scholarly journals CuFusion: Accurate Real‐time Camera Tracking and Volumetric Scene Reconstruction with a Cuboid

2017 ◽  
Author(s):  
Chen Zhang ◽  
Yu Hu
Keyword(s):  
Real Time ◽  
Moving Average ◽  
A Priori ◽  
Ground Truth ◽  
Reference Object ◽  
Reconstruction Algorithms ◽  
Camera Tracking ◽  
Depth Images ◽  
Novel Approach ◽  
Corrected Data

Given a stream of depth images with a known cuboid reference object present in the scene, we propose a novel approach for accurate camera tracking and volumetric surface reconstruction in real-time. Our contribution in this paper is threefold: (a) utilizing a priori knowledge of the cuboid reference object, we keep drift-free camera tracking without explicit global optimization; (b) we improve the fineness of the volumetric surface representation by proposing a prediction-corrected data fusion strategy rather than simple moving average, which enables accurate reconstruction of high-frequency details such as sharp edges of objects and geometries of high curvature; (c) we introduce a benchmark dataset CU3D containing both synthetic and real-world scanning sequences with ground-truth camera trajectories and surface models for quantitative evaluation of 3D reconstruction algorithms. We test our algorithm on our dataset and demonstrate its accuracy compared with other state-of-the-art algorithms. We release both our dataset and code as opensource1 for other researchers to reproduce and verify our results.

scholarly journals Monitoring distributed computing beyond the traditional time-series histogram

2020 ◽  
Vol 245 ◽  
pp. 03036
Author(s):  
M S Doidge ◽  
P. A. Love ◽  
J Thornton
Keyword(s):  
Time Series ◽  
Distributed Computing ◽  
Real Time ◽  
A Priori ◽  
Time Data ◽  
Use Of Time ◽  
Computing Services ◽  
Monitoring Tools ◽  
Novel Approach ◽  
Current Monitoring

In this work we describe a novel approach to monitor the operation of distributed computing services. Current monitoring tools are dominated by the use of time-series histograms showing the evolution of various metrics. These can quickly overwhelm or confuse the viewer due to the large number of similar looking graphs. We propose a supplementary approach through the sonification of real-time data streamed directly from a variety of distributed computing services. The real-time nature of this method allows operations staff to quickly detect problems and identify that a problem is still ongoing, avoiding the case of investigating an issue a-priori when it may already have been resolved. In this paper we present details of the system architecture and provide a recipe for deployment suitable for both site and experiment teams.

scholarly journals A Spatial-Temporal Feature Extraction and Unsupervised Recognition of Video Anomalies in Real Time

2021 ◽  
pp. 66-72
Keyword(s):  
Anomaly Detection ◽  
Real Time ◽  
Prediction Models ◽  
Temporal Dynamics ◽  
Ground Truth ◽  
Reconstruction Error ◽  
Method Performance ◽  
Novel Approach ◽  
Spatio Temporal ◽  
Time Accuracy

Anomaly detection is an area of video analysis has a great importance in automated surveillance. Although it has been extensively studied, there has been little work started using CNN networks. Hence, in this thesis we presented a novel approach for learning motion features and modeling normal Spatio-temporal dynamics for anomaly detection. In our technique, we capture variations in scale of the patterns of motion in an image object by using optical flow dense estimation technique and train our auto encoder model using convolution long short term memories (ConvLSTM2D) as we are processing video frames and we predict the anomaly in real time using Euclidean distance between the generated and the ground truth frame and we achieved a real time accuracy of nearly 98% for the youtube videos which are not used for either testing or training. Error between the network’s output and the target output is used to classify a video volume as normal or abnormal. In addition to the use of reconstruction error, we also use prediction error for anomaly detection. The prediction models show comparable performance with state of the art methods. In comparison with the proposed method, performance is improved in one dataset. Moreover, running time is significantly faster.

scholarly journals ElasticFusion: Real-time dense SLAM and light source estimation

2016 ◽  
Vol 35 (14) ◽  
pp. 1697-1716 ◽  
Author(s):  
Thomas Whelan ◽  
Renato F Salas-Moreno ◽  
Ben Glocker ◽  
Andrew J Davison ◽  
Stefan Leutenegger
Keyword(s):  
Real Time ◽  
Light Source ◽  
Light Sources ◽  
Indoor Environments ◽  
Tracking Accuracy ◽  
Camera Tracking ◽  
Loop Closure ◽  
Novel Approach ◽  
Global Consistency ◽  
Appearance Properties

We present a novel approach to real-time dense visual simultaneous localisation and mapping. Our system is capable of capturing comprehensive dense globally consistent surfel-based maps of room scale environments and beyond explored using an RGB-D camera in an incremental online fashion, without pose graph optimization or any post-processing steps. This is accomplished by using dense frame-to-model camera tracking and windowed surfel-based fusion coupled with frequent model refinement through non-rigid surface deformations. Our approach applies local model-to-model surface loop closure optimizations as often as possible to stay close to the mode of the map distribution, while utilizing global loop closure to recover from arbitrary drift and maintain global consistency. In the spirit of improving map quality as well as tracking accuracy and robustness, we furthermore explore a novel approach to real-time discrete light source detection. This technique is capable of detecting numerous light sources in indoor environments in real-time as a user handheld camera explores the scene. Absolutely no prior information about the scene or number of light sources is required. By making a small set of simple assumptions about the appearance properties of the scene our method can incrementally estimate both the quantity and location of multiple light sources in the environment in an online fashion. Our results demonstrate that our technique functions well in many different environments and lighting configurations. We show that this enables (a) more realistic augmented reality rendering; (b) a richer understanding of the scene beyond pure geometry and; (c) more accurate and robust photometric tracking.

