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Iterative Closest Point
Iterative closest point (ICP) is a point cloud registration algorithm employed to minimize the difference between two clouds of points. ICP is often used to reconstruct 2D or 3D surfaces from different scans, to localize robots and achieve optimal path planning (especially when wheel odometry is unreliable due to slippery terrain), to co-register bone models, etc. Overview The Iterative Closest Point algorithm keeps one point cloud, the reference or target, fixed, while transforming the other, the source, to best match the reference. The transformation (combination of translation and rotation) is iteratively estimated in order to minimize an error metric, typically the sum of squared differences between the coordinates of the matched pairs. ICP is one of the widely used algorithms in aligning three dimensional models given an initial guess of the rigid transformation required. The ICP algorithm was first introduced by Chen and Medioni, and Besl and McKay. Inputs: reference and ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] [Amazon] |
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Idea Closest Point Algorithm
In philosophy and in common usage, an idea (from the Greek word: ἰδέα (idea), meaning 'a form, or a pattern') is the results of thought. Also in philosophy, ideas can also be mental representational images of some object. Many philosophers have considered ideas to be a fundamental ontological category of being. The capacity to create and understand the meaning of ideas is considered to be an essential and defining feature of human beings. An idea arises in a reflexive, spontaneous manner, even without thinking or serious reflection, for example, when we talk about the ''idea'' of a person or a place. A new or an original idea can often lead to innovation. Our actions are based upon beliefs, beliefs are patterns or organized sets of ideas. Etymology The word ''idea'' comes from Greek , , , from the root of , . History The argument over the underlying nature of ideas was opened by Plato, whose exposition of his theory of forms—which recurs and accumulates over the cour ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] [Amazon] |
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Point-set Registration
In computer vision, pattern recognition, and robotics, point-set registration, also known as point-cloud registration or scan matching, is the process of finding a spatial transformation (''e.g.,'' scaling, rotation and translation) that aligns two point clouds. The purpose of finding such a transformation includes merging multiple data sets into a globally consistent model (or coordinate frame), and mapping a new measurement to a known data set to identify features or to estimate its pose. Raw 3D point cloud data are typically obtained from Lidars and RGB-D cameras. 3D point clouds can also be generated from computer vision algorithms such as triangulation, bundle adjustment, and more recently, monocular image depth estimation using deep learning. For 2D point set registration used in image processing and feature-based image registration, a point set may be 2D pixel coordinates obtained by feature extraction from an image, for example corner detection. Point cloud registration ha ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] [Amazon] |
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Algorithm
In mathematics and computer science, an algorithm () is a finite sequence of Rigour#Mathematics, mathematically rigorous instructions, typically used to solve a class of specific Computational problem, problems or to perform a computation. Algorithms are used as specifications for performing calculations and data processing. More advanced algorithms can use Conditional (computer programming), conditionals to divert the code execution through various routes (referred to as automated decision-making) and deduce valid inferences (referred to as automated reasoning). In contrast, a Heuristic (computer science), heuristic is an approach to solving problems without well-defined correct or optimal results.David A. Grossman, Ophir Frieder, ''Information Retrieval: Algorithms and Heuristics'', 2nd edition, 2004, For example, although social media recommender systems are commonly called "algorithms", they actually rely on heuristics as there is no truly "correct" recommendation. As an e ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] [Amazon] |
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Point Set Registration
In computer vision, pattern recognition, and robotics, point-set registration, also known as point-cloud registration or scan matching, is the process of finding a spatial transformation (''e.g.,'' scaling, rotation and translation) that aligns two point clouds. The purpose of finding such a transformation includes merging multiple data sets into a globally consistent model (or coordinate frame), and mapping a new measurement to a known data set to identify features or to estimate its pose. Raw 3D point cloud data are typically obtained from Lidars and RGB-D cameras. 3D point clouds can also be generated from computer vision algorithms such as triangulation, bundle adjustment, and more recently, monocular image depth estimation using deep learning. For 2D point set registration used in image processing and feature-based image registration, a point set may be 2D pixel coordinates obtained by feature extraction from an image, for example corner detection. Point cloud registration h ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] [Amazon] |
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3D Reconstruction
In computer vision and computer graphics, 3D reconstruction is the process of capturing the shape and appearance of real objects. This process can be accomplished either by active or passive methods. If the model is allowed to change its shape in time, this is referred to as non-rigid or spatio-temporal reconstruction. Motivation and applications The research of 3D reconstruction has always been a difficult goal. By Using 3D reconstruction one can determine any object's 3D profile, as well as knowing the 3D coordinate of any point on the profile. The 3D reconstruction of objects is a generally scientific problem and core technology of a wide variety of fields, such as Computer Aided Geometric Design ( CAGD), computer graphics, computer animation, computer vision, medical imaging, computational science, virtual reality, digital media, etc. For instance, the lesion information of the patients can be presented in 3D on the computer, which offers a new and accurate approach in diagn ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] [Amazon] |
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Path Planning
