Frame Matching Research Articles

An improved SLAM algorithm for substation inspection robot based on the fusion of IMU and visual information

In the past, manual inspection was often used for equipment inspection in indoor environments such as substation rooms and chemical plant rooms. This way often accompanies high labor intensity, low inspection efficiency, and low safety, which is difficult to meet the increasingly stringent requirements of indoor equipment operation and maintenance management. For dealing with these issues, a VIORB-SLAM2 algorithm based on the integration of IMU and visual information, was proposed by this paper. Firstly, the IMU data and image data were integrated to restore scale information of cameras, and then an error function was established to enhance the algorithm’s robustness. Secondly, in order to improve the accuracy of the algorithm, the random sampling consensus method was used to eliminate the wrong matching points in feature point matching, and the normalized cross-correlation matching was employed to constrain key frame matching conditions. Finally, through the iterative closest point method to stitch the point clouds, a dense map for navigation was constructed. The experimental results show that the algorithm designed by this paper has solved the shortcomings of applying the ORB-SLAM2 algorithm to indoor inspection robots while achieving high positioning accuracy, which can be combined with other algorithms in the field of artificial intelligence for object detection and semantic map construction in the future.

Green and Good? Examining Intended and Unintended Effects of Morally Framed Climate Messages

ABSTRACT Based on Moral Foundations Theory, message framing, and the Sacred Values Protection Model, this pre-registered experiment tested the effects of five different moral frames in climate change messages among N = 715 U.S. adults. Contrary to prior research, we did not find evidence that matching a message’s moral frame to individuals’ endorsements of moral foundations enhances intended positive outcomes, including perceived message effectiveness (PME) and policy support. However, a moral frame mismatch did reduce PME. Also contrary to scholarly warnings about potential negative effects of moralized communication, we did not find evidence for unintended consequences of moral frame matching for outgroup perceptions. Political ideology did moderate the effect of moral framing on desired social proximity (i.e. willingness to interact with moral outgroup members) and perceived message effectiveness. Our findings raise questions about the benefits of using moral frames that invoke only one moral foundation in climate change communication.

Respiratory motion tracking of the thoracoabdominal surface based on defect-aware point cloud registration.

The performance of conventional lung puncture surgery is a complex undertaking due to the surgeon's reliance on visual assessment of respiratory conditions and the manual execution of the technique while the patient maintains breath-holding. However, the failure to correctly perform a puncture technique can lead to negative outcomes, such as the development of sores and pneumothorax. In this work, we proposed a novel approach for monitoring respiratory motion by utilizing defect-aware point cloud registration and descriptor computation. Through a thorough examination of the attributes of the inputs, we suggest the incorporation of a defect detection branch into the registration network. Additionally, we developed two modules with the aim of augmenting the quality of the extracted features. A coarse-to-fine respiratory phase recognition approach based on descriptor computation is devised for the respiratory motion tracking. The efficacy of the suggested registration method is demonstrated through experimental findings conducted on both publicly accessible datasets and thoracoabdominal point cloud datasets. We obtained state-of-the-art registration results on ModelNet40 datasets, with 1.584∘ on rotation mean absolute error and 0.016 mm on translation mean absolute error, respectively. The experimental findings conducted on a thoracoabdominal point cloud dataset indicate that our method exhibits efficacy and efficiency, achieving a frame matching rate of 2 frames per second and a phase recognition accuracy of 96.3%. This allows identifying matching frames from template point clouds that display different parts of a patient's thoracoabdominal surface while breathing regularly to distinguish breathing stages and track breathing.

G-TRACE: Grouped temporal recalibration for video object segmentation

In Semi-supervised Video Object Segmentation (SVOS), there is a critical emphasis on enhancing the memory and readout mechanisms for frame matching, especially in relation to temporal dynamics. Current methods predominantly use 2D CNNs for encoding video frames, which unfortunately neglects the crucial aspect of addressing temporal variations in individual frames and their associated masks during the encoding process. One potential solution would be to implement temporal models such as 3D CNNs instead of 2D CNNs, but this significantly increases computational requirements, making it impractical for real-world SVOS applications. In this paper, we introduce the Grouped Temporal Recalibration with Attention for Convolutional Encoders (G-TRACE), a novel plug-and-play module that is compatible with various existing SVOS frameworks. G-TRACE uses hierarchical memory-centric attention and integrates effortlessly with 2D CNNs, offering a novel approach to temporal modeling that operates orthogonally to traditional frame matching methods. Extensive evaluations on four widely-used benchmarks demonstrate that our method consistently delivers significant performance improvements over various baseline models.

