3D vision processing notebook

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已于 2023-12-21 14:42:55 修改

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文章标签： 3d python

于 2023-12-21 14:41:15 首次发布

本文链接：https://blog.csdn.net/liushur/article/details/135130529

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What are we focusing on?

Predicting 3D shapes from sigle image.
Predicting labels from 3D shapes, such as auto-drive(using depth imformation).

Topics

Computing correspondences
SLAM
Self-supervised learning
Structure from motion
Multi-view stereo

3D shape representations

Depth map RGB+depth
Voxel Grid
Pointcloud
Mesh, using in CG
Implicit Surface, Nerf(using a function to represent the 3D shapes)

Depth map

RGB image+Depth map = RGB-D Image, namely , it has been used as 2.5D.

Only recoed the relative distance, not exactly distance.

This type of data can be recorded directly for some tyoes of 3D sensors, otherwise, it can be predicted by Neural Network easily.

Date:2014/2015, using fully conv nevwork, and it can be predicted easily.WHY, first ,the model shoule be able to recognize the object first.

Problem: Scale/Depth Ambiguity:Small&clase–Large&far

BAD PERFOMEANCE? ADD LOSS, in this instance, we add scale invariant loss. We predict the surface normals(if the pixels share the same surface normal, they are included in the same surface). But it will have a bad performance if the illumination is not even.

Voxels

Represent a shape with a V* V * V grid of occupancies. Fill the grid with voxels.
Just like segmentation masks in Mask R-CNN
Disadvantages: no details & noTexture
Tow topics:Generative Voxel Shapes / 3D classification
Disadvantages: Memory, more lossing details. Improve: Octree

3D Pointcloud

Name one question: WHY 3D? to edit the shapes in 3D, so the discrete representation is unique in 3D tasks.

Can represent fine structures without huge numbers of points.
Requires new model architecture and new losses, etc.
Doesn’t explictly represent the surface of the shapes, no 3D features. extracting a mesh for rendering.
Point net.
not many Pointcloud Generation, but focusing on the understanding of pointcloud