Multi-Scale 3D Scene Flow from Binocular Stereo Sequences

Scene flow methods estimate the three-dimensional motion field for points in the world, using multi-camera video data. Such methods combine multi-view reconstruction with motion estimation. This paper describes an alternative formulation for dense scene flow estimation that provides reliable results using only two cameras by fusing stereo and optical flow estimation into a single coherent framework. Internally, the proposed algorithm generates probability distributions for optical flow and disparity. Taking into account the uncertainty in the intermediate stages allows for more reliable estimation of the 3D scene flow than previous methods allow. To handle the aperture problems inherent in the estimation of optical flow and disparity, a multi-scale method along with a novel region-based technique is used within a regularized solution. This combined approach both preserves discontinuities and prevents over-regularization – two problems commonly associated with the basic multi-scale approaches. Experiments with synthetic and real test data demonstrate the strength of the proposed approach.National Science Foundation (CNS-0202067, IIS-0208876); Office of Naval Research (N00014-03-1-0108

A statistical model to describe invariants extracted from a 3-D quadric surface patch and its applications in region-based recognition

A statistical model, describing noise-disturbed invariants extracted from a surface patch of a range image, has been developed and applied to region based pose estimation and classification of 3D quadrics. The Mahalanobis distance, which yields the same results as a Baysian classifier, is used for the classification of the surface patches. The results, compared with the Euclidean distance, appear to be much more reliabl

Finding lumbar vertebrae by evidence gathering

Low back pain is a very common problem and lumbar segmental instability is one of the causes. It is essential to investigate lumbar spine movement in order to understand instability better and as an aid to diagnosis. Digital videofluoroscopy (DVF) provides a method of quantifying the motion of individual vertebra. In this paper, we apply a new version of the Hough transform (HT) to locate the lumbar vertebra automatically in DVF image sequences. At present, this algorithm has been applied to a calibration model and to the vertebra L3 in DVF images, and has shown to provide satisfactory results. Further work will concentrate on reducing the computational time for realtime application, on developing a spatiotemporal sequences method and on determining the spinal kinematics based on the extracted parameters

Curve Reconstruction via the Global Statistics of Natural Curves

Reconstructing the missing parts of a curve has been the subject of much computational research, with applications in image inpainting, object synthesis, etc. Different approaches for solving that problem are typically based on processes that seek visually pleasing or perceptually plausible completions. In this work we focus on reconstructing the underlying physically likely shape by utilizing the global statistics of natural curves. More specifically, we develop a reconstruction model that seeks the mean physical curve for a given inducer configuration. This simple model is both straightforward to compute and it is receptive to diverse additional information, but it requires enough samples for all curve configurations, a practical requirement that limits its effective utilization. To address this practical issue we explore and exploit statistical geometrical properties of natural curves, and in particular, we show that in many cases the mean curve is scale invariant and oftentimes it is extensible. This, in turn, allows to boost the number of examples and thus the robustness of the statistics and its applicability. The reconstruction results are not only more physically plausible but they also lead to important insights on the reconstruction problem, including an elegant explanation why certain inducer configurations are more likely to yield consistent perceptual completions than others.Comment: CVPR versio

A Framework for Symmetric Part Detection in Cluttered Scenes

The role of symmetry in computer vision has waxed and waned in importance during the evolution of the field from its earliest days. At first figuring prominently in support of bottom-up indexing, it fell out of favor as shape gave way to appearance and recognition gave way to detection. With a strong prior in the form of a target object, the role of the weaker priors offered by perceptual grouping was greatly diminished. However, as the field returns to the problem of recognition from a large database, the bottom-up recovery of the parts that make up the objects in a cluttered scene is critical for their recognition. The medial axis community has long exploited the ubiquitous regularity of symmetry as a basis for the decomposition of a closed contour into medial parts. However, today's recognition systems are faced with cluttered scenes, and the assumption that a closed contour exists, i.e. that figure-ground segmentation has been solved, renders much of the medial axis community's work inapplicable. In this article, we review a computational framework, previously reported in Lee et al. (2013), Levinshtein et al. (2009, 2013), that bridges the representation power of the medial axis and the need to recover and group an object's parts in a cluttered scene. Our framework is rooted in the idea that a maximally inscribed disc, the building block of a medial axis, can be modeled as a compact superpixel in the image. We evaluate the method on images of cluttered scenes.Comment: 10 pages, 8 figure

3D Well-composed Polyhedral Complexes

A binary three-dimensional (3D) image $I$ is well-composed if the boundary surface of its continuous analog is a 2D manifold. Since 3D images are not often well-composed, there are several voxel-based methods ("repairing" algorithms) for turning them into well-composed ones but these methods either do not guarantee the topological equivalence between the original image and its corresponding well-composed one or involve sub-sampling the whole image. In this paper, we present a method to locally "repair" the cubical complex $Q(I)$ (embedded in $\mathbb{R}^3$) associated to $I$ to obtain a polyhedral complex $P(I)$ homotopy equivalent to $Q(I)$ such that the boundary of every connected component of $P(I)$ is a 2D manifold. The reparation is performed via a new codification system for $P(I)$ under the form of a 3D grayscale image that allows an efficient access to cells and their faces

Shape-from-shading using the heat equation

This paper offers two new directions to shape-from-shading, namely the use of the heat equation to smooth the field of surface normals and the recovery of surface height using a low-dimensional embedding. Turning our attention to the first of these contributions, we pose the problem of surface normal recovery as that of solving the steady state heat equation subject to the hard constraint that Lambert's law is satisfied. We perform our analysis on a plane perpendicular to the light source direction, where the z component of the surface normal is equal to the normalized image brightness. The x - y or azimuthal component of the surface normal is found by computing the gradient of a scalar field that evolves with time subject to the heat equation. We solve the heat equation for the scalar potential and, hence, recover the azimuthal component of the surface normal from the average image brightness, making use of a simple finite difference method. The second contribution is to pose the problem of recovering the surface height function as that of embedding the field of surface normals on a manifold so as to preserve the pattern of surface height differences and the lattice footprint of the surface normals. We experiment with the resulting method on a variety of real-world image data, where it produces qualitatively good reconstructed surfaces