Teaching gene-environment interaction concepts with narrative vignettes: Effects on knowledge, stigma, and behavior motivation.

Gene-environment interaction (GxE) concepts underlie a proper understanding of complex disease risk and risk-reducing behavior. Communicating GxE concepts is a challenge. This study designed an educational intervention that communicated GxE concepts in the context of eating behavior and its impact on weight, and tested its efficacy in changing knowledge, stigma, and behavior motivation. The study also explored whether different framings of GxE education and matching frames with individual eating tendencies would result in stronger intervention impact. The experiment included four GxE education conditions and a control condition unrelated to GxE concepts. In the education conditions, participants watched a video introducing GxE concepts then one of four narrative vignettes depicting how a character's experience with eating hyperpalatable or bitter tasting food (reward-based eating drive vs. bitter taste perception scenario) is influenced by genetic or environmental variations (genetic vs. environmental framings). The education intervention increased GxE knowledge, genetic causal attributions, and empathetic concern. Mediation analyses suggest that causal attributions, particularly to genetics and willpower, are key factors that drive downstream stigma and eating behavior outcomes and could be targeted in future interventions. Tailoring GxE education frames to individual traits may lead to more meaningful outcomes. For example, genetic (vs. environmental) framed GxE education may reduce stigma toward individuals with certain eating tendencies among individuals without such tendencies. GxE education interventions would be most likely to achieve desired outcomes such as reducing stigma if they target certain causal beliefs and are strategically tailored to individual attributes.

农业环境高精度三维点云地图构建方法研究

In agricultural operation scenarios, the diversity of farmland terrain, crops and other forms, as well as uncertain factors such as weather changes and crop growth during agricultural operation, can have an impact on the construction of high-precision maps. To address these challenges and analyze operational scenarios based on the characteristics of agricultural scenarios, this paper proposes a point cloud map construction algorithm for plant point removal and locatability estimation. Based on the existing Simultaneous Localization and Mapping (SLAM) framework, plant point removal and locatability estimation are improved. Firstly, Red, Green, Blue (RGB) images and Near Infrared (NIR) images are fused to identify and remove plant point clouds, preserving effective inter frame matching information, reducing the impact of dynamic points on inter frame matching, and achieving high front-end motion estimation accuracy. Then, the localization estimation method based on learning is used to determine the motion estimation status and determine whether to execute the backend optimization algorithm. Finally, the back-end optimization algorithm based on Factor graph is designed, and the Factor graph, constraint relationship and optimization function are constructed to optimize the pose of all frames. The optimized map construction algorithm reduces the re projection errors between field roads, paths, and crop rows by 10.27%, 20.76%, and 14.36% compared to before optimization. To verify the actual operational effectiveness of the point cloud map construction algorithm, the hardware part of the multi-sensor information collection system was designed, and sensor internal and external parameter calibration were also carried out. A map information collection vehicle was built and field experiments were conducted. The results showed that the positioning error of the point cloud map construction method proposed in this paper is less than 0.5°, and the cumulative error of 30 m translation is less than 12 cm, which meets the actual operational requirements.

PAFNet: Pillar Attention Fusion Network for Vehicle–Infrastructure Cooperative Target Detection Using LiDAR

With the development of autonomous driving, consensus is gradually forming around vehicle–infrastructure cooperative (VIC) autonomous driving. The VIC environment-sensing system uses roadside sensors in collaboration with automotive sensors to capture traffic target information symmetrically from both the roadside and the vehicle, thus extending the perception capabilities of autonomous driving vehicles. However, the current target detection accuracy for feature fusion based on roadside LiDAR and automotive LiDAR is relatively low, making it difficult to satisfy the sensing requirements of autonomous vehicles. This paper proposes PAFNet, a VIC pillar attention fusion network for target detection, aimed at improving LiDAR target detection accuracy under feature fusion. The proposed spatial and temporal cooperative fusion preprocessing method ensures the accuracy of the fused features through frame matching and coordinate transformation of the point cloud. In addition, this paper introduces the first anchor-free method for 3D target detection for VIC feature fusion, using a centroid-based approach for target detection. In the feature fusion stage, we propose the grid attention feature fusion method. This method uses the spatial feature attention mechanism to fuse the roadside and vehicle-side features. The experiment on the DAIR-V2X-C dataset shows that PAFNet achieved a 6.92% higher detection accuracy in 3D target detection than FFNet in urban scenes.

