scholarly journals Object recognition and localization from 3D point clouds by maximum-likelihood estimation

2017 ◽  
Vol 4 (8) ◽  
pp. 160693 ◽  
Author(s):  
Harshana G. Dantanarayana ◽  
Jonathan M. Huntley
Keyword(s):  
Maximum Likelihood ◽  
Degrees Of Freedom ◽  
Likelihood Estimation ◽  
Point Clouds ◽  
Theoretical Description ◽  
Alignment Error ◽  
Computationally Efficient ◽  
Cloud Data ◽  
Depth Images ◽  
3D Point Clouds

We present an algorithm based on maximum-likelihood analysis for the automated recognition of objects, and estimation of their pose, from 3D point clouds. Surfaces segmented from depth images are used as the features, unlike ‘interest point’-based algorithms which normally discard such data. Compared to the 6D Hough transform, it has negligible memory requirements, and is computationally efficient compared to iterative closest point algorithms. The same method is applicable to both the initial recognition/pose estimation problem as well as subsequent pose refinement through appropriate choice of the dispersion of the probability density functions. This single unified approach therefore avoids the usual requirement for different algorithms for these two tasks. In addition to the theoretical description, a simple 2 degrees of freedom (d.f.) example is given, followed by a full 6 d.f. analysis of 3D point cloud data from a cluttered scene acquired by a projected fringe-based scanner, which demonstrated an RMS alignment error as low as 0.3 mm.

scholarly journals BIM Supported Surveying and Imaging Combination for Heritage Conservation

2021 ◽  
Vol 13 (8) ◽  
pp. 1584
Author(s):  
Pedro Martín-Lerones ◽  
David Olmedo ◽  
Ana López-Vidal ◽  
Jaime Gómez-García-Bermejo ◽  
Eduardo Zalama
Keyword(s):  
Laser Scanning ◽  
Point Clouds ◽  
Cloud Data ◽  
Industry Foundation Classes ◽  
3D Point Clouds ◽  
Conservation Actions ◽  
Heritage Building ◽  
2D Imaging ◽  
Digital Survey ◽  
Level 2

As the basis for analysis and management of heritage assets, 3D laser scanning and photogrammetric 3D reconstruction have been probed as adequate techniques for point cloud data acquisition. The European Directive 2014/24/EU imposes BIM Level 2 for government centrally procured projects as a collaborative process of producing federated discipline-specific models. Although BIM software resources are intensified and increasingly growing, distinct specifications for heritage (H-BIM) are essential to driving particular processes and tools to efficiency shifting from point clouds to meaningful information ready to be exchanged using non-proprietary formats, such as Industry Foundation Classes (IFC). This paper details a procedure for processing enriched 3D point clouds into the REVIT software package due to its worldwide popularity and how closely it integrates with the BIM concept. The procedure will be additionally supported by a tailored plug-in to make high-quality 3D digital survey datasets usable together with 2D imaging, enhancing the capability to depict contextualized important graphical data to properly planning conservation actions. As a practical example, a 2D/3D enhanced combination is worked to accurately include into a BIM project, the length, orientation, and width of a big crack on the walls of the Castle of Torrelobatón (Spain) as a representative heritage building.

scholarly journals Comparison of Depth Camera and Terrestrial Laser Scanner in Monitoring Structural Deflections

Sensors ◽  
2020 ◽  
Vol 21 (1) ◽  
pp. 201
Author(s):  
Michael Bekele Maru ◽  
Donghwan Lee ◽  
Kassahun Demissie Tola ◽  
Seunghee Park
Keyword(s):  
Optical Sensors ◽  
Point Cloud ◽  
Three Dimensional ◽  
Laser Scanner ◽  
Point Clouds ◽  
Depth Camera ◽  
Terrestrial Laser Scanner ◽  
Cloud Data ◽  
3D Point Clouds ◽  
3D Information

Modeling a structure in the virtual world using three-dimensional (3D) information enhances our understanding, while also aiding in the visualization, of how a structure reacts to any disturbance. Generally, 3D point clouds are used for determining structural behavioral changes. Light detection and ranging (LiDAR) is one of the crucial ways by which a 3D point cloud dataset can be generated. Additionally, 3D cameras are commonly used to develop a point cloud containing many points on the external surface of an object around it. The main objective of this study was to compare the performance of optical sensors, namely a depth camera (DC) and terrestrial laser scanner (TLS) in estimating structural deflection. We also utilized bilateral filtering techniques, which are commonly used in image processing, on the point cloud data for enhancing their accuracy and increasing the application prospects of these sensors in structure health monitoring. The results from these sensors were validated by comparing them with the outputs from a linear variable differential transformer sensor, which was mounted on the beam during an indoor experiment. The results showed that the datasets obtained from both the sensors were acceptable for nominal deflections of 3 mm and above because the error range was less than ±10%. However, the result obtained from the TLS were better than those obtained from the DC.

