b3d6836e51f687a0f24377e9cc6b3220 sensors_a2013v13n10p13143.pdf c14a77871aabd3e8966e48999ca31dedd55b49ed sensors_a2013v13n10p13143.pdf e009be0389cd51707da92385a72bff881cfa120dc6076befa6d58c4a0ca82686 sensors_a2013v13n10p13143.pdf Title: Taking Advantage of Selective Change Driven Processing for 3D Scanning Subject: This article deals with the application of the principles of SCD (Selective Change Driven) vision to 3D laser scanning. Two experimental sets have been implemented: one with a classical CMOS (Complementary Metal-Oxide Semiconductor) sensor, and the other one with a recently developed CMOS SCD sensor for comparative purposes, both using the technique known as Active Triangulation. An SCD sensor only delivers the pixels that have changed most, ordered by the magnitude of their change since their last readout. The 3D scanning method is based on the systematic search through the entire image to detect pixels that exceed a certain threshold, showing the SCD approach to be ideal for this application. Several experiments for both capturing strategies have been performed to try to find the limitations in high speed acquisition/processing. The classical approach is limited by the sequential array acquisition, as predicted by the Nyquist􀀀Shannon sampling theorem, and this has been Keywords: event-based vision; high-speed visual acquisition; 3D scanning Author: Francisco Vegara, Pedro Zuccarello, Jose A. Boluda *, Fernando Pardo Creator: TeX output 2013.10.24:0946 Producer: MiKTeX-dvipdfmx (20090708 svn texlive 14695) CreationDate: Thu Oct 24 09:47:01 2013 ModDate: Thu Oct 24 09:53:35 2013 Tagged: no UserProperties: no Suspects: no Form: none JavaScript: no Pages: 20 Encrypted: no Page size: 595.28 x 841.89 pts (A4) Page rot: 0 File size: 8590971 bytes Optimized: no PDF version: 1.4 name type encoding emb sub uni object ID ------------------------------------ ----------------- ---------------- --- --- --- --------- TQGLVH+NimbusRomNo9L-ReguItal Type 1C Custom yes yes no 4 0 PQRMUY+NimbusRomNo9L-Medi Type 1C Custom yes yes no 5 0 PAVGCG+NimbusRomNo9L-Regu Type 1C Custom yes yes no 6 0 GMPPOC+NimbusRomNo9L-MediItal Type 1C Custom yes yes no 7 0 DYKVEY+CMBX8 Type 1C Builtin yes yes no 8 0 XMLYLR+CMMIB8 Type 1C Builtin yes yes no 9 0 ICIPHL+CMR8 Type 1C Builtin yes yes no 10 0 JWOGWY+CMSY10 Type 1C Builtin yes yes no 11 0 SRCMZS+CMMI12 Type 1C Builtin yes yes yes 45 0 BZCLSO+CMR12 Type 1C Builtin yes yes no 46 0 QJMVZX+CMMI8 Type 1C Builtin yes yes no 59 0 Times-Bold Type 1 Standard no no no 53 0 Times-Roman Type 1 Standard no no no 54 0 Symbol Type 1 Custom no no no 56 0 Times-Bold Type 1 Standard no no no 66 0 Symbol Type 1 Custom no no no 68 0 Times-Roman Type 1 Standard no no no 69 0 IVKUPZ+CMEX10 Type 1C Builtin yes yes yes 75 0 GJXIYJ+CMMI6 Type 1C Builtin yes yes no 83 0 Helvetica Type 1 Standard no no no 102 0 Helvetica Type 1 Custom no no no 112 0 Helvetica Type 1 Standard no no no 121 0 Helvetica Type 1 Standard no no no 127 0 Helvetica Type 1 Standard no no no 133 0 Helvetica Type 1 Standard no no no 142 0 Helvetica Type 1 Standard no no no 148 0 Helvetica Type 1 Standard no no no 154 0 Helvetica Type 1 Standard no no no 160 0 Helvetica Type 1 Standard no no no 166 0 Helvetica Type 1 Standard no no no 172 0 Helvetica Type 1 Standard no no no 184 0 Helvetica Type 1 Standard no no no 190 0 Helvetica Type 1 Standard no no no 196 0 Helvetica Type 1 Standard no no no 202 0 