Solving traffic data occlusion problems in computer vision algorithms using DeepSORT and quantum computing

Inaccuracies of traffic sensors during traffic counting and vehicle classification have persisted as transportation agencies have been prompted to calibrate sensors periodically. Detection of multiple objects, heavy occlusions, and similar appearances in congested places are some causes of computer vision model inaccuracies. This paper used the YOLOv5 model for detection and the DeepSORT model for tracking objects. Due to the nature of the reported problem caused by many misses and mismatches, the power of quantum computing with the alternating direction method of multipliers (ADMM) optimizer was leveraged. A basic Kalman filter and the Hungarian algorithm features were used in combination with a quantum optimizer to present robust multiple object tracking (MOT) algorithms. This hybrid combination of the classical and quantum model has fastened learning the occludes during frame matching of tracks and detections by generating minimum quantum cost function value. Comparisons with the existing models indicated a significant increase in the primary MOT metric multiple object tracking accuracy (MOTA) by 16% more than the regular YOLOv5-DeepSORT model when using a quantum optimizer. Also, a 6% multiple object tracking precision (MOTP) increases and a 6% identification metrics (F1) score increase were observed using the quantum optimizer with identity switching reduced from 6 to 4. This model is expected to assist transportation officials in improving the accuracy of traffic counts and vehicle classification and reduce the need for regular computer vision software calibration.

A Lightweight Visual Simultaneous Localization and Mapping Method with a High Precision in Dynamic Scenes.

Currently, in most traditional VSLAM (visual SLAM) systems, static assumptions result in a low accuracy in dynamic environments, or result in a new and higher level of accuracy but at the cost of sacrificing the real-time property. In highly dynamic scenes, balancing a high accuracy and a low computational cost has become a pivotal requirement for VSLAM systems. This paper proposes a new VSLAM system, balancing the competitive demands between positioning accuracy and computational complexity and thereby further improving the overall system properties. From the perspective of accuracy, the system applies an improved lightweight target detection network to quickly detect dynamic feature points while extracting feature points at the front end of the system, and only feature points of static targets are applied for frame matching. Meanwhile, the attention mechanism is integrated into the target detection network to continuously and accurately capture dynamic factors to cope with more complex dynamic environments. From the perspective of computational expense, the lightweight network Ghostnet module is applied as the backbone network of the target detection network YOLOv5s, significantly reducing the number of model parameters and improving the overall inference speed of the algorithm. Experimental results on the TUM dynamic dataset indicate that in contrast with the ORB-SLAM3 system, the pose estimation accuracy of the system improved by 84.04%. In contrast with dynamic SLAM systems such as DS-SLAM and DVO SLAM, the system has a significantly improved positioning accuracy. In contrast with other VSLAM algorithms based on deep learning, the system has superior real-time properties while maintaining a similar accuracy index.

Exploring cross-video matching for few-shot video classification via dual-hierarchy graph neural network learning

Few-shot video classification methods aim to recognize a new class with only a few training examples. Distinct from previous few-shot methods, we explicitly consider the relations in cross-video domains and take full advantage of the cross-video frame matching in a hierarchy learning fashion. In this paper, we propose a Dual-Hierarchy Graph Neural Network to realize comprehensive cross-video frame matching and video relation modeling. In the first hierarchy of the graph neural network, we build a Cross-video Frame Matching Graph to extract robust frame-level features via accumulating information across frames sampled from both query and support videos. Then, frame representations are accumulated to obtain the video-level features. In the second hierarchy of the graph neural network, we construct a Video Relation Graph by taking the video-level features as nodes, which can adaptively learn positive relations between query and support videos. We get the predicted label of the query video through the matching learning of edges connecting video nodes. We evaluate the model on three benchmarks: HMDB51, Kinetics, and UCF101. Extensive experiments on benchmark datasets demonstrate that our model significantly improves few-shot video classification across a wide range of competitive baselines and showcases the strong generalization of our framework. The source code and models will be publicly available at https://github.com/JiaMingZhong2621/DHGNN.

SDV-LOAM: Semi-Direct Visual-LiDAR Odometry and Mapping.

