Robust 3-Dimensional Object Recognition using Stereo Vision and Geometric Hashing

We propose a technique that combines geometric hashing with stereo vision. The idea is to use the robustness of geometric hashing to spurious data to overcome the correspondence problem, while the stereo vision setup enables direct model matching using the 3-D object models. Furthermore, because the matching technique relies on the relative positions of local features, we should be able to perform robust recognition even with partially occluded objects. We tested this approach with simple geometric objects using a corner point detector. We successfully recognized objects even in scenes where the objects were partially occluded by other objects. For complicated scenes, however, the limited set of model features and required amount of computing time, sometimes became a proble

Astrometry.net: Blind astrometric calibration of arbitrary astronomical images

We have built a reliable and robust system that takes as input an astronomical image, and returns as output the pointing, scale, and orientation of that image (the astrometric calibration or WCS information). The system requires no first guess, and works with the information in the image pixels alone; that is, the problem is a generalization of the "lost in space" problem in which nothing--not even the image scale--is known. After robust source detection is performed in the input image, asterisms (sets of four or five stars) are geometrically hashed and compared to pre-indexed hashes to generate hypotheses about the astrometric calibration. A hypothesis is only accepted as true if it passes a Bayesian decision theory test against a background hypothesis. With indices built from the USNO-B Catalog and designed for uniformity of coverage and redundancy, the success rate is 99.9% for contemporary near-ultraviolet and visual imaging survey data, with no false positives. The failure rate is consistent with the incompleteness of the USNO-B Catalog; augmentation with indices built from the 2MASS Catalog brings the completeness to 100% with no false positives. We are using this system to generate consistent and standards-compliant meta-data for digital and digitized imaging from plate repositories, automated observatories, individual scientific investigators, and hobbyists. This is the first step in a program of making it possible to trust calibration meta-data for astronomical data of arbitrary provenance.Comment: submitted to A

Bayesian matching of unlabelled point sets using Procrustes and configuration models

The problem of matching unlabelled point sets using Bayesian inference is considered. Two recently proposed models for the likelihood are compared, based on the Procrustes size-and-shape and the full configuration. Bayesian inference is carried out for matching point sets using Markov chain Monte Carlo simulation. An improvement to the existing Procrustes algorithm is proposed which improves convergence rates, using occasional large jumps in the burn-in period. The Procrustes and configuration methods are compared in a simulation study and using real data, where it is of interest to estimate the strengths of matches between protein binding sites. The performance of both methods is generally quite similar, and a connection between the two models is made using a Laplace approximation

Visual localisation of electricity pylons for power line inspection

Inspection of power infrastructure is a regular maintenance event. To date the inspection process has mostly been done manually, but there is growing interest in automating the process. The automation of the inspection process will require an accurate means for the localisation of the power infrastructure components. In this research, we studied the visual localisation of a pylon. The pylon is the most prominent component of the power infrastructure and can provide a context for the inspection of the other components. Point-based descriptors tend to perform poorly on texture less objects such as pylons, therefore we explored the localisation using convolutional neural networks and geometric constraints. The crossings of the pylon, or vertices, are salient points on the pylon. These vertices aid with recognition and pose estimation of the pylon. We were successfully able to use a convolutional neural network for the detection of the vertices. A model-based technique, geometric hashing, was used to establish the correspondence between the stored pylon model and the scene object. We showed the effectiveness of the method as a voting technique to determine the pose estimation from a single image. In a localisation framework, the method serves as the initialization of the tracking process. We were able to incorporate an extended Kalman filter for subsequent incremental tracking of the camera relative to the pylon. Also, we demonstrated an alternative tracking using heatmap details from the vertex detection. We successfully demonstrated the proposed algorithms and evaluated their effectiveness using a model pylon we built in the laboratory. Furthermore, we revalidated the results on a real-world outdoor electricity pylon. Our experiments illustrate that model-based techniques can be deployed as part of the navigation aspect of a robot

Computation of protein geometry and its applications: Packing and function prediction

This chapter discusses geometric models of biomolecules and geometric constructs, including the union of ball model, the weigthed Voronoi diagram, the weighted Delaunay triangulation, and the alpha shapes. These geometric constructs enable fast and analytical computaton of shapes of biomoleculres (including features such as voids and pockets) and metric properties (such as area and volume). The algorithms of Delaunay triangulation, computation of voids and pockets, as well volume/area computation are also described. In addition, applications in packing analysis of protein structures and protein function prediction are also discussed.Comment: 32 pages, 9 figure

Learning to Navigate the Energy Landscape

In this paper, we present a novel and efficient architecture for addressing computer vision problems that use `Analysis by Synthesis'. Analysis by synthesis involves the minimization of the reconstruction error which is typically a non-convex function of the latent target variables. State-of-the-art methods adopt a hybrid scheme where discriminatively trained predictors like Random Forests or Convolutional Neural Networks are used to initialize local search algorithms. While these methods have been shown to produce promising results, they often get stuck in local optima. Our method goes beyond the conventional hybrid architecture by not only proposing multiple accurate initial solutions but by also defining a navigational structure over the solution space that can be used for extremely efficient gradient-free local search. We demonstrate the efficacy of our approach on the challenging problem of RGB Camera Relocalization. To make the RGB camera relocalization problem particularly challenging, we introduce a new dataset of 3D environments which are significantly larger than those found in other publicly-available datasets. Our experiments reveal that the proposed method is able to achieve state-of-the-art camera relocalization results. We also demonstrate the generalizability of our approach on Hand Pose Estimation and Image Retrieval tasks