Informacja

Drogi użytkowniku, aplikacja do prawidłowego działania wymaga obsługi JavaScript. Proszę włącz obsługę JavaScript w Twojej przeglądarce.

English (EN)·Polski (PL)·Yкраїнський (UK)
Przejdź do strony domowej biblioteki Centralna Biblioteka Wojskowa Link otwiera się w nowym oknie Logo biblioteki Prolib Integro - strona głównaCentralna Biblioteka Wojskowa

Wyszukujesz frazę "RGB-D" wg kryterium: Temat

  Lista filtrów
Wyrównaj
Wyświetlanie 1-15 z 19
Tytuł:
Rgb-D face recognition using LBP-DCT algorithm
Autorzy:
Kumar, Sunil B L
Kumari, Sharmila M
Powiązania:
https://bibliotekanauki.pl/articles/1956066.pdf
Data publikacji:
2021
Wydawca:
Polskie Towarzystwo Promocji Wiedzy
Tematy:
RGB-D
kinect
local binary pattern
pattern recognition
feature extraction
histogram
face recognition
lokalny wzorzec binarny
rozpoznawanie wzorców
wyodrębnianie cech
rozpoznawanie twarzy
Opis:
Face recognition is one of the applications in image processing that recognizes or checks an individual's identity. 2D images are used to identify the face, but the problem is that this kind of image is very sensitive to changes in lighting and various angles of view. The images captured by 3D camera and stereo camera can also be used for recognition, but fairly long processing times is needed. RGB-D images that Kinect produces are used as a new alternative approach to 3D images. Such cameras cost less and can be used in any situation and any environment. This paper shows the face recognition algorithms’ performance using RGB-D images. These algorithms calculate the descriptor which uses RGB and Depth map faces based on local binary pattern. Those images are also tested for the fusion of LBP and DCT methods. The fusion of LBP and DCT approach produces a recognition rate of 97.5% during the experiment
Źródło:
Applied Computer Science; 2021, 17, 3; 73-81
1895-3735
Pojawia się w:
Applied Computer Science
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
The measurements of surface defect area with an RGB-D camera for a BIM-backed bridge inspection
Autorzy:
Wójcik, Bartosz
Żarski, Mateusz
Powiązania:
https://bibliotekanauki.pl/articles/2173618.pdf
Data publikacji:
2021
Wydawca:
Polska Akademia Nauk. Czytelnia Czasopism PAN
Tematy:
3D reconstruction
RGB-D camera
depth sensing
bridge inspection
as-is BIM
rekonstrukcja 3D
kamera RGB-D
wykrywanie głębi
inspekcja mostu
modelowanie informacji o budynku
Opis:
Bridge inspections are a vital part of bridge maintenance and the main information source for Bridge Management Systems is used in decision-making regarding repairs. Without a doubt, both can benefit from the implementation of the Building Information Modelling philosophy. To fully harness the BIM potential in this area, we have to develop tools that will provide inspection accurate information easily and fast. In this paper, we present an example of how such a tool can utilise tablets coupled with the latest generation RGB-D cameras for data acquisition; how these data can be processed to extract the defect surface area and create a 3D representation, and finally embed this information into the BIM model. Additionally, the study of depth sensor accuracy is presented along with surface area accuracy tests and an exemplary inspection of a bridge pillar column.