Visual-LiDAR odometry and mapping (V-LOAM), which fuses complementary information of a camera and a LiDAR, is an attractive solution for accurate and robust pose estimation and mapping. However, existing systems could suffer nontrivial tracking errors arising from 1) association between 3D LiDAR points and sparse 2D features (i.e., 3D-2D depth association) and 2) obvious drifts in the vertical direction in the 6-degree of freedom (DOF) sweep-to-map optimization. In this paper, we present SDV-LOAM which incorporates a semi-direct visual odometry and an adaptive sweep-to-map LiDAR odometry to effectively avoid the above-mentioned errors and in turn achieve high tracking accuracy. The visual module of our SDV-LOAM directly extracts high-gradient pixels where 3D LiDAR points project on for tracking. To avoid the problem of large scale difference between matching frames in the VO, we design a novel point matching with propagation method to propagate points of a host frame to an intermediate keyframe which is closer to the current frame to reduce scale differences. To reduce the pose estimation drifts in the vertical direction, our LiDAR module employs an adaptive sweep-to-map optimization method which automatically choose to optimize 3 horizontal DOF or 6 full DOF pose according to the richness of geometric constraints in the vertical direction. In addition, we propose a novel sweep reconstruction method which can increase the input frequency of LiDAR point clouds to the same frequency as the camera images, and in turn yield a high frequency output of the LiDAR odometry in theory. Experimental results demonstrate that our SDV-LOAM ranks 8th on the KITTI odometry benchmark which outperforms most LiDAR/visual-LiDAR odometry systems. In addition, our visual module outperforms state-of-the-art visual odometry and our adaptive sweep-to-map optimization can improve the performance of several existing open-sourced LiDAR odometry systems. Moreover, we demonstrate our SDV-LOAM on a custom-built hardware platform in large-scale environments which achieves both a high accuracy and output frequency. We have released the source code of our SDV-LOAM for the development of the community.

Remote sensing target detection algorithm based on perceptual extension and anchor frame best-fit matching

Aiming at the small imaging, complex background and crowded distribution of remote sensing image targets, a remote sensing image target detection algorithm (HQ-S2ANet) based on perceptual extension and anchor frame optimal matching is proposed by using the rotating target detection method S2ANet as a baseline network. Firstly, a cooperative attention(SEA) module is built to capture the relationship among the feature pixels when extending the model perception area to realize the relationship modeling between the target and the global. Secondly, the feature pyramid (FPN) feature fusion process is improved to form a perceptual extension feature pyramid module (HQFPN), which guarantees the low-level detail position information in the down sampling process when extending the perception area to enhance the model information capturing capability. Finally, a high-quality anchor frame is used to detect the target by using the high quality anchor frame as the baseline network. The high-quality anchor frame matching method (MaxIoUAssigner_HQ) is used to control the anchor frame truth value assignment by using a constant factor to ensure the recall rate while preventing the generation of low-quality anchor frame matching. The experimental results show that, under the DOTA dataset, the average accuracy(mAP) of HQ-S2ANet is improved by 3.1%, the parameters number increased by only 2.61M and the average recall(recall) is improved by 1.6% compared with the S2ANet algorithm, and the present algorithm effectively enhances the detection capability of the remote sensing image target.

Neighborhood Manifold Preserving Matching for Visual Place Recognition

This paper proposes an effective and efficient visual place recognition (VPR) approach, which can make full use of semantic, sequential and spatial geometric information in VPR tasks. Rather than previous methods focusing on extracting discriminative and compact features to represent images, we improve VPR performance from candidate selection and geometric verification. To this end, we propose a fast feature matching algorithm for real-time geometrical verification of candidate places, termed neighborhood manifold preserving matching (NMP). To generate high-quality candidates, we design a dynamic sequence partitioning strategy based on NMP, which is able to utilize the inherently sequential nature of spatial data to cluster images into places. By sequence-to-sequence matching, the ambiguity of single frame matching can be reduced. Extensive experiments demonstrate that our VPR method outperforms the current state-of-the-art methods, and our geometric verification and candidate selection strategies are easily plugged into other VPR pipelines to significantly improve the VPR performance.

