Waymo Open Dataset is a multimodal (camera + LiDAR) dataset covering a wide range of areas in the US (namely San Francisco, Mountain View, Los Angeles, Detroit, Seattle, Phoenix). It is one of the largest publicly available datasets for investigating a wide range of interesting aspects of machine perception and autonomous driving technology, such as … Continue reading Waymo Open Dataset: Open3D Point Cloud Viewer

# Particle filters with Python

Particle filters comprise a broad family of Sequential Monte Carlo (SMC) algorithms for approximate inference in partially observable Markov chains. The objective of a particle filter is to estimate the posterior density of the state variables given the observation variables. A generic particle filter estimates the posterior distribution of the hidden states using the observation … Continue reading Particle filters with Python

# Kd-tree and Nearest neighbor (NN) search (2D case)

A Kd-tree, or K-dimensional tree, is a generalization of a binary search tree that stores points in a k-dimensional space. In computer science it is often used for organizing some number of points in a space with k dimensions. Kd-trees are very useful for range and nearest neighbor (NN) searches, it is a very common operation … Continue reading Kd-tree and Nearest neighbor (NN) search (2D case)

# Robust linear model estimation using RANSAC – Python implementation

RANSAC or "RANdom SAmple Consensus" is an iterative method to estimate parameters of a mathematical model from a set of observed data which contains outliers. It is one of classical techniques in computer vision. My motivation for this post has been triggered by a fact that Python doesn't have a RANSAC implementation so far. The … Continue reading Robust linear model estimation using RANSAC – Python implementation

# Convex hull: how to tell whether a point is inside or outside?

In this post we will talk about convex hulls which have a broad range of applications in mathematics, computer science and surely image processing / computer vision. In mathematics the convex hull (sometimes also called the convex envelope) of a set of points X in the Euclidean plane or Euclidean space is the smallest convex … Continue reading Convex hull: how to tell whether a point is inside or outside?

# Python: putting segments on top of the input image

Assume you are working on the image /video segmentation problem. Sooner or later a day is coming when you need to present your (hopefully good) results to other people on a conference, project meeting, in a paper, whatever. Usually segmentation results are represented by a matrix of integers standing for region labels which are supposed … Continue reading Python: putting segments on top of the input image

# Robust Least Squares for fitting data (quadric surface)

Here I would like to show you some changes in the source code of the Robust least squares fitting required for a general quadric surface (fitting of the planar model was introduced in the previous post). Assume you want to fit a set of data points in the three-dimensional space with a general quadric described … Continue reading Robust Least Squares for fitting data (quadric surface)

# Robust Least Squares for fitting data (planar surface)

Damn, it's a good while ago since the last activity on this blog...! In the future I will try to avoid such long breaks, as it's also very useful for me to make notes about last approaches / news / papers / tendencies in the computer vision (CV) society. Today I have an interesting and … Continue reading Robust Least Squares for fitting data (planar surface)

# Some interesting papers from 3DPVT 2010

Two weeks ago I've participated in the conference "3D Data Processing, Visualization and Transmission" that took place in Paris. Among many papers and posters related to problems of 3D vision I found some very interesting works that could be a matter of interest both for myself and our vision group in Göttingen. Today I've given … Continue reading Some interesting papers from 3DPVT 2010