Jhove (Rel. 1.6, 2011-01-04) Date: 2016-12-13 02:43:29 CET RepresentationInformation: sensors_a2013v13n10p13143.pdf ReportingModule: PDF-hul, Rel. 1.8 (2009-05-22) LastModified: 2016-12-12 11:25:14 CET Size: 8590971 Format: PDF Version: 1.4 Status: Well-Formed and valid SignatureMatches: PDF-hul MIMEtype: application/pdf PDFMetadata: Objects: 273 FreeObjects: 2 IncrementalUpdates: 1 DocumentCatalog: PageLayout: SinglePage PageMode: UseThumbs Info: Title: Taking Advantage of Selective Change Driven Processing for 3D Scanning Author: Francisco Vegara, Pedro Zuccarello, Jose A. Boluda *, Fernando Pardo Subject: This article deals with the application of the principles of SCD (Selective Change Driven) vision to 3D laser scanning. Two 攀砀瀀攀爀椀洀攀渀琀愀氀 猀攀琀猀 栀愀瘀攀 戀攀攀渀 椀洀瀀氀攀洀攀渀琀攀搀㨀 漀渀攀眀椀琀栀 愀 挀氀愀猀猀椀挀愀氀 䌀䴀伀匀 䌀漀洀瀀氀攀洀攀渀琀愀爀礀 䴀攀琀愀氀ⴀ伀砀椀搀攀 匀攀洀椀挀漀渀搀甀挀琀漀爀 猀攀渀猀漀爀Ⰰ 愀渀搀 琀栀敜ഀ 漀琀栀攀爀漀渀攀 眀椀琀栀 愀 爀攀挀攀渀琀氀礀 搀攀瘀攀氀漀瀀攀搀 䌀䴀伀匀 匀䌀䐀 猀攀渀猀漀爀 昀漀爀 挀漀洀瀀愀爀愀琀椀瘀攀 瀀甀爀瀀漀猀攀猀Ⰰ 戀漀琀栀 甀猀椀渀最琀栀攀 琀攀挀栀渀椀焀甀攀 欀渀漀眀渀 愀猀 䄀挀琀椀瘀攀 吀爀椀ngulation. An SCD sensor only delivers the pixels that have changed most, ordered by the magnitude of their change since thei爀 氀愀猀琀 爀攀愀搀漀甀琀⸀吀栀攀 ㌀䐀 猀挀愀渀渀椀渀最 洀攀琀栀漀搀 椀猀 戀愀猀攀搀 漀渀 琀栀攀 猀礀猀琀攀洀愀琀椀挀 猀攀愀爀挀栀 琀栀爀漀甀最栀 琀栀攀 攀渀琀椀爀攀 椀洀愀最攀 琀漀搀攀琀攀挀琀 瀀椀砀攀氀猀 琀栀愀琀 攀砀挀ed a certain threshold, showing the SCD approach to be ideal for this application. Several experiments for both capturing str愀琀攀最椀攀猀 栀愀瘀攀 戀攀攀渀 瀀攀爀昀漀爀洀攀搀 琀漀琀爀礀 琀漀 昀椀渀搀 琀栀攀 氀椀洀椀琀愀琀椀漀渀猀 椀渀 栀椀最栀 猀瀀攀攀搀 愀挀焀甀椀猀椀琀椀漀渀⼀瀀爀漀挀攀猀猀椀渀最⸀ 吀栀攀 挀氀愀猀猀椀挀愀氀 愀瀀瀀爀漀愀挀栀 椀猀imited by the sequential array acquisition, as predicted by the Nyquist􀀀Shannon sampling theorem, and this has been Keywords: event-based vision; high-speed visual acquisition; 3D scanning Creator: TeX output 2013.10.24:0946 Producer: MiKTeX-dvipdfmx (20090708 svn texlive 14695) CreationDate: Thu Oct 24 03:47:01 CEST 2013 ModDate: Thu Oct 24 03:53:35 CEST 2013 ID: 0xf3970351c16d494192b2c02efdc3e3ce, 0xf3970351c16d494192b2c02efdc3e3ce Filters: FilterPipeline: FlateDecode Fonts: Type1: Font: BaseFont: TQGLVH+NimbusRomNo9L-ReguItal FontSubset: true FirstChar: 45 LastChar: 121 FontDescriptor: FontName: TQGLVH+NimbusRomNo9L-ReguItal Flags: Serif, Symbolic, Italic FontBBox: -169, -270, 1010, 924 FontFile3: true EncodingDictionary: BaseEncoding: WinAnsiEncoding Differences: true Font: BaseFont: PQRMUY+NimbusRomNo9L-Medi FontSubset: true FirstChar: 3 LastChar: 121 FontDescriptor: FontName: PQRMUY+NimbusRomNo9L-Medi Flags: Serif, Symbolic FontBBox: -168, -341, 1000, 960 FontFile3: true EncodingDictionary: BaseEncoding: WinAnsiEncoding Differences: true Font: BaseFont: PAVGCG+NimbusRomNo9L-Regu FontSubset: true FirstChar: 2 LastChar: 181 FontDescriptor: FontName: PAVGCG+NimbusRomNo9L-Regu Flags: Serif, Symbolic FontBBox: -168, -281, 1000, 924 FontFile3: true EncodingDictionary: BaseEncoding: WinAnsiEncoding Differences: true Font: BaseFont: GMPPOC+NimbusRomNo9L-MediItal FontSubset: true FirstChar: 101 LastChar: 115 FontDescriptor: FontName: GMPPOC+NimbusRomNo9L-MediItal Flags: Serif, Symbolic, Italic FontBBox: -200, -324, 996, 964 FontFile3: true EncodingDictionary: BaseEncoding: WinAnsiEncoding Differences: true Font: BaseFont: DYKVEY+CMBX8 FontSubset: true FirstChar: 49 LastChar: 50 FontDescriptor: FontName: DYKVEY+CMBX8 Flags: Serif, Symbolic, ForceBold FontBBox: -59, -250, 1235, 750 FontFile3: true Font: BaseFont: XMLYLR+CMMIB8 FontSubset: true FirstChar: 59 LastChar: 59 FontDescriptor: FontName: XMLYLR+CMMIB8 Flags: Serif, Symbolic, Italic, ForceBold