SPaM:用于非刚性点云注册的软补丁匹配
Behnam Maleki1, Raphael Falque1, Teresa Vidal-Calleja1
1Robotics Institute, University of Technology Sydney, Ultimo, NSW, Australia.
Frontiers in robotics and AI
|August 2, 2023
概括
本研究介绍了一种使用原始点云对可变形物体进行3D重建的新方法. 该方法准确地记录复杂的形状,并在动态场景中处理缺失的数据.
科学领域:
- 机器人和计算机视觉 机器人和计算机视觉
- 几何深度学习 几何深度学习
背景情况:
- 可变形物体的3D重建对于机器人技术至关重要.
- 目前基于网格和非刚性注册方法面临的挑战是准确性,细节丢失和非结构化数据.
研究的目的:
- 为原始,可变形的点云开发一种新的非刚性注册框架.
- 克服现有方法在处理非结构化数据和大变形方面的局限性.
主要方法:
- 一个新的框架将非刚性变形表达为聚合的局部刚性转换.
- 使用具有几何属性的软补丁 (SHOT描述符) 来确定本地.
- 采用相似度矩阵和对应图,以尽可能严格的优化.
主要成果:
- 该方法有效地从原始,非结构化的点云中记录可变形的物体.
- 在处理大变形和重大缺失数据方面表现出稳健性.
- 在没有网格插值或光滑的情况下实现准确的注册.
结论:
- 拟议的基于几何特征的框架为可变形物体的3D重建提供了强大的解决方案.
- 它推进了对具有不完整扫描数据的动态场景的非刚性注册.
- 为改进的机器人应用程序铺平了道路,这些应用程序依赖于准确的3D感知.
相关概念视频
Long-patch Base Excision Repair
7.0K
Since the discovery of the two BER pathways, there has been a debate about how a cell chooses one pathway over the other and the factors determining this selection. Numerous in vitro experiments have pointed out multiple determinants for the sub-pathway selection. These are:
7.0K
Patch Clamp
5.6K
Many fundamental cell functions such as muscle contraction and nerve transmission rely on the electrical signals produced by the movement of positively and negatively charged ions across the cell membrane. One competent method to record current flowing across the whole cell or single ion channel is the patch-clamp technique.
In this method, a glass micropipette containing electrolyte solution is tightly sealed against a small portion of the cell membrane. As a result, a patch of the cell...
In this method, a glass micropipette containing electrolyte solution is tightly sealed against a small portion of the cell membrane. As a result, a patch of the cell...
5.6K
Planar Rigid-Body Motion
474
Understanding the movement of a rigid body in planar motion involves recognizing that every particle within this body is traversing a path that maintains a consistent distance from a specific plane. This concept is fundamental in the study of physics and mechanical engineering, and it allows us to comprehend better how objects move in space.
Planar motion is typically divided into three distinct categories. The first is rectilinear translation, demonstrated by a subway train that moves along...
Planar motion is typically divided into three distinct categories. The first is rectilinear translation, demonstrated by a subway train that moves along...
474
Structural Classification of Joints
3.5K
Joints, also known as articulations, are classified based on their structural characteristics, i.e., based on whether the articulating surfaces of the adjacent bones are directly connected by fibrous connective tissue or cartilage, or whether the articulating surfaces contact each other within a fluid-filled joint cavity. These differences serve to divide the joints of the body into three structural classifications.
A fibrous joint is where the adjacent bones are united by fibrous connective...
A fibrous joint is where the adjacent bones are united by fibrous connective...
3.5K
Deformation of Member under Multiple Loadings
188
When a rod is made of different materials or has various cross-sections, it must be divided into parts that meet the necessary conditions for determining the deformation. These parts are each characterized by their internal force, cross-sectional area, length, and modulus of elasticity. These parameters are then used to compute the deformation of the entire rod.
In the case of a member with a variable cross-section, the strain is not constant but depends on the position. The deformation of an...
In the case of a member with a variable cross-section, the strain is not constant but depends on the position. The deformation of an...
188