scholarly journals Real-Time Height Measurement for Moving Pedestrians

Complexity ◽  
2020 ◽  
Vol 2020 ◽  
pp. 1-15
Author(s):  
Wenju Zhou ◽  
Fulong Yao ◽  
Wei Feng ◽  
Haikuan Wang
Keyword(s):  
Real Time ◽  
Ground Truth ◽  
Pso Algorithm ◽  
Depth Image ◽  
Head Region ◽  
Height Measurement ◽  
The Real ◽  
Depth Images ◽  
Criminal Suspect ◽  
Tof Camera

Height measurement for moving pedestrians is quite significant in many scenarios, such as pedestrian positioning, criminal suspect tracking, and virtual reality. Although some existing height measurement methods can detect the height of the static people, it is hard to measure height accurately for moving pedestrians. Considering the height fluctuations in dynamic situation, this paper proposes a real-time height measurement based on the Time-of-Flight (TOF) camera. Depth images in a continuous sequence are addressed to obtain the real-time height of the pedestrian with moving. Firstly, a normalization equation is presented to convert the depth image into the grey image for a lower time cost and better performance. Secondly, a difference-particle swarm optimization (D-PSO) algorithm is proposed to remove the complex background and reduce the noises. Thirdly, a segmentation algorithm based on the maximally stable extremal regions (MSERs) is introduced to extract the pedestrian head region. Then, a novel multilayer iterative average algorithm (MLIA) is developed for obtaining the height of dynamic pedestrians. Finally, Kalman filtering is used to improve the measurement accuracy by combining the current measurement and the height at the last moment. In addition, the VICON system is adopted as the ground truth to verify the proposed method, and the result shows that our method can accurately measure the real-time height of moving pedestrians.

A novel approach to white liquor control in a continuous digester using the Box-Jenkins methodology to predict chip bulk density

TAPPI Journal ◽  
2015 ◽  
Vol 14 (6) ◽  
pp. 395-402
Author(s):  
FLÁVIO MARCELO CORREIA ◽  
JOSÉ VICENTE HALLAK D’ANGELO ◽  
SUELI APARECIDA MINGOTI
Keyword(s):  
Bulk Density ◽  
Moving Average ◽  
Pulp Mill ◽  
Statistical Decision ◽  
White Liquor ◽  
Novel Approach ◽  
Cooking Process ◽  
Eucalyptus Kraft Pulp ◽  
Relevant Variables ◽  
Kraft Cooking

Alkali charge is one of the most relevant variables in the continuous kraft cooking process. The white liquor mass flow rate can be determined by analyzing the chip bulk density fed to the process. At the mills, the total time for this analysis usually is greater than the residence time in the digester. This can lead to an increasing error in the mass of white liquor added relative to the specified alkali charge. This paper proposes a new approach using the Box-Jenkins methodology to develop a dynamic model for predicting chip bulk density. Industrial data were gathered on 1948 observations over a period of 12 months from a Kamyr continuous digester at a bleached eucalyptus kraft pulp mill in Brazil. Autoregressive integrated moving average (ARIMA) models were evaluated according to different statistical decision criteria, leading to the choice of ARIMA (2,0,2) as the best forecasting model, which was validated against a new dataset gathered during 2 months of operations. A combination of predictors has shown more accurate results compared to those obtained by laboratory analysis, allowing a reduction of around 25% of the chip bulk density error to the alkali addition amount.

A novel approach to the real-time modelling of large urban drainage systems

1997 ◽  
Vol 36 (8-9) ◽  
pp. 19-24 ◽  
Author(s):  
Richard Norreys ◽  
Ian Cluckie
Keyword(s):  
Real Time ◽  
Dynamic Models ◽  
Drainage System ◽  
Radar Data ◽  
Urban Drainage ◽  
Real Time Control ◽  
Empirical Modelling ◽  
Time Control ◽  
Novel Approach ◽  
Non Linear Systems

Conventional UDS models are mechanistic which though appropriate for design purposes are less well suited to real-time control because they are slow running, difficult to calibrate, difficult to re-calibrate in real time and have trouble handling noisy data. At Salford University a novel hybrid of dynamic and empirical modelling has been developed, to combine the speed of the empirical model with the ability to simulate complex and non-linear systems of the mechanistic/dynamic models. This paper details the ‘knowledge acquisition module’ software and how it has been applied to construct a model of a large urban drainage system. The paper goes on to detail how the model has been linked with real-time radar data inputs from the MARS c-band radar.

