Functional maps based dense 3D human body correspondence from single view point clouds

Grasp Pose Detection with Affordance-based Task Constraint Learning in Single-view Point Clouds

Journal of Intelligent & Robotic Systems ◽

10.1007/s10846-020-01202-3 ◽

2020 ◽

Vol 100 (1) ◽

pp. 145-163 ◽

Cited By ~ 1

Author(s):

Kun Qian ◽

Xingshuo Jing ◽

Yanhui Duan ◽

Bo Zhou ◽

Fang Fang ◽

...

Keyword(s):

Point Clouds ◽

View Point ◽

Task Constraint ◽

Single View ◽

Pose Detection ◽

Constraint Learning

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Automated Measurement of Heart Girth for Pigs Using Two Kinect Depth Sensors

Sensors ◽

10.3390/s20143848 ◽

2020 ◽

Vol 20 (14) ◽

pp. 3848

Author(s):

Xinyue Zhang ◽

Gang Liu ◽

Ling Jing ◽

Siyao Chen

Keyword(s):

Mirror Symmetry ◽

Point Cloud ◽

Point Clouds ◽

Depth Image ◽

View Point ◽

Important Indicator ◽

Depth Sensors ◽

Starting Point ◽

Feature Based ◽

Girth Measurement

The heart girth parameter is an important indicator reflecting the growth and development of pigs that provides critical guidance for the optimization of healthy pig breeding. To overcome the heavy workloads and poor adaptability of traditional measurement methods currently used in pig breeding, this paper proposes an automated pig heart girth measurement method using two Kinect depth sensors. First, a two-view pig depth image acquisition platform is established for data collection; the two-view point clouds after preprocessing are registered and fused by feature-based improved 4-Point Congruent Set (4PCS) method. Second, the fused point cloud is pose-normalized, and the axillary contour is used to automatically extract the heart girth measurement point. Finally, this point is taken as the starting point to intercept the circumferential perpendicular to the ground from the pig point cloud, and the complete heart girth point cloud is obtained by mirror symmetry. The heart girth is measured along this point cloud using the shortest path method. Using the proposed method, experiments were conducted on two-view data from 26 live pigs. The results showed that the heart girth measurement absolute errors were all less than 4.19 cm, and the average relative error was 2.14%, which indicating a high accuracy and efficiency of this method.

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MVPNet: Multi-View Point Regression Networks for 3D Object Reconstruction from A Single Image

Proceedings of the AAAI Conference on Artificial Intelligence ◽

10.1609/aaai.v33i01.33018949 ◽

2019 ◽

Vol 33 ◽

pp. 8949-8956 ◽

Cited By ~ 5

Author(s):

Jinglu Wang ◽

Bo Sun ◽

Yan Lu

Keyword(s):

Point Cloud ◽

Image Plane ◽

Point Clouds ◽

Projective Planes ◽

Network Architectures ◽

View Point ◽

Single Image ◽

Dense Point ◽

Dependent Point ◽

3D Surfaces

In this paper, we address the problem of reconstructing an object’s surface from a single image using generative networks. First, we represent a 3D surface with an aggregation of dense point clouds from multiple views. Each point cloud is embedded in a regular 2D grid aligned on an image plane of a viewpoint, making the point cloud convolution-favored and ordered so as to fit into deep network architectures. The point clouds can be easily triangulated by exploiting connectivities of the 2D grids to form mesh-based surfaces. Second, we propose an encoder-decoder network that generates such kind of multiple view-dependent point clouds from a single image by regressing their 3D coordinates and visibilities. We also introduce a novel geometric loss that is able to interpret discrepancy over 3D surfaces as opposed to 2D projective planes, resorting to the surface discretization on the constructed meshes. We demonstrate that the multi-view point regression network outperforms state-of-the-art methods with a significant improvement on challenging datasets.

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Measurement Method Based on Multispectral Three-Dimensional Imaging for the Chlorophyll Contents of Greenhouse Tomato Plants

Sensors ◽

10.3390/s19153345 ◽

2019 ◽

Vol 19 (15) ◽

pp. 3345 ◽

Cited By ~ 2

Author(s):

Guoxiang Sun ◽

Xiaochan Wang ◽

Ye Sun ◽

Yongqian Ding ◽

Wei Lu

Keyword(s):

Point Cloud ◽

Cloud Model ◽

Three Dimensional ◽

Measurement Model ◽

View Point ◽

Nondestructive Measurement ◽

Tomato Plants ◽

Single View ◽

Greenhouse Tomato ◽

Point Cloud Model

Nondestructive plant growth measurement is essential for researching plant growth and health. A nondestructive measurement system to retrieve plant information includes the measurement of morphological and physiological information, but most systems use two independent measurement systems for the two types of characteristics. In this study, a highly integrated, multispectral, three-dimensional (3D) nondestructive measurement system for greenhouse tomato plants was designed. The system used a Kinect sensor, an SOC710 hyperspectral imager, an electric rotary table, and other components. A heterogeneous sensing image registration technique based on the Fourier transform was proposed, which was used to register the SOC710 multispectral reflectance in the Kinect depth image coordinate system. Furthermore, a 3D multiview RGB-D image-reconstruction method based on the pose estimation and self-calibration of the Kinect sensor was developed to reconstruct a multispectral 3D point cloud model of the tomato plant. An experiment was conducted to measure plant canopy chlorophyll and the relative chlorophyll content was measured by the soil and plant analyzer development (SPAD) measurement model based on a 3D multispectral point cloud model and a single-view point cloud model and its performance was compared and analyzed. The results revealed that the measurement model established by using the characteristic variables from the multiview point cloud model was superior to the one established using the variables from the single-view point cloud model. Therefore, the multispectral 3D reconstruction approach is able to reconstruct the plant multispectral 3D point cloud model, which optimizes the traditional two-dimensional image-based SPAD measurement method and can obtain a precise and efficient high-throughput measurement of plant chlorophyll.

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