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Towards Semantic Scene Analysis with Time-of-Flight Cameras [chapter]

Dirk Holz, Ruwen Schnabel, David Droeschel, Jörg Stückler, Sven Behnke
2011 Lecture Notes in Computer Science  
This paper focuses on the application of recent 3D Time-of-Flight (ToF) cameras in the context of semantic scene analysis.  ...  ., with respect to its size). 3. The robot needs to determine the 3D pose of the object as a goal for its end-effector. 4.  ...  In this work, we present our efforts in using Time-of-Flight (ToF) cameras for perceiving semantic information in the robot's workspace and, in particular, detect tables and objects as well as their shapes  ... 
doi:10.1007/978-3-642-20217-9_11 fatcat:gselblirozemppxab7y64w6jra

Automatic and Semantically-Aware 3D UAV Flight Planning for Image-Based 3D Reconstruction

Tobias Koch, Marco Körner, Friedrich Fraundorfer
2019 Remote Sensing  
In terms of safe flight plans, practical considerations often define prohibited and restricted airspaces to be accessed with the vehicle.  ...  An evaluation of our method on a customized synthetic scene and on outdoor experiments suggests the real-world capability of our methodology by providing feasible, short and safe flight plans for the generation  ...  Acknowledgments: We thank our student Markus Spitzner for generating the synthetic scene using Blender. Conflicts of Interest: The authors declare no conflict of interest.  ... 
doi:10.3390/rs11131550 fatcat:cl6ay6dndbcovdfpox7csrwwfq

AVSS 2011 demo session: Construction site monitoring from highly-overlapping MAV images

Stefan Kluckner, Josef-Alois Birchbauer, Claudia Windisch, Christof Hoppe, Arnold Irschara, Andreas Wendel, Stefanie Zollmann, Gerhard Reitmayr, Horst Bischof
2011 2011 8th IEEE International Conference on Advanced Video and Signal Based Surveillance (AVSS)  
Having both an inexpensive high-quality image acquisition and an efficient 3D analysis workflow enables monitoring, documentation and visualization of observed sites over time with short intervals.  ...  Relating acquired 4D site observations, composed of color, texture, geometry over time, largely supports automated methods toward full scene understanding, the acquisition of both the change and the construction  ...  Workflow Our proposed workflow consists of dense 3D scene reconstruction, the alignment of time-dependent 3D models and a stage focusing on the detection and understanding of change.  ... 
doi:10.1109/avss.2011.6027402 dblp:conf/avss/KlucknerBWHIWZRB11 fatcat:xqz636ngvrbnvf5p2qhpc6y57e

TIMo – A Dataset for Indoor Building Monitoring with a Time-of-Flight Camera [article]

Pascal Schneider, Yuriy Anisimov, Raisul Islam, Bruno Mirbach, Jason Rambach, Frédéric Grandidier, Didier Stricker
2021 arXiv   pre-print
We present TIMo (Time-of-flight Indoor Monitoring), a dataset for video-based monitoring of indoor spaces captured using a time-of-flight (ToF) camera.  ...  The recordings took place at two different locations with the ToF camera set up either in a top-down or a tilted perspective on the scene.  ...  Program and the Federal Ministry of Education and Research of the Federal Republic of Germany (BMBF), under grant agreement 16ESE0424 / GA826600 (VIZTA).  ... 
arXiv:2108.12196v1 fatcat:uca6dk43nnfwrhgidbzneyisl4

A Visual-Inertial Localization Method for Unmanned Aerial Vehicle in Underground Tunnel Dynamic Environments

Dongjiang Li, Wei Yang, Xuesong Shi, Dan Guo, Qiwei Long, Fei Qiao, Qi Wei
2020 IEEE Access  
Finally, a hand-held multi-sensor data collection system is developed with accurate calibration, for imitating flights of underground UAVs and easing data collection in real underground tunnels.  ...  Unmanned Aerial Vehicles (UAVs) can significantly improve the autonomy of the mining industry, and self-localization is the key to autonomous flights of underground UAVs.  ...  [18] made a comparative analysis of the three selected laser-based SLAM approaches toward underground localization with a UAV.  ... 
doi:10.1109/access.2020.2989480 fatcat:gdepewyqwncivds3qaaxmdn25y