FontBBox: -15, -250, 1281, 750 FontFile3: true Font: BaseFont: ICIPHL+CMR8 FontSubset: true FirstChar: 48 LastChar: 61 FontDescriptor: FontName: ICIPHL+CMR8 Flags: Serif, Symbolic FontBBox: -36, -250, 1070, 750 FontFile3: true Font: BaseFont: JWOGWY+CMSY10 FontSubset: true FirstChar: 0 LastChar: 25 FontDescriptor: FontName: JWOGWY+CMSY10 Flags: Serif, Symbolic, Italic FontBBox: -29, -960, 1116, 775 FontFile3: true Font: BaseFont: BZCLSO+CMR12 FontSubset: true FirstChar: 40 LastChar: 116 FontDescriptor: FontName: BZCLSO+CMR12 Flags: Serif, Symbolic FontBBox: -34, -251, 988, 750 FontFile3: true Font: BaseFont: SRCMZS+CMMI12 FontSubset: true FirstChar: 13 LastChar: 122 FontDescriptor: FontName: SRCMZS+CMMI12 Flags: Serif, Symbolic, Italic FontBBox: -31, -250, 1026, 750 FontFile3: true ToUnicode: true Font: BaseFont: IVKUPZ+CMEX10 FontSubset: true FirstChar: 18 LastChar: 80 FontDescriptor: FontName: IVKUPZ+CMEX10 Flags: Serif, Symbolic FontBBox: -24, -2960, 1454, 772 FontFile3: true ToUnicode: true Font: BaseFont: GJXIYJ+CMMI6 FontSubset: true FirstChar: 102 LastChar: 105 FontDescriptor: FontName: GJXIYJ+CMMI6 Flags: Serif, Symbolic, Italic FontBBox: 11, -250, 1241, 750 FontFile3: true Font: BaseFont: QJMVZX+CMMI8 FontSubset: true FirstChar: 25 LastChar: 109 FontDescriptor: FontName: QJMVZX+CMMI8 Flags: Serif, Symbolic, Italic FontBBox: -24, -250, 1110, 750 FontFile3: true XMP: 2013-10-24T09:47:01+08:00 TeX output 2013.10.24:0946 2013-10-24T09:53:35+08:00 2013-10-24T09:53:35+08:00 MiKTeX-dvipdfmx (20090708 svn texlive 14695) event-based vision; high-speed visual acquisition; 3D scanning application/pdf Taking Advantage of Selective Change Driven Processing for 3D Scanning Francisco Vegara, Pedro Zuccarello, Jose A. Boluda *, Fernando Pardo This article deals with the application of the principles of SCD (Selective Change Driven) vision to 3D laser scanning. Two experimental sets have been implemented: one with a classical CMOS (Complementary Metal-Oxide Semiconductor) sensor, and the other one with a recently developed CMOS SCD sensor for comparative purposes, both using the technique known as Active Triangulation. An SCD sensor only delivers the pixels that have changed most, ordered by the magnitude of their change since their last readout. The 3D scanning method is based on the systematic search through the entire image to detect pixels that exceed a certain threshold, showing the SCD approach to be ideal for this application. Several experiments for both capturing strategies have been performed to try to find the limitations in high speed acquisition/processing. The classical approach is limited by the sequential array acquisition, as predicted by the Nyquist􀀀Shannon sampling theorem, and this has been event-based vision high-speed visual acquisition 3D scanning uuid:20c34a87-f8ae-4442-9286-5a2d786c44f9 uuid:53d48e29-c9db-48a2-96f5-b2acd7604efe Pages: Page: Sequence: 1 Page: Sequence: 2 Page: Sequence: 3 Page: Sequence: 4 Page: Sequence: 5 Page: Sequence: 6 Page: Sequence: 7 Page: Sequence: 8 Page: Sequence: 9 Page: Sequence: 10 Page: Sequence: 11 Page: Sequence: 12 Page: Sequence: 13 Page: Sequence: 14 Page: Sequence: 15 Page: Sequence: 16 Page: Sequence: 17 Page: Sequence: 18 Page: Sequence: 19 Page: Sequence: 20 Checksum: 6e5b342a Type: CRC32 Checksum: b3d6836e51f687a0f24377e9cc6b3220 Type: MD5 Checksum: c14a77871aabd3e8966e48999ca31dedd55b49ed Type: SHA-1