FITTING CSG MODELS TO A COMBINATION OF IMAGES AND POINT CLOUDS
3D INDUSTRIAL RECONSTRUCTION BY FITTING CSG MODELS TO A COMBINATION OF IMAGES AND POINT CLOUDS Tahr Rabban, Frank van den Heuvel * Secton of Photogrammetry and Remote Sensng, Faculty of Aerospace Engneerng,
More informationA Model-Based Approach for Automated Feature Extraction in Fundus Images
A Model-Based Approah for Automated Feature Extraton n Fundus Images Huq L Shool of Computng Natonal Unversty of Sngapore dslhq@nus.edu.sg Opas Chutatape Shool of Eletral and Eletron Engneerng Nanyang
More informationInterval uncertain optimization of structures using Chebyshev meta-models
0 th World Congress on Strutural and Multdsplnary Optmzaton May 9-24, 203, Orlando, Florda, USA Interval unertan optmzaton of strutures usng Chebyshev meta-models Jngla Wu, Zhen Luo, Nong Zhang (Tmes New
More informationA Flexible Solution for Modeling and Tracking Generic Dynamic 3D Environments*
A Flexble Soluton for Modelng and Trang Gener Dynam 3D Envronments* Radu Danesu, Member, IEEE, and Sergu Nedevsh, Member, IEEE Abstrat The traff envronment s a dynam and omplex 3D sene, whh needs aurate
More informationHermite Splines in Lie Groups as Products of Geodesics
Hermte Splnes n Le Groups as Products of Geodescs Ethan Eade Updated May 28, 2017 1 Introducton 1.1 Goal Ths document defnes a curve n the Le group G parametrzed by tme and by structural parameters n the
More informationFuzzy C-Means Initialized by Fixed Threshold Clustering for Improving Image Retrieval
Fuzzy -Means Intalzed by Fxed Threshold lusterng for Improvng Image Retreval NAWARA HANSIRI, SIRIPORN SUPRATID,HOM KIMPAN 3 Faculty of Informaton Technology Rangst Unversty Muang-Ake, Paholyotn Road, Patumtan,
More informationAlignment of Non-Overlapping Sequences
Algnment of Non-Overlappng Sequences Yaron Casp Mchal ran Dept. of Computer Scence and Appled Math The Wezmann nsttute of Scence 76100 Rehovot, srael Ths paper shows how two mage sequences that have no
More informationComputer Animation and Visualisation. Lecture 4. Rigging / Skinning
Computer Anmaton and Vsualsaton Lecture 4. Rggng / Sknnng Taku Komura Overvew Sknnng / Rggng Background knowledge Lnear Blendng How to decde weghts? Example-based Method Anatomcal models Sknnng Assume
More informationarxiv: v3 [cs.cv] 31 Oct 2016
Unversal Correspondene Network Chrstopher B. Choy Stanford Unversty hrshoy@a.stanford.edu JunYoung Gwak Stanford Unversty jgwak@a.stanford.edu Slvo Savarese Stanford Unversty sslvo@stanford.edu arxv:1606.03558v3
More informationDIRECT SENSOR-ORIENTED CALIBRATION OF THE PROJECTOR IN CODED STRUCTURED LIGHT SYSTEM
DIRECT SENSOR-ORIENTED CALIBRATION OF THE PROJECTOR IN CODED STRUCTURED LIGHT SYSTEM M. Saadatseresht a, A. Jafar b a Center of Excellence for Surveyng Eng. and Dsaster Management, Unverstf Tehran, Iran,
More informationUse of Colour and Shape Constraints in Vision-based Valve Operation by Robot
Use of Colour and Shae Constrants n Vson-based Valve Oeraton b Robot De Xu ; Mn Tan ; Zemn Jang & Huosheng Hu Ke Laborator of Comle Sstems and Intellgene Sene, Insttute of Automaton, Chnese Aadem of Senes,
More informationAVideoStabilizationMethodbasedonInterFrameImageMatchingScore
Global Journal of Computer Sene and Tehnology: F Graphs & vson Volume 7 Issue Verson.0 Year 207 Type: Double Blnd Peer Revewed Internatonal Researh Journal Publsher: Global Journals In. (USA) Onlne ISSN:
More informationEXPRESSION OF DUAL EULER PARAMETERS USING THE DUAL RODRIGUES PARAMETERS AND THEIR APPLICATION TO THE SCREW TRANSFORMATION