Źródło:
Bulletin of the Polish Academy of Sciences. Technical Sciences; 2021, 69, 3; art. no. e137123
0239-7528
Pojawia się w:
Bulletin of the Polish Academy of Sciences. Technical Sciences
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
The measurements of surface defect area with an RGB-D camera for a BIM-backed bridge inspection
Autorzy:
Wójcik, Bartosz
Żarski, Mateusz
Powiązania:
https://bibliotekanauki.pl/articles/2090737.pdf
Data publikacji:
2021
Wydawca:
Polska Akademia Nauk. Czytelnia Czasopism PAN
Tematy:
3D reconstruction
RGB-D camera
depth sensing
bridge inspection
as-is BIM
rekonstrukcja 3D
kamera RGB-D
wykrywanie głębi
inspekcja mostu
modelowanie informacji o budynku
Opis:
Bridge inspections are a vital part of bridge maintenance and the main information source for Bridge Management Systems is used in decision-making regarding repairs. Without a doubt, both can benefit from the implementation of the Building Information Modelling philosophy. To fully harness the BIM potential in this area, we have to develop tools that will provide inspection accurate information easily and fast. In this paper, we present an example of how such a tool can utilise tablets coupled with the latest generation RGB-D cameras for data acquisition; how these data can be processed to extract the defect surface area and create a 3D representation, and finally embed this information into the BIM model. Additionally, the study of depth sensor accuracy is presented along with surface area accuracy tests and an exemplary inspection of a bridge pillar column.
Źródło:
Bulletin of the Polish Academy of Sciences. Technical Sciences; 2021, 69, 3; e137123, 1--9
0239-7528
Pojawia się w:
Bulletin of the Polish Academy of Sciences. Technical Sciences
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
On the efficiency of population-based optimization in finding best parameters for RGB-D visual odometry
Autorzy:
Kostusiak, Aleksander
Skrzypczyński, Piotr
Powiązania:
https://bibliotekanauki.pl/articles/384397.pdf
Data publikacji:
2019
Wydawca:
Sieć Badawcza Łukasiewicz - Przemysłowy Instytut Automatyki i Pomiarów
Tematy:
particle swarm optimization (PSO)
evolutionary algorithm
visual odometry
RGB-D
Opis:
Visual odometry estimates the transformations between consecutive frames of a video stream in order to recover the camera’s trajectory. As this approach does not require to build a map of the observed environment, it is fast and simple to implement. In the last decade RGBD cameras proliferated in roboTIcs, being also the sensors of choice for many practical visual odometry systems. Although RGB-D cameras provide readily available depth images, that greatly simplify the frame-to-frame transformations computaTIon, the number of numerical parameters that have to be set properly in a visual odometry system to obtain an accurate trajectory estimate remains high. Whereas seƫng them by hand is certainly possible, it is a tedious try-and-error task. Therefore, in this article we make an assessment of two population-based approaches to parameter opTImizaTIon, that are for long time applied in various areas of robotics, as means to find best parameters of a simple RGB-D visual odometry system. The optimization algorithms investigated here are particle swarm optimization and an evolutionary algorithm variant. We focus on the optimization methods themselves, rather than on the visual odometry algorithm, seeking an efficient procedure to find parameters that minimize the estimated trajectory errors. From the experimental results we draw conclusions as to both the efficiency of the optimization methods, and the role of particular parameters in the visual odometry system.
Źródło:
Journal of Automation Mobile Robotics and Intelligent Systems; 2019, 13, 2; 5-14
1897-8649
2080-2145
Pojawia się w:
Journal of Automation Mobile Robotics and Intelligent Systems
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Utilizing relevant RGB-D data to help recognize RGB images in the target domain
Autorzy:
Gao, Depeng
Liu, Jiafeng
Wu, Rui
Cheng, Dansong
Fan, Xiaopeng
Tang, Xianglong
Powiązania:
https://bibliotekanauki.pl/articles/329725.pdf
Data publikacji:
2019
Wydawca:
Uniwersytet Zielonogórski. Oficyna Wydawnicza
Tematy:
object recognition
RGB-D image
transfer learning
privileged information
rozpoznawanie obiektu
obraz RGB-D
uczenie maszynowe
informacja poufna
Opis:
With the advent of 3D cameras, getting depth information along with RGB images has been facilitated, which is helpful in various computer vision tasks. However, there are two challenges in using these RGB-D images to help recognize RGB images captured by conventional cameras: one is that the depth images are missing at the testing stage, the other is that the training and test data are drawn from different distributions as they are captured using different equipment. To jointly address the two challenges, we propose an asymmetrical transfer learning framework, wherein three classifiers are trained using the RGB and depth images in the source domain and RGB images in the target domain with a structural risk minimization criterion and regularization theory. A cross-modality co-regularizer is used to restrict the two-source classifier in a consistent manner to increase accuracy. Moreover, an L2,1 norm cross-domain co-regularizer is used to magnify significant visual features and inhibit insignificant ones in the weight vectors of the two RGB classifiers. Thus, using the cross-modality and cross-domain co-regularizer, the knowledge of RGB-D images in the source domain is transferred to the target domain to improve the target classifier. The results of the experiment show that the proposed method is one of the most effective ones.
