Sparse Surface Adjustment

16
June 13, 2022 Sparse Surface Adjustment M. Ruhnke , R. Kümmerle, G. Grisetti, W. Burgard

TAGS:

description

Sparse Surface Adjustment. M. Ruhnke , R. Kümmerle, G. Grisetti, W. Burgard. Metric 3D Models. Essential for tasks like: Object recognition Manipulation. Metric 3D Models. Essential for tasks like: Object recognition Manipulation Key challenges in model acquisition with mobile robots - PowerPoint PPT Presentation

Transcript of Sparse Surface Adjustment

Page 1: Sparse Surface Adjustment

April 22, 2023

Sparse Surface AdjustmentM. Ruhnke, R. Kümmerle, G. Grisetti, W. Burgard

Page 2: Sparse Surface Adjustment

Metric 3D Models

►Essential for tasks like:►Object recognition►Manipulation

Page 3: Sparse Surface Adjustment

Metric 3D Models

►Essential for tasks like:►Object recognition►Manipulation

►Key challenges in model acquisition with mobile robots►Errors in pose estimate►Measurement errors

Page 4: Sparse Surface Adjustment

Model Creation

►Optimize the sensor poses►Registration / SLAM

►Reduce the impact of measurement errors►Use optimal sensor distance►Local noise reduction techniques (Moving Least

Squares, Statistical Outlier Removal, …)►Pose information is mostly not considered

►Sensor pose gives information about normal direction and range of the measurement

Page 5: Sparse Surface Adjustment

Sparse Surface Adjustment

► Goal: Jointly optimize robot poses and surface points positions

► Surface Model► Model of measurement uncertainties► Data association: find corresponding points ► Utilize sparse graph optimizer framework g2o

Page 6: Sparse Surface Adjustment

Surface Model

►Range measurements sample surfaces

►Assumption: Piecewise regular surfaces

►Surface sample►3D Position►covariance ►normal (local neighborhood)

Page 7: Sparse Surface Adjustment

►Range measurement►Sensor specific Covariance

►Dependent on range and incidence angle►Gaussian error distributions

Sensor Model

front view side view~ 3.5m

~ 0.7m

Kinect RGB-D

Page 8: Sparse Surface Adjustment

Data Association

►Normal shooting as data association heuristic

►Assign surfaces samples of different observations

►Covariance►Large error weight in

direction of the normal ►Small weight for errors

in tangential direction

Page 9: Sparse Surface Adjustment

Optimization

►Iteratively:►Optimize system with g2o ►Re-compute:

►surface point characteristics (covariance, normals)►data association

Page 10: Sparse Surface Adjustment

SSA 2D: Intel Dataset

Page 11: Sparse Surface Adjustment

Object 5mm Resolution

Page 12: Sparse Surface Adjustment

AASS Loop Dataset*

SLAM result (input)

SSA result

*Courtesy of Martin Magnusson, AASS, Örebro, Sweden

Page 13: Sparse Surface Adjustment

SSA 3D: Example Cup

Page 14: Sparse Surface Adjustment

Example: Scan Refinement

►SSA refines scans based on more certain nearby measurements

after optimizationraw scan

Page 15: Sparse Surface Adjustment

Comparison SSA / MLS

►Moving Least Squares (MLS)►Local smoothing method►No correction of robot poses

►Sparse Surface Adjustment (SSA)►Robot pose correction & smoother surfaces

SSA result

MLS result

Page 16: Sparse Surface Adjustment

Summary SSA

►Iterative refinement of ►Sensor poses►Surface points positions

►Considering range & sensor dependent uncertainties

►Re-computation of data association►Uses PCL and FLANN


Tutorial on Sparse Coding - pami.sjtu.edu.cn... “Online dictionary learning for sparse coding,” in ... recognition via sparse ... et al. "Incremental sparse saliency detection."

Tutorial on Sparse Coding - pami.sjtu.edu.cn... “Online dictionary learning for sparse coding,” in ... recognition via sparse ... et al. "Incremental sparse saliency detection."