Mathematal and Computatonal Applatons, Vol. 6, No., pp. 68-689,. Assoaton for Sentf Researh EXPRESSION OF DUAL EULER PARAMETERS USING THE DUAL RODRIGUES PARAMETERS AND THEIR APPLICATION TO THE SCREW TRANSFORMATION
More informationN-View Point Set Registration: A Comparison
N-Vew Pont Set Regstraton: A Comparson S. J. Cunnngton and A. J. Centre for Vson, Speech and Sgnal Processng Unversty of Surrey, Guldford, GU2 5XH, UK fa.stoddart,s.cunnngtong@ee.surrey.ac.uk Abstract
More informationNew dynamic zoom calibration technique for a stereo-vision based multi-view 3D modeling system
New dynamc oom calbraton technque for a stereo-vson based mult-vew 3D modelng system Tao Xan, Soon-Yong Park, Mural Subbarao Dept. of Electrcal & Computer Engneerng * State Unv. of New York at Stony Brook,
More informationA Binarization Algorithm specialized on Document Images and Photos
A Bnarzaton Algorthm specalzed on Document mages and Photos Ergna Kavalleratou Dept. of nformaton and Communcaton Systems Engneerng Unversty of the Aegean kavalleratou@aegean.gr Abstract n ths paper, a
More informationBoosting Weighted Linear Discriminant Analysis
. Okada et al. / Internatonal Journal of Advaned Statsts and I&C for Eonoms and Lfe Senes Boostng Weghted Lnear Dsrmnant Analyss azunor Okada, Arturo Flores 2, Marus George Lnguraru 3 Computer Sene Department,
More informationCluster ( Vehicle Example. Cluster analysis ( Terminology. Vehicle Clusters. Why cluster?
Why luster? referene funton R R Although R and R both somewhat orrelated wth the referene funton, they are unorrelated wth eah other Cluster (www.m-w.om) A number of smlar ndvduals that our together as
More informationStructure from Motion
Structure from Moton Structure from Moton For now, statc scene and movng camera Equvalentl, rgdl movng scene and statc camera Lmtng case of stereo wth man cameras Lmtng case of multvew camera calbraton
More informationSteps for Computing the Dissimilarity, Entropy, Herfindahl-Hirschman and. Accessibility (Gravity with Competition) Indices
Steps for Computng the Dssmlarty, Entropy, Herfndahl-Hrschman and Accessblty (Gravty wth Competton) Indces I. Dssmlarty Index Measurement: The followng formula can be used to measure the evenness between
More informationAUTOMATED REGISTRATION OF UNORGANISED POINT CLOUDS FROM TERRESTRIAL LASER SCANNERS
AUTOMATED REGISTRATION OF UNORGANISED POINT CLOUDS FROM TERRESTRIAL LASER SCANNERS Kwang-Ho Bae and Derek D. Lcht Department of Spatal Scences, Curtn Unversty of Technology, GPO Box U1987, Perth, WA, 6845,
More informationProgressive scan conversion based on edge-dependent interpolation using fuzzy logic
Progressve san onverson based on edge-dependent nterpolaton usng fuzzy log P. Brox brox@mse.nm.es I. Baturone lum@mse.nm.es Insttuto de Mroeletróna de Sevlla, Centro Naonal de Mroeletróna Avda. Rena Meredes
More informationMicroprocessors and Microsystems
Mroproessors and Mrosystems 36 (2012) 96 109 Contents lsts avalable at SeneDret Mroproessors and Mrosystems journal homepage: www.elsever.om/loate/mpro Hardware aelerator arhteture for smultaneous short-read
More informationX- Chart Using ANOM Approach
ISSN 1684-8403 Journal of Statstcs Volume 17, 010, pp. 3-3 Abstract X- Chart Usng ANOM Approach Gullapall Chakravarth 1 and Chaluvad Venkateswara Rao Control lmts for ndvdual measurements (X) chart are
More informationScalable Parametric Runtime Monitoring
Salable Parametr Runtme Montorng Dongyun Jn Patrk O Nel Meredth Grgore Roşu Department of Computer Sene Unversty of Illnos at Urbana Champagn Urbana, IL, U.S.A. {djn3, pmeredt, grosu}@s.llnos.edu Abstrat