Źródło:
International Journal of Applied Mathematics and Computer Science; 2019, 29, 3; 611-621
1641-876X
2083-8492
Pojawia się w:
International Journal of Applied Mathematics and Computer Science
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
A set of depth sensor processing ROS tools for wheeled mobile robot navigation
Autorzy:
Drwięga, M.
Jakubiak, J.
Powiązania:
https://bibliotekanauki.pl/articles/950758.pdf
Data publikacji:
2017
Wydawca:
Sieć Badawcza Łukasiewicz - Przemysłowy Instytut Automatyki i Pomiarów
Tematy:
RGB-D
Kinect
mobile robot
ROS
depth sensor
navigation tools
Opis:
The paper presents a set of soŌware tools dedicated to support mobile robot navigaƟon. The tools are used to process an image from a depth sensor. They are implemented in ROS framework and they are compaƟble with standard ROS navigaƟon packages. The soŌware is released with an open source licence. First of the tools converts a 3D depth image to a 2D scan in polar coordinates. It provides projecƟon of the obstacles, removes the ground plane from the image and compensates sensor Ɵlt angle. The node is faster than the standard node within ROS and it has addiƟonal funcƟons increasing range of possible applicaƟons. The second tool allows detecƟon of negaƟve obstacles i.e. located below the ground plane level. The third tool esƟmates height and orientaƟon of the sensor with RANSAC algorithm applied to the depth image. The paper presents also the results of usage of the tools with mobile plaƞorms equipped with MicrosoŌ Kinect sensors. The plaƞorms are elements of the ReMeDi project within which the soŌware was developed.
Źródło:
Journal of Automation Mobile Robotics and Intelligent Systems; 2017, 11, 2; 48-56
1897-8649
2080-2145
Pojawia się w:
Journal of Automation Mobile Robotics and Intelligent Systems
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
On the application of RGB-D SLAM systems for practical localization of mobile robots
Autorzy:
Kostusiak, A.
Nowicki, M.
Skrzypczyński, P.
Powiązania:
https://bibliotekanauki.pl/articles/384725.pdf
Data publikacji:
2017
Wydawca:
Sieć Badawcza Łukasiewicz - Przemysłowy Instytut Automatyki i Pomiarów
Tematy:
SLAM
RGB-D
mobile robot
evaluation
Opis:
This paper considers the practical application of the RGBD Simultaneous Localization and Mapping (SLAM) techniques for localization of mobile robots. We attempt to answer the question: how the quality of the estimated sensor trajectory depends on the approach to RGB-D data processing in the SLAM system when RGB-D frames acquired on a real mobile robot are used. Experiments are performed on data obtained from robots of different classes, and from different environment types to present the problems characteristic to RGB-D data. Conclusions as to the robustness of particular architectures and solutions applied in SLAM are drawn on the basis of experimental results. Publicly available data sets and well-established performance metrics are used to ensure that the results are verifiable, reproducible and relevant
Źródło:
Journal of Automation Mobile Robotics and Intelligent Systems; 2017, 11, 2; 57-66
1897-8649
2080-2145
Pojawia się w:
Journal of Automation Mobile Robotics and Intelligent Systems
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Rejestracja chmur punktów: komponenty systemu
Registration of RGB-D Images: Components of the System
Autorzy:
Kornuta, T.
Łępicka, M. J.