Sparse Sparse Bundle Adjustment - bmva.org · sparse Cholesky solvers. sSBA outperforms the current SBA standard implementation on datasets with sparse secondary structure by at least

Sparse Sparse Bundle Adjustment - bmva.org · sparse Cholesky solvers. sSBA outperforms the current SBA standard implementation on datasets with sparse secondary structure by at least

Sparse Pose Adjustment for 2D Mapping - ViGIR-labvigir.missouri.edu/~gdesouza/Research/Conference_CDs/... · 2010-09-16 · Efc ient Sparse Pose Adjustment for 2D Mapping Kurt Konolige

Sparse Pose Adjustment for 2D Mapping - ViGIR-labvigir.missouri.edu/~gdesouza/Research/Conference_CDs/... · 2010-09-16 · Efc ient Sparse Pose Adjustment for 2D Mapping Kurt Konolige

Guidelines Impervious Surface - City of Houston · PDF fileGuidelines for Adjustment of Calculated Impervious Surface ... On April 6, 2011, the City of Houston City Council ... (Chapter

Guidelines Impervious Surface - City of Houston · PDF fileGuidelines for Adjustment of Calculated Impervious Surface ... On April 6, 2011, the City of Houston City Council ... (Chapter

CATÁLOGO TALIS COMPLETO · final height adjustment of up to 50mm in the surface box gives excellent overall height adjustment. Ease of installation – Small, stable footprint makes

CATÁLOGO TALIS COMPLETO · final height adjustment of up to 50mm in the surface box gives excellent overall height adjustment. Ease of installation – Small, stable footprint makes

Sparse Optimization - Lecture: Basic Sparse Optimization ...wotaoyin/summer2013/...Sparse Optimization Lecture: Basic Sparse Optimization Models Instructor: Wotao Yin July 2013 online

Sparse Optimization - Lecture: Basic Sparse Optimization ...wotaoyin/summer2013/...Sparse Optimization Lecture: Basic Sparse Optimization Models Instructor: Wotao Yin July 2013 online

From Sparse Regression to Sparse Multiple Correspondence ... · From Sparse Regression to Sparse Multiple Correspondence Analysis Gilbert Saporta CEDRIC, CNAM, Paris . gilbert.saporta@cnam.fr

From Sparse Regression to Sparse Multiple Correspondence ... · From Sparse Regression to Sparse Multiple Correspondence Analysis Gilbert Saporta CEDRIC, CNAM, Paris . [email protected]

Journal of Fluid Mechanics Freesurface adjustment and ...Free-surface adjustment and topographic waves in coastal currents 277 where H(y) is the Heaviside unit function and L gives

Journal of Fluid Mechanics Freesurface adjustment and ...Free-surface adjustment and topographic waves in coastal currents 277 where H(y) is the Heaviside unit function and L gives

SBA: A Software Package for Generic Sparse Bundle Adjustment 2users.ics.forth.gr/~lourakis/sba/sba-toms.pdf · 2 SBA: A Software Package for Generic Sparse Bundle Adjustment MANOLIS

SBA: A Software Package for Generic Sparse Bundle Adjustment 2users.ics.forth.gr/~lourakis/sba/sba-toms.pdf · 2 SBA: A Software Package for Generic Sparse Bundle Adjustment MANOLIS

Sparse Optimization - Lecture: Sparse Recovery Guaranteeswotaoyin/summer2013/slides/Lec03... · 2013-08-16 · Sparse Optimization Lecture: Sparse Recovery Guarantees Instructor:

Sparse Optimization - Lecture: Sparse Recovery Guaranteeswotaoyin/summer2013/slides/Lec03... · 2013-08-16 · Sparse Optimization Lecture: Sparse Recovery Guarantees Instructor:

STRUCTURE-AWARE SURFACE RECONSTRUCTION WITH SPARSE …

STRUCTURE-AWARE SURFACE RECONSTRUCTION WITH SPARSE …

Specular Surface Reconstruction from Sparse Reflection ...imagesci.ece.cmu.edu/files/paper/2010/SfRC_CVPR2010.pdf · Specular Surface Reconstruction from Sparse Reflection Correspondences

Specular Surface Reconstruction from Sparse Reflection ...imagesci.ece.cmu.edu/files/paper/2010/SfRC_CVPR2010.pdf · Specular Surface Reconstruction from Sparse Reflection Correspondences

Sparse SPM: Group Sparse-dictionary learning in SPM framework …adni.loni.usc.edu/adni-publications/LeeYB_2016_neuro... · 2019-06-04 · Sparse SPM: Group Sparse-dictionary learning

Sparse SPM: Group Sparse-dictionary learning in SPM framework …adni.loni.usc.edu/adni-publications/LeeYB_2016_neuro... · 2019-06-04 · Sparse SPM: Group Sparse-dictionary learning

An introduction to Sparse coding, Sparse sensing, and ...disp.ee.ntu.edu.tw/~pujols/An introduction to... · An Introduction to Sparse Coding, Sparse Sensing, and Optimization Speaker:

An introduction to Sparse coding, Sparse sensing, and ...disp.ee.ntu.edu.tw/~pujols/An introduction to... · An Introduction to Sparse Coding, Sparse Sensing, and Optimization Speaker:

Faster Compressed Sparse Row (CSR)-based Sparse Matrix ...

Faster Compressed Sparse Row (CSR)-based Sparse Matrix ...

Sparse coding - GitHub Pagesyiiwood.github.io/images/Sparse Model for Data.pdf · 3/3/ Sparse representation – Sparse coding – Optimization for sparse coding – Dictionary learning

Sparse coding - GitHub Pagesyiiwood.github.io/images/Sparse Model for Data.pdf · 3/3/ Sparse representation – Sparse coding – Optimization for sparse coding – Dictionary learning

SPARSE STORAGE RECOMMENDATION SYSTEM FOR SPARSE … · 2015. 8. 4. · SPARSE STORAGE RECOMMENDATION SYSTEM FOR SPARSE MATRIX VECTOR MULTIPLICATION ON GPU Monika Shah Department of

SPARSE STORAGE RECOMMENDATION SYSTEM FOR SPARSE … · 2015. 8. 4. · SPARSE STORAGE RECOMMENDATION SYSTEM FOR SPARSE MATRIX VECTOR MULTIPLICATION ON GPU Monika Shah Department of

INTRODUCING GVDB SPARSE VOLUMES · 7/27/2016  · Volume rendering 5GB surface in GVDB in 5 seconds Data Property of DreamWorks Animation. 7 INTRODUCING NVIDIA® GVDB SPARSE VOLUMES

INTRODUCING GVDB SPARSE VOLUMES · 7/27/2016  · Volume rendering 5GB surface in GVDB in 5 seconds Data Property of DreamWorks Animation. 7 INTRODUCING NVIDIA® GVDB SPARSE VOLUMES

SBA: A Software Package for Generic Sparse Bundle Adjustment 2lourakis/sba/sba-toms.pdf · SBA: A Software Package for Generic Sparse Bundle Adjustment • 2:3 Jacobian of the objective

SBA: A Software Package for Generic Sparse Bundle Adjustment 2lourakis/sba/sba-toms.pdf · SBA: A Software Package for Generic Sparse Bundle Adjustment • 2:3 Jacobian of the objective

Accuracy Assessment of Bundle Adjustment with UAV-based ... · Accuracy Assessment of Bundle Adjustment with UAV Based on Images of Tropical Forest Using Sparse Control (7664) Adilson

Accuracy Assessment of Bundle Adjustment with UAV-based ... · Accuracy Assessment of Bundle Adjustment with UAV Based on Images of Tropical Forest Using Sparse Control (7664) Adilson