More informationINFLUENCE OF TIE POINT DISTRIBUTION ON INTEGRATED SENSOR ORIENTATION
IFUEE OF TIE POIT DISTRIUTIO O ITEGRATED SESOR ORIETATIO K.Khoshelham a,b, M. Saadatseresht b,.g. Gorte a a Delft Unversty of Technology, Dept. of Earth Observaton and Space Systems, Kluyverweg 1, 2629
More informationConnectivity in Fuzzy Soft graph and its Complement
IOSR Journal of Mathemats (IOSR-JM) e-issn: 2278-5728, p-issn: 2319-765X. Volume 1 Issue 5 Ver. IV (Sep. - Ot.2016), PP 95-99 www.osrjournals.org Connetvty n Fuzzy Soft graph and ts Complement Shashkala
More informationAN INTEGRATED APPROACH FOR THE ORIENTATION OF TERRESTRIAL OUTDOOR SCENES
AN INTEGRATED APPROACH FOR THE ORIENTATION OF TERRESTRIAL OUTDOOR SCENES Norbert Haala, Jan Böhm, Darko Klnec Insttute for Photogrammetry (fp), Unversty of Stuttgart, Germany Commsson II, WG II/1 KEY WORDS:
More informationMulti-stable Perception. Necker Cube
Mult-stable Percepton Necker Cube Spnnng dancer lluson, Nobuuk Kaahara Fttng and Algnment Computer Vson Szelsk 6.1 James Has Acknowledgment: Man sldes from Derek Hoem, Lana Lazebnk, and Grauman&Lebe 2008
More informationRecognizing Faces. Outline
Recognzng Faces Drk Colbry Outlne Introducton and Motvaton Defnng a feature vector Prncpal Component Analyss Lnear Dscrmnate Analyss !"" #$""% http://www.nfotech.oulu.f/annual/2004 + &'()*) '+)* 2 ! &
More informationComputing Cloud Cover Fraction in Satellite Images using Deep Extreme Learning Machine
Computng Cloud Cover Fraton n Satellte Images usng Deep Extreme Learnng Mahne L-guo WENG, We-bn KONG, Mn XIA College of Informaton and Control, Nanjng Unversty of Informaton Sene & Tehnology, Nanjng Jangsu
More informationPerformance Evaluation of TreeQ and LVQ Classifiers for Music Information Retrieval
Performane Evaluaton of TreeQ and LVQ Classfers for Mus Informaton Retreval Matna Charam, Ram Halloush, Sofa Tsekerdou Athens Informaton Tehnology (AIT) 0.8 km Markopoulo Ave. GR - 19002 Peana, Athens,
More informationREFRACTION. a. To study the refraction of light from plane surfaces. b. To determine the index of refraction for Acrylic and Water.
Purpose Theory REFRACTION a. To study the refracton of lght from plane surfaces. b. To determne the ndex of refracton for Acrylc and Water. When a ray of lght passes from one medum nto another one of dfferent
More informationFeature-based image registration using the shape context
Feature-based mage regstraton usng the shape context LEI HUANG *, ZHEN LI Center for Earth Observaton and Dgtal Earth, Chnese Academy of Scences, Bejng, 100012, Chna Graduate Unversty of Chnese Academy
More informationEvaluation of Segmentation in Magnetic Resonance Images Using k-means and Fuzzy c-means Clustering Algorithms
ELEKTROTEHIŠKI VESTIK 79(3): 129-134, 2011 EGLISH EDITIO Evaluaton of Segmentaton n Magnet Resonane Images Usng k-means and Fuzzy -Means Clusterng Algorthms Tomaž Fnkšt Unverza v Lublan, Fakulteta za stronštvo,
More informationFitting & Matching. Lecture 4 Prof. Bregler. Slides from: S. Lazebnik, S. Seitz, M. Pollefeys, A. Effros.
Fttng & Matchng Lecture 4 Prof. Bregler Sldes from: S. Lazebnk, S. Setz, M. Pollefeys, A. Effros. How do we buld panorama? We need to match (algn) mages Matchng wth Features Detect feature ponts n both
More informationA Robust Method for Estimating the Fundamental Matrix
Proc. VIIth Dgtal Image Computng: Technques and Applcatons, Sun C., Talbot H., Ourseln S. and Adraansen T. (Eds.), 0- Dec. 003, Sydney A Robust Method for Estmatng the Fundamental Matrx C.L. Feng and Y.S.
