Abstract: Different poses of 3D models are very often given in different positions and orientations in space. Since most of the computer graphics algorithms do not satisfy geometric invariance, it is very important to bring shapes into a canonical coordinate frame before any processing. In this paper we consider the problem of finding the best alignment between two or more different poses of the same object represented by triangle meshes sharing the same connectivity. Firstly, we developed a method to select a region of interest (ROI) which has a perfect alignment over the two poses (up to a rigid movement). Secondary, we solved a simplified version of the Largest Common Point-set (LCP) problem with a-priori knowledge about point correspondence, in order to align the ROIs. We eventually align the poses performing least square rigid registration. Our method makes no assumption about the starting positions of the objects and can also be used with more than two poses at once. It is fast, non-iterative, easy to reproduce and brings the poses into the best alignment whatever the initial positions are.
Authors: M. Livesu, R. Scateni.
Rigid registration of different poses of animated shapes.
Journal of WSCG, 21(1):1-10 (WSCG 2013, Plzen, Rep. Ceca).
University of West Bohemia, Giugno 2013.
Abstract: Recent advances in gesture recognition made the problem of controlling a humanoid robot in the most natural possible way an interesting challenge. Learning from Demonstration field takes strong advantage from this kind of interaction since users who have no robotics knowledge are allowed to teach new tasks to robots easier than ever before. In this work we present a cheap and easy way to implement humanoid robot along with a visual interaction interface allowing users to control it. The visual system is based on the Microsoft Kinect’s RGB-D camera. Users can deal with the robot just by standing in front of the depth camera and mimicking a particular task they want to be performed by the robot. Our framework is cheap, easy to reproduce, and does not strictly depend on the particular underlying sensor or gesture recognition system.
Abstract: In this paper we present the work in progress along with some preliminary research results in the field of Computational Geometry and Mesh Processing obtained by the Computer Graphics Group of the University of Cagliari, Italy. We focus on the work in mesh analysis by introducing the development of a lightweight visualization and processing tool that helped expanding the aims of the group by letting the students from the University move their first steps in Computer Graphics. We show some results obtained by the group with the focus on the usefulness of a common framework of reference.