3D Pose Estimation Algorithm of Multiple Same Objects Detection Using Point Pair Feature

2017 ◽  
Vol 2017 (0) ◽  
pp. 2A2-N08
Author(s):  
Mingyu Li ◽  
Shogo Arai ◽  
Koichi Hashimoto
Keyword(s):  
Pose Estimation ◽  
Estimation Algorithm ◽  
3D Pose Estimation ◽  
Point Pair ◽  
Objects Detection

Pose Estimation Algorithm for Random Bins Based on Point Pair Features

2020 ◽  
Vol 57 (18) ◽  
pp. 181508
Author(s):  
徐冠宇 Xu Guanyu ◽  
董洪伟 Dong Hongwei ◽  
钱军浩 Qian Junhao ◽  
许振雷 Xu Zhenlei
Keyword(s):  
Pose Estimation ◽  
Estimation Algorithm ◽  
Point Pair

scholarly journals Model-Based 3D Pose Estimation of a Single RGB Image Using a Deep Viewpoint Classification Neural Network

2019 ◽  
Vol 9 (12) ◽  
pp. 2478 ◽  
Author(s):  
Jui-Yuan Su ◽  
Shyi-Chyi Cheng ◽  
Chin-Chun Chang ◽  
Jing-Ming Chen
Keyword(s):  
Neural Network ◽  
Pose Estimation ◽  
Low Cost ◽  
Estimation Algorithm ◽  
Training Dataset ◽  
3D Pose Estimation ◽  
Estimation Algorithms ◽  
Model Based ◽  
3D Scene ◽  
Rgb Image

This paper presents a model-based approach for 3D pose estimation of a single RGB image to keep the 3D scene model up-to-date using a low-cost camera. A prelearned image model of the target scene is first reconstructed using a training RGB-D video. Next, the model is analyzed using the proposed multiple principal analysis to label the viewpoint class of each training RGB image and construct a training dataset for training a deep learning viewpoint classification neural network (DVCNN). For all training images in a viewpoint class, the DVCNN estimates their membership probabilities and defines the template of the class as the one of the highest probability. To achieve the goal of scene reconstruction in a 3D space using a camera, using the information of templates, a pose estimation algorithm follows to estimate the pose parameters and depth map of a single RGB image captured by navigating the camera to a specific viewpoint. Obviously, the pose estimation algorithm is the key to success for updating the status of the 3D scene. To compare with conventional pose estimation algorithms which use sparse features for pose estimation, our approach enhances the quality of reconstructing the 3D scene point cloud using the template-to-frame registration. Finally, we verify the ability of the established reconstruction system on publicly available benchmark datasets and compare it with the state-of-the-art pose estimation algorithms. The results indicate that our approach outperforms the compared methods in terms of the accuracy of pose estimation.

Heterogeneous Multisensor Fusion for Mobile Platform Three-Dimensional Pose Estimation

2017 ◽  
Vol 139 (7) ◽  
Author(s):  
Hanieh Deilamsalehy ◽  
Timothy C. Havens ◽  
Joshua Manela
Keyword(s):  
Pose Estimation ◽  
Three Dimensional ◽  
Estimation Algorithm ◽  
Estimation Accuracy ◽  
Two Dimensional ◽  
Localization Algorithm ◽  
3D Pose Estimation ◽  
Accurate Localization ◽  
Localization And Mapping ◽  
Aerial Vehicle

Precise, robust, and consistent localization is an important subject in many areas of science such as vision-based control, path planning, and simultaneous localization and mapping (SLAM). To estimate the pose of a platform, sensors such as inertial measurement units (IMUs), global positioning system (GPS), and cameras are commonly employed. Each of these sensors has their strengths and weaknesses. Sensor fusion is a known approach that combines the data measured by different sensors to achieve a more accurate or complete pose estimation and to cope with sensor outages. In this paper, a three-dimensional (3D) pose estimation algorithm is presented for a unmanned aerial vehicle (UAV) in an unknown GPS-denied environment. A UAV can be fully localized by three position coordinates and three orientation angles. The proposed algorithm fuses the data from an IMU, a camera, and a two-dimensional (2D) light detection and ranging (LiDAR) using extended Kalman filter (EKF) to achieve accurate localization. Among the employed sensors, LiDAR has not received proper attention in the past; mostly because a two-dimensional (2D) LiDAR can only provide pose estimation in its scanning plane, and thus, it cannot obtain a full pose estimation in a 3D environment. A novel method is introduced in this paper that employs a 2D LiDAR to improve the full 3D pose estimation accuracy acquired from an IMU and a camera, and it is shown that this method can significantly improve the precision of the localization algorithm. The proposed approach is evaluated and justified by simulation and real world experiments.

scholarly journals Feature Boosting Network For 3D Pose Estimation

2020 ◽  
Vol 42 (2) ◽  
pp. 494-501 ◽  
Author(s):  
Jun Liu ◽  
Henghui Ding ◽  
Amir Shahroudy ◽  
Ling-Yu Duan ◽  
Xudong Jiang ◽  
...  
Keyword(s):  
Pose Estimation ◽  
3D Pose Estimation

scholarly journals Gait analysis for early Parkinson’s disease detection based on deep learning

2019 ◽  
Vol 5 (1) ◽  
pp. 9-12
Author(s):  
Jyothsna Kondragunta ◽  
Christian Wiede ◽  
Gangolf Hirtz
Keyword(s):  
Parkinson’S Disease ◽  
Parkinson's Disease ◽  
Deep Learning ◽  
Gait Analysis ◽  
Pose Estimation ◽  
Early Identification ◽  
Human Gait ◽  
3D Pose Estimation ◽  
Wearable Technologies ◽  
Advantages And Disadvantages

AbstractBetter handling of neurological or neurodegenerative disorders such as Parkinson’s Disease (PD) is only possible with an early identification of relevant symptoms. Although the entire disease can’t be treated but the effects of the disease can be delayed with proper care and treatment. Due to this fact, early identification of symptoms for the PD plays a key role. Recent studies state that gait abnormalities are clearly evident while performing dual cognitive tasks by people suffering with PD. Researches also proved that the early identification of the abnormal gaits leads to the identification of PD in advance. Novel technologies provide many options for the identification and analysis of human gait. These technologies can be broadly classified as wearable and non-wearable technologies. As PD is more prominent in elderly people, wearable sensors may hinder the natural persons movement and is considered out of scope of this paper. Non-wearable technologies especially Image Processing (IP) approaches captures data of the person’s gait through optic sensors Existing IP approaches which perform gait analysis is restricted with the parameters such as angle of view, background and occlusions due to objects or due to own body movements. Till date there exists no researcher in terms of analyzing gait through 3D pose estimation. As deep leaning has proven efficient in 2D pose estimation, we propose an 3D pose estimation along with proper dataset. This paper outlines the advantages and disadvantages of the state-of-the-art methods in application of gait analysis for early PD identification. Furthermore, the importance of extracting the gait parameters from 3D pose estimation using deep learning is outlined.

Sign in / Sign up

Export Citation Format

Share Document