scholarly journals Maximum Sum of Evidence—An Evidence-Based Solution to Object Pose Estimation in Point Cloud Data

Sensors ◽  
2021 ◽  
Vol 21 (19) ◽  
pp. 6473
Author(s):  
Tyson Phillips ◽  
Tim D’Adamo ◽  
Peter McAree
Keyword(s):  
Pose Estimation ◽  
Point Cloud ◽  
Joint Space ◽  
Object Identification ◽  
Sensor Calibration ◽  
Evidence Based ◽  
Point Cloud Data ◽  
Cloud Data ◽  
Object Pose Estimation ◽  
2D And 3D

The capability to estimate the pose of known geometry from point cloud data is a frequently arising requirement in robotics and automation applications. This problem is directly addressed by Iterative Closest Point (ICP), however, this method has several limitations and lacks robustness. This paper makes the case for an alternative method that seeks to find the most likely solution based on available evidence. Specifically, an evidence-based metric is described that seeks to find the pose of the object that would maximise the conditional likelihood of reproducing the observed range measurements. A seedless search heuristic is also provided to find the most likely pose estimate in light of these measurements. The method is demonstrated to provide for pose estimation (2D and 3D shape poses as well as joint-space searches), object identification/classification, and platform localisation. Furthermore, the method is shown to be robust in cluttered or non-segmented point cloud data as well as being robust to measurement uncertainty and extrinsic sensor calibration.

scholarly journals 3D Hand Pose Estimation in Point Cloud Using 3D Convolutional Neural Network on Egocentric Datasets

2021 ◽  
Vol 2020 (2) ◽  
pp. 87-97
Author(s):  
Lê Văn Hùng
Keyword(s):  
Pose Estimation ◽  
Point Cloud ◽  
Color Image ◽  
Point Cloud Data ◽  
Complex Scene ◽  
Cloud Data ◽  
Hand Pose Estimation ◽  
Processing Step ◽  
Egocentric Vision ◽  
Hand Pose

3D hand pose estimation from egocentric vision is an important study in the construction of assistance systems and modeling of robot hand in robotics. In this paper, we propose a complete method for estimating 3D hand posefrom the complex scene data obtained from the egocentric sensor. In which we propose a simple yet highly efficient pre-processing step for hand segmentation. In the estimation process, we used the Hand PointNet (HPN), V2V-PoseNet(V2V), Point-to-Point Regression PointNet (PtoP) for finetuning to estimate the 3D hand pose from the collected data obtained from the egocentric sensor, such as CVRA, FPHA (First-Person Hand Action) datasets. HPN, V2V, PtoP are thedeep networks/Convolutional Neural Networks (CNNs) for estimating 3D hand pose that uses the point cloud data of the hand. We evaluate the estimation results using the preprocessing step and do not use the pre-processing step to see the effectiveness of the proposed method. The results show that 3D distance error is increased many times compared to estimates on the hand datasets are not obstructed (the hand data obtained from surveillance cameras, are viewed from top view, front view, sides view) such as MSRA, NYU, ICVL datasets. The results are quantified, analyzed, shown on the point cloud data of CVAR dataset and projected on the color image of FPHA dataset.

scholarly journals Comparison of 2D and 3D wall reconstruction algorithms from point cloud data for as-built BIM

2020 ◽  
Vol 25 ◽  
pp. 173-192 ◽  
Author(s):  
Maarten Bassier ◽  
Meisam Yousefzadeh ◽  
Maarten Vergauwen
Keyword(s):  
Point Cloud ◽  
Real Life ◽  
Reconstruction Algorithm ◽  
Reconstruction Method ◽  
Point Cloud Data ◽  
Empirical Comparison ◽  
Ongoing Research ◽  
Cloud Data ◽  
2D And 3D ◽  
Wall Geometry