A novel approach for phishing URLs detection using lexical based machine learning in a real-time environment

2021 ◽  
Author(s):  
Brij B. Gupta ◽  
Krishna Yadav ◽  
Imran Razzak ◽  
Konstantinos Psannis ◽  
Arcangelo Castiglione ◽  
...  
Keyword(s):  
Machine Learning ◽  
Real Time ◽  
Novel Approach

scholarly journals RobotP: A Benchmark Dataset for 6D Object Pose Estimation

Sensors ◽  
2021 ◽  
Vol 21 (4) ◽  
pp. 1299
Author(s):  
Honglin Yuan ◽  
Tim Hoogenkamp ◽  
Remco C. Veltkamp
Keyword(s):  
Pose Estimation ◽  
Ground Truth ◽  
3D Models ◽  
Depth Image ◽  
Great Success ◽  
Estimation Algorithms ◽  
Depth Images ◽  
Object Pose Estimation ◽  
Image Pairs ◽  
Bounding Boxes

Deep learning has achieved great success on robotic vision tasks. However, when compared with other vision-based tasks, it is difficult to collect a representative and sufficiently large training set for six-dimensional (6D) object pose estimation, due to the inherent difficulty of data collection. In this paper, we propose the RobotP dataset consisting of commonly used objects for benchmarking in 6D object pose estimation. To create the dataset, we apply a 3D reconstruction pipeline to produce high-quality depth images, ground truth poses, and 3D models for well-selected objects. Subsequently, based on the generated data, we produce object segmentation masks and two-dimensional (2D) bounding boxes automatically. To further enrich the data, we synthesize a large number of photo-realistic color-and-depth image pairs with ground truth 6D poses. Our dataset is freely distributed to research groups by the Shape Retrieval Challenge benchmark on 6D pose estimation. Based on our benchmark, different learning-based approaches are trained and tested by the unified dataset. The evaluation results indicate that there is considerable room for improvement in 6D object pose estimation, particularly for objects with dark colors, and photo-realistic images are helpful in increasing the performance of pose estimation algorithms.

scholarly journals A novel approach to optimize the production cost of railway coaches of India using situational-based composite triangular and trapezoidal fuzzy LPP models

2021 ◽  
Author(s):  
Rakesh Kumar ◽  
Gaurav Dhiman ◽  
Neeraj Kumar ◽  
Rajesh Kumar Chandrawat ◽  
Varun Joshi ◽  
...  
Keyword(s):  
Comparative Study ◽  
Real Time ◽  
Production Cost ◽  
Upper Bounds ◽  
Production Costs ◽  
Cost Data ◽  
Novel Approach ◽  
Membership Grade ◽  
Minimum Costs

AbstractThis article offers a comparative study of maximizing and modelling production costs by means of composite triangular fuzzy and trapezoidal FLPP. It also outlines five different scenarios of instability and has developed realistic models to minimize production costs. Herein, the first attempt is made to examine the credibility of optimized cost via two different composite FLP models, and the results were compared with its extension, i.e., the trapezoidal FLP model. To validate the models with real-time phenomena, the Production cost data of Rail Coach Factory (RCF) Kapurthala has been taken. The lower, static, and upper bounds have been computed for each situation, and then systems of optimized FLP are constructed. The credibility of each model of composite-triangular and trapezoidal FLP concerning all situations has been obtained, and using this membership grade, the minimum and the greatest minimum costs have been illustrated. The performance of each composite-triangular FLP model was compared to trapezoidal FLP models, and the intense effects of trapezoidal on composite fuzzy LPP models are investigated.

scholarly journals Detection and localization of multiple small damages in beam

2021 ◽  
Vol 13 (1) ◽  
pp. 168781402098732
Author(s):  
Ayisha Nayyar ◽  
Ummul Baneen ◽  
Syed Abbas Zilqurnain Naqvi ◽  
Muhammad Ahsan
Keyword(s):  
Frequency Response ◽  
Natural Frequencies ◽  
Signal To Noise Ratio ◽  
Moving Average ◽  
A Priori ◽  
Damage Index ◽  
High Signal ◽  
Frequency Range ◽  
Spatial Locality ◽  
System Frequency

Localizing small damages often requires sensors be mounted in the proximity of damage to obtain high Signal-to-Noise Ratio in system frequency response to input excitation. The proximity requirement limits the applicability of existing schemes for low-severity damage detection as an estimate of damage location may not be known  a priori. In this work it is shown that spatial locality is not a fundamental impediment; multiple small damages can still be detected with high accuracy provided that the frequency range beyond the first five natural frequencies is utilized in the Frequency response functions (FRF) curvature method. The proposed method presented in this paper applies sensitivity analysis to systematically unearth frequency ranges capable of elevating damage index peak at correct damage locations. It is a baseline-free method that employs a smoothing polynomial to emulate reference curvatures for the undamaged structure. Numerical simulation of steel-beam shows that small multiple damages of severity as low as 5% can be reliably detected by including frequency range covering 5–10th natural frequencies. The efficacy of the scheme is also experimentally validated for the same beam. It is also found that a simple noise filtration scheme such as a Gaussian moving average filter can adequately remove false peaks from the damage index profile.

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