Powiązania:
https://bibliotekanauki.pl/articles/277464.pdf
Data publikacji:
2017
Wydawca:
Sieć Badawcza Łukasiewicz - Przemysłowy Instytut Automatyki i Pomiarów
Tematy:
obraz RGB-D
chmura punktów
V-SLAM
wzajemne łączenie
ICP
RGB-D image
point cloud
pairwise registration
Opis:
Dwuczęściowy artykuł dotyczy problemu rejestracji obrazów RGB-D. W robotyce problem ten znany jest pod pojęciem V-SLAM (ang. Visual Simultaneous Localization and Mapping). W poniższej, pierwszej części artykułu omówiono pokrótce główne komponenty typowego systemu rejestracji, a następnie zawężono uwagę do algorytmu ICP (ang. Iterative Closest Point), służącego do wzajemnej rejestracji chmur punktów. W drugiej części artykułu uwagę skupiono na asocjacji chmur punktów, różnego rodzaju atrybutach punktów, które mogą być wykorzystane podczas znajdowania dopasowań oraz szeregu metryk operujących na tych atrybutach. Pokrótce omówiono zastosowaną metodykę badań, zaprezentowano eksperymenty mające na celu porównanie wybranych odmian algorytmu ICP oraz omówiono otrzymane wyniki.
The two-part article focuses on the problem of registration of RGB-D images, a problem that in the robotics domain is known as Visual Simultaneous Localization and Mapping, or V-SLAM in short. The following, first part of the article presents a bird’s eye view on the main components of V-SLAM systems and focuses on the ICP (Iterative Closest Point), an algorithm for a pairwise registration of point clouds. In the second part we present different types of attributes of points that can be used during the association step along with different metrics that operate on those attributes and that can be employed during the registration. We also describe the methodology used in the conducted experiments and discuss the results of comparison of selected flavours of ICP.
Źródło:
Pomiary Automatyka Robotyka; 2017, 21, 1; 19-24
1427-9126
Pojawia się w:
Pomiary Automatyka Robotyka
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Rejestracja chmur punktów: porównanie wariantów wzajemnej rejestracji
Registration of RGB-D images: comparison of pairwise registration variants
Autorzy:
Łępicka, M. J.
Kornuta, T.
Powiązania:
https://bibliotekanauki.pl/articles/275597.pdf
Data publikacji:
2017
Wydawca:
Sieć Badawcza Łukasiewicz - Przemysłowy Instytut Automatyki i Pomiarów
Tematy:
obraz RGB-D
chmura punktów
rejestracja
wzajemne łączenie
ICP
SIFT
KAZE
RGB-D image
point cloud
pairwise registration
Opis:
W dwuczęściowym artykule skupiono uwagę na problemie rejestracji chmur punktów. W pierwszej części omówiono kluczowe komponenty systemu V-SLAM uzupełnione przykładowymi algorytmami i rozwiązaniami stosowanymi w tych komponentach. W poniższej, drugiej części omówiono różne rodzaje wariantów algorytmu ICP, atrybuty punktów oraz operujące na nich metryki. Następnie omówiono metodykę badań oraz przedstawiono wyniki porównania wybranych wariantów wzajemnej rejestracji.
The two-part article focuses on the problem of registration of point clouds. The first part briefly discussed the main components of V-SLAM systems and presented the main steps of the ICP (Iterative Closes Point) algorithm. In the following, second part of the paper, we analyse and compare diverse variants of the ICP algorithm. In particular, we discuss different attributes of points along with operating on them metrics that the ICP can employ. Finally, we present the research methodology and discuss the results of comparison of selected variants of ICP.
Źródło:
Pomiary Automatyka Robotyka; 2017, 21, 2; 5-14
1427-9126
Pojawia się w:
Pomiary Automatyka Robotyka
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Efficient generation of 3D surfel maps using RGB-D sensors
Autorzy:
Wilkowski, A.
Kornuta, T.
Stefańczyk, M.
Kasprzak, W.