Real-Time Multi-Modal Semantic Fusion on Unmanned Aerial Vehicles [article]

Simon Bultmann, Jan Quenzel, Sven Behnke
2021 arXiv   pre-print
Unmanned aerial vehicles (UAVs) equipped with multiple complementary sensors have tremendous potential for fast autonomous or remote-controlled semantic scene analysis, e.g., for disaster examination.  ...  In this work, we propose a UAV system for real-time semantic inference and fusion of multiple sensor modalities.  ...  Outdoor Experiments In Fig. 5 , we show results of semantic image fusion for an exemplary scene from our test flights.  ... 
arXiv:2108.06608v1 fatcat:vnfxqs4xlbdivoztkngekuxt54

A foreground detection algorithm for Time-of-Flight cameras adapted dynamic integration time adjustment and multipath distortions

Detong Chen
2020 Asian Conference on Machine Learning  
There are two scenarios often appear in the use of a Time-of-Flight (ToF) camera.  ...  To learn the pattern, datasets are collected under various scenes by multiple ToF cameras, and the training datasets are enlarged through applying a series of random transformations on the foreground and  ...  Methods and analysis ToF imaging (depth map and intensity map) The Time-of-Flight method of 3D imaging aims to continuously transmit light pulses towards the target, and then receive the light returned  ... 
dblp:conf/acml/Chen20 fatcat:vvi7mbmfjrc4jghgjfx62ygx6a

AUTOMATED INSPECTION OF POWER LINE CORRIDORS TO MEASURE VEGETATION UNDERCUT USING UAV-BASED IMAGES

M. Maurer, M. Hofer, F. Fraundorfer, H. Bischof
2017 ISPRS Annals of the Photogrammetry, Remote Sensing and Spatial Information Sciences  
We show the generalization of the semantic segmentation to datasets acquired using different acquisition routines and to varied seasons in time.  ...  We evaluate the influence of the semantic segmentation according to the 3D reconstruction and show that the automated semantic separation in wiry and dense objects of the 3D reconstruction routine improves  ...  It is an octo-rotor equipped with a Sony NEX-5n compact camera and a 24 mm lens. The camera has an image resolution of 16 Mpx. The flight time of the Falcon8 is stated with 15 minutes.  ... 
doi:10.5194/isprs-annals-iv-2-w3-33-2017 fatcat:573dwxdw2ffkdne56q5l7ssm7q

UAV MISSION PLANNING FOR AUTOMATIC EXPLORATION AND SEMANTIC MAPPING

Y. Dehbi, L. Klingbeil, L. Plümer
2020 The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences  
A reasoning process paves the way for semantic mission planing of hidden and a-priori unknown objects. Subsequent scene interpretation is performed by an incremental parsing process.  ...  The semantically rich building models are used to specify semantic user queries such as roof or facade inspection.  ...  ACKNOWLEDGEMENTS This work was supported by the German Research Foundation (DFG) as part of the project 'Mapping on Demand' (FOR 1505, PL 188/10-1).  ... 
doi:10.5194/isprs-archives-xliii-b1-2020-521-2020 fatcat:tp7zjwmghngqzk5bw7v55ahvsy

Cognitive Interpretation of Everyday Activities: Toward Perceptual Narrative Based Visuo-Spatial Scene Interpretation [article]

Mehul Bhatt, Jakob Suchan, Carl Schultz
2013 arXiv   pre-print
We position a narrative-centred computational model for high-level knowledge representation and reasoning in the context of a range of assistive technologies concerned with "visuo-spatial perception and  ...  ACM Classification: I.2 Artificial Intelligence: I.2.0 General -- Cognitive Simulation, I.2.4 Knowledge Representation Formalisms and Methods, I.2.10 Vision and Scene Understanding: Architecture and control  ...  The semantic interpretation of activities from video, depth (e.g., time-of-flight devices such as Kinect), and other forms of sensory input requires the representational and inferential mediation of qualitative  ... 
arXiv:1306.5308v1 fatcat:jxqphtmqrjaz3i77dvgeiklwoq

