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- 3D ship detection (1)
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Institute
Creating cages that enclose a 3D-model of some sort is part of many preprocessing pipelines in computational geometry. Creating a cage of preferably lower resolution than the original model is of special interest when performing an operation on the original model might be to costly. The desired operation can be applied to the cage first and then transferred to the enclosed model. With this paper the authors present a short survey of recent and well known methods for cage computation.
The authors would like to give the reader an insight in common methods and their differences.
We present a 3d-laser-scan simulation in virtual
reality for creating synthetic scans of CAD models. Consisting of
the virtual reality head-mounted display Oculus Rift and the
motion controller Razer Hydra our system can be used like
common hand-held 3d laser scanners. It supports scanning of
triangular meshes as well as b-spline tensor product surfaces
based on high performance ray-casting algorithms. While point
clouds of known scanning simulations are missing the man-made
structure, our approach overcomes this problem by imitating
real scanning scenarios. Calculation speed, interactivity and the
resulting realistic point clouds are the benefits of this system.
Three-dimensional ship localization with only one camera is a challenging task due to the loss of depth information caused by perspective projection. In this paper, we propose a method to measure distances based on the assumption that ships lie on a flat surface. This assumption allows to recover depth from a single image using the principle of inverse perspective. For the 3D ship detection task, we use a hybrid approach that combines image detection with a convolutional neural network, camera geometry and inverse perspective. Furthermore, a novel calculation of object height is introduced. Experiments show that the monocular distance computation works well in comparison to a Velodyne lidar. Due to its robustness, this could be an easy-to-use baseline method for detection tasks in navigation systems.
The ageing infrastructure in ports requires regular inspection. This inspection is currently carried out manually by divers who sense by hand the entire underwater infrastructure. This process is cost-intensive as it involves a lot of time and human resources. To overcome these difficulties, we propose to scan the above and underwater port structure with a Multi-SensorSystem, and -by a fully automated processto classify the obtained point cloud into damaged and undamaged zones. We make use of simulated training data to test our approach since not enough training data with corresponding class labels are available yet. To that aim, we build a rasterised heightfield of a point cloud of a sheet pile wall by cutting it into verticall slices. The distance from each slice to the corresponding line generates the heightfield. This latter is propagated through a convolutional neural network which detects anomalies. We use the VGG19 Deep Neural Network model pretrained on natural images. This neural network has 19 layers and it is often used for image recognition tasks. We showed that our approach can achieve a fully automated, reproducible, quality-controlled damage detection which is able to analyse the whole structure instead of the sample wise manual method with divers. The mean true positive rate is 0.98 which means that we detected 98 % of the damages in the simulated environment.
Deep 3D
(2017)
In this paper we present a method using deep learning to compute parametrizations for B-spline curve approximation. Existing methods consider the computation of parametric values and a knot vector as separate problems. We propose to train interdependent deep neural networks to predict parametric values and knots. We show that it is possible to include B-spline curve approximation directly into the neural network architecture. The resulting parametrizations yield tight approximations and are able to outperform state-of-the-art methods.
Deep neural networks have been successfully applied to problems such as image segmentation, image super-resolution, coloration and image inpainting. In this work we propose the use of convolutional neural networks (CNN) for image inpainting of large regions in high-resolution textures. Due to limited computational resources processing high-resolution images with neural networks is still an open problem. Existing methods separate inpainting of global structure and the transfer of details, which leads to blurry results and loss of global coherence in the detail transfer step. Based on advances in texture synthesis using CNNs we propose patch-based image inpainting by a single network topology that is able to optimize for global as well as detail texture statistics. Our method is capable of filling large inpainting regions, oftentimes exceeding quality of comparable methods for images of high-resolution (2048x2048px). For reference patch look-up we propose to use the same summary statistics that are used in the inpainting process.
We are interested in computing a mini-batch-capable end-to-end algorithm to identify statistically independent components (ICA) in large scale and high-dimensional datasets. Current algorithms typically rely on pre-whitened data and do not integrate the two procedures of whitening and ICA estimation. Our online approach estimates a whitening and a rotation matrix with stochastic gradient descent on centered or uncentered data. We show that this can be done efficiently by combining Batch Karhunen-Löwe-Transformation [1] with Lie group techniques. Our algorithm is recursion-free and can be organized as feed-forward neural network which makes the use of GPU acceleration straight-forward. Because of the very fast convergence of Batch KLT, the gradient descent in the Lie group of orthogonal matrices stabilizes quickly. The optimization is further enhanced by integrating ADAM [2], an improved stochastic gradient descent (SGD) technique from the field of deep learning. We test the scaling capabilities by computing the independent components of the well-known ImageNet challenge (144 GB). Due to its robustness with respect to batch and step size, our approach can be used as a drop-in replacement for standard ICA algorithms where memory is a limiting factor.
Reconstruction of hand-held laser scanner data is used in industry primarily for reverse engineering. Traditionally, scanning and reconstruction are separate steps. The operator of the laser scanner has no feedback from the reconstruction results. On-line reconstruction of the CAD geometry allows for such an immediate feedback.
We propose a method for on-line segmentation and reconstruction of CAD geometry from a stream of point data based on means that are updated on-line. These means are combined to define complex local geometric properties, e.g., to radii and center points of spherical regions. Using means of local scores, planar, cylindrical, and spherical segments are detected and extended robustly with region growing. For the on-line computation of the means we use so-called accumulated means. They allow for on-line insertion and removal of values and merging of means. Our results show that this approach can be performed on-line and is robust to noise. We demonstrate that our method reconstructs spherical, cylindrical, and planar segments on real scan data containing typical errors caused by hand-held laser scanners.