Motion planning, also path planning (also known as the navigation problem or the piano mover's problem) is a computational problem to find a sequence of valid configurations that moves the object from the source to destination. The term is used in computational geometry, computer animation, robotics and computer games. For example, consider navigating a mobile robot inside a building to a distant waypoint. It should execute this task while avoiding walls and not falling down stairs. A motion planning algorithm would take a description of these tasks as input, and produce the speed and turning commands sent to the robot's wheels. Motion planning algorithms might address robots with a larger number of joints (e.g., industrial manipulators), more complex tasks (e.g. manipulation of objects), different constraints (e.g., a car that can only drive forward), and uncertainty (e.g. imperfect models of the environment or robot). Motion planning has several robotics applications, such as ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] [Amazon] |
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Bone
A bone is a rigid organ that constitutes part of the skeleton in most vertebrate animals. Bones protect the various other organs of the body, produce red and white blood cells, store minerals, provide structure and support for the body, and enable mobility. Bones come in a variety of shapes and sizes and have complex internal and external structures. They are lightweight yet strong and hard and serve multiple functions. Bone tissue (osseous tissue), which is also called bone in the uncountable sense of that word, is hard tissue, a type of specialised connective tissue. It has a honeycomb-like matrix internally, which helps to give the bone rigidity. Bone tissue is made up of different types of bone cells. Osteoblasts and osteocytes are involved in the formation and mineralisation of bone; osteoclasts are involved in the resorption of bone tissue. Modified (flattened) osteoblasts become the lining cells that form a protective layer on the bone surface. The mine ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] [Amazon] |
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Rigid Transformation
In mathematics, a rigid transformation (also called Euclidean transformation or Euclidean isometry) is a geometric transformation of a Euclidean space that preserves the Euclidean distance between every pair of points. The rigid transformations include rotations, translations, reflections, or any sequence of these. Reflections are sometimes excluded from the definition of a rigid transformation by requiring that the transformation also preserve the handedness of objects in the Euclidean space. (A reflection would not preserve handedness; for instance, it would transform a left hand into a right hand.) To avoid ambiguity, a transformation that preserves handedness is known as a rigid motion, a Euclidean motion, or a proper rigid transformation. In dimension two, a rigid motion is either a translation or a rotation. In dimension three, every rigid motion can be decomposed as the composition of a rotation and a translation, and is thus sometimes called a rototranslation. In ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] [Amazon] |
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Iterative Method
In computational mathematics, an iterative method is a Algorithm, mathematical procedure that uses an initial value to generate a sequence of improving approximate solutions for a class of problems, in which the ''i''-th approximation (called an "iterate") is derived from the previous ones. A specific implementation with Algorithm#Termination, termination criteria for a given iterative method like gradient descent, hill climbing, Newton's method, or Quasi-Newton method, quasi-Newton methods like Broyden–Fletcher–Goldfarb–Shanno algorithm, BFGS, is an algorithm of an iterative method or a method of successive approximation. An iterative method is called ''Convergent series, convergent'' if the corresponding sequence converges for given initial approximations. A mathematically rigorous convergence analysis of an iterative method is usually performed; however, heuristic-based iterative methods are also common. In contrast, direct methods attempt to solve the problem by a finit ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] [Amazon] |
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K-d Tree
In computer science, a ''k''-d tree (short for ''k-dimensional tree'') is a space-partitioning data structure for organizing points in a ''k''-dimensional space. K-dimensional is that which concerns exactly k orthogonal axes or a space of any number of dimensions. ''k''-d trees are a useful data structure for several applications, such as: * Searches involving a multidimensional search key (e.g. range searches and nearest neighbor searches) & * Creating point clouds. ''k''-d trees are a special case of binary space partitioning trees. Description The ''k''-d tree is a binary tree in which ''every'' node is a ''k''-dimensional point. Every non-leaf node can be thought of as implicitly generating a splitting hyperplane that divides the space into two parts, known as half-spaces. Points to the left of this hyperplane are represented by the left subtree of that node and points to the right of the hyperplane are represented by the right subtree. The hyperplane direction is ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] [Amazon] |
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MeshLab
MeshLab is a 3D mesh processing software system that is oriented to the management and processing of unstructured large meshes and provides a set of tools for editing, cleaning, healing, inspecting, rendering, and converting these kinds of meshes. MeshLab is free and open-source software, subject to the requirements of the GNU General Public License (GPL), version 2 or later, and is used as both a complete package and a library powering other software. It is well known in the more technical fields of 3D development and data handling. Overview MeshLab is developed by the ISTI - CNR research center; initially MeshLab was created as a course assignment at the University of Pisa in late 2005. It is a general-purpose system aimed at the processing of the typical not-so-small unstructured 3D models that arise in the 3D scanning pipeline. The automatic mesh cleaning filters includes removal of duplicated, unreferenced vertices, non-manifold edges, vertices, and null faces. Remeshin ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] [Amazon] |
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CloudCompare
CloudCompare is a 3D point cloud processing software (such as those obtained with a laser scanner). It can also handle triangular meshes and calibrated images. Originally created during a collaboration between Telecom ParisTech and the R&D division of EDF, the CloudCompare project began in 2003 with the PhD of Daniel Girardeau-Montaut on ''Change detection on 3D geometric data''. At that time, its main purpose was to quickly detect changes in 3D high density point clouds acquired with laser scanners in industrial facilities (such as power plants) or building sites. Afterwards it evolved towards a more general and advanced 3D data processing software. It is now an independent open source project and a free software. CloudCompare provides a set of basic tools for manually editing and rendering 3D points clouds and triangular meshes. It also offers various advanced processing algorithms, among which methods for performing: * projections (axis-based, cylinder or a cone ''unrolling' ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] [Amazon] |