AeroRIT: A New Scene for Hyperspectral Image Analysis [article]

Aneesh Rangnekar, Nilay Mokashi, Emmett Ientilucci, Christopher Kanan, Matthew J. Hoffman
2020 arXiv   pre-print
We compare the performance of three popular architectures - SegNet, U-Net, and Res-U-Net, for scene understanding and object identification via the task of dense semantic segmentation to establish a benchmark  ...  The full dataset, with flight lines in radiance and reflectance domain, is available for download at https://github.com/aneesh3108/AeroRIT.  ...  As the RGB images do not form a continuous flight line (framing camera pattern) and are more in short burst captures format, we only labeled the hyperspectral scene and use it in our analysis.  ... 
arXiv:1912.08178v3 fatcat:l75vd6kwo5e33d6pycldvie2ri

A Robotic 3D Perception System for Operating Room Environment Awareness [article]

Zhaoshuo Li, Amirreza Shaban, Jean-Gabriel Simard, Dinesh Rabindran, Simon DiMaio, Omid Mohareri
2020 arXiv   pre-print
Methods: Our proposed system is comprised of four Time-of-Flight (ToF) cameras rigidly attached to strategic locations on the daVinci Xi patient side cart (PSC).  ...  analysis, automation of surgical sub-tasks and advanced guidance systems.  ...  Further, OR activity analysis can be used towards OR scheduling for better resource allocation and automated transcription of surgical process.  ... 
arXiv:2003.09487v2 fatcat:heqjtzmpcvek3c7jignw7yvmu4

EVALUATION OF 3D UAS FLIGHT PATH PLANNING ALGORITHMS

P. Debus, V. Rodehorst
2021 The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences  
As experiments show, this pipeline allows the comparison of different approaches, objectifying the performance and working towards a common understanding of the current state of the art.  ...  To guarantee high quality and completeness for the acquired data, inspection missions are planned in advance by computing a flight path for the UAS, that covers the entire structure with the required quality  ...  ACKNOWLEDGEMENTS The research in this paper was funded within the AISTEC research project by the German Federal Ministry of Education and Research (BMBF) under the grant number 13N14657.  ... 
doi:10.5194/isprs-archives-xliii-b1-2021-157-2021 fatcat:skareofgwrappeqc2w3kyn2che

A Novel Approach to Efficient Error Correction for the SwissRanger Time-of-Flight 3D Camera [chapter]

Jann Poppinga, Andreas Birk
2009 Lecture Notes in Computer Science  
The SwissRanger SR-3000 time-offlight 3D camera is a popular device for acquiring 3D range data as it offers the fast update rates of a camera with a resolution of 176 × 144 pixel at a reasonable cost.  ...  It is shown that a significantly higher amount of valid range data can be acquired with this new method.  ...  This leads to much higher amounts of valid data in time-of-flight camera images as illustrated with a Swiss-Ranger SR-3000.  ... 
doi:10.1007/978-3-642-02921-9_22 fatcat:36lxjcy3iffdrcjpb6lya23f3i

Cognitive Interpretation of Everyday Activities - Toward Perceptual Narrative Based Visuo-Spatial Scene Interpretation

Mehul Bhatt, Jakob Suchan, Carl Schultz, Marc Herbstritt
2013 Workshop on Computational Models of Narrative  
We position a narrative-centred computational model for high-level knowledge representation and reasoning in the context of a range of assistive technologies concerned with visuo-spatial perception and  ...  The broad focus of this paper is on the domain of human-activity interpretation in smart environments, ambient intelligence etc.  ...  The semantic interpretation of activities from video, depth (e.g., time-of-flight devices such as Kinect), and other forms of sensory input requires the representational and inferential mediation of qualitative  ... 
doi:10.4230/oasics.cmn.2013.24 dblp:conf/cmn/BhattSS13 fatcat:yu76luhe4ravldyymglafnf2ry
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