The present work proposes a solution to the challenging problem of registering two partial point sets of the same object with very limited overlap. We leverage the fact that most objects found in man-made environments contain a plane of symmetry. By reflecting the points of each set with respect to the plane of symmetry, we can largely increase the overlap between the sets and therefore boost the registration process. However, prior knowledge about the plane of symmetry is generally unavailable or at least very hard to find, especially with limited partial views. Finding this plane could strongly benefit from a prior alignment of the partial point sets. We solve this chicken-and-egg problem by jointly optimizing the relative pose and symmetry plane parameters. We present a globally optimal solver by employing the branch-and-bound paradigm and thereby demonstrate that joint symmetry plane fitting leads to a great improvement over the current state of the art in globally optimal point set registration for common objects. We conclude with an interesting application of our method to dense 3D reconstruction of scenes with repetitive objects.
Distributed and Parallel Databases - The widely application of positioning technology has made collecting the movement of people feasible for knowledge-based decision. Data in its original form... 相似文献
In this paper, a dynamic modeling method and an active vibration control scheme for a smart flexible four-bar linkage mechanism featuring piezoelectric actuators and strain gauge sensors are presented. The dynamics of this smart mechanism is described by the Discrete Time Transfer Matrix Method of Multibody System (MS-DTTMM). Then a nonlinear fuzzy neural network control is employed to suppress the vibration of this smart mechanism. For improving the dynamic performance of the fuzzy neural network, a genetic algorithm based on the MS-DTTMM is designed offline to tune the initial parameters of the fuzzy neural network. The MS-DTTMM avoids the global dynamics equations of the system, which results in the matrices involved are always very small, so the computational efficiency of the dynamic analysis and control system optimization can be greatly improved. Formulations of the method as well as a numerical simulation are given to demonstrate the proposed dynamic method and control scheme. 相似文献
In this paper, a 3?×?3-matrix representation of Birman?CWenzl?CMurakami (BWM) algebra has been presented. Based on which, unitary matrices A(??, ??1, ??2) and B(??, ??1, ??2) are generated via Yang?CBaxterization approach. A Hamiltonian is constructed from the unitary B(??, ??) matrix. Then we study Berry phase of the Yang?CBaxter system, and obtain the relationship between topological parameter and Berry phase. 相似文献