Enhanced video indirect ophthalmoscopy (VIO) via robust mosaicing

Indirect ophthalmoscopy (IO) is the standard of care for evaluation of the neonatal retina. When recorded on video from a head-mounted camera, IO images have low quality and narrow Field of View (FOV). We present an image fusion methodology for converting a video IO recording into a single, high quality, wide-FOV mosaic that seamlessly blends the best frames in the video. To this end, we have developed fast and robust algorithms for automatic evaluation of video quality, artifact detection and removal, vessel mapping, registration, and multi-frame image fusion. Our experiments show the effectiveness of the proposed methods

Intelligent Side Information Generation in Distributed Video Coding

Distributed video coding (DVC) reverses the traditional coding paradigm of complex encoders allied with basic decoding to one where the computational cost is largely incurred by the decoder. This is attractive as the proven theoretical work of Wyner-Ziv (WZ) and Slepian-Wolf (SW) shows that the performance by such a system should be exactly the same as a conventional coder. Despite the solid theoretical foundations, current DVC qualitative and quantitative performance falls short of existing conventional coders and there remain crucial limitations. A key constraint governing DVC performance is the quality of side information (SI), a coarse representation of original video frames which are not available at the decoder. Techniques to generate SI have usually been based on linear motion compensated temporal interpolation (LMCTI), though these do not always produce satisfactory SI quality, especially in sequences exhibiting non-linear motion. This thesis presents an intelligent higher order piecewise trajectory temporal interpolation (HOPTTI) framework for SI generation with original contributions that afford better SI quality in comparison to existing LMCTI-based approaches. The major elements in this framework are: (i) a cubic trajectory interpolation algorithm model that significantly improves the accuracy of motion vector estimations; (ii) an adaptive overlapped block motion compensation (AOBMC) model which reduces both blocking and overlapping artefacts in the SI emanating from the block matching algorithm; (iii) the development of an empirical mode switching algorithm; and (iv) an intelligent switching mechanism to construct SI by automatically selecting the best macroblock from the intermediate SI generated by HOPTTI and AOBMC algorithms. Rigorous analysis and evaluation confirms that significant quantitative and perceptual improvements in SI quality are achieved with the new framework

Super-resolution imaging for the detection of low-energy ion tracks in fine-grained nuclear emulsions

We propose a new wide-field imaging method that exploits the Localized Surface Plasmon Resonance phenomenon to produce super-resolution images with an optical microscope equipped with a custom design polarization analyzer module. In this paper we describe the method and apply it to the analysis of low-energy carbon ion tracks implanted in a nuclear emulsion film. The result is then compared with the measurements of the same tracks carried out at an electronic microscope. The images set side by side show their close similarity. The resolution achieved with the current microscope setup is estimated to be about 50 nm.Comment: 13 pages, 10 figure

Adaptive deinterlacing of video sequences using motion data

In this work an efficient motion adaptive deinterlacing method with considerable improvement in picture quality is proposed. A temporal deinterlacing method has a high performance in static images while a spatial method has a better performance in dynamic parts. In the proposed deinterlacing method, a motion adaptive interpolator combines the results of a spatial method and a temporal method based on motion activity level of video sequence. A high performance and low complexity algorithm for motion detection is introduced. This algorithm uses five consecutive interlaced video fields for motion detection. It is able to capture a wide range of motions from slow to fast. The algorithm benefits from a hierarchal structure. It starts with detecting motion in large partitions of a given field. Depending on the detected motion activity level for that partition, the motion detection algorithm might recursively be applied to sub-blocks of the original partition. Two different low pass filters are used during the motion detection to increase the algorithm accuracy. The result of motion detection is then used in the proposed motion adaptive interpolator. The performance of the proposed deinterlacing algorithm is compared to previous methods in the literature. Experimenting with several standard video sequences, the method proposed in this work shows excellent results for motion detection and deinterlacing performance

Analytical study of space processing of immiscible materials for superconductors and electrical contacts

The results of a study conducted to determine the role space processing or materials research in space plays in the superconductor and electrical contact industries are presented. Visits were made to manufacturers, users, and research organizations connected with these products to provide information about the potential benefits of the space environment and to exchange views on the utilization of space facilities for manufacture, process development, or research. In addition, space experiments were suggested which could result in improved terrestrial processes or products. Notable examples of these are, in the case of superconductors, the development of Nb-bronze alloys (Tsuei alloys) and, in the electrical contact field, the production of Ag-Ni or Ag-metal oxide alloys with controlled microstructure for research and development activities as well as for product development. A preliminary experimental effort to produce and evaluate rapidly cooled Pb-Zn and Cu-Nb-Sn alloys in order to understand the relationship between microstructure and superconducting properties and to simulate the fine structure potentially achievable by space processing was also described