ViSTORY: Effective Video Storyboard Generation with Visual Keyframes using Discrete Cosine Transform

Nowadays, multimedia content utility is increasing rapidly. Multimedia search engines like Google, Yahoo, Bing, etc., are available just a click away to all users. There are around 500-600 hours of video uploads per unit of time to the Internet. So, among other types of multimedia content, such as text and images, video is the most complicated content for indexing, browsing, and retrieval. Videos give more scope for implementation because of their complex and unstructured nature. This paper proposes a new method of video storyboard generation with keyframe extraction in spatial and frequency domains using Discrete Cosine Transform (DCT) for video summarization. It discusses the empirical appraisal of video visual keyframes with t-test analysis in comparison with spatial and frequency domains, resulting in a quick response to customer demands by providing static storyboards. This study proposes a new performance measure as matching frames by analyzing input videos and the standard benchmarks video dataset, i.e., Open Video Project (OVP) and SumMe. Among all the keyframe extraction techniques, DCT gives higher accuracy and a better matching rate.

3D LiDAR Point Cloud Registration Based on IMU Preintegration in Coal Mine Roadways

Point cloud registration is the basis of real-time environment perception for robots using 3D LiDAR and is also the key to robust simultaneous localization and mapping (SLAM) for robots. Because LiDAR point clouds are characterized by local sparseness and motion distortion, the point cloud features of coal mine roadway environments show a weak texture and degradation. Therefore, for these environments, the traditional point cloud registration method to register directly will lead to problems, such as a decline in registration accuracy, z-axis drift, and map ghosting. To solve the above problems, we propose a point cloud registration method based on IMU preintegration with the sensor characteristics of LiDAR and IMU. The system framework of this method mainly consists of four modules: IMU preintegration, point cloud preprocessing, point cloud frame matching and point cloud registration. First, IMU sensor data are introduced, and IMU linear interpolation is used to correct the motion distortion in LiDAR scanning, and the IMU preintegration error function is constructed. Second, the point cloud segmentation is performed using the ground segmentation method of RANSAC to provide additional ground constraints for the z-axis displacement and to remove the unstable flawed points from the point cloud. On this basis, the LiDAR point cloud registration error function is constructed by extracting the feature corner points and feature plane points. Finally, the Gaussian Newton solution is used to optimize the constraint relationship between the LiDAR odometry frames to minimize the error function, complete the LiDAR point cloud registration and better estimate the position and pose of the mobile robot. The experimental results show that compared with the traditional point cloud registration method, the proposed method has a higher point cloud registration accuracy, success rate and computational efficiency. The LiDAR odometry constructed using this method can better reflect the authenticity of the robot trajectory and has higher trajectory accuracy and smaller absolute position and pose error.

A Framework with Elaborate Feature Engineering for Matching Face Trajectory and Mobile Phone Trajectory

The advances in positioning techniques have generated massive trajectory data that represent the mobility of objects, e.g., pedestrians and mobile phones. It is important to integrate information from various modalities for subject tracking or trajectory prediction. Our work attempts to match a face with a corresponding mobile phone based on the heterogeneous trajectories. We propose a framework which associates face trajectories with their corresponding mobile phone trajectories using elaborate and explainable features. Our solution includes two stages: an initial selection of phone trajectories for a given face trajectory and a subsequent identification of which phone trajectory provides an exact match to the given face trajectory. In the first stage, we propose a Multi-Granularity SpatioTemporal Window Searching (MGSTWS) algorithm to select candidate mobile phones that are spatiotemporally close to a given face. In the second stage, we first build an affinity function to score face–phone trajectory point pairs selected by MGSTWS, and construct a feature set for building a face–phone trajectory matching determinator which determines whether a phone trajectory matches a given face trajectory. Our well-designed features guarantee high model simplicity and interpretability. Among the feature set, BGST intelligently leverages disassociation between a face and a mobile phone even if there exists some co-occurence for a non-matching face–phone pair. Based on the feature set, we represent the face–phone matching task as a binary classification problem and train various models, among which LightGBM achieves the best performance with 92.6% accuracy, 96.9% precision, 88.5% recall, and 92.5% F1. Our framework is acceptable in most application scenarios and may benefit some downstream tasks. The preselection-refining architecture of our framework guarantees the applicability and efficiency of the face–phone trajectory pair matching frame.

