8,518 research outputs found
Real-time model-based video stabilization for microaerial vehicles
The emerging branch of micro aerial vehicles (MAVs) has attracted a great interest for their indoor navigation capabilities, but they require a high quality video for tele-operated or autonomous tasks. A common problem of on-board video quality is the effect of undesired movements, so different approaches solve it with both mechanical stabilizers or video stabilizer software. Very few video stabilizer algorithms in the literature can be applied in real-time but they do not discriminate at all between intentional movements of the tele-operator and undesired ones. In this paper, a novel technique is introduced for real-time video stabilization with low computational cost, without generating false movements or decreasing the performance of the stabilized video sequence. Our proposal uses a combination of geometric transformations and outliers rejection to obtain a robust inter-frame motion estimation, and a Kalman filter based on an ANN learned model of the MAV that includes the control action for motion intention estimation.Peer ReviewedPostprint (author's final draft
Shape from periodic texture using the eigenvectors of local affine distortion
This paper shows how the local slant and tilt angles of regularly textured curved surfaces can be estimated directly, without the need for iterative numerical optimization, We work in the frequency domain and measure texture distortion using the affine distortion of the pattern of spectral peaks. The key theoretical contribution is to show that the directions of the eigenvectors of the affine distortion matrices can be used to estimate local slant and tilt angles of tangent planes to curved surfaces. In particular, the leading eigenvector points in the tilt direction. Although not as geometrically transparent, the direction of the second eigenvector can be used to estimate the slant direction. The required affine distortion matrices are computed using the correspondences between spectral peaks, established on the basis of their energy ordering. We apply the method to a variety of real-world and synthetic imagery
Invariance of visual operations at the level of receptive fields
Receptive field profiles registered by cell recordings have shown that
mammalian vision has developed receptive fields tuned to different sizes and
orientations in the image domain as well as to different image velocities in
space-time. This article presents a theoretical model by which families of
idealized receptive field profiles can be derived mathematically from a small
set of basic assumptions that correspond to structural properties of the
environment. The article also presents a theory for how basic invariance
properties to variations in scale, viewing direction and relative motion can be
obtained from the output of such receptive fields, using complementary
selection mechanisms that operate over the output of families of receptive
fields tuned to different parameters. Thereby, the theory shows how basic
invariance properties of a visual system can be obtained already at the level
of receptive fields, and we can explain the different shapes of receptive field
profiles found in biological vision from a requirement that the visual system
should be invariant to the natural types of image transformations that occur in
its environment.Comment: 40 pages, 17 figure
CLEAR: Covariant LEAst-square Re-fitting with applications to image restoration
In this paper, we propose a new framework to remove parts of the systematic
errors affecting popular restoration algorithms, with a special focus for image
processing tasks. Generalizing ideas that emerged for regularization,
we develop an approach re-fitting the results of standard methods towards the
input data. Total variation regularizations and non-local means are special
cases of interest. We identify important covariant information that should be
preserved by the re-fitting method, and emphasize the importance of preserving
the Jacobian (w.r.t. the observed signal) of the original estimator. Then, we
provide an approach that has a "twicing" flavor and allows re-fitting the
restored signal by adding back a local affine transformation of the residual
term. We illustrate the benefits of our method on numerical simulations for
image restoration tasks
Two-View Matching with View Synthesis Revisited
Wide-baseline matching focussing on problems with extreme viewpoint change is
considered. We introduce the use of view synthesis with affine-covariant
detectors to solve such problems and show that matching with the Hessian-Affine
or MSER detectors outperforms the state-of-the-art ASIFT.
To minimise the loss of speed caused by view synthesis, we propose the
Matching On Demand with view Synthesis algorithm (MODS) that uses progressively
more synthesized images and more (time-consuming) detectors until reliable
estimation of geometry is possible. We show experimentally that the MODS
algorithm solves problems beyond the state-of-the-art and yet is comparable in
speed to standard wide-baseline matchers on simpler problems.
Minor contributions include an improved method for tentative correspondence
selection, applicable both with and without view synthesis and a view synthesis
setup greatly improving MSER robustness to blur and scale change that increase
its running time by 10% only.Comment: 25 pages, 14 figure
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