Global ETD Search
Search theses and dissertations gathered from participating repositories worldwide. Every result links back to the library that holds it. No account is needed.
Results
Showing 1 to 20 of 57 for “"RGB-D"”.
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Applications of RGB-D Cameras in Healthcare
RGB-D cameras are a type of imaging device that includes a standard colour camera and a depth sensor. The depth sensor records depth images, where each pixel measures the distance of the target from the camera. Using data from the RGB-D camera, we can recon- struct a three-dimensional scene. Since …
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RGB-D Likelihood for 3D Inverse Graphics
… 3D Neural Embedding Likelihood (3DNEL) over RGB-D images to address this gap. 3DNEL uses neural embeddings to predict 2D-3D correspondences from RGB and combines this with depth in a principled manner. 3DNEL is trained entirely from synthetic images and generalizes to real-world data. To …
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A New Inspection Method Based on RGB-D Profiling
… thesis presents an inspection method based on RGB-D profiling for the rail industry. The proposed approach uses inexpensive RGB-D cameras to generate color and geometrical information of the observations, and stitches each consecutive scan from the sensor to form a map, provided that the two …
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Parallelized two-stage object detection in cluttered RGB-D scenes
… how a state-of-the-art object detector, based on RGB-D images, could be parallelized for use on GPUs. By using nVidia's CUDA platform we improved the running times of critical sections up to 38 times. We also built a two-stage pipeline that improves multiple object detection in cluttered scenes. …
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Multi-volume high resolution RGB-D mapping with dynamic volume placement
… high-resolution 3D reconstructions using RGB-D cameras, such as the Microsoft Kinect. We demonstrate how such a technique can be used both for large scale mapping and high-resolution object detection. Our work consists of two core contributions. First, we present an algorithm to generate …
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Real-time large object category recognition using robust RGB-D segmentation features
… efficiently do unsupervised segmentation of an RGB-D image in a way that is consistent across wide viewpoint and scale variance, and creating features from the resulting segments. The second part of this thesis explores how to do robust data association to keep temporally consistent segments …
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From interest points to map transformation: a discussion of RGB-D SLAM and its applications
… SLAM using a single handheld projected-IR RGB-D camera. It focuses primarily on the use of different interest point detectors, their descriptor extractors, and their matchers in the estimation of pairwise alignment of frames captured using such a sensor. Such estimates give the initial pose …
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Vision-based workface assessment using depth images for activity analysis of interior construction operations
… a new inexpensive vision-based method using RGB-D sensors that is applicable to interior construction operations. This is particularly a challenging task as construction activities have a large range of intra-class variability including varying sequences of body posture and time-spent on each …
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Learning articulated motions from visual demonstration
… objects from user-provided demonstrations, using RGB-D sensors. We introduce algorithms that combine concepts in sparse feature tracking, motion segmentation, object pose estimation, and articulation learning, to develop our proposed framework. Additionally, our methods can predict the motion of …
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Advancing 6DoF Object Pose Estimation: Keypoint Voting, Optimal Keypoint Sampling, and Bridging the Simulation-to-real Gap
… object pose estimation using point cloud and RGB-D data. Three novel methodologies are proposed to address distinct challenges in this field. First, RCVPose3D introduces a cascaded keypoint voting framework that separates semantic segmentation from keypoint regression, incorporating pairwise …
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Hybrid-Adaptive Switched Control for Robotic Manipulator Interacting with Arbitrary Surface Shapes Under Multi-Sensory Guidance
… of interest using information provided by a RGB-D sensor. The RGB-D sensor is used to collect raw 3D information on the environment and construct an approximate 3D model of an object of interest in the scene. In order to completely explore the object, a novel coverage path planning technique …
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Domain-Independent Mode Estimation for Human-Robot Collaboration
… mode transitions. The proposed system fuses RGB-D perception, object segmentation, qualitative spatial reasoning (QSR), and probabilistic inference into a real-time pipeline capable of tracking and inferring symbolic human-object interaction states. Evaluated in a human-robot rehabilitation …
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Automatic 3D surface area measurement for vitiligo lesions
… are either inefficient or inaccurate. Using a RGB-D camera (Kinect) and imaging processing techniques, we develop an automated skin lesion screening system (VLAMS) that can be widely adopted in clinics. VLAMS is tested using clinical medical data. Results show VLAMS can consistently segment …
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Detekce objektu s využitím hloubkových dat
… vybrané dátové sady NYU Depth v2 a Washington RGB-D, na ktorých sa testovali upravené modely YOLOv5 a YOLOv8. Experimenty skúmali rôzne reprezentácie hĺbkových informácií a analyzovali, ako integrácia hĺbkových dát zlepšuje výkon týchto modelov. Výsledky ukázali výrazné zlepšenie metrík mAP pri …
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Point cloud segmentation for mobile robot manipulation
… the scene. Given as input a sequence of observed RGB-D point clouds of a scene, a list of known objects in the scene and their pose distributions as a prior, and a black-box object detector, our system outputs a belief state of what is believed to be in the scene. This belief state consists of the …
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Learning Object Detection with Weak Supervision
… scenarios, i.e., general object detection and RGB-D salient object detection. The first task is to predict the category of an object and its location in the given image with image-level weak supervision. A pyramidal multiple instance detection network is first introduced to reduce the exposure …
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Optimization Techniques for Trustworthy 3D Object Understanding
… uses 3D keypoint measurements extracted from an RGB-D image sequence and phrases the estimation as fixed-lag smoothing. Temporal constraints enforce rigidity and continuous motion. Despite the non-convexity of this problem, we solve it to certifiable optimality using a smallsize semidefinite …
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Open-Set Object Based Data Association
… associations between open-set objects using an RGB-D camera and how it is used in a sparse object SLAM system. We show comparable trajectory performance to traditional SLAM systems while being more adaptable to out-of-distribution objects.
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Depth aware RCNN
… on the RPN. A successful approach comes from RGB-D image object detection, where the convolutional layers learn not just RGB features, but also depth features. In this thesis, we study the problem of simultaneously localizing objects as well as estimating their depth. We propose to use one …
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