Multiview point cloud kernels for semisupervised learning [Lecture Notes]

In semisupervised learning (SSL), a predictive model is learn from a collection of labeled data and a typically much larger collection of unlabeled data. These paper presented a framework called multi-view point cloud regularization (MVPCR), which unifies and generalizes several semisupervised kernel methods that are based on data-dependent regularization in reproducing kernel Hilbert spaces (RKHSs). Special cases of MVPCR include coregularized least squares (CoRLS), manifold regularization (MR), and graph-based SSL. An accompanying theorem shows how to reduce any MVPCR problem to standard supervised learning with a new multi-view kernel.

Computer generated hologram from point cloud using graphics processor

Computer generated holography is an extremely demanding and complex task when it comes to providing realistic reconstructions with full parallax, occlusion, and shadowing. We present an algorithm designed for data-parallel computing on modern graphics processing units to alleviate the computational burden. We apply Gaussian interpolation to create a continuous surface representation from discrete input object points. The algorithm maintains a potential occluder list for each individual hologram plane sample to keep the number of visibility tests to a minimum.We experimented with two approximations that simplify and accelerate occlusion computation. It is observed that letting several neighboring hologramplane samples share visibility information on object points leads to significantly faster computation without causing noticeable artifacts in the reconstructed images. Computing a reduced sample set via nonuniform sampling is also found to be an effective acceleration technique. © 2009 Optical Society of America.

Automated sparse 3D point cloud generation of infrastructure using its distinctive visual features

The commercial far-range (>10 m) spatial data collection methods for acquiring infrastructure’s geometric data are not completely automated because of the necessary manual pre- and/or post-processing work. The required amount of human intervention and, in some cases, the high equipment costs associated with these methods impede their adoption by the majority of infrastructure mapping activities. This paper presents an automated stereo vision-based method, as an alternative and inexpensive solution, to producing a sparse Euclidean 3D point cloud of an infrastructure scene utilizing two video streams captured by a set of two calibrated cameras. In this process SURF features are automatically detected and matched between each pair of stereo video frames. 3D coordinates of the matched feature points are then calculated via triangulation. The detected SURF features in two successive video frames are automatically matched and the RANSAC algorithm is used to discard mismatches. The quaternion motion estimation method is then used along with bundle adjustment optimization to register successive point clouds. The method was tested on a database of infrastructure stereo video streams. The validity and statistical significance of the results were evaluated by comparing the spatial distance of randomly selected feature points with their corresponding tape measurements.

Generating the Sparse Point Cloud of a Civil Infrastructure Scene Using a Single Video Camera under Practical Constraints

Automating the model generation process of infrastructure can substantially reduce the modeling time and cost. This paper presents a method to generate a sparse point cloud of an infrastructure scene using a single video camera under practical constraints. It is the first step towards establishing an automatic framework for object-oriented as-built modeling. Motion blur and key frame selection criteria are considered. Structure from motion and bundle adjustment are explored. The method is demonstrated in a case study where the scene of a reinforced concrete bridge is videotaped, reconstructed, and metrically validated. The result indicates the applicability, efficiency, and accuracy of the proposed method.

Sparsity-Inducing Optimization Algorithm for the Extraction of Planar Structures in Noisy Point-Cloud Data

Most of the manual labor needed to create the geometric building information model (BIM) of an existing facility is spent converting raw point cloud data (PCD) to a BIM description. Automating this process would drastically reduce the modeling cost. Surface extraction from PCD is a fundamental step in this process. Compact modeling of redundant points in PCD as a set of planes leads to smaller file size and fast interactive visualization on cheap hardware. Traditional approaches for smooth surface reconstruction do not explicitly model the sparse scene structure or significantly exploit the redundancy. This paper proposes a method based on sparsity-inducing optimization to address the planar surface extraction problem. Through sparse optimization, points in PCD are segmented according to their embedded linear subspaces. Within each segmented part, plane models can be estimated. Experimental results on a typical noisy PCD demonstrate the effectiveness of the algorithm.

