Marco Andreetto

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This work is motivated by the desire of exploiting for 3D registration purposes the photometric information current range cameras typically associate to range data. Automatic pairwise 3D registration procedures are two steps procedures with the first step performing an automatic crude estimate of the rigid motion parameters and the second step refining them(More)
Cast shadows are an informative cue to the shape of objects. They are particularly valuable for discovering object's concavities which are not available from other cues such as occluding boundaries. We propose a new method for recovering shape from shadows which we call shadow carving. Given a conservative estimate of the volume occupied by an object, it is(More)
A widespread use of three-dimensional (3D) models in cultural heritage application requires low cost equipment and technically simple modeling procedures. In this context, methods for automatic 3D modeling of textured objects can play a central role. Such methods need fully automatic techniques for 3D view registration and for the removal of texture(More)
We propose a simple probabilistic generative model for image segmentation. Like other probabilistic algorithms (such as EM on a mixture of Gaussians) the proposed model is principled, provides both hard and probabilistic cluster assignments, as well as the ability to naturally incorporate prior knowledge. While previous probabilistic approaches are(More)
Which one comes first: segmentation or recognition? We propose a unified framework for carrying out the two simultaneously and without supervision. The framework combines a flexible probabilistic model, for representing the shape and appearance of each segment, with the popular “bag of visual words” model for recognition. If applied to a(More)
A wide-spread use of 3D models in archeology application requires low cost equipment and technically simple modeling procedures. In this context methods for automatic 3D modeling based on fully automatic techniques for 3D views registration will play a central role. This paper proposes a very robust procedure which does not require special equipment or(More)
Exporting to cultural heritage methods and tools used in industrial areas, where the profits can justify high model-ing costs, may only be a starting point for cultural heritage modeling, but not a sustainable solution in sight of the economics of this application. A way to lower the costs is to automate the modeling procedure. This work presents a robust(More)
This work presents a new method for registering computer tomography (CT) volumetric data of human bone structures relative to observations made at different times. The system we advance was tested with different kinds of CT data sets. We report on some representative experimental results obtained with the CT data of the hip bones of a patient prior to and(More)
This work introduces a procedure for automatic 3D model-ing and discusses its performance in the context of a medical application, namely the 3D modeling of palate's casts. The general interest of the proposed method lays in the fact that a widespread use of 3D modeling in non-engineering applications requires automatic procedures. The specific interest is(More)
This paper presents a control algorithm that steers a robotic walking assistant along a planned path using electromechanical brakes. The device is modeled as a Dubins' car, i.e., a wheeled vehicle that moves only forward in the plane and has a limited turning radius. In order to reduce the cost of the hardware, no force sensor is employed. This feature(More)