Powiązania:
https://bibliotekanauki.pl/articles/331116.pdf
Data publikacji:
2016
Wydawca:
Uniwersytet Zielonogórski. Oficyna Wydawnicza
Tematy:
RGB-D sensor
V-SLAM
surfel map
frustum culling
octree
czujnik RGB-D
drzewo ósemkowe
Opis:
The article focuses on the problem of building dense 3D occupancy maps using commercial RGB-D sensors and the SLAM approach. In particular, it addresses the problem of 3D map representations, which must be able both to store millions of points and to offer efficient update mechanisms. The proposed solution consists of two such key elements, visual odometry and surfel-based mapping, but it contains substantial improvements: storing the surfel maps in octree form and utilizing a frustum culling-based method to accelerate the map update step. The performed experiments verify the usefulness and efficiency of the developed system.
Źródło:
International Journal of Applied Mathematics and Computer Science; 2016, 26, 1; 99-122
1641-876X
2083-8492
Pojawia się w:
International Journal of Applied Mathematics and Computer Science
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Efficient RGB-D data processing for feature-based self-localization of mobile robots
Autorzy:
Kraft, M.
Nowicki, M.
Penne, R.
Schmidt, A.
Skrzypczyński, P.
Powiązania:
https://bibliotekanauki.pl/articles/330295.pdf
Data publikacji:
2016
Wydawca:
Uniwersytet Zielonogórski. Oficyna Wydawnicza
Tematy:
visual odometry
simultaneous localization
simultaneous mapping
RGB-D
tracking
point features
odometria wizyjna
lokalizacja jednoczesna
śledzenie
Opis:
The problem of position and orientation estimation for an active vision sensor that moves with respect to the full six degrees of freedom is considered. The proposed approach is based on point features extracted from RGB-D data. This work focuses on efficient point feature extraction algorithms and on methods for the management of a set of features in a single RGB-D data frame. While the fast, RGB-D-based visual odometry system described in this paper builds upon our previous results as to the general architecture, the important novel elements introduced here are aimed at improving the precision and robustness of the motion estimate computed from the matching point features of two RGB-D frames. Moreover, we demonstrate that the visual odometry system can serve as the front-end for a pose-based simultaneous localization and mapping solution. The proposed solutions are tested on publicly available data sets to ensure that the results are scientifically verifiable. The experimental results demonstrate gains due to the improved feature extraction and management mechanisms, whereas the performance of the whole navigation system compares favorably to results known from the literature.
Źródło:
International Journal of Applied Mathematics and Computer Science; 2016, 26, 1; 63-79
1641-876X
2083-8492
Pojawia się w:
International Journal of Applied Mathematics and Computer Science
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
RGB-D terrain perception and dense mapping for legged robots
Autorzy:
Belter, D.
Łabecki, P
Fankhauser, P.
Siegwart, R.
Powiązania:
https://bibliotekanauki.pl/articles/330144.pdf
Data publikacji:
2016
Wydawca:
Uniwersytet Zielonogórski. Oficyna Wydawnicza
Tematy:
RGB-D perception
elevation mapping
uncertainty
legged robots
RGB-D
niepewność
robot nożny
Opis:
This paper addresses the issues of unstructured terrain modeling for the purpose of navigation with legged robots. We present an improved elevation grid concept adopted to the specific requirements of a small legged robot with limited perceptual capabilities. We propose an extension of the elevation grid update mechanism by incorporating a formal treatment of the spatial uncertainty. Moreover, this paper presents uncertainty models for a structured light RGB-D sensor and a stereo vision camera used to produce a dense depth map. The model for the uncertainty of the stereo vision camera is based on uncertainty propagation from calibration, through undistortion and rectification algorithms, allowing calculation of the uncertainty of measured 3D point coordinates. The proposed uncertainty models were used for the construction of a terrain elevation map using the Videre Design STOC stereo vision camera and Kinect-like range sensors. We provide experimental verification of the proposed mapping method, and a comparison with another recently published terrain mapping method for walking robots.
Źródło:
International Journal of Applied Mathematics and Computer Science; 2016, 26, 1; 81-97
1641-876X
2083-8492
Pojawia się w:
International Journal of Applied Mathematics and Computer Science
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
RGB-D Sensors in Social Robotics
Autorzy:
Dziergwa, M.
