全部 标题 作者
关键词 摘要

OALib Journal期刊
ISSN: 2333-9721
费用:99美元

查看量下载量

相关文章

更多...

基于GPU和Kinect的快速物体重建

DOI: 10.3724/SP.J.1004.2012.01288, PP. 1288-1297

Keywords: 三维物体建模,图形处理器,Kinect,遮挡问题,环闭合

Full-Text   Cite this paper   Add to My Lib

Abstract:

?便宜的物体快速三维建模技术是当前计算机视觉领域重要的研究课题.给出了一种基于Kinect传感器的快速物体重建方法,以及基于该方法的一种图形处理器(Graphicprocessingunit,GPU)原型系统实现.本文方法主要分为两步:1)系统的初始标定;2)全自动的物体重建.对于系统初始标定,提出了一种简单易用的粗标定方法;对于物体重建,提出一种全自动的快速物体重建方法.本文方法鲁棒性高,在出现点云配准错误时仍然能够稳定地得到较理想的重建模型.针对环闭合(Loop-closure)问题,提出了一种全局的点云配准方法.对几类物体的重建实验结果表明,本文方法方便实用,且能得到较好的重建效果.此外,本文还探索了有遮挡物体的重建问题.将本文方法应用于有遮挡物体的重建,也取得了较好的重建效果.

References

[1]  Du H, Henry P, Ren X F, Cheng M, Goldman D B, Seitz S M, Fox D. Interactive 3D modeling of indoor environments with a consumer depth camera. In: Proceedings of the 13th International Conference on Ubiquitous Computing. Beijing, China: IEEE, 2011. 75-84
[2]  Izadi S, Kim D, Hilliges O, Molyneaux D, Newcombe R, Kohli P, Shotton J, Hodges S, Freeman D, Davison A, Fitzgibbon A. KinectFusion: real-time 3D reconstruction and interaction using a moving depth camera. In: Proceedings of the 2011 Annual ACM Symposium on User Interface Software and Technology. Santa Barbara, CA: ACM, 2011. 559-568
[3]  Bay H, Ess A, Tuytelaars T, van Gool L. Speeded-up robust features (SURF). Computer Vision and Image Understanding, 2008, 110(3): 346-359
[4]  Konolige K, Mihelich P. Technical description of Kinect calibration [Online], available: http://www.ros.org/wiki/ kinect_calibration/technical, November 3, 2011
[5]  Liu Y H. Automatic registration of overlapping 3D point clouds using closest points. Image and Vision Computing, 2006, 24(7): 762-781
[6]  Granger S, Pennec X. Multi-scale EM-ICP: a fast and robust approach for surface registration. In: Proceedings of the 7th European Conference on Computer Vision. Copenhagen, Denmark: Springer-Verlag, 2002. 418-432
[7]  Dewaele G, Devernay F, Horaud R. Hand motion from 3D point trajectories and a smooth surface model. In: Proceedings of European Conference on Computer Vision. Prague, Czech: Springer, 2004. 495-507
[8]  Herrera C D, Kannala J, HeikkilAa J. Accurate and practical calibration of a depth and color camera pair. In: Proceedings of the 14th international conference on Computer analysis of images and patterns. Seville, Spain: Springer, 2011. 437-445
[9]  Hartley R, Zisserman A. Multiple View Geometry in Computer Vision (Second edition). London: Cambridge University Press, 2004
[10]  CUBLAS library 2.0. CUBLAS Library User's Guide [Online], available: http://developer.download.nvidia.com/ compute/cuda/, December 5, 2011
[11]  Engelhard N, Endres F, Hess J, Sturm J, Burgard W. Real-time 3D visual SLAM with a hand-held RGB-D camera. In: Proceedings of the 2011 RGB-D Workshop on 3D Perception in Robotics at the European Robotics Forum. V?steras, Sweden: Robotdalen, 2011
[12]  Henry P, Krainin M, Herbst E, Ren X, Fox D. RGB-D mapping: using depth cameras for dense 3D modeling of indoor environments. In: Proceedings of the 12th International Symposium on Experimental Robotics. Delhi, India: IEEE, 2010
[13]  Izadi S, Newcombe R A, Kim D, Hilliges O, Molyneaux D, Hodges S, Kohli P, Davison A, Fitzgibbon A. KinectFusion: real-time dynamic 3D surface reconstruction and interaction. In: Proceedings of the 2011 International Conference on Computer Graphics and Interactive Techniques. Vancouver, Canada: ACM, 2011
[14]  Tong J, Zhou J, Liu L G, Pan Z G, Yan H. Scanning 3D full human bodies using Kinects. IEEE Transactions on Visualization and Computer Graphics, 2012, 18(4): 643-650
[15]  Besl P J, McKay H D. A method for registration of 3-d shapes. IEEE Transactions on Pattern Analysis and Machine Intelligence, 1992, 14(2): 239-256
[16]  Gu Zhao-Peng. A Study on Monocular Simultaneous Localization and Mapping [Ph.D. dissertation]. Institute of Automation, Chinese Academy of Sciences, China, 2011(顾照鹏. 单目视觉同步定位与地图创建技术研究[博士学位论文], 中国科学院自动化研究所, 中国, 2011)
[17]  Horn B K P. Closed-form solution of absolute orientation using unit quaternions. Journal of the Optical Society of America, 1987, 4(4): 629-642
[18]  Tamaki T, Abe M, Raytchev B, Kaneda K. Softassign and EM-ICP on GPU. In: Proceedings of the 2010 1st International Conference on Networking and Computing. Washington DC, USA: IEEE, 2010. 179-183
[19]  Tamaki T. Pose estimation and rotation matrices. IEICE Technical Report SIS2009-23, 2009, 109(203): 59-64
[20]  Martinec D, Pajdla T. Robust rotation and translation estimation in Multiview reconstruction. In: Proceedings of 2007 IEEE Computer Society Conference on Computer Vision and Pattern Recognition. Minneapolis, Minnesota, USA: IEEE, 2007. 1-8
[21]  CUDA 3.0. CUDA Programming Guide 3.0 [Online], available: http://developer.download.nvidia.com/compute/ cuda/, December 5, 2011
[22]  CULA library. CULA Library User's Guide [Online], available: http://www.culatools.com/, December 5, 2011

Full-Text

Contact Us

service@oalib.com

QQ:3279437679

WhatsApp +8615387084133