scholarly journals Fast and Robust Flight Altitude Estimation of Multirotor UAVs in Dynamic Unstructured Environments Using 3D Point Cloud Sensors

Aerospace ◽  
2018 ◽  
Vol 5 (3) ◽  
pp. 94 ◽  
Author(s):  
Hriday Bavle ◽  
Jose Sanchez-Lopez ◽  
Paloma Puente ◽  
Alejandro Rodriguez-Ramos ◽  
Carlos Sampedro ◽  
...  
Keyword(s):  
Point Cloud ◽  
Point Clouds ◽  
Estimation Algorithm ◽  
Indoor Environments ◽  
3D Point Cloud ◽  
Flight Altitude ◽  
Cloud Data ◽  
3D Point Clouds ◽  
Laser Altimeters ◽  
Altitude Estimation

This paper presents a fast and robust approach for estimating the flight altitude of multirotor Unmanned Aerial Vehicles (UAVs) using 3D point cloud sensors in cluttered, unstructured, and dynamic indoor environments. The objective is to present a flight altitude estimation algorithm, replacing the conventional sensors such as laser altimeters, barometers, or accelerometers, which have several limitations when used individually. Our proposed algorithm includes two stages: in the first stage, a fast clustering of the measured 3D point cloud data is performed, along with the segmentation of the clustered data into horizontal planes. In the second stage, these segmented horizontal planes are mapped based on the vertical distance with respect to the point cloud sensor frame of reference, in order to provide a robust flight altitude estimation even in presence of several static as well as dynamic ground obstacles. We validate our approach using the IROS 2011 Kinect dataset available in the literature, estimating the altitude of the RGB-D camera using the provided 3D point clouds. We further validate our approach using a point cloud sensor on board a UAV, by means of several autonomous real flights, closing its altitude control loop using the flight altitude estimated by our proposed method, in presence of several different static as well as dynamic ground obstacles. In addition, the implementation of our approach has been integrated in our open-source software framework for aerial robotics called Aerostack.

scholarly journals Comparing of Car-Bym, Generalized Poisson dan Negative Binomial on Tuberculosis Data in Banyumas Districs

2021 ◽  
Vol 5 (1) ◽  
pp. 130-140
Author(s):  
Jajang Jajang ◽  
Budi Pratikno ◽  
Mashuri Mashuri
Keyword(s):  
Parameter Estimation ◽  
Maximum Likelihood ◽  
Count Data ◽  
Degrees Of Freedom ◽  
Negative Binomial ◽  
Likelihood Estimation ◽  
Poisson Model ◽  
Generalized Poisson ◽  
Central Java ◽  
Area Data

In 2019 the number of people with TB (Tuberculosis) in Banyumas, Central Java, is high (1,910 people have been detected with TB). The number of people infected Tuberculosis (TB) in Banyumas is the count data and it is also the area data. In modeling, the parameter estimation and characteristic of the data need to be considered. Here, we studied comparing Generalized Poisson (GP), negative binomial (NB), and Poisson and CAR.BYM model for TB cases in Banyumas. Here, we use two methods for parameter estimation, maximum likelihood estimation (MLE) and Bayes. The MLE is used for GP and NB models, whereas Bayes is used for Poisson and CAR-BYM. The results showed that Poisson model detected overdispersion where deviance value is 67.38 for 22 degrees of freedom. Therefore, ratio of deviance to degrees of freedom is 3.06 (>1). This indicates that there was overdispersion. The folowing GP, NB, Poisson-Bayes and CAR-BYM are used to modeling TB data in Banyumas and we compare their RMSE. With refer to RMES criteria, we found that CAR-BYM is the best model for modeling TB in Banyumas because its RMSE is smallest.

scholarly journals Joint Maximum Likelihood of Phylogeny and Ancestral States Is Not Consistent

