Models and Methods for Automated Background Density Estimation in Hyperspectral Anomaly Detection

Detecting targets with unknown spectral signatures in hyperspectral imagery has been proven to be a topic of great interest in several applications. Because no knowledge about the targets of interest is assumed, this task is performed by searching the image for anomalous pixels, i.e. those pixels deviating from a statistical model of the background. According to the hyperspectral literature, there are two main approaches to Anomaly Detection (AD) thus leading to the definition of different ways for background modeling: global and local. Global AD algorithms are designed to locate small rare objects that are anomalous with respect to the global background, identified by a large portion of the image. On the other hand, in local AD strategies, pixels with significantly different spectral features from a local neighborhood just surrounding the observed pixel are detected as anomalies. In this thesis work, a new scheme is proposed for detecting both global and local anomalies. Specifically, a simplified Likelihood Ratio Test (LRT) decision strategy is derived that involves thresholding the background log-likelihood and, thus, only needs the specification of the background Probability Density Function (PDF). Within this framework, the use of parametric, semi-parametric (in particular finite mixtures), and non-parametric models is investigated for the background PDF estimation. Although such approaches are well known and have been widely employed in multivariate data analysis, they have been seldom applied to estimate the hyperspectral background PDF, mostly due to the difficulty of reliably learning the model parameters without the need of operator intervention, which is highly desirable in practical AD tasks. In fact, this work represents the first attempt to jointly examine such methods in order to asses and discuss the most critical issues related to their employment for PDF estimation of hyperspectral background with specific reference to the detection of anomalous objects in a scene. Specifically, semi- and non-parametric estimators have been successfully employed to estimate the image background PDF with the aim of detecting global anomalies in a scene by means of the use of ad hoc learning procedures. In particular, strategies developed within a Bayesian framework have been considered for automatically estimating the parameters of mixture models and one of the most well-known non-parametric techniques, i.e. the fixed kernel density estimator (FKDE). In this latter, the performance and the modeling ability depend on scale parameters, called bandwidths. It has been shown that the use of bandwidths that are fixed across the entire feature space, as done in the FKDE, is not effective when the sample data exhibit different local peculiarities across the entire data domain, which generally occurs in practical applications. Therefore, some possibilities are investigated to improve the image background PDF estimation of FKDE by allowing the bandwidths to vary over the estimation domain, thus adapting the amount of smoothing to the local density of the data so as to more reliably and accurately follow the background data structure of hyperspectral images of a scene. The use of such variable bandwidth kernel density estimators (VKDE) is also proposed for estimating the background PDF within the considered AD scheme for detecting local anomalies. Such a choice is done with the aim to cope with the problem of non-Gaussian background for improving classical local AD algorithms involving parametric and non-parametric background models. The locally data-adaptive non-parametric model has been chosen since it encompasses the potential, typical of non-parametric PDF estimators, in modeling data regardless of specific distributional assumption together with the benefits deriving from the employment of bandwidths that vary across the data domain. The ability of the proposed AD scheme resulting from the application of different background PDF models and learning methods is experimentally evaluated by employing real hyperspectral images containing objects that are anomalous with respect to the background

Unbiased risk estimate algorithms for image deconvolution.