Kaczmarek, P
Kędzierski, J
Powiązania:
https://bibliotekanauki.pl/articles/951002.pdf
Data publikacji:
2015
Wydawca:
Sieć Badawcza Łukasiewicz - Przemysłowy Instytut Automatyki i Pomiarów
Tematy:
RGB-D sensors
social robotics
perception
human-robot interaction
Opis:
This article presents the results of a series of experiments carried out using a Kinect for Windows sensor coupled with dedicated software. The focus of this study is on the use of such devices in the field of social robotics. Two software packages are considered - Microsoft Kinect SDK and OpenNI coupled with NiTE library. Particular emphasis is placed on the parameters affecting the social competencies of a robot, such as the speed of detecting users, the accuracy of establishing position and orientation of a user or stability of the tracking process. Key characteris tics of the evaluated software packages are identified and differences regarding their usage outlined in view of interaction oriented algorithms.
Źródło:
Journal of Automation Mobile Robotics and Intelligent Systems; 2015, 9, 1; 18-27
1897-8649
2080-2145
Pojawia się w:
Journal of Automation Mobile Robotics and Intelligent Systems
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Significance of features in object recognition using depth sensors
Autorzy:
Harasymowicz-Boggio, B.
Chechlinski, L
Siemiatkowska, B.
Powiązania:
https://bibliotekanauki.pl/articles/173215.pdf
Data publikacji:
2015
Wydawca:
Politechnika Wrocławska. Oficyna Wydawnicza Politechniki Wrocławskiej
Tematy:
depth sensor
RGB-D features
3D object recognition
Kinect
Opis:
This article concerns a key topic in the field of visual object recognition – the use of features. Object recognition algorithms typically rely on a fixed vector of pre-selected features extracted from 2D or 3D scenes, which are then analyzed with various classification techniques. On the other hand, the activation of particular features in biological vision systems is hierarchical and data-driven. To achieve a deeper understanding of the subject, we have introduced several mathematical tools to estimate multiple RGB-D features’ relevance for different object recognition tasks and conducted statistical experiments involving our database of high quality 3D point clouds. From the thorough analysis of the obtained results we draw conclusions that may be useful to design better, more adaptive object recognition algorithms.
Źródło:
Optica Applicata; 2015, 45, 4; 559-571
0078-5466
1899-7015
Pojawia się w:
Optica Applicata
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Akwizycja obrazów RGB-D: czujniki
Acquisition of RGB-D images: sensors
Autorzy:
Kornuta, T.
Stefańczyk, M.
Powiązania:
https://bibliotekanauki.pl/articles/275587.pdf
Data publikacji:
2014
Wydawca:
Sieć Badawcza Łukasiewicz - Przemysłowy Instytut Automatyki i Pomiarów
Tematy:
mapa głębi
chmura punktów
obraz RGB-D
czujnik RGB-D
depth map
point cloud
RGB-D image
RGB-D sensor
Opis:
Dwuczęściowy artykuł poświęcono czujnikom umożliwiającym akwizycję obrazów RGB-D. W pierwszej części uwagę skupiono na metodach akwizycji, w kolejnej części dokonano przeglądu czujników, zarówno dostępnych obecnie, jak i tych, które dopiero w najbliższym czasie pojawią się na rynku.
The paper constitutes the second part of the article devoted to RGB-D sensors. In the first part the attention was focused on the methods of acquisition, whereas in the following, second part we present an overview of currently available commercial sensors.
Źródło:
Pomiary Automatyka Robotyka; 2014, 18, 2; 92-99
1427-9126
Pojawia się w:
Pomiary Automatyka Robotyka
Dostawca treści:
Biblioteka Nauki
Artykuł
Wyświetlanie 1-15 z 19

Ta witryna wykorzystuje pliki cookies do przechowywania informacji na Twoim komputerze. Pliki cookies stosujemy w celu świadczenia usług na najwyższym poziomie, w tym w sposób dostosowany do indywidualnych potrzeb. Korzystanie z witryny bez zmiany ustawień dotyczących cookies oznacza, że będą one zamieszczane w Twoim komputerze. W każdym momencie możesz dokonać zmiany ustawień dotyczących cookies