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PLVO: 基于平面和直线融合的RGB-D视觉里程计
RGB-D视觉里程计 平面− 直线融合 机器人定位 自适应融合 多特征联合关联
2024/1/16
针对利用平面特征计算RGB-D相机位姿时的求解退化问题,提出平面和直线融合的RGB-D视觉里程计(Plane-line-based RGB-D visual odometry,PLVO).首先,提出基于平面−直线混合关联图(Plane-line hybrid association graph,PLHAG)的多特征关联方法,充分考虑平面和平面、平面和直线之间的几何关系,对平面和直线两类...
2020年7月31日，国家知识产权局公开一件由贵州省烟草科学研究院和华南农业大学共同申请的发明专利：基于RGB值测定烟叶烘烤变黄变褐程度的方法、系统及装置。该发明公开了一种基于RGB值测定烟叶烘烤变黄变褐程度的方法、系统及装置，所述方法包括：S1、获取烘烤的烟叶图像，所述烟叶图像为去除背景色的图像；S2、判断所述烟叶图像中每个像素点的颜色并计数，所述每个像素点的颜色区分为黄色、绿色和褐色；S3、计...
近日，我校作物表型组学团队成功自主研发一套高通量CT-RGB双模式成像系统，结合水稻核心种质资源和全基因组关联分析在水稻分蘖遗传研究方面获得新进展，相关成果以“Combining high-throughput micro-CT-RGB phenotyping and genome-wideassociation study to dissect the genetic architecture ...
近日，信息科学与工程学院副教授田朋飞研究团队在基于RGB激光白光光源的水下通信和照明领域取得新进展。相关研究成果以《基于激光白光光源的高速水下无线光通信和高效率水下照明》（Laser-based white-light source for high-speed underwater wireless optical communication and high-efficiency underw...
INTEGRATING DEPTH AND IMAGE SEQUENCES FOR PLANETARY ROVER MAPPING USING RGB-D SENSOR
RGB-D camera Depth Planetary Rover Mapping Bundle Adjustment Point Cloud
2018/5/15
RGB-D camera allows the capture of depth and color information at high data rates, and this makes it possible and beneficial integrate depth and image sequences for planetary rover mapping. The propos...
COMPARISON BETWEEN RGB AND RGB-D CAMERAS FOR SUPPORTING LOW-COST GNSS URBAN NAVIGATION
Urban Navigation Relative Orientation Kalman filter RGB-D Kinect GNSS Low-cost
2018/6/5
A pure GNSS navigation is often unreliable in urban areas because of the presence of obstructions, thus preventing a correct reception of the satellite signal. The bridging between GNSS outages, as we...
基于ＲＧＢ通道下模糊核估计的图像去模糊
模糊核估计 ＲＧＢ通道 组稀疏 图像去模糊
2018/6/11
图像去模糊旨在从受损图像中恢复出清晰图像。由于模糊过程未知，精确地估计出模糊核函数，成为得到
清晰复原图像的关键。对于彩色图像来讲，现存的方法只考虑在灰度域估计模糊核。事实上，各个通道的色彩分
量图所受到的模糊核函数的影响是不同的。为此，提出一种获得更加精确的模糊核的方法，利用彩色图像的 ３个
色彩通道（ＲＧＢｃｈａｎｎｅｌｓ）代替灰度域分别进行模糊核估计，并将估计出的模糊核应用到基于细稀疏...
提出了一种基于RGB-D信息的移动机器人自主探索与地图构建方法.首先，基于RGB-D传感器提供的信息，通过定位点生成、地图构建与闭环检测，实时构建3D点云地图.然后，将探索过程描述成部分可观测马尔可夫决策过程，结合局部地图推演策略与全局边界搜索策略，建立了移动机器人的自主探索方法.在此基础上，确定移动机器人当前动作约束，采用动态窗运动控制方法，既能避免移动机器人陷入局部最优，又能保证采用RGB-D...
基于空-频域混合分析的RGB-D数据视觉显著性检测方法
视觉显著性 深度信息 超复数傅里叶变换 环境理解
2017/11/30
针对移动机器人面对的真实3维场景数据，提出一种基于频域和空域混合分析的视觉显著性检测方法．首先设计多通道特征融合算法融合RGB-D数据中包含的颜色和深度信息，然后通过超复数傅里叶变换在频域计算得到多尺度视觉显著图，接着利用非均匀超像素分割算法对得到的显著图进行平滑处理，从而消除离散背景噪声干扰，改善频域检测结果．最后，采用元胞自动机对多尺度视觉显著图进行有效融合，提取最终的显著性区域．在公开数据库...
KINECT V2 AND RGB STEREO CAMERAS INTEGRATION FOR DEPTH MAP ENHANCEMENT
3D modelling real-time range cameras RGB stereo cameras sensor integration
2016/11/11
Today range cameras are widespread low-cost sensors based on two different principles of operation: we can distinguish between Structured Light (SL) range cameras (Kinect v1, Structure Sensor, ...) an...
A WEIGHTED CLOSED-FORM SOLUTION FOR RGB-D DATA REGISTRATION
RGB-D data dual-number quaternions registration loop closing globally consistent maps
2016/7/27
Existing 3D indoor mapping of RGB-D data are prominently point-based and feature-based methods. In most cases iterative closest point (ICP) and its variants are generally used for pairwise registratio...
CALIBRATION OF LOW COST RGB AND NIR UAV CAMERAS
calibration non-metric camera calibration tests GRD GSD low-cost cameras
2016/7/5
Non-metric digital cameras are being widely used for photogrammetric studies. The increase in resolution and quality of images obtained by non-metric cameras, allows to use it in low-cost UAV and terr...
Augmenting ViSP’s 3D Model-Based Tracker with RGB-D SLAM for 3D Pose Estimation in Indoor Environments
Pose estimation ViSP RGB-D SLAM tracking
2016/7/5
This paper presents a novel application of the Visual Servoing Platform’s (ViSP) for pose estimation in indoor and GPS-denied outdoor environments. Our proposed solution integrates the trajectory solu...
MULTI-TEMPORAL CROP SURFACE MODELS COMBINED WITH THE RGB VEGETATION INDEX FROM UAV-BASED IMAGES FOR FORAGE MONITORING IN GRASSLAND
Precision Agriculture Grassland UAV Crop Surface Model Structure from Motion RGBVI
2016/7/5
Remote sensing of crop biomass is important in regard to precision agriculture, which aims to improve nutrient use efficiency and to develop better stress and disease management. In this study, multi-...
LOW COST AND EFFICIENT 3D INDOOR MAPPING USING MULTIPLE CONSUMER RGB-D CAMERAS
Indoor Mapping RGB-D Camera Kinect Calibration
2016/7/4
Driven by the miniaturization, lightweight of positioning and remote sensing sensors as well as the urgent needs for fusing indoor and outdoor maps for next generation navigation, 3D indoor mapping fr...