应用多个正交视角轮流逼近3维目标的坐标

为实现目标的快速、精确3维定位和跟踪,提出一种正交摄像机视频定位系统及其坐标轮流逼近的迭代定位算法。系统中平面摄像机光轴按照正交方式布置,拍摄方向均指向原点。不同于现有的大部分计算机视觉方法,本算法中没有影响定位效率和精度问题的图像配准操作。证明了迭代算法的收敛性。数值验证和实际试验表明,本算法计算简单、误差稳定性好,收敛快,因此具有良好的应用潜力。     

Iterative algorithm for angular matching of group point objects with a priori uncertainty of parameters

An iterative algorithm for angular matching of two images of three-dimensional objects based on the properties of the normalized scalar product is considered. It is shown that the algorithm is stable in the case of both well-defined and ill-defined angular matching problems. An approach to recognizing spatial 3D group point objects with a priori uncertainty of their angular parameters is proposed based on the obtained algorithm.     

Physical sketching: Reconstruction and analysis of 3D objects from freehand sketches

When designing a 3D object, designers, engineers and teachers often begin investigating potential design tradeoffs by creating informal sketches. Ideally, these sketches-in combination with a variety of engineering analysis tools-would allow prediction of the object’s physical properties, especially those that affect the critical early design process. We introduce a pen-based system that reconstructs 3D spatial geometry from a single 2D freehand-sketch consisting of straight and curved lines in interactive time. Several optimization-based approaches to this problem have been proposed, but these generally have difficulty converging to an acceptable solution because the dimensionality of the search space is large. The primary contribution of this paper is a new reconstruction algorithm for orthographic projections of 3D wireframes. The algorithm reconstructs the depths of each vertex by exploiting geometric regularities among the graph lines in a reduced solution space, then optimizes a cost function over this space to recover the vertex depths. A second optimization algorithm is used to infer the 3D geometry of curved strokes once the vertex depths have been recovered. The proposed approach can recover the geometry of several objects with approximately 50 curved strokes in near interactive time. We also present an iterative, Tablet-PC-based design system that uses the proposed reconstruction algorithm to recover 3D objects from 2D orthographic sketches. The system allows the reconstructed objects to be subjected to two types of physical analysis, the results of which are superimposed directly on the sketch: a fast, kinematic simulation, and a complete finite-element-based static analysis. The object can quickly be modified in place using the pen-based interface according to the results of the analysis to allow for iterative design work. We demonstrate the system in action on a variety of early-stage design analyses.     

基于局部指纹曲面片的点云三维物体识别

提出一种新的基于局部描述符的点云物体识别算法。算法根据点云的位置信息提取出邻域以及曲率信息,进而得到形状索引信息。根据形状索引提取到特征点,在每个特征点根据样条拟合原理得到测地距离和矢量夹角分割曲面得到曲面片集。每个曲面片的等距测地线构成了曲面片指纹,通过矢量和半径的变化描述,可以把每个模型物体得到的曲面片集描述存入数据库。对于给定的一个物体,根据上面步骤同样得到其曲面片集描述,通过和数据库中模型物体曲面片集的比对,得到初始识别结果。对每对初始识别结果进行对应滤波后,通过最近点迭代方法得到最终的识别结果。最后通过具体的实验说明了算法的有效性和高效性。     

Generating compact representations of static scenes by means of 3D object hierarchies

This paper presents a new heuristic algorithm for computing a compact hierarchical representation of the objects contained in a 3D static scene. The algorithm first builds a fully-connected adjacency graph that keeps the costs of grouping the different pairs of objects of the scene. Afterward, the graph’s minimum spanning tree is computed and its edges sorted in ascending order according to their cost. Next, from that sorted list, a cost-based clustering technique is applied, thus generating new objects at a higher level in the hierarchy. A new object can be defined after merging two or more objects according to their corresponding linking costs. The algorithm starts over by generating a new adjacency graph from those new objects, along with the objects that could not be merged before. The iterative process is applied until an adjacency graph with a single object is obtained. The latter is the root of the hierarchical representation. Balance and coherence of the hierarchy, in which spatially close objects are also structurally close, is achieved by defining an appropriate cost function. The proposed technique is evaluated upon several 3D scenes and compared to a previous technique. In addition, the benefits of the proposed technique with respect to techniques based on octrees and kd-trees are analyzed in terms of a practical application.     

