Doktorandské kolokvium KAI - Lukáš Gajdošek (27.3.2023)

v pondelok 27.3.2023 o 13:10 hod. v miestnosti I/9

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Prednášajúci: Lukáš Gajdošek

Názov: Evolution of Fusion on High-Quality Depth Data

Termín: 27.3.2023, 13:10 hod., I/9

Abstrakt:
The availability of 3D sensors acquiring depth data caused the rise of interest in the problem of registering depth maps from a sequence with unknown transformation into a common space. Usually, surface reconstruction of the growing point cloud is performed on the fly. This procedure is known as a Fusion, and it has been a popular topic since 2011 with the release of the KinectFusion paper. A similar task in robotics, when only 2D images are available, is called Structure from Motion. Nowadays, both RGB cameras and depth sensors are available in much higher resolution, with better exposure control and higher framerates. In this presentation, we will do a chronological overview of the papers regarding the Fusion problem and available datasets. Then, we will present data obtained using a novel structured light based-sensor resulting in high 1120x800 resolution depth maps obtained in real-time. This sensor is used primarly in industrial settings. Some sequences are designed to be hard, with rapid movement between the frames, circular motion, and symmetrical objects, where the transformation calculation using only geometry data is ill-defined. On this data, we will compare the results of traditional pipelines with detectors like AKAZE for texture features versus a hybrid, where a neural network is used for obtaining texture correspondences.

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