Lidar is extensively used in the industry and mass market, due to its measurement accuracy and insensitivity to brightness compared to cameras. It is applied onto a broad range of applications, like geodetic engineering, self driving cars or virtual reality. But the 3D Lidar with multiple beams is very expensive, and the massive measurements data can not be fully processed timely. The purpose of this paper is to explore the possibility of using cheap 2D Lidar off-the-shelf, for 3D reconstruction with high accuracy. The 3D map quality is evaluated by our proposed metrics in this paper lastly. The 3D map is constructed in two ways, one way in which the scan is performed at known positions. The other way, in which the 2D Lidar for mapping and the localization part are placed on a trolley, then the trolley is pushed on the ground. The generated maps by these approaches are converted to octomaps before the evaluation. The similarity and difference between the two maps will be evaluated by these metrics in a normalized value ranging from 0 to 1. The established mapping system is composed of several modular components. A 3D bracket is designed for assembling the Lidar with a long range, the driver and the motor. A cover platform is designed for the imu and Lidar with a shorter range but high accuracy, which will be used to implement 2D SLAM. The software is stacked up in different packages on ROS.
Traditionally, the root-mean-square error @cite_8 can be employed in evaluation when the ground truth is available. In computer vision, the IoU metric @cite_9 calculates the common pixels in two images to make a pixel-wise comparison. But 3D point array produced by Lidar,is an inefficient memory management way to be used for evaluation, the octomap @cite_0 is a tree based structure, in which the endpoints are represented by the cubes, a type of 3D voxels @cite_10 .
@cite_0 @cite_9 @cite_10 @cite_8
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A novel dataset for benchmarking image-based localization is presented. With increasing research interests in visual place recognition and localization, several datasets have been published in the past few years. One of the evident limitations of existing datasets is that precise ground truth camera poses of query images are not available in a meaningful 3D metric system. This is in part due to the underlying 3D models of these datasets are reconstructed from Structure from Motion methods. So far little attention has been paid to metric evaluations of localization accuracy. In this paper we address the problem of whether state-of-the-art visual localization techniques can be applied to tasks with demanding accuracy requirements. We acquired training data for a large indoor environment with cameras and a LiDAR scanner. In addition, we collected over 2000 query images with cell phone cameras. Using LiDAR point clouds as a reference, we employed a semi-automatic approach to estimate the 6 degrees of freedom camera poses precisely in the world coordinate system. The proposed dataset enables us to quantitatively assess the performance of various algorithms using a fair and intuitive metric. We introduce the Imperial College London and National University of Ireland Maynooth (ICL-NUIM) dataset for the evaluation of visual odometry, 3D reconstruction and SLAM algorithms that typically use RGB-D data. We present a collection of handheld RGB-D camera sequences within synthetically generated environments. RGB-D sequences with perfect ground truth poses are provided as well as a ground truth surface model that enables a method of quantitatively evaluating the final map or surface reconstruction accuracy. Care has been taken to simulate typically observed real-world artefacts in the synthetic imagery by modelling sensor noise in both RGB and depth data. While this dataset is useful for the evaluation of visual odometry and SLAM trajectory estimation, our main focus is on providing a method to benchmark the surface reconstruction accuracy which to date has been missing in the RGB-D community despite the plethora of ground truth RGB-D datasets available. Our objective is to evaluate the efficacy of methods that use deep learning (DL) for the automatic fine-grained segmentation of optical coherence tomography (OCT) images of the retina. OCT images from 10 patients with mild non-proliferative diabetic retinopathy were used from a public (U. of Miami) dataset. For each patient, five images were available: one image of the fovea center, two images of the perifovea, and two images of the parafovea. For each image, two expert graders each manually annotated five retinal surfaces (i.e. boundaries between pairs of retinal layers). The first grader's annotations were used as ground truth and the second grader's annotations to compute inter-operator agreement. The proposed automated approach segments images using fully convolutional networks (FCNs) together with Gaussian process (GP)-based regression as a post-processing step to improve the quality of the estimates. Using 10-fold cross validation, the performance of the algorithms is determined by computing the per-pixel unsigned error (distance) between the automated estimates and the ground truth annotations generated by the first manual grader. We compare the proposed method against five state of the art automatic segmentation techniques. The results show that the proposed methods compare favorably with state of the art techniques, resulting in the smallest mean unsigned error values and associated standard deviations, and performance is comparable with human annotation of retinal layers from OCT when there is only mild retinopathy. The results suggest that semantic segmentation using FCNs, coupled with regression-based post-processing, can effectively solve the OCT segmentation problem on par with human capabilities with mild retinopathy. Tomographic image reconstruction, such as the reconstruction of computed tomography projection values, of tomosynthesis data, positron emission tomography or SPECT events, and of magnetic resonance imaging data is computationally very demanding. One of the most time-consuming steps is the backprojection. Recently, a novel general purpose architecture optimized for distributed computing became available: the cell broadband engine (CBE). To maximize image reconstruction speed we modified our parallel-beam backprojection algorithm [two dimensional (2D)] and our perspective backprojection algorithm [three dimensional (3D), cone beam for flat–panel detectors] and optimized the code for the CBE. The algorithms are pixel or voxel driven, run with floating point accuracy and use linear (LI) or nearest neighbor (NN) interpolation between detector elements. For the parallel-beam case, 512 projections per half rotation, 1024 detector channels, and an image of size 512 2 was used. The cone-beam backprojection performance was assessed by backprojecting a full circle scan of 512 projections of size 1024 2 into a volume of size 512 3 voxels. The field of view was chosen to completely lie within the field of measurement and the pixel or voxel size was set to correspond to the detector element size projected to the center of rotation divided by 2 . Both the PC and the CBE were clocked at 3 GHz . For the parallel backprojection of 512 projections into a 512 2 image, a throughput of 11 fps (LI) and 15 fps (NN) was measured on the PC, whereas the CBE achieved 126 fps (LI) and 165 fps (NN), respectively. The cone-beam backprojection of 512 projections into the 512 3 volume took 3.2 min on the PC and is as fast as 13.6 s on the cell. Thereby, the cell greatly outperforms today’s top-notch backprojections based on graphical processing units. Using both CBEs of our dual cell-based blade (Mercury Computer Systems) allows to 2D backproject 330 images s and one can complete the 3D cone-beam backprojection in 6.8 s .