2019 ◽  
Vol 36 (10) ◽  
pp. 2352-2357
Author(s):  
David A Shaw ◽  
Vu C Dinh ◽  
Frederick A Matsen
Keyword(s):  
Maximum Likelihood ◽  
Maximum Likelihood Estimation ◽  
Likelihood Estimation ◽  
Branch Length ◽  
Continuous Model ◽  
Model Parameters ◽  
Infinite Length ◽  
Computationally Efficient ◽  
Ancestral States ◽  
Joint Method

Abstract Maximum likelihood estimation in phylogenetics requires a means of handling unknown ancestral states. Classical maximum likelihood averages over these unknown intermediate states, leading to provably consistent estimation of the topology and continuous model parameters. Recently, a computationally efficient approach has been proposed to jointly maximize over these unknown states and phylogenetic parameters. Although this method of joint maximum likelihood estimation can obtain estimates more quickly, its properties as an estimator are not yet clear. In this article, we show that this method of jointly estimating phylogenetic parameters along with ancestral states is not consistent in general. We find a sizeable region of parameter space that generates data on a four-taxon tree for which this joint method estimates the internal branch length to be exactly zero, even in the limit of infinite-length sequences. More generally, we show that this joint method only estimates branch lengths correctly on a set of measure zero. We show empirically that branch length estimates are systematically biased downward, even for short branches.

scholarly journals Automatic 2D Floorplan CAD Generation from 3D Point Clouds

2020 ◽  
Vol 10 (8) ◽  
pp. 2817 ◽  
Author(s):  
Uuganbayar Gankhuyag ◽  
Ji-Hyeong Han
Keyword(s):  
Point Clouds ◽  
Detection Algorithm ◽  
Information Modeling ◽  
Ongoing Research ◽  
Cloud Data ◽  
Industry Foundation Classes ◽  
Automated Method ◽  
3D Point Clouds ◽  
Building Information ◽  
Geometric Quality

In the architecture, engineering, and construction (AEC) industry, creating an indoor model of existing buildings has been a challenging task since the introduction of building information modeling (BIM). Because the process of BIM is primarily manual and implies a high possibility of error, the automated creation of indoor models remains an ongoing research. In this paper, we propose a fully automated method to generate 2D floorplan computer-aided designs (CADs) from 3D point clouds. The proposed method consists of two main parts. The first is to detect planes in buildings, such as walls, floors, and ceilings, from unstructured 3D point clouds and to classify them based on the Manhattan-World (MW) assumption. The second is to generate 3D BIM in the industry foundation classes (IFC) format and a 2D floorplan CAD using the proposed line-detection algorithm. We experimented the proposed method on 3D point cloud data from a university building, residential houses, and apartments and evaluated the geometric quality of a wall reconstruction. We also offer the source code for the proposed method on GitHub.

scholarly journals DGANet: A Dilated Graph Attention-Based Network for Local Feature Extraction on 3D Point Clouds

2021 ◽  
Vol 13 (17) ◽  
pp. 3484
Author(s):  
Jie Wan ◽  
Zhong Xie ◽  
Yongyang Xu ◽  
Ziyin Zeng ◽  
Ding Yuan ◽  
...  
Keyword(s):  
Feature Extraction ◽  
Long Range ◽  
Point Clouds ◽  
Feature Representation ◽  
Learning Ability ◽  
Geometric Feature ◽  
Cloud Data ◽  
Fine Grained ◽  
3D Point Clouds ◽  
Benchmark Datasets

Feature extraction on point clouds is an essential task when analyzing and processing point clouds of 3D scenes. However, there still remains a challenge to adequately exploit local fine-grained features on point cloud data due to its irregular and unordered structure in a 3D space. To alleviate this problem, a Dilated Graph Attention-based Network (DGANet) with a certain feature for learning ability is proposed. Specifically, we first build a local dilated graph-like region for each input point to establish the long-range spatial correlation towards its corresponding neighbors, which allows the proposed network to access a wider range of geometric information of local points with their long-range dependencies. Moreover, by integrating the dilated graph attention module (DGAM) implemented by a novel offset–attention mechanism, the proposed network promises to highlight the differing ability of each edge of the constructed local graph to uniquely learn the discrepancy feature of geometric attributes between the connected point pairs. Finally, all the learned edge attention features are further aggregated, allowing the most significant geometric feature representation of local regions by the graph–attention pooling to fully extract local detailed features for each point. The validation experiments using two challenging benchmark datasets demonstrate the effectiveness and powerful generation ability of our proposed DGANet in both 3D object classification and segmentation tasks.

Sign in / Sign up

Export Citation Format

Share Document