Bound and Conquer: Improving Triangulation by Enforcing Consistency

We study the accuracy of triangulation in multi-camera systems with respect to the number of cameras. We show that, under certain conditions, the optimal achievable reconstruction error decays quadratically as more cameras are added to the system. Furthermore, we analyse the error decay-rate of major state-of-the-art algorithms with respect to the number of cameras. To this end, we introduce the notion of consistency for triangulation, and show that consistent reconstruction algorithms achieve the optimal quadratic decay, which is asymptotically faster than some other methods. Finally, we present simulations results supporting our findings. Our simulations have been implemented in MATLAB and the resulting code is available in the supplementary material.Comment: 8 pages, 4 figures, Submitted to IEEE Transactions on Pattern Analysis and Machine Intelligenc

Quadtree Structured Approximation Algorithms

The success of many image restoration algorithms is often due to their ability to sparsely describe the original signal. Many sparse promoting transforms exist, including wavelets, the so called ‘lets’ family of transforms and more recent non-local learned transforms. The first part of this thesis reviews sparse approximation theory, particularly in relation to 2-D piecewise polynomial signals. We also show the connection between this theory and current state of the art algorithms that cover the following image restoration and enhancement applications: denoising, deconvolution, interpolation and multi-view super resolution. In [63], Shukla et al. proposed a compression algorithm, based on a sparse quadtree decomposition model, which could optimally represent piecewise polynomial images. In the second part of this thesis we adapt this model to image restoration by changing the rate-distortion penalty to a description-length penalty. Moreover, one of the major drawbacks of this type of approximation is the computational complexity required to find a suitable subspace for each node of the quadtree. We address this issue by searching for a suitable subspace much more efficiently using the mathematics of updating matrix factorisations. Novel algorithms are developed to tackle the four problems previously mentioned. Simulation results indicate that we beat state of the art results when the original signal is in the model (e.g. depth images) and are competitive for natural images when the degradation is high.Open Acces

Encoding and Decoding Mixed Bandlimited Signals using Spiking Integrate-and-Fire Neurons

Conventional sampling focuses on encoding and decoding bandlimited signals by recording signal amplitudes at known time points. Alternately, sampling can be approached using biologically-inspired schemes. Among these are integrate-and-fire time encoding machines (IF-TEMs). They behave like simplified versions of spiking neurons and encode their input using spike times rather than amplitudes. Moreover, when multiple of these neurons jointly process a set of mixed signals, they form one layer in a feedforward spiking neural network. In this paper, we investigate the encoding and decoding potential of such a layer. We propose a setup to sample a set of bandlimited signals, by mixing them and sampling the result using different IF-TEMs. We provide conditions for perfect recovery of the set of signals from the samples in the noiseless case, and suggest an algorithm to perform the reconstruction.Comment: To appear in ICASSP 2020. Code is available at https://github.com/karenadam/Multi-Channel-Time-Encodin

Sampling and Reconstruction of Bandlimited Signals with Multi-Channel Time Encoding

Sampling is classically performed by recording the amplitude of the input at given time instants; however, sampling and reconstructing a signal using multiple devices in parallel becomes a more difficult problem to solve when the devices have an unknown shift in their clocks. Alternatively, one can record the times at which a signal (or its integral) crosses given thresholds. This can model integrate-and-fire neurons, for example, and has been studied by Lazar and Tóth under the name of "Time Encoding Machines". This sampling method is closer to what is found in nature. In this paper, we show that, when using time encoding machines, reconstruction from multiple channels has a more intuitive solution, and does not require the knowledge of the shifts between machines. We show that, if single-channel time encoding can sample and perfectly reconstruct a 2Ω-bandlimited signal, then M-channel time encoding can sample and perfectly reconstruct a signal with M times the bandwidth. Furthermore, we present an algorithm to perform this reconstruction and prove that it converges to the correct unique solution, in the noiseless case, without knowledge of the relative shifts between the machines. This is quite unlike classical multi-channel sampling, where unknown shifts between sampling devices pose a problem for perfect reconstruction

