From Feature Detection in Truncated Signed Distance Fields to Sparse Stable Scene Graphs
نویسندگان
چکیده
منابع مشابه
Truncated Signed Distance Fields
This thesis is concerned with topics related to dense mapping of large scale three-dimensional spaces. In particular, the motivating scenario of this work is one in which a mobile robot with limited computational resources explores an unknown environment using a depth-camera. To this end, low-level topics such as sensor noise, map representation, interpolation, bit-rates, compression are invest...
متن کاملSigned Lp-distance fields
We introduce and study a family of generalized double-layer potentials which are used to build smooth and accurate approximants for the signed distance function. Given a surface, the value of an approximant at a given point is a power mean of distances from the point to the surface points parameterized by the angle they are viewed from the given point. We analyze mathematical properties of the ...
متن کاملScene Representation , Registration and Object Detection in a Truncated Signed Distance Function Representation of 3 D Space
This thesis presents a study of the signed distance function as a three-dimensional implicit surface representation and provides a detailed overview of its different properties. A method for generating such a representation using the depth-image output from a Kinect camera is reviewed in detail. In order to improve the quality of the implicit function that can be obtained, registration of multi...
متن کاملContinuous Collision Detection Between Points and Signed Distance Fields
We present an algorithm for fast continuous collision detection between points and signed distance fields. Such robust queries are often needed in computer animation, haptics and virtual reality applications, but have so far only been investigated for polygon (triangular) geometry representations. We demonstrate how to use an octree subdivision of the distance field for fast traversal of distan...
متن کاملFacial feature detection using distance vector fields
A novel method for eye and mouth detection and eye center and mouth corner localization, based on geometrical information is presented in this paper. First, a face detector is applied to detect the facial region, and the edge map of this region is calculated. The distance vector field of the face is extracted by assigning to every facial image pixel a vector pointing to the closest edge pixel. ...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: IEEE Robotics and Automation Letters
سال: 2016
ISSN: 2377-3766,2377-3774
DOI: 10.1109/lra.2016.2523555