Combining stereo vision and deep learning techniques for object detection in the 3D world

The objective of this project is to develop a deep learning algorithm so that, together with the use of a stereo camera, it is capable of detecting a person and locating them in the 3D world. The person’s location in the x-y plane is obtained from the object detector model, which consists of a convolutional neural network, specifically the U-Net, that outputs heat maps. On the other hand, the person’s location in terms of depth (z) is obtained from the depth map given by the ZED stereo camera. The document begins by presenting the techniques used today for object detection (using heat maps). This is followed by an explanation of the key theory behind neural networks; from the simplest neural networks to the convolutional neural networks. To finish with the theoretical part of the project, the hardware and software equipment used is presented. To develop and implement the deep learning algorithm, the first thing that is done is the dataset creation. In order to do that, different images have been selected and prepared to enter the network and train the model (using PyTorch) adapted to the needs of this task. Eight different combination of parameters have been used and eight different models have been obtained. Previously, the metric that will be used to evaluate and compare the different models obtained and choose the one that best suits this application, is defined. Once the final model is chosen, it is stored in the Jetson AGX Xavier and tested using ZED camera images. In this case, the model is verified to being accurate detecting people and the cases where the algorithm fails are identified. The next step of this project consists of applying stereo vision techniques to extract the distance at which the detected person is. A ROS node is created to communicate the ZED camera with the deep learning algorithm. Once the node is ready, it is executed to test the whole program in real time. The ZED color images are passed through the network to detect the person (x, y), and from the ZED depth map, the distance (z) is obtained. From the results obtained, both for the person detection and for the distance extraction, the existing errors in the designed algorithm are identified, and improvements are made by applying filters and code modifications. Thanks to the improvements applied to the results, a sufficient precise algorithm is obtained, capable of detecting a person within a distance range in real tim

Data-driven visual quality estimation using machine learning

Heutzutage werden viele visuelle Inhalte erstellt und sind zugänglich, was auf Verbesserungen der Technologie wie Smartphones und das Internet zurückzuführen ist. Es ist daher notwendig, die von den Nutzern wahrgenommene Qualität zu bewerten, um das Erlebnis weiter zu verbessern. Allerdings sind nur wenige der aktuellen Qualitätsmodelle speziell für höhere Auflösungen konzipiert, sagen mehr als nur den Mean Opinion Score vorher oder nutzen maschinelles Lernen. Ein Ziel dieser Arbeit ist es, solche maschinellen Modelle für höhere Auflösungen mit verschiedenen Datensätzen zu trainieren und zu evaluieren. Als Erstes wird eine objektive Analyse der Bildqualität bei höheren Auflösungen durchgeführt. Die Bilder wurden mit Video-Encodern komprimiert, hierbei weist AV1 die beste Qualität und Kompression auf. Anschließend werden die Ergebnisse eines Crowd-Sourcing-Tests mit einem Labortest bezüglich Bildqualität verglichen. Weiterhin werden auf Deep Learning basierende Modelle für die Vorhersage von Bild- und Videoqualität beschrieben. Das auf Deep Learning basierende Modell ist aufgrund der benötigten Ressourcen für die Vorhersage der Videoqualität in der Praxis nicht anwendbar. Aus diesem Grund werden pixelbasierte Videoqualitätsmodelle vorgeschlagen und ausgewertet, die aussagekräftige Features verwenden, welche Bild- und Bewegungsaspekte abdecken. Diese Modelle können zur Vorhersage von Mean Opinion Scores für Videos oder sogar für anderer Werte im Zusammenhang mit der Videoqualität verwendet werden, wie z.B. einer Bewertungsverteilung. Die vorgestellte Modellarchitektur kann auf andere Videoprobleme angewandt werden, wie z.B. Videoklassifizierung, Vorhersage der Qualität von Spielevideos, Klassifikation von Spielegenres oder der Klassifikation von Kodierungsparametern. Ein wichtiger Aspekt ist auch die Verarbeitungszeit solcher Modelle. Daher wird ein allgemeiner Ansatz zur Beschleunigung von State-of-the-Art-Videoqualitätsmodellen vorgestellt, der zeigt, dass ein erheblicher Teil der Verarbeitungszeit eingespart werden kann, während eine ähnliche Vorhersagegenauigkeit erhalten bleibt. Die Modelle sind als Open Source veröffentlicht, so dass die entwickelten Frameworks für weitere Forschungsarbeiten genutzt werden können. Außerdem können die vorgestellten Ansätze als Bausteine für neuere Medienformate verwendet werden.Today a lot of visual content is accessible and produced, due to improvements in technology such as smartphones and the internet. This results in a need to assess the quality perceived by users to further improve the experience. However, only a few of the state-of-the-art quality models are specifically designed for higher resolutions, predict more than mean opinion score, or use machine learning. One goal of the thesis is to train and evaluate such machine learning models of higher resolutions with several datasets. At first, an objective evaluation of image quality in case of higher resolutions is performed. The images are compressed using video encoders, and it is shown that AV1 is best considering quality and compression. This evaluation is followed by the analysis of a crowdsourcing test in comparison with a lab test investigating image quality. Afterward, deep learning-based models for image quality prediction and an extension for video quality are proposed. However, the deep learning-based video quality model is not practically usable because of performance constrains. For this reason, pixel-based video quality models using well-motivated features covering image and motion aspects are proposed and evaluated. These models can be used to predict mean opinion scores for videos, or even to predict other video quality-related information, such as a rating distributions. The introduced model architecture can be applied to other video problems, such as video classification, gaming video quality prediction, gaming genre classification or encoding parameter estimation. Furthermore, one important aspect is the processing time of such models. Hence, a generic approach to speed up state-of-the-art video quality models is introduced, which shows that a significant amount of processing time can be saved, while achieving similar prediction accuracy. The models have been made publicly available as open source so that the developed frameworks can be used for further research. Moreover, the presented approaches may be usable as building blocks for newer media formats