Recognition of Planar Segments in Point Cloud Based on Wavelet Transform

© 2005-2012 IEEE.Within industrial automation systems, three-dimensional (3-D) vision provides very useful feedback information in autonomous operation of various manufacturing equipment (e.g., industrial robots, material handling devices, assembly systems, and machine tools). The hardware performance in contemporary 3-D scanning devices is suitable for online utilization. However, the bottleneck is the lack of real-time algorithms for recognition of geometric primitives (e.g., planes and natural quadrics) from a scanned point cloud. One of the most important and the most frequent geometric primitive in various engineering tasks is plane. In this paper, we propose a new fast one-pass algorithm for recognition (segmentation and fitting) of planar segments from a point cloud. To effectively segment planar regions, we exploit the orthonormality of certain wavelets to polynomial function, as well as their sensitivity to abrupt changes. After segmentation of planar regions, we estimate the parameters of corresponding planes using standard fitting procedures. For point cloud structuring, a z-buffer algorithm with mesh triangles representation in barycentric coordinates is employed. The proposed recognition method is tested and experimentally validated in several real-world case studies.

People semantic description and re-identification from point cloud geometry

The automatic extraction of biometric descriptors of anonymous people is a challenging scenario in camera networks. This task is typically accomplished making use of visual information. Calibrated RGBD sensors make possible the extraction of point cloud information. We present a novel approach for people semantic description and re-identification using the individual point cloud information. The proposal combines the use of simple geometric features with point cloud features based on surface normals.

Crete fault scarp point cloud data

This paper assesses the along strike variation of active bedrock fault scarps using long range terrestrial laser scanning (t-LiDAR) data in order to determine the distribution behaviour of scarp height and the subsequently calculate long term throw-rates. Five faults on Cretewhich display spectacular limestone fault scarps have been studied using high resolution digital elevation model (HRDEM) data. We scanned several hundred square metres of the fault system including the footwall, fault scarp and hanging wall of the investigated fault segment. The vertical displacement and the dip of the scarp were extracted every metre along the strike of the detected fault segment based on the processed HRDEM. The scarp variability was analysed by using statistical and morphological methods. The analysis was done in a geographical information system (GIS) environment. Results show a normal distribution for the scanned fault scarp's vertical displacement. Based on these facts, the mean value of height was chosen to define the authentic vertical displacement. Consequently the scarp can be divided into above, below and within the range of mean (within one standard deviation) and quantify the modifications of vertical displacement. Therefore, the fault segment can be subdivided into areas which are influenced by external modification like erosion and sedimentation processes. Moreover, to describe and measure the variability of vertical displacement along strike the fault, the semi-variance was calculated with the variogram method. This method is used to determine how much influence the external processes have had on the vertical displacement. By combining of morphological and statistical results, the fault can be subdivided into areas with high external influences and areas with authentic fault scarps, which have little or no external influences. This subdivision is necessary for long term throw-rate calculations, because without this differentiation the calculated rates would be misleading and the activity of a fault would be incorrectly assessed with significant implications for seismic hazard assessment since fault slip rate data govern the earthquake recurrence. Furthermore, by using this workflow areas with minimal external influences can be determined, not only for throw-rate calculations, but also for determining samples sites for absolute dating techniques such as cosmogenic nuclide dating. The main outcomes of this study include: i) there is no direct correlation between the fault's mean vertical displacement and dip (R² less than 0.31); ii) without subdividing the scanned scarp into areas with differing amounts of external influences, the along strike variability of vertical displacement is ±35%; iii) when the scanned scarp is subdivided the variation of the vertical displacement of the authentic scarp (exposed by earthquakes only) is in a range of ±6% (the varies depending on the fault from 7 to 12%); iv) the calculation of the long term throw-rate (since 13 ka) for four scarps in Crete using the authentic vertical displacement is 0.35 ± 0.04 mm/yr at Kastelli 1, 0.31 ± 0.01 mm/yr at Kastelli 2, 0.85 ± 0.06 mm/yr at the Asomatos fault (Sellia) and 0.55 ± 0.05 mm/yr at the Lastros fault.