Three dimensional point cloud hole repairing strategy for binocular stereo reconstruction

2017 ◽  
Author(s):  
Erjie Nie ◽  
Jie Li ◽  
Rumei Zhang ◽  
Lei Cao ◽  
Liangliang Sun ◽  
...  
Keyword(s):  
Point Cloud ◽  
Three Dimensional ◽  
Stereo Reconstruction ◽  
Binocular Stereo

scholarly journals Microscopic Three-Dimensional Measurement Based on Telecentric Stereo and Speckle Projection Methods

Sensors ◽  
2018 ◽  
Vol 18 (11) ◽  
pp. 3882 ◽  
Author(s):  
Kepeng Chen ◽  
Tielin Shi ◽  
Qiang Liu ◽  
Zirong Tang ◽  
Guanglan Liao
Keyword(s):  
Measurement Accuracy ◽  
Three Dimensional ◽  
Projection Methods ◽  
Reconstruction Procedure ◽  
Cylinder Arrays ◽  
Stereo Reconstruction ◽  
Three Dimensional Measurement ◽  
Binocular Stereo ◽  
3D Information ◽  
Microscopic Measurement

Three-dimensional (3D) measurement of microstructures has become increasingly important, and many microscopic measurement methods have been developed. For the dimension in several millimeters together with the accuracy at sub-pixel or sub-micron level, there is almost no effective measurement method now. Here we present a method combining the microscopic stereo measurement with the digital speckle projection. A microscopy experimental setup mainly composed of two telecentric cameras and an industrial projection module is established and a telecentric binocular stereo reconstruction procedure is carried out. The measurement accuracy has firstly been verified by performing 3D measurements of grid arrays at different locations and cylinder arrays with different height differences. Then two Mitutoyo step masters have been used for further verification. The experimental results show that the proposed method can obtain 3D information of the microstructure with a sub-pixel and even sub-micron measuring accuracy in millimeter scale.

Handheld Laser Scanner Research

2019 ◽  
Vol 952 (10) ◽  
pp. 47-54
Author(s):  
A.V. Komissarov ◽  
A.V. Remizov ◽  
M.M. Shlyakhova ◽  
K.K. Yambaev
Keyword(s):  
Point Cloud ◽  
Three Dimensional ◽  
Laser Scanner ◽  
Test Site ◽  
Optical Systems ◽  
Advantages And Disadvantages ◽  
Site Survey ◽  
Laser Scanners ◽  
Three Dimensional Models ◽  
The Stability

The authors consider hand-held laser scanners, as a new photogrammetric tool for obtaining three-dimensional models of objects. The principle of their work and the newest optical systems based on various sensors measuring the depth of space are described in detail. The method of simultaneous navigation and mapping (SLAM) used for combining single scans into point cloud is outlined. The formulated tasks and methods for performing studies of the DotProduct (USA) hand-held laser scanner DPI?8X based on a test site survey are presented. The accuracy requirements for determining the coordinates of polygon points are given. The essence of the performed experimental research of the DPI?8X scanner is described, including scanning of a test object at various scanner distances, shooting a test polygon from various scanner positions and building point cloud, repeatedly shooting the same area of the polygon to check the stability of the scanner. The data on the assessment of accuracy and analysis of research results are given. Fields of applying hand-held laser scanners, their advantages and disadvantages are identified.

scholarly journals High-Accuracy Recognition and Localization of Moving Targets in an Indoor Environment Using Binocular Stereo Vision

2021 ◽  
Vol 10 (4) ◽  
pp. 234
Author(s):  
Jing Ding ◽  
Zhigang Yan ◽  
Xuchen We
Keyword(s):  
Stereo Vision ◽  
Stereo Matching ◽  
Three Dimensional ◽  
Target Localization ◽  
Parallel Structure ◽  
Moving Target ◽  
Target Area ◽  
Moving Targets ◽  
Binocular Stereo Vision ◽  
Binocular Stereo

To obtain effective indoor moving target localization, a reliable and stable moving target localization method based on binocular stereo vision is proposed in this paper. A moving target recognition extraction algorithm, which integrates displacement pyramid Horn–Schunck (HS) optical flow, Delaunay triangulation and Otsu threshold segmentation, is presented to separate a moving target from a complex background, called the Otsu Delaunay HS (O-DHS) method. Additionally, a stereo matching algorithm based on deep matching and stereo vision is presented to obtain dense stereo matching points pairs, called stereo deep matching (S-DM). The stereo matching point pairs of the moving target were extracted with the moving target area and stereo deep matching point pairs, then the three dimensional coordinates of the points in the moving target area were reconstructed according to the principle of binocular vision’s parallel structure. Finally, the moving target was located by the centroid method. The experimental results showed that this method can better resist image noise and repeated texture, can effectively detect and separate moving targets, and can match stereo image points in repeated textured areas more accurately and stability. This method can effectively improve the effectiveness, accuracy and robustness of three-dimensional moving target coordinates.

scholarly journals Automatic Reconstruction of Multi-Level Indoor Spaces from Point Cloud and Trajectory

Sensors ◽  
2021 ◽  
Vol 21 (10) ◽  
pp. 3493
Author(s):  
Gahyeon Lim ◽  
Nakju Doh
Keyword(s):  
Point Cloud ◽  
Dimensional Space ◽  
Three Dimensional ◽  
Reconstruction Method ◽  
Complex Environments ◽  
Indoor Space ◽  
Multi Level ◽  
Level Building ◽  
Indoor Spaces ◽  
Data Term