Spectral CT reconstruction via low-rank representation and structure preserving regularization

Objective: With the development of computed tomography (CT) imaging technology, it is possible to acquire multi-energy data by spectral CT. Being different from conventional CT, the X-ray energy spectrum of spectral CT is cut into several narrow bins which leads to the result that only a part of photon can be collected in each individual energy channel.This can severely degrade the image qualities. To address this problem, we propose a spectral CT reconstruction algorithm based on low-rank representation and structure preserving regularization in this paper. Approach: To make full use of the prior knowledge about both the inter-channel correlation and the sparsity in gradient domain of inner-channel data, this paper combines a low-rank correlation descriptor with a structure extraction operator as priori regularization terms for spectral CT reconstruction. Furthermore, a split-Bregman based iterative algorithm is developed to solve the reconstruction model. Finally, we propose a multi-channel adaptive parameters generation strategy according to CT values of each individual energy channel. Main results: Experimental results on numerical simulations and real mouse data indicate that the proposed algorithm achieves higher accuracy on both reconstruction and material decomposition than the methods based on simultaneous algebraic reconstruction technique (SART), total variation minimization (TVM), total variation with low-rank (LRTV), and spatial-spectral cube matching frame (SSCMF). Compared with SART, our algorithm improves the feature similarity (FSIM) by 40.4% on average for numerical simulation reconstruction, whereas TVM, LRTV, and SSCMF correspond to 26.1%, 28.2%, and 29.5%, respectively. Significance: We outline a multi-channel reconstruction algorithm tailored for spectral CT. The qualitative and quantitative comparisons present a significant improvement of image quality, indicating its promising potential in spectral CT imaging.

Video segmentation via target objectness constraint and multi-head soft aggregation

Objectness is a notion of how a generic object looks like. Recently, matching-based methods have yielded impressive video object segmentation results. However, these methods suffer from mis-segmentation of distractors that are distant from the targets due to the lack of objectness constraint. The segmentation mask has a very low objectness when both the correct object and the distant distractor are considered as a target. Position information is also ignored in matching-based methods. In this paper, a video object segmentation method based on target objectness constraint and multi-head soft aggregation is proposed. The target objectness constraint is introduced by forcing the network to learn to predict object center and pixel-to-object boundary distances. The problem of mis-segmentation of objects or regions with similar appearance at a distance is alleviated. Besides, the target position consistency constraint is strengthened by introducing the target position information in the feature matching of adjacent frames. Furthermore, an instance attention mechanism is implemented using multi-head soft aggregation to re-calibrate channel importance. Multi-head soft aggregation enables better utilization of target feature information than global average pooling. Comprehensive experiments demonstrate that the proposed method obtains a competitive performance, surpassing many other existing methods.

Robot Target Localization and Visual Navigation Based on Neural Network

Deep neural network has been widely used in image analysis, speech recognition, target detection, semantic segmentation, face recognition, automatic driving, and other fields due to its excellent algorithm performance. In this research, the neural network is mainly used to simulate robot target localization and visual navigation. Firstly, the data set based on ICP algorithm is constructed, and then, the navigation and positioning of robot are simulated by using neural network. The results show that the combination of ICP algorithm and direct method can effectively solve the problem of pose loss and expand the indoor range of data collection. The method using artificial neural network is effective and has better robustness and stability than the method based on frame matching. From the perspective of vision, positioning and navigation based on a single RGB image are feasible, and the processing time is relatively short, which can meet the requirements of real time and has higher practical value in general indoor scenes.

Towards real-time 3D visualization with multiview RGB camera array.

A real-time 3D visualization (RT3DV) system using a multiview RGB camera array is presented. RT3DV can process multiple synchronized video streams to produce a stereo video of a dynamic scene from a chosen view angle. Its design objective is to facilitate 3D visualization at the video frame rate with good viewing quality. To facilitate 3D vision, RT3DV estimates and updates a surface mesh model formed directly from a set of sparse key points. The 3D coordinates of these key points are estimated from matching 2D key points across multiview video streams with the aid of epipolar geometry and trifocal tensor. To capture the scene dynamics, 2D key points in individual video streams are tracked between successive frames. We implemented a proof of concept RT3DV system tasked to process five synchronous video streams acquired by an RGB camera array. It achieves a processing speed of 44 milliseconds per frame and a peak signal to noise ratio (PSNR) of 15.9 dB from a viewpoint coinciding with a reference view. As a comparison, an image-based MVS algorithm utilizing a dense point cloud model and frame by frame feature detection and matching will require 7 seconds to render a frame and yield a reference view PSNR of 16.3 dB.