We dream a magic button for 3-D point cloud processing

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Joon
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Full Name: Sung Joon Ahn
Company Details: CurvSurf
Company Position Title: CEO_CTO
Country: Republic of Korea
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Location: Seongnam-si, Korea
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Re: We dream a magic button for 3-D point cloud processing

Post by Joon »

Finding Planes in depthMap - Apple iPad Pro LiDAR


youtu.be/8ixtwnfsuzA

CurvSurf FindSurface extracts object planes through the segmentation and plane fitting to the max 3,072 points sampled from the max 256x192 depthMap points.

The max 256x192 depthMap points are generated at 60 Hz by interpolating the max 576 (3x3x8x8) laser dot points (i.e., original sensor data) together with the RGB-image.

We prefer the original sensor data of max 576 points to the sampled points from the max 256x192 depthMap points.

The access API to the original sensor data of max 576 points is not available/released yet, 20 July, 2020.

Tools used:
- Apple iPad Pro LiDAR
- Apple ARKit 4
- Apple Metal API
- CurvSurf FindSurface.
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Joon
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Posts: 230
Joined: Wed Aug 21, 2013 8:01 pm
Full Name: Sung Joon Ahn
Company Details: CurvSurf
Company Position Title: CEO_CTO
Country: Republic of Korea
Linkedin Profile: Yes
Location: Seongnam-si, Korea
Has thanked: 1 time
Been thanked: 10 times
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Re: We dream a magic button for 3-D point cloud processing

Post by Joon »

Real Time Object Recognition in depthMap - Apple iPad Pro LiDAR


youtu.be/o_D4_Azq5cs

CurvSurf FindSurface determines the shapes, sizes, positions and rotations of object surfaces by using:
- Curvature analysis: determines the shape type and the initial surface parameter values.
- Orthogonal distance fitting: refines the surface parameter values.
- Region growing: gathers the inlier candidate points.

The max 1,536 points are sampled randomly from the max 256x192 depthMap points with the reduction ratio of 1/32.

The max 256x192 depthMap points are generated at 60 Hz by interpolating the max 576 (3x3x8x8) laser dot points (i.e., original sensor data) together with the RGB-image.

We prefer the original sensor data of max 576 points to the sampled points from the max 256x192 depthMap points.

The access API to the original sensor data of max 576 points is not available/released yet: 23 July, 2020.

Tools used:
- Apple iPad Pro LiDAR
- Apple ARKit 4
- Apple Metal API
- CurvSurf FindSurface.
User avatar
Joon
V.I.P Member
V.I.P Member
Posts: 230
Joined: Wed Aug 21, 2013 8:01 pm
Full Name: Sung Joon Ahn
Company Details: CurvSurf
Company Position Title: CEO_CTO
Country: Republic of Korea
Linkedin Profile: Yes
Location: Seongnam-si, Korea
Has thanked: 1 time
Been thanked: 10 times
Contact:

Re: We dream a magic button for 3-D point cloud processing

Post by Joon »

As-Built Object Geometry from Point Cloud - Apple iPad Pro LiDAR


Max 192 points are randomly sampled from the max 256x192 depthMap points of 60 Hz frame rate.

If the camera motion between two (start and end) frames oversteps the parallel motion threshold of 5 cm or the optical axis change threshold of 5 deg, then the max 192 points of the last frame are appended to the point cloud.

The object geometries are for creating a lot of contents, e.g., 3-D CAD information, game environments, work instructions, advertisements, navigation map, etc.

The ultra wide angle camera helps ease the problem of large area motion tracking.

With smart glasses, the user experience will be more immersive and two hands be free.


youtu.be/7OFsXU2JfpI
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Joon
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Posts: 230
Joined: Wed Aug 21, 2013 8:01 pm
Full Name: Sung Joon Ahn
Company Details: CurvSurf
Company Position Title: CEO_CTO
Country: Republic of Korea
Linkedin Profile: Yes
Location: Seongnam-si, Korea
Has thanked: 1 time
Been thanked: 10 times
Contact:

Re: We dream a magic button for 3-D point cloud processing

Post by Joon »

As-Built Torus Geometry from Point Cloud - Apple iPad Pro LiDAR

Lee JaeHyo (이재효, 0121-1110=110101)
http://leejaehyo.com
http://www.sungkokmuseum.org
http://www.sungkokmuseum.org/main/exhib ... re-garden/


youtu.be/4TNjcN7MLvw
User avatar
Joon
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Posts: 230
Joined: Wed Aug 21, 2013 8:01 pm
Full Name: Sung Joon Ahn
Company Details: CurvSurf
Company Position Title: CEO_CTO
Country: Republic of Korea
Linkedin Profile: Yes
Location: Seongnam-si, Korea
Has thanked: 1 time
Been thanked: 10 times
Contact:

Re: We dream a magic button for 3-D point cloud processing

Post by Joon »

3-D Measurement of Tree Branches II - Apple iPad Pro LiDAR

A measuring app will be recording DBH (diameter at breast height) of trees together with GPS coordinates, device direction, calendar day and time, tree type, snapshot, etc.

Compared to the measurement of the same tree 17 months ago (https://youtu.be/h9s8_lt1I64), ARKit 4 with LiDAR shows improvements in point accuracy, motion tracking, and work efficiency.

Tools used today Aug. 2020:
- Apple iPad Pro LiDAR (A2228) 2020
- Apple ARKit 4
- Apple Metal API
- CurvSurf FindSurface.

Tools used 17 months ago:
- Apple iPad Pro (A1980) 2018
- Apple ARKit 2.0
- Apple Metal API
- CurvSurf FindSurface.


youtu.be/_jwZ2EjzwhE
User avatar
Joon
V.I.P Member
V.I.P Member
Posts: 230
Joined: Wed Aug 21, 2013 8:01 pm
Full Name: Sung Joon Ahn
Company Details: CurvSurf
Company Position Title: CEO_CTO
Country: Republic of Korea
Linkedin Profile: Yes
Location: Seongnam-si, Korea
Has thanked: 1 time
Been thanked: 10 times
Contact:

Re: We dream a magic button for 3-D point cloud processing

Post by Joon »

Looking into depthMap II - Apple iPad Pro LiDAR

Compared with:
Looking into depthMap - Apple iPad Pro LiDAR
about 2 months ago.

Since iOS & iPadOS 14 Beta 5, Apple has improved the quality of ARDepthData with the provisional option of so-called 'smoothedSceneDepth'.

The improvements we have observed:
- The depthMap points are more accurate but linearized
- The RMS errors of surface fitting are smaller (decreased from 2~5 mm to 1~3 mm)
- Object steps (edges) with small offset are visible
- Edges of object surface are more clear
- Planar object surfaces are more flat
- The number of noisy points in shadow boundaries are reduced
- The number of points with 'medium' or 'high' confidence threshold is increased (The number 49,152 points with 'low' confidence threshold is the max number of the depthMap points).
- The number of points with the current (beta 5, 6) 'high' confidence threshold is about the same with that of the old (beta 4) 'medium' confidence threshold.


Looking into depthMap II - Apple iPad Pro LiDAR

youtu.be/ncSkQ84iDBM

Looking into depthMap - Apple iPad Pro LiDAR

youtu.be/h3PBy0psayY
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