One of the current limits of laparosurgery is the absence of a 3D vision facility for standard laparoscopes. While there has been significant progress made in visual SLAM (Simultaneous Localization And Mapping) with a single camera, most of the current approaches relies on the assumption that the tissues are rigid or undergo a cyclic deformation. However, in laparoscopic surgery none of these a...

Current computed tomography (CT) scanners, including micro-CT scanners, utilize a point x-ray source. As we target higher and higher spatial resolutions, the reduced x-ray focal spot size limits the temporal and contrast resolutions achievable. To overcome this limitation, in this paper we propose to use a line-shaped x-ray source so that many more photons can be generated, given a data acquisi...

In this article, we propose a conformal model for 3D visual perception. In our model, the two views are fused in an extended 3D horopter model. For visual simultaneous localization and mapping (SLAM), an extended Kalman filter (EKF) technique is used for 3D reconstruction and determination of the robot head pose. In addition, the Viola and Jones machine-learning technique is applied to improve ...

As safety and efficiency issues of transportation hand-in-hand with the intelligent vehicle concept – have gathered ground in the last few years in the automotive research community and have penetrated into the automotive industry, vision-based applications have become increasingly important in driver assistance systems (Kastrinaki et al., 2003; Bertozzi et al., 2002). The primary targets of th...

Lidar is extensively used in the industry and mass market, due to its measurement accuracy and insensitivity to brightness compared to cameras. It is applied onto a broad range of applications, like geodetic engineering, self driving cars or virtual reality. But the 3D Lidar with multiple beams is very expensive, and the massive measurements data can not be fully processed timely. The purpose o...

Visualization is a powerful technique to reinforce human cognition, and archaeologists uses it extensively to study and showcase artifacts and architectures. Currently, archaeologists create visualization using drawings, which is inefficient especially visualizing big artifacts and architectures. This project aims to provide archaeologists with a mobile system that can reconstruct an artifact w...

In this note we consider the problem of computing the 3D shape of an unknown, arbitrarily shaped scene from multiple color photographs taken at arbitrarily distributed viewpoints using a mobile device. The estimated camera orientation and position in 3D space obtained from publicly available SLAM libraries permits us to perform a 3D reconstruction of the observed objects. We demonstrate that it...

We introduce Focal Vector Field Reconstruction (FVR), a novel technique for the inverse imaging of vector fields. The method was designed to simultaneously achieve two goals: a) invariance with respect to the orientation of the coordinate system, and b) a preference for sparsity of the solutions and their spatial derivatives. This was achieved by defining the regulating penalty function, which ...

The use of visual sensing for action generation in unknown environments is an attractive option due to the great representation power of vision, but it is challenging for two reasons. The representations used in vision are often not well suitable for planning, thus requiring complex learning approaches. Furthermore, an active agent needs to make decisions on-line, without the delay of o -line p...

A system for automatic 3D modeling of sewer manholes using two Microsoft Kinect sensors is presented. The hardware design is based on a hand-held scanner that includes two Kinect sensors, a mini-PC and LED-based illumination bars. The scanning and reconstruction software has been implemented using open-source software toolkits. The information from the two Kinect sensors is merged into a single...