Deep Learning based Virtual Point Tracking for Real-Time Target-less Dynamic Displacement Measurement in Railway Applications

In the application of computer-vision based displacement measurement, an optical target is usually required to prove the reference. In the case that the optical target cannot be attached to the measuring objective, edge detection, feature matching and template matching are the most common approaches in target-less photogrammetry. However, their performance significantly relies on parameter settings. This becomes problematic in dynamic scenes where complicated background texture exists and varies over time. To tackle this issue, we propose virtual point tracking for real-time target-less dynamic displacement measurement, incorporating deep learning techniques and domain knowledge. Our approach consists of three steps: 1) automatic calibration for detection of region of interest; 2) virtual point detection for each video frame using deep convolutional neural network; 3) domain-knowledge based rule engine for point tracking in adjacent frames. The proposed approach can be executed on an edge computer in a real-time manner (i.e. over 30 frames per second). We demonstrate our approach for a railway application, where the lateral displacement of the wheel on the rail is measured during operation. We also implement an algorithm using template matching and line detection as the baseline for comparison. The numerical experiments have been performed to evaluate the performance and the latency of our approach in the harsh railway environment with noisy and varying backgrounds

Algorithms and Hardware Co-Design of HEVC Intra Encoders

Digital video is becoming extremely important nowadays and its importance has greatly increased in the last two decades. Due to the rapid development of information and communication technologies, the demand for Ultra-High Definition (UHD) video applications is becoming stronger. However, the most prevalent video compression standard H.264/AVC released in 2003 is inefficient when it comes to UHD videos. The increasing desire for superior compression efficiency to H.264/AVC leads to the standardization of High Efficiency Video Coding (HEVC). Compared with the H.264/AVC standard, HEVC offers a double compression ratio at the same level of video quality or substantial improvement of video quality at the same video bitrate. Yet, HE-VC/H.265 possesses superior compression efficiency, its complexity is several times more than H.264/AVC, impeding its high throughput implementation. Currently, most of the researchers have focused merely on algorithm level adaptations of HEVC/H.265 standard to reduce computational intensity without considering the hardware feasibility. What’s more, the exploration of efficient hardware architecture design is not exhaustive. Only a few research works have been conducted to explore efficient hardware architectures of HEVC/H.265 standard. In this dissertation, we investigate efficient algorithm adaptations and hardware architecture design of HEVC intra encoders. We also explore the deep learning approach in mode prediction. From the algorithm point of view, we propose three efficient hardware-oriented algorithm adaptations, including mode reduction, fast coding unit (CU) cost estimation, and group-based CABAC (context-adaptive binary arithmetic coding) rate estimation. Mode reduction aims to reduce mode candidates of each prediction unit (PU) in the rate-distortion optimization (RDO) process, which is both computation-intensive and time-consuming. Fast CU cost estimation is applied to reduce the complexity in rate-distortion (RD) calculation of each CU. Group-based CABAC rate estimation is proposed to parallelize syntax elements processing to greatly improve rate estimation throughput. From the hardware design perspective, a fully parallel hardware architecture of HEVC intra encoder is developed to sustain UHD video compression at 4K@30fps. The fully parallel architecture introduces four prediction