Browsing Engineering and Informatics by Subject "3D point clouds"
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Object registration in semi-cluttered and partial-occluded scenes for augmented realityThis paper proposes a stable and accurate object registration pipeline for markerless augmented reality applications. We present two novel algorithms for object recognition and matching to improve the registration accuracy from model to scene transformation via point cloud fusion. Whilst the first algorithm effectively deals with simple scenes with few object occlusions, the second algorithm handles cluttered scenes with partial occlusions for robust real-time object recognition and matching. The computational framework includes a locally supported Gaussian weight function to enable repeatable detection of 3D descriptors. We apply a bilateral filtering and outlier removal to preserve edges of point cloud and remove some interference points in order to increase matching accuracy. Extensive experiments have been carried to compare the proposed algorithms with four most used methods. Results show improved performance of the algorithms in terms of computational speed, camera tracking and object matching errors in semi-cluttered and partial-occluded scenes.
Recovering dense 3D point clouds from single endoscopic imageRecovering high-quality 3D point clouds from monocular endoscopic images is a challenging task. This paper proposes a novel deep learning-based computational framework for 3D point cloud reconstruction from single monocular endoscopic images. An unsupervised mono-depth learning network is used to generate depth information from monocular images. Given a single mono endoscopic image, the network is capable of depicting a depth map. The depth map is then used to recover a dense 3D point cloud. A generative Endo-AE network based on an auto-encoder is trained to repair defects of the dense point cloud by generating the best representation from the incomplete data. The performance of the proposed framework is evaluated against state-of-the-art learning-based methods. The results are also compared with non-learning based stereo 3D reconstruction algorithms. Our proposed methods outperform both the state-of-the-art learning-based and non-learning based methods for 3D point cloud reconstruction. The Endo-AE model for point cloud completion can generate high-quality, dense 3D endoscopic point clouds from incomplete point clouds with holes. Our framework is able to recover complete 3D point clouds with the missing rate of information up to 60%. Five large medical in-vivo databases of 3D point clouds of real endoscopic scenes have been generated and two synthetic 3D medical datasets are created. We have made these datasets publicly available for researchers free of charge. The proposed computational framework can produce high-quality and dense 3D point clouds from single mono-endoscopy images for augmented reality, virtual reality and other computer-mediated medical applications.