Lippmann Photography: A Signal Processing Perspective

Lippmann (or interferential) photography is the first and only analog photography method that can capture the full color spectrum of a scene in a single take. This technique, invented more than a hundred years ago, records the colors by creating interference patterns inside the photosensitive plate. Lippmann photography provides a great opportunity to demonstrate several fundamental concepts in signal processing. Conversely, a signal processing perspective enables us to shed new light on the technique. In our previous work, we analyzed the spectra of historical Lippmann plates using our own mathematical model. In this paper, we provide the derivation of this model and validate it experimentally. We highlight new behaviors whose explanations were ignored by physicists to date. In particular, we show that the spectra generated by Lippmann plates are in fact distorted versions of the original spectra. We also show that these distortions are influenced by the thickness of the plate and the reflection coefficient of the reflective medium used in the capture of the photographs. We verify our model with extensive experiments on our own Lippmann photographs.Comment: 12 pages, 18 figures, to be published in Transactions in Signal Processin

Blind as a bat: audible echolocation on small robots

For safe and efficient operation, mobile robots need to perceive their environment, and in particular, perform tasks such as obstacle detection, localization, and mapping. Although robots are often equipped with microphones and speakers, the audio modality is rarely used for these tasks. Compared to the localization of sound sources, for which many practical solutions exist, algorithms for active echolocation are less developed and often rely on hardware requirements that are out of reach for small robots. We propose an end-to-end pipeline for sound-based localization and mapping that is targeted at, but not limited to, robots equipped with only simple buzzers and low-end microphones. The method is model-based, runs in real time, and requires no prior calibration or training. We successfully test the algorithm on the e-puck robot with its integrated audio hardware, and on the Crazyflie drone, for which we design a reproducible audio extension deck. We achieve centimeter-level wall localization on both platforms when the robots are static during the measurement process. Even in the more challenging setting of a flying drone, we can successfully localize walls, which we demonstrate in a proof-of-concept multi-wall localization and mapping demo.Comment: 8 pages, 10 figures, published in IEEE Robotics and Automation Letter

Accurate image registration using approximate Strang-Fix and an application in super-resolution

Accurate registration is critical to most multi-channel signal processing setups, including image super-resolution. In this paper we use modern sampling theory to propose a new robust registration algorithm that works with arbitrary sampling kernels. The algorithm accurately approximates continuous-time Fourier coefficients from discrete-time samples. These Fourier coefficients can be used to construct an over-complete system, which can be solved to approximate translational motion at around 100-th of a pixel accuracy. The over-completeness of the system provides robustness to noise and other modelling errors. For example we show an image registration result for images that have slightly different backgrounds, due to a viewpoint translation. Our previous registration techniques, based on similar sampling theory, can provide a similar accuracy but not under these more general conditions. Simulation results demonstrate the accuracy and robustness of the approach and demonstrate the potential applications in image super-resolution

Bound and Conquer: Improving Triangulation by Enforcing Consistency

We study the accuracy of triangulation in multi-camera systems with respect to the number of cameras. We show that, under certain conditions, the optimal achievable reconstruction error decays quadratically as more cameras are added to the system. Furthermore, we analyse the error decay-rate of major state-of-the-art algorithms with respect to the number of cameras. To this end, we introduce the notion of consistency for triangulation, and show that consistent reconstruction algorithms achieve the optimal quadratic decay, which is asymptotically faster than some other methods. Finally, we present simulations results supporting our findings. Our simulations have been implemented in MATLAB and the resulting code is available in the supplementary material

SHAPE: Linear-Time Camera Pose Estimation With Quadratic Error-Decay

We propose a novel camera pose estimation or perspective-n-point (PnP) algorithm, based on the idea of consistency regions and half-space intersections. Our algorithm has linear time-complexity and a squared reconstruction error that decreases at least quadratically, as the number of feature point correspondences increase. Inspired by ideas from triangulation and frame quantisation theory, we define consistent reconstruction and then present SHAPE, our proposed consistent pose estimation algorithm. We compare this algorithm with state-of-the-art pose estimation techniques in terms of accuracy and error decay rate. The experimental results verify our hypothesis on the optimal worst-case quadratic decay and demonstrate its promising performance compared to other approaches