基于闭包的3NF模式综合算法

文中基于属性集关于函数依赖集的闭包，并采用模式矩阵，给出了一个从函数依赖集综合出３ＮＦ模式的算法。该算法不用Ａｒｍｓｔｒｏｎｇ公理进行烦琐的推导，与Ｂｅｒｎｓｔｅｉｎ算法相比，较为简单且易于实现。     

单Kinect+回转台的全视角三维重建

为了解决当前全视角三维扫描系统价格昂贵操作复杂的问题,提出利用1台Kinect和1个回转台来构建全视角三维模型的方法。研究涉及点云预处理、点云配准、全局误差修正以及色差修正等技术。首先使用Kinect采集数据并预处理,结合转台约束利用图像几何特征进行粗配准,随后使用迭代最近点（Iterative closest point,ICP）算法实现点云的精确配准。对于累积误差导致的闭环问题以及不同角度拍摄引起的色差问题,通过全局误差修正与色差修正算法处理,提升重建结果的精度。实验结果表明：该方法可以实现三维物体的全视角重建,并在精度上优于微软的KinectFusion方法。     

关于标准FD集的几个相关问题的讨论

本文为讨论ＦＤ集的简化和研究最优覆盖的多项式求法，对标准ＦＤ集进行了定义和讨论。同时，还定义了与它相关的几个概念，讨论了标准ＦＤ集Ｆ成为最小覆盖的充要条件及其它问题。     

LR最小替换集求解算法研究

文中对Ｄ．Ｍａｉｅｒ提出的关于关系数据库中的ＬＲ最小集的结构进行了分析，提出了一个比“ＬＲ最小集”更为简化的ＦＤ集的覆盖－ＬＲ最小替换集。给出了一个求ＬＲ最小替换集的多项式时间算法。修正了Ｄ．Ｍａｉｅｒ在其文中给出的一个ＦＤ集为最优覆盖的必要条件。     

物体多视角三维图象对齐复位的一种新方法

为了高质量准确地对物体多视角三维图象进行快速对齐复位，提出了一种将多个视角三维自然曲面数据精确对齐复位于同一坐标系中的新型迭代方法，该方法根据三维自然曲面的共同特性，并采用不同视角中对应曲面部分的若干单元面法向量误差最小及其对应顶点距离最小的迭代准则来进行对齐复位，同时还详细地叙述了迭代算法的过程，并讨论了提高算法速度与降低累积误差的方法，实例表明，该算法在无需约束三维数据采集过程和不额外增加三维数据采集设备及操作的情况下，不仅速度快，而且由复位后的各视角三维曲面形成的整体表面效果自然逼真。     

A two-variable approach to solve the polynomial Lyapunov equation

A two-variable polynomial approach to solve the one-variable polynomial Lyapunov equation is proposed. Lifting the problem from the one-variable to the two-variable context allows to use Faddeev-type recursions in order to solve the polynomial Lyapunov equation in an iterative fashion. The method is especially suitable for applications requiring exact or symbolic computation.     

Finding locally optimum force-closure grasps

This paper presents an iterative procedure to find locally optimum force-closure grasps on 3D objects, with or without friction and with any number of fingers. The object surface is discretized in a cloud of points, so the approach is applicable to objects with any arbitrary shape. The approach finds an initial force-closure grasp that is then iteratively improved through an oriented search procedure. The grasp quality is measured considering the largest perturbation wrench that the grasp can resist with independence of the direction of perturbation. The efficiency of the algorithm is illustrated through numerical examples.     

三维形体的形态学运算及应用

本文首先讨论了边界表示的物体的形态学运算问题。文中讨论了任意形状的物体，包括凸物体和非凸物体；引入了负形体的概念；并提出了２Ｄ和３Ｄ连续物体的Ｍｉｎｋｏｗｓｋｉ运算的统一算法。利用这一算法，提出了３Ｄ任意形体间的变形新算法，把边界表示的物体的形态学运算的概念扩展到任意曲线和任意曲面上，并且介绍了３Ｄ物空间中曲线的概念和３Ｄ物空间双参数曲面的概念。文中任意形体的３Ｄ变形算法能很好地解决具有不同拓扑结构的３Ｄ边界表示的物体之间的变形问题。     