Depth-Map-Assisted Texture and Depth Map Super-Resolution

With the development of video technology, high definition video and 3D video applications are becoming increasingly accessible to customers. The interactive and vivid 3D video experience of realistic scenes relies greatly on the amount and quality of the texture and depth map data. However, due to the limitations of video capturing hardware and transmission bandwidth, transmitted video has to be compressed which degrades, in general, the received video quality. This means that it is hard to meet the users’ requirements of high definition and visual experience; it also limits development of future applications. Therefore, image/video super-resolution techniques have been proposed to address this issue. Image super-resolution aims to reconstruct a high resolution image from single or multiple low resolution images captured of the same scene under different conditions. Based on the image type that needs to be super-resolved, image super-resolution includes texture and depth image super-resolutions. If classified based on the implementation methods, there are three main categories: interpolation-based, reconstruction-based and learning-based super-resolution algorithms. This thesis focuses on exploiting depth data in interpolation-based super-resolution algorithms for texture video and depth maps. Two novel texture and one depth super-resolution algorithms are proposed as the main contributions of this thesis. The first texture super-resolution algorithm is carried out in the Mixed Resolution (MR) multiview video system where at least one of the views is captured at Low Resolution (LR), while the others are captured at Full Resolution (FR). In order to reduce visual uncomfortableness and adapt MR video format for free-viewpoint television, the low resolution views are super-resolved to the target full resolution by the proposed virtual view assisted super resolution algorithm. The inter-view similarity is used to determine whether to fill the missing pixels in the super-resolved frame by virtual view pixels or by spatial interpolated pixels. The decision mechanism is steered by the texture characteristics of the neighbors of each missing pixel. Thus, the proposed method can recover the details in regions with edges while maintaining good quality at smooth areas by properly exploiting the high quality virtual view pixels and the directional correlation of pixels. The second texture super-resolution algorithm is based on the Multiview Video plus Depth (MVD) system, which consists of textures and the associated per-pixel depth data. In order to further reduce the transmitted data and the quality degradation of received video, a systematical framework to downsample the original MVD data and later on to super-resolved the LR views is proposed. At the encoder side, the rows of the two adjacent views are downsampled following an interlacing and complementary fashion, whereas, at the decoder side, the discarded pixels are recovered by fusing the virtual view pixels with the directional interpolated pixels from the complementary downsampled views. Consequently, with the assistance of virtual views, the proposed approach can effectively achieve these two goals. From previous two works, we can observe that depth data has big potential to be used in 3D video enhancement. However, due to the low spatial resolution of Time-of-Flight (ToF) depth camera generated depth images, their applications have been limited. Hence, in the last contribution of this thesis, a planar-surface-based depth map super-resolution approach is presented, which interpolates depth images by exploiting the equation of each detected planar surface. Both quantitative and qualitative experimental results demonstrate the effectiveness and robustness of the proposed approach over benchmark methods

