NDLI: A motion based real-time foveation control loop for rapid and relevant 3D laser scanning

Content Provider	IEEE Xplore Digital Library
Author	Breivik, G.M. Thielemann, J.T. Berge, A. Skotheim, O. Kirkhus, T.
Copyright Year	2011
Description	Author affiliation: SINTEF ICT, Oslo, Norway (Breivik, G.M.; Thielemann, J.T.; Berge, A.; Skotheim, O.; Kirkhus, T.)
Abstract	We present an implementation of a novel foveating 3D sensor concept, inspired by the human eye, which intends to allow future robots to better interact with their surroundings. The sensor is based on a time-of-flight laser scanning technology, where each range distance measurement is performed individually for increased quality. Micro-mirrors enable detailed control on where and when each sample point is acquired in the scene. By finding regions-of-interest (ROIs) and mainly concentrating the data acquisition here, the spatial resolution or frame rate of these ROIs can be significantly increased compared to a non-foveating system. Foveation is enabled through a real-time implementation of a feed-back control loop for the sensor hardware, based on vision algorithms for 3D scene analysis. In this paper, we describe and apply an algorithm for detecting ROIs based on motion detection in range data using background modeling. Heuristics are incorporated to cope with camera motion. We report first results applying this algorithm to scenes with moving objects, and show that the foveation capability allows the frame rate to be increased by up to 8.2 compared to a non-foveating sensor, utilizing up to 99% of the potential frame rate increase. The incorporated heuristics significantly improves the foveation's performance for moving camera scenes.
Sponsorship	IEEE
Starting Page	28
Ending Page	35
File Size	367594
Page Count	8
File Format	PDF
ISBN	9781457705298
ISSN	21607508
e-ISBN	9781457705304
DOI	10.1109/CVPRW.2011.5981797
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2011-06-20
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Measurement by laser beam Robot sensing systems Cameras Three dimensional displays Hardware Motion detection Spatial resolution
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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