Recovery and Reasoning About Occlusions in 3D Using Few Cameras with Applications to 3D Tracking

In this work we propose algorithms to learn the locations of static occlusions and reason about both static and dynamic occlusion scenarios in multi-camera scenes for 3D surveillance (e.g., reconstruction, tracking). We will show that this leads to a computer system which is able to more effectively track (follow) objects in video when they are obstructed from some of the views. Because of the nature of the application area, our algorithm will be under the constraints of using few cameras (no more than 3) that are configured wide-baseline. Our algorithm consists of a learning phase, where a 3D probabilistic model of occlusions is estimated per-voxel, per-view over time via an iterative framework. In this framework, at each frame the visual hull of each foreground object (person) is computed via a Markov Random Field that integrates the occlusion model. The model is then updated at each frame using this solution, providing an iterative process that can accurately estimate the occlusion model over time and overcome the few-camera constraint. We demonstrate the application of such a model to a number of areas, including visual hull reconstruction, the reconstruction of the occluding structures themselves, and 3D tracking.     

An FFT-based algorithm for 2D power series expansions

An effective numerical algorithm based on inverting a specialized Laplace transform is derived for computing the two-dimensional power-series expansion coefficients of a two-variable function. Due to the special structure of the constructed 2D Laplace transform, the accuracy of the inverted function values can be assured effectively by the generalized Riemann zeta function evaluation and the multiple sets of 2D FFT computation. Therefore, the algorithm is particularly amenable to modern computers having multiprocessors and/or vector processors.     

An improved algorithm based on subset closures for synthesizing arelational database scheme

An algorithm for synthesizing a better relational database scheme in elementary key normal form (EKNF) is developed. This algorithm eliminates not only extraneous attributes and other redundancies, but also superfluities from a given set of functional dependences (FDs), based primarily on subset closures, Hamiltonian cycles of FDs, and equivalent subsets of attributes. Following this algorithm, a better LR-minimum FD covering is obtained. A more practical and efficient method for designing a relational database scheme in EKNF is then provided. The time complexity of the algorithm is polynomial     

利用法向矢量计算三维物体间的距离

机器人路径规划和装配路径规划都要计算空间两个物体之间的距离，实时仿真系统则要求算法既简便、快速，又能够支持规划算法．本文提出了基于Ｂ－Ｒｅｐ的计算三维物体间距离的方法，即利用物体的表面法向矢量直接计算三维物体间的定向距离．该方法达到了上述系统对物体间距离的检测要求．     

An improvement on the automatic tool for relational database design

This paper corrects some misconceptions regarding an automatic tool for relational database design. A modified algorithm (SYNTHESIZER+) from the synthesis algorithm SYNTHESIZER is presented. For a given set of FDs, it can produce a third normal form (3NF) relational database schema with a minimum number of relations.     

Implementation and Complexity of the Watershed-from-Markers Algorithm Computed as a Minimal Cost Forest

The watershed algorithm belongs to classical algorithms in mathematical morphology. Lotufo et al. ¹ published a principle of the watershed computation by means of an iterative forest transform (IFT), which computes a shortest path forest from given markers. The algorithm itself was described for a 2D case (image) without a detailed discussion of its computation and memory demands for real datasets.
As IFT cleverly solves the problem of plateaus and as it gives precise results when thin objects have to be segmented, it is obvious to use this algorithm for 3D datasets taking in mind the minimizing of a higher memory consumption for the 3D case without loosing low asymptotical time complexity of O ( m + C )(and also the real computation speed). The main goal of this paper is an implementation of the IFT algorithm with a priority queue with buckets and careful tuning of this implementation to reach as minimal memory consumption as possible.
The paper presents five possible modifications and methods of implementation of the IFT algorithm. All presented implementations keep the time complexity of the standard priority queue with buckets but the best one minimizes the costly memory allocation and needs only 19–45% of memory for typical 3D medical imaging datasets.
Memory saving was reached by an IFT algorithm simplification, which stores more elements in temporary structures but these elements are simpler and thus need less memory.The best presented modification allows segmentation of large 3D medical datasets (up to 512 × 512 × 680 voxels) with 12- or 16-bits per voxel on currently available PC based workstations.