Refined facial disparity maps for automatic creation of 3D avatars

We propose a new method to automatically refine a facial disparity map obtained with standard cameras and under conventional illumination conditions by using a smart combination of traditional computer vision and 3D graphics techniques. Our system inputs two stereo images acquired with standard (calibrated) cameras and uses dense disparity estimation strategies to obtain a coarse initial disparity map, and SIFT to detect and match several feature points in the subjects face. We then use these points as anchors to modify the disparity in the facial area by building a Delaunay triangulation of their convex hull and interpolating their disparity values inside each triangle. We thus obtain a refined disparity map providing a much more accurate representation of the the subjects facial features. This refined facial disparity map may be easily transformed, through the camera calibration parameters, into a depth map to be used, also automatically, to improve the facial mesh of a 3D avatar to match the subjects real human features.

Representation of 2D objects with a topology preserving network

Comunicación presentada en el 2nd International Workshop on Pattern Recognition in Information Systems, Alicante, April, 2002.

Geometric 3D point cloud compression

The use of 3D data in mobile robotics applications provides valuable information about the robot’s environment but usually the huge amount of 3D information is unmanageable by the robot storage and computing capabilities. A data compression is necessary to store and manage this information but preserving as much information as possible. In this paper, we propose a 3D lossy compression system based on plane extraction which represent the points of each scene plane as a Delaunay triangulation and a set of points/area information. The compression system can be customized to achieve different data compression or accuracy ratios. It also supports a color segmentation stage to preserve original scene color information and provides a realistic scene reconstruction. The design of the method provides a fast scene reconstruction useful for further visualization or processing tasks.

Improving 3D Keypoint Detection from Noisy Data Using Growing Neural Gas

3D sensors provides valuable information for mobile robotic tasks like scene classification or object recognition, but these sensors often produce noisy data that makes impossible applying classical keypoint detection and feature extraction techniques. Therefore, noise removal and downsampling have become essential steps in 3D data processing. In this work, we propose the use of a 3D filtering and down-sampling technique based on a Growing Neural Gas (GNG) network. GNG method is able to deal with outliers presents in the input data. These features allows to represent 3D spaces, obtaining an induced Delaunay Triangulation of the input space. Experiments show how the state-of-the-art keypoint detectors improve their performance using GNG output representation as input data. Descriptors extracted on improved keypoints perform better matching in robotics applications as 3D scene registration.

Plane detection from monocular image sequences

AIRES, Kelson R. T. ; ARAÚJO, Hélder J. ; MEDEIROS, Adelardo A. D. . Plane Detection from Monocular Image Sequences. In: VISUALIZATION, IMAGING AND IMAGE PROCESSING, 2008, Palma de Mallorca, Spain. Proceedings..., Palma de Mallorca: VIIP, 2008

Plane detection from monocular image sequences

AIRES, Kelson R. T. ; ARAÚJO, Hélder J. ; MEDEIROS, Adelardo A. D. . Plane Detection from Monocular Image Sequences. In: VISUALIZATION, IMAGING AND IMAGE PROCESSING, 2008, Palma de Mallorca, Spain. Proceedings..., Palma de Mallorca: VIIP, 2008

Rapid localization of damage using a circular sensor array and Lamb wave based triangulation

A damage detection and imaging methodology based on symmetry of neighborhood sensor path and similarity of signal patterns with respect to radial paths in a circular array of sensors has been developed It uses information regarding Limb wave propagation along with a triangulation scheme to rapidly locate and quantify the severity of damage without using all of the sensor data. In a plate like structure, such a scheme can be effectively employed besides full field imaging of wave scattering pattern from the damage, if present in the plate. This new scheme is validated experimentally. Hole and corrosion type damages have been detected and quantified using the proposed scheme successfully. A wavelet based cumulative damage index has been studied which shows monotonic sensitivity against the severity of the damage. which is most desired in a Structural Health Monitoring system. (C) 2010 Elsevier Ltd. All rights reserved.

A geodesic-based triangulation technique for damage location in metallic and composite plates

Lamb-wave-based damage detection methods using the triangulation technique are not suitable for handling structures with complex shapes and discontinuities as the parametric/analytical representation of these structures is very difficult. The geodesic concept is used along with the triangulation technique to overcome the above problem. The present work is based on the fundamental fact that a wave takes the minimum energy path to travel between two points on any multiply connected surface and this reduces to the shortest distance path or geodesic. The geodesics are computed on the meshed surface of the structure using the fast marching method. The wave response matrix of the given sensor configuration for the healthy and the damaged structure is obtained experimentally. The healthy and damage response matrices are compared and their difference gives the time information about the reflection of waves from the damage. A wavelet transform is used to extract the arrival time information of the wave scattered by the damage from the acquired Lamb wave signals. The computed geodesics and time information are used in the ellipse algorithm of triangulation formulation to locate the loci of possible damage location points for each actuator-sensor pair. The results obtained for all actuator-sensor pairs are combined and the intersection of multiple loci gives the damage location result. Experiments were conducted in aluminum and composite plate specimens to validate this method.