As-built Building Information Models (BIMs) are becoming increasingly popular in the Architectural, Engineering, Construction, Owner and Operator (AECOO) industry. These models reflect the state of the building up to as-built conditions. The production of these models for existing buildings with no prior BIM includes the segmentation and classification of point cloud data and the reconstruction of the BIM objects. The automation of this process is a must since the manual Scan-to-BIM procedure is both time-consuming and error prone. However, the automated reconstruction from point cloud data is still ongoing research with both 2D and 3D approaches being proposed. There currently is a gap in the literature concerning the quality assessment of the created entities. In this research, we present the empirical comparison of both strategies with respect to existing specifications. A 3D and a 2D reconstruction method are implemented and tested on a real life test case. The experiments focus on the reconstruction of the wall geometry from unstructured point clouds as it forms the basis of the model. Both presented approaches are unsupervised methods that segment, classify and create generic wall elements. The first method operates on the 3D point cloud itself and consists of a general approach for the segmentation and classification and a class-specific reconstruction algorithm for the wall geometry. The point cloud is first segmented into planar clusters, after which a Random Forests classifier is used with geometric and contextual features for the semantic labelling. The final wall geometry is created based on the 3D point clusters representing the walls. The second method is an efficient Manhattan-world scene reconstruction algorithm that simultaneously segments and classifies the point cloud based on point feature histograms. The wall reconstruction is considered an instance of image segmentation by representing the data as 2D raster images. Both methods have promising results towards the reconstruction of wall geometry of multi-story buildings. The experiments report that over 80% of the walls were correctly segmented by both methods. Furthermore, the reconstructed geometry is conform Level-of-Accuracy 20 for 88% of the data by the first method and for 55% by the second method despite the Manhattan-world scene assumption. The empirical comparison showcases the fundamental differences in both strategies and will support the further development of these methods.

Model-free pose estimation using point cloud data

2019 ◽  
Vol 165 ◽  
pp. 298-311 ◽  
Author(s):  
Tae W. Lim ◽  
Charles E. Oestreich
Keyword(s):  
Pose Estimation ◽  
Point Cloud ◽  
Point Cloud Data ◽  
Cloud Data ◽  
Model Free

Edge Detection Using Point Cloud Data for Noncooperative Pose Estimation

2017 ◽  
Vol 54 (2) ◽  
pp. 500-505 ◽  
Author(s):  
Tae W. Lim ◽  
Pierre F. Ramos ◽  
Matthew C. O’Dowd
Keyword(s):  
Edge Detection ◽  
Pose Estimation ◽  
Point Cloud ◽  
Point Cloud Data ◽  
Cloud Data

scholarly journals Performance Evaluation of Robot Localization Using 2D and 3D Point Clouds

2017 ◽  
Vol 29 (5) ◽  
pp. 928-934
Author(s):  
Kiyoaki Takahashi ◽  
◽  
Takafumi Ono ◽  
Tomokazu Takahashi ◽  
Masato Suzuki ◽  
...  
Keyword(s):  
Mobile Robots ◽  
Point Cloud ◽  
Image Data ◽  
Point Clouds ◽  
Autonomous Mobile Robots ◽  
Point Cloud Data ◽  
Cloud Data ◽  
3D Point Clouds ◽  
Laser Range Finders ◽  
2D And 3D

Autonomous mobile robots need to acquire surrounding environmental information based on which they perform their self-localizations. Current autonomous mobile robots often use point cloud data acquired by laser range finders (LRFs) instead of image data. In the virtual robot autonomous traveling tests we have conducted in this study, we have evaluated the robot’s self-localization performance on Normal Distributions Transform (NDT) scan matching. This was achieved using 2D and 3D point cloud data to assess whether they perform better self-localizations in case of using 3D or 2D point cloud data.

Registration and Fusion of UAV LiDAR System Sequence Images and Laser Point Clouds

2020 ◽  
Author(s):  
Jiayong Yu ◽  
Longchen Ma ◽  
Maoyi Tian, ◽  
Xiushan Lu
Keyword(s):  
Point Cloud ◽  
Image Data ◽  
Point Clouds ◽  
Optical Image ◽  
Point Cloud Data ◽  
Feature Points ◽  
Lidar System ◽  
Registration Accuracy ◽  
Cloud Data ◽  
Intensity Image

The unmanned aerial vehicle (UAV)-mounted mobile LiDAR system (ULS) is widely used for geomatics owing to its efficient data acquisition and convenient operation. However, due to limited carrying capacity of a UAV, sensors integrated in the ULS should be small and lightweight, which results in decrease in the density of the collected scanning points. This affects registration between image data and point cloud data. To address this issue, the authors propose a method for registering and fusing ULS sequence images and laser point clouds, wherein they convert the problem of registering point cloud data and image data into a problem of matching feature points between the two images. First, a point cloud is selected to produce an intensity image. Subsequently, the corresponding feature points of the intensity image and the optical image are matched, and exterior orientation parameters are solved using a collinear equation based on image position and orientation. Finally, the sequence images are fused with the laser point cloud, based on the Global Navigation Satellite System (GNSS) time index of the optical image, to generate a true color point cloud. The experimental results show the higher registration accuracy and fusion speed of the proposed method, thereby demonstrating its accuracy and effectiveness.

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