This paper describes a multiple camera-based method to reconstruct the 3D shape of a human foot. From a foot database, an initial 3D model of the foot represented by a cloud of points is built. The shape parameters, w...This paper describes a multiple camera-based method to reconstruct the 3D shape of a human foot. From a foot database, an initial 3D model of the foot represented by a cloud of points is built. The shape parameters, which can characterize more than 92% of a foot, are defined by using the principal component analysis method. Then, using ＂active shape models＂, the initial 3D model is adapted to the real foot captured in multiple images by applying some constraints （edge points＇ distance and color variance）. We insist here on the experiment part where we demonstrate the efficiency of the proposed method on a plastic foot model, and also on real human feet with various shapes. We propose and compare different ways of texturing the foot which is needed for reconstruction. We present an experiment performed on the plastic foot model and on human feet and propose two different ways to improve the final 3D shapers accuracy according to the previous experiments＇ results. The first improvement proposed is the densification of the cloud of points used to represent the initial model and the foot database. The second improvement concerns the projected patterns used to texture the foot. We conclude by showing the obtained results for a human foot with the average computed shape error being only 1.06 mm.展开更多
相机和激光雷达多模态融合的3D目标检测可以综合利用两种传感器的优点,提高目标检测的准确度和鲁棒性.然而,由于环境复杂性以及多模态数据间固有的差异性,3D目标检测仍面临着诸多挑战.本文提出了双融合框架的多模态3D目标检测算法.设计...相机和激光雷达多模态融合的3D目标检测可以综合利用两种传感器的优点,提高目标检测的准确度和鲁棒性.然而,由于环境复杂性以及多模态数据间固有的差异性,3D目标检测仍面临着诸多挑战.本文提出了双融合框架的多模态3D目标检测算法.设计体素级和网格级的双融合框架,有效缓解融合时不同模态数据之间的语义差异;提出ABFF(Adaptive Bird-eye-view Features Fusion)模块,增强算法对小目标特征感知能力;通过体素级全局融合信息指导网格级局部融合,提出基于Transformer的多模态网格特征编码器,充分提取3D检测场景中更丰富的上下文信息,并提升算法运行效率.在KITTI标准数据集上的实验结果表明,提出的3D目标检测算法平均检测精度达78.79%,具有更好的3D目标检测性能.展开更多
基金This work was supported by Grant-in-Aid for Scientific Research (C) (No.17500119)
文摘This paper describes a multiple camera-based method to reconstruct the 3D shape of a human foot. From a foot database, an initial 3D model of the foot represented by a cloud of points is built. The shape parameters, which can characterize more than 92% of a foot, are defined by using the principal component analysis method. Then, using ＂active shape models＂, the initial 3D model is adapted to the real foot captured in multiple images by applying some constraints （edge points＇ distance and color variance）. We insist here on the experiment part where we demonstrate the efficiency of the proposed method on a plastic foot model, and also on real human feet with various shapes. We propose and compare different ways of texturing the foot which is needed for reconstruction. We present an experiment performed on the plastic foot model and on human feet and propose two different ways to improve the final 3D shapers accuracy according to the previous experiments＇ results. The first improvement proposed is the densification of the cloud of points used to represent the initial model and the foot database. The second improvement concerns the projected patterns used to texture the foot. We conclude by showing the obtained results for a human foot with the average computed shape error being only 1.06 mm.
文摘相机和激光雷达多模态融合的3D目标检测可以综合利用两种传感器的优点,提高目标检测的准确度和鲁棒性.然而,由于环境复杂性以及多模态数据间固有的差异性,3D目标检测仍面临着诸多挑战.本文提出了双融合框架的多模态3D目标检测算法.设计体素级和网格级的双融合框架,有效缓解融合时不同模态数据之间的语义差异;提出ABFF(Adaptive Bird-eye-view Features Fusion)模块,增强算法对小目标特征感知能力;通过体素级全局融合信息指导网格级局部融合,提出基于Transformer的多模态网格特征编码器,充分提取3D检测场景中更丰富的上下文信息,并提升算法运行效率.在KITTI标准数据集上的实验结果表明,提出的3D目标检测算法平均检测精度达78.79%,具有更好的3D目标检测性能.