Computational Methods for Cognitive and Cooperative Robotics

In the last decades design methods in control engineering made substantial progress in the areas of robotics and computer animation. Nowadays these methods incorporate the newest developments in machine learning and artificial intelligence. But the problems of flexible and online-adaptive combinations of motor behaviors remain challenging for human-like animations and for humanoid robotics. In this context, biologically-motivated methods for the analysis and re-synthesis of human motor programs provide new insights in and models for the anticipatory motion synthesis. This thesis presents the author’s achievements in the areas of cognitive and developmental robotics, cooperative and humanoid robotics and intelligent and machine learning methods in computer graphics. The first part of the thesis in the chapter “Goal-directed Imitation for Robots” considers imitation learning in cognitive and developmental robotics. The work presented here details the author’s progress in the development of hierarchical motion recognition and planning inspired by recent discoveries of the functions of mirror-neuron cortical circuits in primates. The overall architecture is capable of ‘learning for imitation’ and ‘learning by imitation’. The complete system includes a low-level real-time capable path planning subsystem for obstacle avoidance during arm reaching. The learning-based path planning subsystem is universal for all types of anthropomorphic robot arms, and is capable of knowledge transfer at the level of individual motor acts. Next, the problems of learning and synthesis of motor synergies, the spatial and spatio-temporal combinations of motor features in sequential multi-action behavior, and the problems of task-related action transitions are considered in the second part of the thesis “Kinematic Motion Synthesis for Computer Graphics and Robotics”. In this part, a new approach of modeling complex full-body human actions by mixtures of time-shift invariant motor primitives in presented. The online-capable full-body motion generation architecture based on dynamic movement primitives driving the time-shift invariant motor synergies was implemented as an online-reactive adaptive motion synthesis for computer graphics and robotics applications. The last chapter of the thesis entitled “Contraction Theory and Self-organized Scenarios in Computer Graphics and Robotics” is dedicated to optimal control strategies in multi-agent scenarios of large crowds of agents expressing highly nonlinear behaviors. This last part presents new mathematical tools for stability analysis and synthesis of multi-agent cooperative scenarios.In den letzten Jahrzehnten hat die Forschung in den Bereichen der Steuerung und Regelung komplexer Systeme erhebliche Fortschritte gemacht, insbesondere in den Bereichen Robotik und Computeranimation. Die Entwicklung solcher Systeme verwendet heutzutage neueste Methoden und Entwicklungen im Bereich des maschinellen Lernens und der künstlichen Intelligenz. Die flexible und echtzeitfähige Kombination von motorischen Verhaltensweisen ist eine wesentliche Herausforderung für die Generierung menschenähnlicher Animationen und in der humanoiden Robotik. In diesem Zusammenhang liefern biologisch motivierte Methoden zur Analyse und Resynthese menschlicher motorischer Programme neue Erkenntnisse und Modelle für die antizipatorische Bewegungssynthese. Diese Dissertation präsentiert die Ergebnisse der Arbeiten des Autors im Gebiet der kognitiven und Entwicklungsrobotik, kooperativer und humanoider Robotersysteme sowie intelligenter und maschineller Lernmethoden in der Computergrafik. Der erste Teil der Dissertation im Kapitel “Zielgerichtete Nachahmung für Roboter” behandelt das Imitationslernen in der kognitiven und Entwicklungsrobotik. Die vorgestellten Arbeiten beschreiben neue Methoden für die hierarchische Bewegungserkennung und -planung, die durch Erkenntnisse zur Funktion der kortikalen Spiegelneuronen-Schaltkreise bei Primaten inspiriert wurden. Die entwickelte Architektur ist in der Lage, ‘durch Imitation zu lernen’ und ‘zu lernen zu imitieren’. Das komplette entwickelte System enthält ein echtzeitfähiges Pfadplanungssubsystem zur Hindernisvermeidung während der Durchführung von Armbewegungen. Das lernbasierte Pfadplanungssubsystem ist universell und für alle Arten von anthropomorphen Roboterarmen in der Lage, Wissen auf der Ebene einzelner motorischer Handlungen zu übertragen. Im zweiten Teil der Arbeit “Kinematische Bewegungssynthese für Computergrafik und Robotik” werden die Probleme des Lernens und der Synthese motorischer Synergien, d.h. von räumlichen und räumlich-zeitlichen Kombinationen motorischer Bewegungselemente bei Bewegungssequenzen und bei aufgabenbezogenen Handlungs übergängen behandelt. Es wird ein neuer Ansatz zur Modellierung komplexer menschlicher Ganzkörperaktionen durch Mischungen von zeitverschiebungsinvarianten Motorprimitiven vorgestellt. Zudem wurde ein online-fähiger Synthesealgorithmus für Ganzköperbewegungen entwickelt, der auf dynamischen Bewegungsprimitiven basiert, die wiederum auf der Basis der gelernten verschiebungsinvarianten Primitive konstruiert werden. Dieser Algorithmus wurde für verschiedene Probleme der Bewegungssynthese für die Computergrafik- und Roboteranwendungen implementiert. Das letzte Kapitel der Dissertation mit dem Titel “Kontraktionstheorie und selbstorganisierte Szenarien in der Computergrafik und Robotik” widmet sich optimalen Kontrollstrategien in Multi-Agenten-Szenarien, wobei die Agenten durch eine hochgradig nichtlineare Kinematik gekennzeichnet sind. Dieser letzte Teil präsentiert neue mathematische Werkzeuge für die Stabilitätsanalyse und Synthese von kooperativen Multi-Agenten-Szenarien