ARTICLE | doi:10.20944/preprints202001.0123.v1
Subject: Mathematics & Computer Science, Artificial Intelligence & Robotics Keywords: static features extraction; dynamic environments; 3D reconstruction; monocular SLAM
Online: 12 January 2020 (15:12:52 CET)
Many classic visual monocular SLAM systems have been developed over the past decades, however, most of them will fail when dynamic scenarios dominate. DM-SLAM is proposed for handling dynamic objects in environments based on ORB-SLAM. The article mainly concentrates on two aspects. Firstly, DLRSAC is proposed to extract static features from the dynamic scene based on awareness of nature difference between motion and static, which is integrated into initialization of DM-SLAM. Secondly, we design candidate map points selection mechanism based on neighborhood mutual exclusion to balance the accuracy of tracking camera pose and system robustness in motion scenes. Finally, we conduct experiments in the public dataset and compare DM-SLAM with ORB-SLAM. The experiments verify the superiority of the DM-SLAM.
ARTICLE | doi:10.20944/preprints201705.0028.v1
Online: 3 May 2017 (09:19:59 CEST)
It is one of very important and basic problem in compute vision field that recovering depth information of objects from two-dimensional images. In view of the shortcomings of existing methods of depth estimation, a novel approach based on SIFT (the Scale Invariant Feature Transform) is presented in this paper. The approach can estimate the depths of objects in two images which are captured by an un-calibrated ordinary monocular camera. In this approach, above all, the first image is captured. All of the camera parameters remain unchanged, and the second image is acquired after moving the camera a distance d along the optical axis. Then image segmentation and SIFT feature extraction are implemented on the two images separately, and objects in the images are matched. Lastly, an object depth can be computed by the lengths of a pair of straight line segments. In order to ensure that the best appropriate a pair of straight line segments are chose and reduce the computation, the theory of convex hull and the knowledge of triangle similarity are employed. The experimental results show our approach is effective and practical.
ARTICLE | doi:10.20944/preprints201801.0195.v1
Subject: Mathematics & Computer Science, Artificial Intelligence & Robotics Keywords: spacecraft; structure from motion; monocular vision; component detection; structure analysis
Online: 22 January 2018 (05:11:39 CET)
A monocular vision pose estimation and identification algorithm used on a small spacecraft for future orbital servicing is studied in this paper. A tracker spacecraft equipped with a short-range vision system is proposed to recover the 3D structural model of a space target in orbit and automatically identify its solar panels and main body using only visual information from an onboard camera. The proposed reconstruction and identification framework is tested using structure-from-motion and point cloud identification methods. The Efficient Perspective-n-Points (EPnP) descriptor is used for pose estimation. Triangulated points are used for component segmentation by means of orientation histogram descriptors. Experimental results based on laboratory images of a spacecraft model show the effectiveness and robustness of our approach.
ARTICLE | doi:10.20944/preprints202107.0228.v1
Subject: Medicine & Pharmacology, Allergology Keywords: Myopia; monocular form deprivation (MFD); inflammation; Fallopia Japonica (FJ); Prunella Vulgaris (PV)
Online: 9 July 2021 (15:21:52 CEST)
The increased global incidence of myopia requires the establishment of therapeutic approaches. Previous studies have suggested that inflammation plays an important role in the development and progression of myopia. We used human retinal pigment epithelial cell to study the molecular mechanisms on how FJE and PVE lowering the inflammation of the eye. The effect of FJE and PVE in MFD induced hamster model and explore the role of inflammation cytokines in myopia. Expression levels of IL-6, IL-8, and TNF-α were upregulated in retinal pigment epithelium (RPE) cells treated with IL-6 and TNF-α. FJ extract (FJE) + PV extract (PVE) reduced IL-6, IL-8, and TNF-α expression in RPE cells. Furthermore, FJE and PVE inhibited inflammation by attenuating the phosphorylation of protein kinase B (AKT), and nuclear factor kappa-light-chain-enhancer of activated B (NF-κB) pathway. In addition, we report two resveratrol + ursolic acid compounds from FJ and PV and their inhibitory activities against IL-6, IL-8, and TNF-α expression levels in RPE cells treated with IL-6 and TNF-α. FJE, PVE, and FJE + PVE were applied to MFD hamsters and their axial length was measured after 21 days. The axial length showed statistically significant differences between phosphate-buffered saline- and FJE-, PVE-, and FJE + PVE-treated MFD eyes. FJE + PVE suppressed expressions of IL-6, IL-8, and TNF-α. They also inhibited myopia-related transforming growth factor-beta (TGF)-β1, matrix metalloproteinase (MMP)-2, and NF-κB expression while increasing type Ⅰ collagen expression. Overall, these results suggest that FJE + PVE may have a therapeutic effect on myopia and be used as a potential treatment option.
ARTICLE | doi:10.20944/preprints202001.0319.v1
Subject: Arts & Humanities, Architecture And Design Keywords: monocular depth cues; luminance contrast; colour; visual arts; image plane; human perception; brain; 3D structure; figure-ground; Gestalt Theory
Online: 27 January 2020 (01:54:27 CET)
Victor Vasarely’s (1906-1997) important legacy to the study of human perception is brought to the forefront and discussed. A large part of his impressive work conveys the appearance of striking three-dimensional shapes and structures in a large-scale pictorial plane. Current perception science explains such effects by invoking brain mechanisms for the processing of monocular (2D) depth cues. Here in this study, we illustrate and explain the local effects of 2D color and contrast cues on the perceptual organization in terms of figure-ground assignments, i.e. which local surfaces are likely to be seen as “nearer” or “bigger” in the image plane. Paired configurations are embedded in a larger, structurally ambivalent pictorial context inspired by some of Vasarely’s creations. The figure-ground effects these configurations produce reveal a significant correlation between perceptual solutions for “nearer” and “bigger” when no other monocular depth cues are given in the image. In consistency with previous findings on similar, albeit simpler visual displays, a specific color may compete with luminance contrast in resolving the planar ambiguity of a complex pattern context. Vasarely intuitively understood, and successfully exploited, this kind of subtle context effect in his art, well before empirical investigations had set out to study and explain their genesis in terms of information processing by the visual brain.