More informationAn Image Fusion Approach Based on Segmentation Region
Rong Wang, L-Qun Gao, Shu Yang, Yu-Hua Cha, and Yan-Chun Lu An Image Fuson Approach Based On Segmentaton Regon An Image Fuson Approach Based on Segmentaton Regon Rong Wang, L-Qun Gao, Shu Yang 3, Yu-Hua
More informationDynamic Camera Assignment and Handoff
12 Dynamc Camera Assgnment and Handoff Br Bhanu and Ymng L 12.1 Introducton...338 12.2 Techncal Approach...339 12.2.1 Motvaton and Problem Formulaton...339 12.2.2 Game Theoretc Framework...339 12.2.2.1
More informationFEATURE EXTRACTION. Dr. K.Vijayarekha. Associate Dean School of Electrical and Electronics Engineering SASTRA University, Thanjavur
FEATURE EXTRACTION Dr. K.Vjayarekha Assocate Dean School of Electrcal and Electroncs Engneerng SASTRA Unversty, Thanjavur613 41 Jont Intatve of IITs and IISc Funded by MHRD Page 1 of 8 Table of Contents
More informationFusion of Data from Head-Mounted and Fixed Sensors 1
Frst Internatonal Workshop on Augmented Realty, Nov., 998, San Francsco. Fuson of Data from Head-ounted and Fxed Sensors Abstract Wllam A. Hoff Engneerng Dvson, Colorado School of nes Golden, Colorado
More informationOptimal shape and location of piezoelectric materials for topology optimization of flextensional actuators
Optmal shape and loaton of pezoeletr materals for topology optmzaton of flextensonal atuators ng L 1 Xueme Xn 2 Noboru Kkuh 1 Kazuhro Satou 1 1 Department of Mehanal Engneerng, Unversty of Mhgan, Ann Arbor,
More informationA Fast Visual Tracking Algorithm Based on Circle Pixels Matching
A Fast Vsual Trackng Algorthm Based on Crcle Pxels Matchng Zhqang Hou hou_zhq@sohu.com Chongzhao Han czhan@mal.xjtu.edu.cn Ln Zheng Abstract: A fast vsual trackng algorthm based on crcle pxels matchng
More informationCluster Analysis of Electrical Behavior
Journal of Computer and Communcatons, 205, 3, 88-93 Publshed Onlne May 205 n ScRes. http://www.scrp.org/ournal/cc http://dx.do.org/0.4236/cc.205.350 Cluster Analyss of Electrcal Behavor Ln Lu Ln Lu, School
More informationFitting and Alignment
Fttng and Algnment Computer Vson Ja-Bn Huang, Vrgna Tech Many sldes from S. Lazebnk and D. Hoem Admnstratve Stuffs HW 1 Competton: Edge Detecton Submsson lnk HW 2 wll be posted tonght Due Oct 09 (Mon)
More informationParallel matrix-vector multiplication
Appendx A Parallel matrx-vector multplcaton The reduced transton matrx of the three-dmensonal cage model for gel electrophoress, descrbed n secton 3.2, becomes excessvely large for polymer lengths more
More informationMulti-view 3D Position Estimation of Sports Players
Mult-vew 3D Poston Estmaton of Sports Players Robbe Vos and Wlle Brnk Appled Mathematcs Department of Mathematcal Scences Unversty of Stellenbosch, South Afrca Emal: vosrobbe@gmal.com Abstract The problem
More informationModeling Radiometric Uncertainty for Vision with Tone-mapped Color Images
1 Modelng Radometr Unertanty for Vson wth Tone-mapped Color Images Ayan Chakrabart, Yng Xong, Baohen Sun, Trevor Darrell, Danel Sharsten, Todd Zkler, and Kate Saenko arxv:1311.6887v [s.cv] 9 Apr 14 Abstrat
More informationProfessional competences training path for an e-commerce major, based on the ISM method
World Transactons on Engneerng and Technology Educaton Vol.14, No.4, 2016 2016 WIETE Professonal competences tranng path for an e-commerce maor, based on the ISM method Ru Wang, Pn Peng, L-gang Lu & Lng
More informationAnalysis of Continuous Beams in General
