{"id":920,"date":"2017-12-08T21:19:58","date_gmt":"2017-12-08T21:19:58","guid":{"rendered":"https:\/\/ryma.cinvestav.mx\/ravg\/?post_type=project&#038;p=920"},"modified":"2018-01-28T01:37:41","modified_gmt":"2018-01-28T01:37:41","slug":"3d-reconstruction","status":"publish","type":"project","link":"https:\/\/ryma.cinvestav.mx\/ravg\/project\/3d-reconstruction\/","title":{"rendered":"3D shape reconstruction from a humanoid generated video sequence"},"content":{"rendered":"<p style=\"text-align: justify\">Although statistical analysis can also be applied in 3D face shape recovery, \u00a0we have additionally worked on the development of\u00a0geometric approaches for the monocular-based localization of humanoid robots, finding applications in\u00a0both navigation and object reconstruction tasks. \u00a0This is more related with the\u00a0<strong>3D reconstruction<\/strong>\u00a0of the environment sensed by the robot. The main idea here is to profit on the accuracy of 3D-to-2D visual odometry strategies so that full 3D models of objects can be approximated from the march of a humanoid robot. It is also important to consider the closed-loop of the visual information with the linear and angular velocities of the robot. The following image shows some of the results corresponding to the application of 3D object reconstruction from a video sequence obtained by a humanoid robot. The task is to generate a set of views of a real world object while following a circular trajectory, so that healthy segmentation of the object can later feed a space carving algorithm for 3D reconstruction of the object with measuring\u00a0dimensions\u00a0matching those of object in the real world.<\/p>\n<p style=\"text-align: justify\"><strong>Selected\u00a0publications on this topic\u00a0<\/strong>(Some of this work has been in collaboration with the\u00a0<a href=\"http:\/\/www.upc.edu\/?set_language=en\">Technical University of Catalonia<\/a>, Spain\u00a0and the\u00a0<a href=\"http:\/\/cimat.mx\/en\">Center for Research in Mathematics<\/a>, Mexico.)<\/p>\n<p style=\"text-align: justify\">Pablo Arturo Mart\u00ednez, David Varas,\u00a0<strong>Mario Castel\u00e1n<\/strong>, Margarita Camacho, Ferran Marques and Gustavo Arechavaleta.\u00a0<strong><a href=\"http:\/\/ieeexplore.ieee.org\/xpls\/abs_all.jsp?arnumber=7041439&amp;tag=1\">3D\u00a0shape\u00a0reconstruction from a\u00a0humanoid\u00a0generated\u00a0video\u00a0sequence,<\/a><\/strong>\u00a0<em>Proc.\u00a0IEEE-RAS International Conference on Humanoid Robots,<\/em>\u00a0699-706 (2014).<\/p>\n<p style=\"text-align: justify\">Josafat Delfin,\u00a0Oscar Mar,\u00a0Jean-Bernard Hayet,\u00a0<span class=\"this-person\"><strong>Mario Castel\u00e1n<\/strong>\u00a0and<\/span>\u00a0Gustavo Arechavaleta.\u00a0<a href=\"http:\/\/ieeexplore.ieee.org\/xpl\/articleDetails.jsp?arnumber=6651548\"><strong>An active strategy for the simultaneous localization and reconstruction of a 3D object from a humanoid platform,<\/strong><\/a>\u00a0<em>Proc.\u00a0IEEE-RAS International Conference on Humanoid Robots,<\/em>\u00a0384-389 (2012).<\/p>\n","protected":false},"excerpt":{"rendered":"<p>Although statistical analysis can also be applied in 3D face shape recovery, \u00a0we have additionally worked on the development of\u00a0geometric approaches for the monocular-based localization of humanoid robots, finding applications in\u00a0both navigation and object reconstruction tasks. \u00a0This is more related with the\u00a03D reconstruction\u00a0of the environment sensed by the robot. The main idea here is to [&hellip;]<\/p>\n","protected":false},"author":1,"featured_media":921,"comment_status":"open","ping_status":"closed","template":"","meta":{"_et_pb_use_builder":"","_et_pb_old_content":"","_et_gb_content_width":"","footnotes":""},"project_category":[20,21],"project_tag":[],"class_list":["post-920","project","type-project","status-publish","has-post-thumbnail","hentry","project_category-3d-shape","project_category-humanoid-robotics"],"yoast_head":"<!-- This site is optimized with the Yoast SEO plugin v27.3 - https:\/\/yoast.com\/product\/yoast-seo-wordpress\/ -->\n<title>3D shape reconstruction from a humanoid generated video sequence - Robotics Active Vision Group<\/title>\n<meta name=\"robots\" content=\"index, follow, max-snippet:-1, max-image-preview:large, max-video-preview:-1\" \/>\n<link rel=\"canonical\" href=\"https:\/\/ryma.cinvestav.mx\/ravg\/project\/3d-reconstruction\/\" \/>\n<meta property=\"og:locale\" content=\"en_US\" \/>\n<meta property=\"og:type\" content=\"article\" \/>\n<meta property=\"og:title\" content=\"3D shape reconstruction from a humanoid generated video sequence - Robotics Active Vision Group\" \/>\n<meta property=\"og:description\" content=\"Although statistical analysis can also be applied in 3D face shape recovery, \u00a0we have additionally worked on the development of\u00a0geometric approaches for the monocular-based localization of humanoid robots, finding applications in\u00a0both navigation and object reconstruction tasks. \u00a0This is more related with the\u00a03D reconstruction\u00a0of the environment sensed by the robot. 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