Pub Date : 2013-06-10DOI: 10.1109/IVMSPW.2013.6611891
Hyukdoo Choi, Euntai Kim, Gwang-Woong Yang
FastSLAM is a fundamental algorithm for Simultaneous Localization and Mapping (SLAM). FastSLAM based on grid map is a popular method to build a map of both the structured and unstructured environment. The performance of FastSLAM significantly depends on evaluation of measurement likelihood. In this paper, we propose a new method to evaluate laser scan likelihood using the binary Bayes filter. This method supports the right particles but does not suffer from particle depletion problem. We implemented the hardware system based on the Pioneer 2-DX platform equipped with the Hokuyo laser scanner. The experimental result shows that the proposed method builds the map accurately.
{"title":"Scan likelihood evaluation in FastSLAM using binary Bayes filter","authors":"Hyukdoo Choi, Euntai Kim, Gwang-Woong Yang","doi":"10.1109/IVMSPW.2013.6611891","DOIUrl":"https://doi.org/10.1109/IVMSPW.2013.6611891","url":null,"abstract":"FastSLAM is a fundamental algorithm for Simultaneous Localization and Mapping (SLAM). FastSLAM based on grid map is a popular method to build a map of both the structured and unstructured environment. The performance of FastSLAM significantly depends on evaluation of measurement likelihood. In this paper, we propose a new method to evaluate laser scan likelihood using the binary Bayes filter. This method supports the right particles but does not suffer from particle depletion problem. We implemented the hardware system based on the Pioneer 2-DX platform equipped with the Hokuyo laser scanner. The experimental result shows that the proposed method builds the map accurately.","PeriodicalId":170714,"journal":{"name":"IVMSP 2013","volume":"261 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-06-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132163004","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
In this paper we present a novel method for the calibration of LiDAR-camera systems. The method uses infrared (IR) images to establish laser-pixel correspondences between a multi-layer laser scanner and an IR image sensor. Based on the established correspondences, the intrinsic parameters of the LiDAR system and of the camera as well as the extrinsic parameters are adjusted. The proposed method works in a two-stage manner. The linear estimation of the extrinsic parameters are first obtained using an efficient PnP algorithm, while in the second stage the extrinsic and intrinsic parameters are optimized using a nonlinear algorithm. Experiments show promising results.
{"title":"Extrinsic calibration of a multi-beam LiDAR system with improved intrinsic laser parameters using v-shaped planes and infrared images","authors":"Po-Sen Huang, Wen-Bin Hong, Hsiang-Jen Chien, Chia-Yen Chen","doi":"10.1109/IVMSPW.2013.6611921","DOIUrl":"https://doi.org/10.1109/IVMSPW.2013.6611921","url":null,"abstract":"In this paper we present a novel method for the calibration of LiDAR-camera systems. The method uses infrared (IR) images to establish laser-pixel correspondences between a multi-layer laser scanner and an IR image sensor. Based on the established correspondences, the intrinsic parameters of the LiDAR system and of the camera as well as the extrinsic parameters are adjusted. The proposed method works in a two-stage manner. The linear estimation of the extrinsic parameters are first obtained using an efficient PnP algorithm, while in the second stage the extrinsic and intrinsic parameters are optimized using a nonlinear algorithm. Experiments show promising results.","PeriodicalId":170714,"journal":{"name":"IVMSP 2013","volume":"8 1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-06-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116834264","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2013-06-01DOI: 10.1109/IVMSPW.2013.6611909
A. Bors, Ming Luo
A blind 3D watermarking method based on optimizing the placement of displaced vertices on the surface of the 3D object is proposed in this paper. A new mesh distortion function is used as a cost function for the Levenberg-Marquardt optimization algorithm in order to ensure a minimal distortion to the 3D object surface after watermarking. The surface distortion function consists of the sums of Euclidean distances from the displaced vertex to the original surface, to the new surface and to the original vertex location. Experimental results assess the level of distortion produced to 3D surfaces by watermarking as well as the robustness to various attacks.
{"title":"Minimal surface distortion function for optimizing 3D watermarking","authors":"A. Bors, Ming Luo","doi":"10.1109/IVMSPW.2013.6611909","DOIUrl":"https://doi.org/10.1109/IVMSPW.2013.6611909","url":null,"abstract":"A blind 3D watermarking method based on optimizing the placement of displaced vertices on the surface of the 3D object is proposed in this paper. A new mesh distortion function is used as a cost function for the Levenberg-Marquardt optimization algorithm in order to ensure a minimal distortion to the 3D object surface after watermarking. The surface distortion function consists of the sums of Euclidean distances from the displaced vertex to the original surface, to the new surface and to the original vertex location. Experimental results assess the level of distortion produced to 3D surfaces by watermarking as well as the robustness to various attacks.","PeriodicalId":170714,"journal":{"name":"IVMSP 2013","volume":"20 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127914580","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2013-06-01DOI: 10.1109/IVMSPW.2013.6611914
Thomas Maugey, Antonio Ortega, P. Frossard
In this paper, we design a new approach for coding the geometry information in a multiview image scenario. As an alternative to depth-based schemes, we propose a representation that captures the dependencies between pixels in different frames in the form of connections in a graph. In our approach it is possible to directly perform compression by simplifying the graph, which provides a more direct control of the effect of coding on geometry representation. Our method leads to more accurate view synthesis, when compared to conventional lossy coding of depth maps operating at the same bit rate.
{"title":"Multiview image coding using graph-based approach","authors":"Thomas Maugey, Antonio Ortega, P. Frossard","doi":"10.1109/IVMSPW.2013.6611914","DOIUrl":"https://doi.org/10.1109/IVMSPW.2013.6611914","url":null,"abstract":"In this paper, we design a new approach for coding the geometry information in a multiview image scenario. As an alternative to depth-based schemes, we propose a representation that captures the dependencies between pixels in different frames in the form of connections in a graph. In our approach it is possible to directly perform compression by simplifying the graph, which provides a more direct control of the effect of coding on geometry representation. Our method leads to more accurate view synthesis, when compared to conventional lossy coding of depth maps operating at the same bit rate.","PeriodicalId":170714,"journal":{"name":"IVMSP 2013","volume":"15 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115192816","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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