engines (PE) and each PE performs the full cycle of mode prediction, transform, quantization, inverse quantization, inverse transform, reconstruction, rate-distortion estimation independently. PU blocks with different PU sizes will be processed by the different prediction engines (PE) simultaneously. Also, an efficient hardware implementation of a group-based CABAC rate estimator is incorporated into the proposed HEVC intra encoder for accurate and high-throughput rate estimation. To take advantage of the deep learning approach, we also propose a fully connected layer based neural network (FCLNN) mode preselection scheme to reduce the number of RDO modes of luma prediction blocks. All angular prediction modes are classified into 7 prediction groups. Each group contains 3-5 prediction modes that exhibit a similar prediction angle. A rough angle detection algorithm is designed to determine the prediction direction of the current block, then a small scale FCLNN is exploited to refine the mode prediction

Image and Video Forensics

Nowadays, images and videos have become the main modalities of information being exchanged in everyday life, and their pervasiveness has led the image forensics community to question their reliability, integrity, confidentiality, and security. Multimedia contents are generated in many different ways through the use of consumer electronics and high-quality digital imaging devices, such as smartphones, digital cameras, tablets, and wearable and IoT devices. The ever-increasing convenience of image acquisition has facilitated instant distribution and sharing of digital images on digital social platforms, determining a great amount of exchange data. Moreover, the pervasiveness of powerful image editing tools has allowed the manipulation of digital images for malicious or criminal ends, up to the creation of synthesized images and videos with the use of deep learning techniques. In response to these threats, the multimedia forensics community has produced major research efforts regarding the identification of the source and the detection of manipulation. In all cases (e.g., forensic investigations, fake news debunking, information warfare, and cyberattacks) where images and videos serve as critical evidence, forensic technologies that help to determine the origin, authenticity, and integrity of multimedia content can become essential tools. This book aims to collect a diverse and complementary set of articles that demonstrate new developments and applications in image and video forensics to tackle new and serious challenges to ensure media authenticity

LOCATOR: Low-power ORB accelerator for autonomous cars

Simultaneous Localization And Mapping (SLAM) is crucial for autonomous navigation. ORB-SLAM is a state-of-the-art Visual SLAM system based on cameras used for self-driving cars. In this paper, we propose a high-performance, energy-efficient, and functionally accurate hardware accelerator for ORB-SLAM, focusing on its most time-consuming stage: Oriented FAST and Rotated BRIEF (ORB) feature extraction. The Rotated BRIEF (rBRIEF) descriptor generation is the main bottleneck in ORB computation, as it exhibits highly irregular access patterns to local on-chip memories causing a high-performance penalty due to bank conflicts. We introduce a technique to find an optimal static pattern to perform parallel accesses to banks based on a genetic algorithm. Furthermore, we propose the combination of an rBRIEF pixel duplication cache, selective ports replication, and pipelining to reduce latency without compromising cost. The accelerator achieves a reduction in energy consumption of 14597× and 9609×, with respect to high-end CPU and GPU platforms, respectively.This work has been supported by the CoCoUnit ERC Advanced Grant of the EU’s Horizon 2020 program (grant No 833057), the Spanish State Research Agency (MCIN/AEI) under grant PID2020- 113172RB-I00, the ICREA Academia program and the FPU grant FPU18/04413Peer ReviewedPostprint (published version