On Walkup's class K (d) and a minimal triangulation of (S-3 (sic) S-1)(#3)

For d >= 2, Walkup's class K (d) consists of the d-dimensional simplicial complexes all whose vertex-links are stacked (d - 1)-spheres. Kalai showed that for d >= 4, all connected members of K (d) are obtained from stacked d-spheres by finitely many elementary handle additions. According to a result of Walkup, the face vector of any triangulated 4-manifold X with Euler characteristic chi satisfies f(1) >= 5f(0) - 15/2 chi, with equality only for X is an element of K(4). Kuhnel observed that this implies f(0)(f(0) - 11) >= -15 chi, with equality only for 2-neighborly members of K(4). Kuhnel also asked if there is a triangulated 4-manifold with f(0) = 15, chi = -4 (attaining equality in his lower bound). In this paper, guided by Kalai's theorem, we show that indeed there is such a triangulation. It triangulates the connected sum of three copies of the twisted sphere product S-3 (sic) S-1. Because of Kuhnel's inequality, the given triangulation of this manifold is a vertex-minimal triangulation. By a recent result of Effenberger, the triangulation constructed here is tight. Apart from the neighborly 2-manifolds and the infinite family of (2d + 3)-vertex sphere products Sd-1 X S-1 (twisted for d odd), only fourteen tight triangulated manifolds were known so far. The present construction yields a new member of this sporadic family. We also present a self-contained proof of Kalai's result. (C) 2011 Elsevier B.V. All rights reserved.

Minimal triangulation, complementarity and projective planes

Brehm and Kuhnel proved that if M-d is a combinatorial d-manifold with 3d/2 + 3 vertices and \ M-d \ is not homeomorphic to Sd then the combinatorial Morse number of M-d is three and hence d is an element of {0, 2, 4, 8, 16} and \ M-d \ is a manifold like a projective plane in the sense of Eells and Kuiper. We discuss the existence and uniqueness of such combinatorial manifolds. We also present the following result: ''Let M-n(d) be a combinatorial d-manifold with n vertices. M-n(d) satisfies complementarity if and only if d is an element of {0, 2, 4, 8, 16} with n = 3d/2 + 3 and \ M-n(d) \ is a manifold like a projective plane''.

A Triangulation of CP3 as Symmetric Cube of S-2

The symmetric group acts on the Cartesian product (S (2)) (d) by coordinate permutation, and the quotient space is homeomorphic to the complex projective space a'',P (d) . We used the case d=2 of this fact to construct a 10-vertex triangulation of a'',P (2) earlier. In this paper, we have constructed a 124-vertex simplicial subdivision of the 64-vertex standard cellulation of (S (2))(3), such that the -action on this cellulation naturally extends to an action on . Further, the -action on is ``good'', so that the quotient simplicial complex is a 30-vertex triangulation of a'',P (3). In other words, we have constructed a simplicial realization of the branched covering (S (2))(3)-> a'',P (3).

快速Delaunay逐点插入网格生成算法

对插入形心的Delaunay逐点插入算法,提出按单元可插度分组的双向链表组数据结构,避免了对最大可插度单元的搜索。采用了邻接单元搜索、双向链表存储、随机方向搜索、邻接旋转、几何量继承等技术,使算法的计算时间与生成单元数近似呈线性关系,时间复杂度达到O(N1.05),N为生成单元数。算例表明,在一台AMD Athlon3200+(主频2.0 GHz)PC上,该算法的四面体单元生成速度达50 000个/s以上。

快速Delaunay逐点插入网格生成算法

对插入形心的Delaunay逐点插入算法,提出按单元可插度分组的双向链表组数据结构,避免了对最大可插度单元的搜索。采用了邻接单元搜索、双向链表存储、随机方向搜索、邻接旋转、几何量继承等技术,使算法的计算时间与生成单元数近似呈线性关系,时间复杂度达到O(N1.05),N为生成单元数。算例表明,在一台AMD Athlon3200+(主频2.0GHz)PC上,该算法的四面体单元生成速度达每秒50000个以上。

The Housing Triangulation: A discourse on Quality, Affordability and Lifestyles in India

Since 1991 with the advent of globalization and economic liberalisation, basic conceptual and discursive changes are taking place in housing sector in India. The new changes suggest how housing affordability, quality and lifestyles reality is shifting for various segments of the population. Such shift not only reflects structural patterns but also stimulates an ongoing transition process. The paper highlights a twin impetus that continue to shape the ongoing transition: expanding middle class and their wealth - a category with distinctive lifestyles, desires and habits and corresponding ‘market defining’ of affordable housing standards - to articulate function of housing as a conceptualization of social reality in modern India. The paper highlights the contradictions and paradoxes, and the manner in which the concept of affordability, quality and lifestyles are embedded in both discourse and practice in India. The housing ‘dream’ currently being packaged and fed through to the middle class population has an upper middle class bias and is set to alienate those at the lower end of the middle-and low-income population. In the context of growing agreement and inevitability of market provision of ‘affordable housing’, the unbridled ‘market-defining’ of housing quality and lifestyles must be checked.