MRI: Development of Large-Scale Dense Scene Capture and Tracking Instrument

项目编号：13-37899项目负责人：Hahn， James K. Lee, Taeyoung；约翰·w·菲尔贝克；里克蒙德，布莱恩·g；机构：乔治华盛顿大学职称：核磁共振/开发。项目建议：该项目通过设计和开发关键技术方法，融合远程网络传感器接收的数据，集成深度相机（RGB-D传感器）等距离和颜色传感设备，开发用于捕获动态环境的大型、密集3D测量仪器。该仪器将以至少1cm的采样分辨率和局部区域的亚毫米分辨率共同覆盖大片空间。然后将这些数据融合到单个底层表示中。这项工作包括开发一个拥有大规模和实时密集捕获能力的系统。具体来说，-实验验证的感知，规划和控制算法的敏捷移动机器人（特别是那些与可变形的对象操作）需要这些环境的地面真实表示。-验证用于柔性多体系统的系绳动力学和控制的计算工具需要在大环境中捕获其环境。-生物力学、物理治疗和运动科学应用的人体运动研究需要在大环境中准确捕捉动态变化的可变形人体形状。-图像引导的外科手术需要在更大的手术环境中捕获局部致密的患者解剖表面。-人类的视觉感知和导航需要一个密集的周围环境模型，包括运动中的物体，从而通过实现快速、自动化和客观的物体分析编码来推进眼动分析的状态，通过实现人们在环境中移动时看到的物体的快速、自动化和客观编码。-在真实沉积物上跑步和行走时，通过密集的形状捕获来研究足部变形，将揭示步态和人体解剖学的进化，以及赤脚行走和跑步的生物力学。因此，促进新的研究，开发的系统能够快速捕获和构建大型动态高分辨率虚拟环境，复制特定的现实世界环境，包括可变形的物体，具有前所未有的细节密度。

Proposal #: 13-37899PI(s): Hahn, James K. Lee, Taeyoung; Philbeck, John W.; Rickmond, Brian G.; Townsend, Gabe SibleyInstitution: George Washington University Title: MRI/Dev.: Large-Scale Dense Scene Capture and Tracking InstrumentProject Proposed:This project, developing a large-scale, dense 3D measurement instrument for capturing dynamic environments, integrates devices such as range-and-color sensing devices like depth cameras (RGB-D sensors) by designing and developing key technical methodologies to fuse the data received from remote networked sensors. The instrument will collectively cover a large space at a sampling resolution of at least 1cm with submillimeter resolution in localized regions. These data are then fused into a single underlying representation. The work involves developing a system that possesses both large-scale and real-time dense capture capabilities. Specifically, - Experimentally validating perception, planning and control algorithms of agile mobile robots (particularly those that operate with deformable objects) requires ground truth representation of those environments.- Validating computational tools for tether dynamics and control for flexible multibody systems requires the capture of their environment in a large environment.- Study of human motion for biomechanics, physical therapy, and exercise science applications requires accurate capture of dynamically changing deformable human shapes in a large environment.- Image-guided surgical procedures require capture of localized dense patient anatomical surface registered in a larger surgical environment.- Human visual perception and navigation require a dense model of the surrounding environments that include object in motion, thus advancing the state of eye movement analysis by enabling fast, automated and objective coding of object analysis by enabling fast, automated, and objective coding of objects people see as they move through the environment.- The study of foot deformations enabled by dense shape capture during running and walking on real sediments will shed light on the evolution of gait and human anatomy, and the biomechanics of barefoot walking and running. Thus, facilitating new research, the developed system enables rapid capture and construction of large dynamic high-resolution virtual environments that duplicate specific real-world environments, including deformable objects, with unprecedented density of detail.