Remarkable progress in the development of modeling methods for indoor spaces has been made in recent years with a focus on the reconstruction of complex environments, such as multi-room and multi-level buildings. Existing methods represent indoor structure models as a combination of several sub-spaces, which are constructed by room segmentation or horizontal slicing approach that divide the multi-room or multi-level building environments into several segments. In this study, we propose an automatic reconstruction method of multi-level indoor spaces with unique models, including inter-room and inter-floor connections from point cloud and trajectory. We construct structural points from registered point cloud and extract piece-wise planar segments from the structural points. Then, a three-dimensional space decomposition is conducted and water-tight meshes are generated with energy minimization using graph cut algorithm. The data term of the energy function is expressed as a difference in visibility between each decomposed space and trajectory. The proposed method allows modeling of indoor spaces in complex environments, such as multi-room, room-less, and multi-level buildings. The performance of the proposed approach is evaluated for seven indoor space datasets.

scholarly journals Multi-Dimensional Underwater Point Cloud Detection Based on Deep Learning

Sensors ◽  
2021 ◽  
Vol 21 (3) ◽  
pp. 884
Author(s):  
Chia-Ming Tsai ◽  
Yi-Horng Lai ◽  
Yung-Da Sun ◽  
Yu-Jen Chung ◽  
Jau-Woei Perng
Keyword(s):  
Deep Learning ◽  
Point Cloud ◽  
Three Dimensional ◽  
Point Clouds ◽  
Training Data ◽  
Network Architectures ◽  
Point Cloud Data ◽  
Data Types ◽  
Raw Data ◽  
Cloud Data

Numerous sensors can obtain images or point cloud data on land, however, the rapid attenuation of electromagnetic signals and the lack of light in water have been observed to restrict sensing functions. This study expands the utilization of two- and three-dimensional detection technologies in underwater applications to detect abandoned tires. A three-dimensional acoustic sensor, the BV5000, is used in this study to collect underwater point cloud data. Some pre-processing steps are proposed to remove noise and the seabed from raw data. Point clouds are then processed to obtain two data types: a 2D image and a 3D point cloud. Deep learning methods with different dimensions are used to train the models. In the two-dimensional method, the point cloud is transferred into a bird’s eye view image. The Faster R-CNN and YOLOv3 network architectures are used to detect tires. Meanwhile, in the three-dimensional method, the point cloud associated with a tire is cut out from the raw data and is used as training data. The PointNet and PointConv network architectures are then used for tire classification. The results show that both approaches provide good accuracy.

scholarly journals Three-Dimensional Morphological Measurement Method for a Fruit Tree Canopy Based on Kinect Sensor Self-Calibration

Agronomy ◽  
2019 ◽  
Vol 9 (11) ◽  
pp. 741 ◽  
Author(s):  
Haihui Yang ◽  
Xiaochan Wang ◽  
Guoxiang Sun
Keyword(s):  
Intelligent Control ◽  
Point Cloud ◽  
Three Dimensional ◽  
Fruit Tree ◽  
Tree Canopy ◽  
Morphological Parameters ◽  
Kinect Sensor ◽  
Self Calibration ◽  
Morphological Measurement ◽  
Tree Width

Perception of the fruit tree canopy is a vital technology for the intelligent control of a modern standardized orchard. Due to the complex three-dimensional (3D) structure of the fruit tree canopy, morphological parameters extracted from two-dimensional (2D) or single-perspective 3D images are not comprehensive enough. Three-dimensional information from different perspectives must be combined in order to perceive the canopy information efficiently and accurately in complex orchard field environment. The algorithms used for the registration and fusion of data from different perspectives and the subsequent extraction of fruit tree canopy related parameters are the keys to the problem. This study proposed a 3D morphological measurement method for a fruit tree canopy based on Kinect sensor self-calibration, including 3D point cloud generation, point cloud registration and canopy information extraction of apple tree canopy. Using 32 apple trees (Yanfu 3 variety) morphological parameters of the height (H), maximum canopy width (W) and canopy thickness (D) were calculated. The accuracy and applicability of this method for extraction of morphological parameters were statistically analyzed. The results showed that, on both sides of the fruit trees, the average relative error (ARE) values of the morphological parameters including the fruit tree height (H), maximum tree width (W) and canopy thickness (D) between the calculated values and measured values were 3.8%, 12.7% and 5.0%, respectively, under the V1 mode; the ARE values under the V2 mode were 3.3%, 9.5% and 4.9%, respectively; and the ARE values under the V1 and V2 merged mode were 2.5%, 3.6% and 3.2%, respectively. The measurement accuracy of the tree width (W) under the double visual angle mode had a significant advantage over that under the single visual angle mode. The 3D point cloud reconstruction method based on Kinect self-calibration proposed in this study has high precision and stable performance, and the auxiliary calibration objects are readily portable and easy to install. It can be applied to different experimental scenes to extract 3D information of fruit tree canopies and has important implications to achieve the intelligent control of standardized orchards.

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.

Automatic stem-leaf segmentation of maize shoots using three-dimensional point cloud

2021 ◽  
Vol 187 ◽  
pp. 106310
Author(s):  
Teng Miao ◽  
Chao Zhu ◽  
Tongyu Xu ◽  
Tao Yang ◽  
Na Li ◽  
...  
Keyword(s):  
Point Cloud ◽  
Three Dimensional ◽  
Leaf Segmentation ◽  
Stem Leaf
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