Aiming at the problem of system error and noise in simultaneous localization and mapping(SLAM) technology, we propose a calibration model based on Project Tango device and a loop closure detection algorithm based on v...Aiming at the problem of system error and noise in simultaneous localization and mapping(SLAM) technology, we propose a calibration model based on Project Tango device and a loop closure detection algorithm based on visual vocabulary with memory management. The graph optimization is also combined to achieve a running application. First, the color image and depth information of the environment are collected to establish the calibration model of system error and noise. Second, with constraint condition provided by loop closure detection algorithm, speed up robust feature is calculated and matched. Finally, the motion pose model is solved, and the optimal scene model is determined by graph optimization method. This method is compared with Open Constructor for reconstruction on several experimental scenarios. The results show the number of model's points and faces are larger than Open Constructor's, and the scanning time is less than Open Constructor's. The experimental results show the feasibility and efficiency of the proposed algorithm.展开更多
Mesh morphing is a technique which gradually deforms a mesh into another one. Mesh parameterization, a powerful tool adopted to establish the one-to-one correspondence map between different meshes, is of great importa...Mesh morphing is a technique which gradually deforms a mesh into another one. Mesh parameterization, a powerful tool adopted to establish the one-to-one correspondence map between different meshes, is of great importance in 3 D mesh morphing. However, current parameterization methods used in mesh morphing induce large area distortion, resulting in geometric information loss. In this paper, we propose a new morphing approach for topological disk meshes based on area-preserving parameterization. Conformal mapping and M？bius transformation are computed firstly as rough alignment. Then area preserving parameterization is computed via the discrete optimal mass transport map. Features are exactly aligned through radial basis functions. A surface remeshing scheme via Delaunay refinement algorithm is developed to create a new mesh connectivity. Experimental results demonstrate that the proposed method performs well and generates high-quality morphs.展开更多
基金Supported by the National Natural Science Foundation of China(61772379)
文摘Aiming at the problem of system error and noise in simultaneous localization and mapping(SLAM) technology, we propose a calibration model based on Project Tango device and a loop closure detection algorithm based on visual vocabulary with memory management. The graph optimization is also combined to achieve a running application. First, the color image and depth information of the environment are collected to establish the calibration model of system error and noise. Second, with constraint condition provided by loop closure detection algorithm, speed up robust feature is calculated and matched. Finally, the motion pose model is solved, and the optimal scene model is determined by graph optimization method. This method is compared with Open Constructor for reconstruction on several experimental scenarios. The results show the number of model's points and faces are larger than Open Constructor's, and the scanning time is less than Open Constructor's. The experimental results show the feasibility and efficiency of the proposed algorithm.
基金Supported by the National Natural Science Foundation of China(61772379)the National Key Research and Development Program of China(2016YFB052204)
文摘Mesh morphing is a technique which gradually deforms a mesh into another one. Mesh parameterization, a powerful tool adopted to establish the one-to-one correspondence map between different meshes, is of great importance in 3 D mesh morphing. However, current parameterization methods used in mesh morphing induce large area distortion, resulting in geometric information loss. In this paper, we propose a new morphing approach for topological disk meshes based on area-preserving parameterization. Conformal mapping and M？bius transformation are computed firstly as rough alignment. Then area preserving parameterization is computed via the discrete optimal mass transport map. Features are exactly aligned through radial basis functions. A surface remeshing scheme via Delaunay refinement algorithm is developed to create a new mesh connectivity. Experimental results demonstrate that the proposed method performs well and generates high-quality morphs.