Analyss of Contnuous Beams n General Contnuous beams consdered here are prsmatc, rgdly connected to each beam segment and supported at varous ponts along the beam. onts are selected at ponts of support,
More informationAvatar Face Recognition using Wavelet Transform and Hierarchical Multi-scale LBP
2011 10th Internatonal Conferene on Mahne Learnng and Applatons Avatar Fae Reognton usng Wavelet Transform and Herarhal Mult-sale LBP Abdallah A. Mohamed, Darryl D Souza, Naouel Bal and Roman V. Yampolsky
More informationRange Data Registration Using Photometric Features
Range Data Regstraton Usng Photometrc Features Joon Kyu Seo, Gregory C. Sharp, and Sang Wook Lee Dept. of Meda Technology, Sogang Unversty, Seoul, Korea Dept. of Radaton Oncology, Massachusetts General
More informationEfficient automatic correction and segmentation based 3D visualization of magnetic resonance images
Lousana State Unverst LSU Dgtal Commons LSU Dotoral Dssertatons Graduate Shool 5 Effent automat orreton and segmentaton based 3D vsualzaton of magnet resonane mages Mkhal V. Mlhenko Lousana State Unverst
More informationA Fast Way to Produce Optimal Fixed-Depth Decision Trees
A Fast Way to Produe Optmal Fxed-Depth Deson Trees Alreza Farhangfar, Russell Grener and Martn Znkevh Dept of Computng Sene Unversty of Alberta Edmonton, Alberta T6G 2E8 Canada {farhang, grener, maz}@s.ualberta.a
More informationMixture Models and the Segmentation of Multimodal Textures. Roberto Manduchi. California Institute of Technology.
Mxture Models and the Segmentaton of Multmodal Textures oberto Manduh Jet ropulson Laboratory Calforna Insttute of Tehnology asadena, CA 91109 manduh@pl.nasa.gov 1 Introduton Abstrat Aproblem wth usng
More informationWishing you all a Total Quality New Year!
Total Qualty Management and Sx Sgma Post Graduate Program 214-15 Sesson 4 Vnay Kumar Kalakband Assstant Professor Operatons & Systems Area 1 Wshng you all a Total Qualty New Year! Hope you acheve Sx sgma
More informationA NEW APPROACH FOR SUBWAY TUNNEL DEFORMATION MONITORING: HIGH-RESOLUTION TERRESTRIAL LASER SCANNING
A NEW APPROACH FOR SUBWAY TUNNEL DEFORMATION MONITORING: HIGH-RESOLUTION TERRESTRIAL LASER SCANNING L Jan a, Wan Youchuan a,, Gao Xanjun a a School of Remote Sensng and Informaton Engneerng, Wuhan Unversty,129
More informationTN348: Openlab Module - Colocalization
TN348: Openlab Module - Colocalzaton Topc The Colocalzaton module provdes the faclty to vsualze and quantfy colocalzaton between pars of mages. The Colocalzaton wndow contans a prevew of the two mages
More informationAn Iterative Solution Approach to Process Plant Layout using Mixed Integer Optimisation
17 th European Symposum on Computer Aded Process Engneerng ESCAPE17 V. Plesu and P.S. Agach (Edtors) 2007 Elsever B.V. All rghts reserved. 1 An Iteratve Soluton Approach to Process Plant Layout usng Mxed
More informationLink Graph Analysis for Adult Images Classification
Lnk Graph Analyss for Adult Images Classfaton Evgeny Khartonov Insttute of Physs and Tehnology, Yandex LLC 90, 6 Lev Tolstoy st., khartonov@yandex-team.ru Anton Slesarev Insttute of Physs and Tehnology,
More informationLearning Ensemble of Local PDM-based Regressions. Yen Le Computational Biomedicine Lab Advisor: Prof. Ioannis A. Kakadiaris
Learnng Ensemble of Local PDM-based Regressons Yen Le Computatonal Bomedcne Lab Advsor: Prof. Ioanns A. Kakadars 1 Problem statement Fttng a statstcal shape model (PDM) for mage segmentaton Callosum segmentaton
More information