本論文工作的主題是圖像反卷積問題。在很多實際應用，例如生物醫學成像，地震學，天文學，遙感和光學成像中，觀測數據經常會出現令人不愉快的退化現象，這種退化一般由模糊效應(例如光學衍射限條件)和噪聲汙染(比如光子計數噪聲和讀出噪聲)造成的，這兩者都是物理儀器自身的條件限制造成的。作為一個標准的線性反問題，圖像反卷積經常被用作恢複觀測到的模糊的有噪點的圖像。我們旨在基于無偏差風險估計准則研究新的反卷積算法。本論文工作主要分為以下兩大部分。首先，我們考慮在加性高斯白噪聲條件下的圖像非盲反卷積問題，即准確的點擴散函數已知。我們的研究准則是最小化均方誤差的無偏差估計，即SURE. SURE- LET方法最初被應用于圖像降噪問題。本論文工作擴展該方法至討論圖像反卷積問題.我們提出了一個新的SURE-LET算法，用于快速有效地實現圖像複原功能。具體而言，我們將反卷積過程參數化表示為有限個基本函數的線性組合，稱作LET方法。反卷積問題最終簡化為求解該線性組合的最優線性系數。由于SURE的二次項本質和線性參數化表示，求解線性系數可由求解線性方程組而得。實驗結果顯示該論文提出的方法在信噪比，圖像的視覺質量和運算時間等方面均優于其他迄今最優秀的算法。論文的第二部分討論圖像盲複原中的點擴散函數估計問題。我們提出了blur-SURE -一個均方誤差修正版的無偏差估計 - 作為點擴散函數估計的最新准則，即點擴散函數由最小化這個新的目標函數獲得。然後我們利用這個估計的點擴散函數，用第一部分所提出的SURE-LET算法進行圖像的非盲複原。我們以一些典型的點擴散函數形式(高斯函數最為典型)為例詳細闡述該blur-SURE理論框架。實驗結果顯示最小化blur-SURE能夠更准確的估計點擴散函數，從而獲得更加優越的反卷積佳能。相比于圖像非盲複原，盲複原所得的圖片的視覺質量損失可忽略不計。本論文所提出的基于無偏差估計的算法可擴展至其他噪聲模型。由于本論文以SURE基礎的方法在理論上並不僅限于卷積問題，該方法可用于解決數據的其他線性失真問題。The subject of this thesis is image deconvolution. In many real applications, e.g. biomedical imaging, seismology, astronomy, remote sensing and optical imaging, undesirable degradations by blurring effect (e.g. optical diffraction-limited condition) and noise corruption (e.g. photon-counting noise and readout noise) are inherent to any physical acquisition device. Image deconvolution, as a standard linear inverse problem, is often applied to recover the images from their blurred and noisy observations. Our interest lies in novel deconvolution algorithms based on unbiased risk estimate. This thesis is organized in two main parts as briefly summarized below.We first consider non-blind image deconvolution with the corruption of additive white Gaussian noise (AWGN), where the point spread function (PSF) is exactly known. Our driving principle is the minimization of an unbiased estimate of mean squared error (MSE) between observed and clean data, known as "Stein's unbiased risk estimate" (SURE). The SURE-LET approach, which was originally developed for denoising, is extended to the deconvolution problem: a new SURE-LET deconvolution algorithm for fast and efficient implementation is proposed. More specifically, we parametrize the deconvolution process as a linear combination of a small number of known basic processings, which we call the linear expansion of thresholds (LET), and then minimize the SURE over the unknown linear coefficients. Due to the quadratic nature of SURE and the linear parametrization, the optimal linear weights of the combination is finally achieved by solving a linear system of equations. Experiments show that the proposed approach outperforms other state-of-the-art methods in terms of PSNR, SSIM, visual quality, as well as computation time.The second part of this thesis is concerned with PSF estimation for blind deconvolution. We propose a "blur-SURE" - an unbiased estimate of a filtered version of MSE - as a novel criterion for estimating the PSF, from the observed image only, i.e. the PSF is identified by minimizing this new objective functional, whose validity has been theoretically verified. The blur-SURE framework is exemplified with a number of parametric forms of the PSF, most typically, the Gaussian kernel. Experiments show that the blur-SURE minimization yields highly accurate estimate of PSF parameters. We then perform non-blind deconvolution using the SURE-LET algorithm proposed in Part I, with the estimated PSF. Experiments show that the estimated PSF results in superior deconvolution performance, with a negligible quality loss, compared to the deconvolution with the exact PSF.One may extend the algorithms based on unbiased risk estimate to other noise model. Since the SURE-based approaches does not restrict themselves to convolution operation, it is possible to extend them to other distortion scenarios.Detailed summary in vernacular field only.Detailed summary in vernacular field only.Detailed summary in vernacular field only.Detailed summary in vernacular field only.Xue, Feng.Thesis (Ph.D.)--Chinese University of Hong Kong, 2013.Includes bibliographical references (leaves 119-130).Abstracts also in Chinese.Dedication --- p.iAcknowledgments --- p.iiiAbstract --- p.ixList of Notations --- p.xiContents --- p.xviList of Figures --- p.xxList of Tables --- p.xxiiChapter 1 --- Introduction --- p.1Chapter 1.1 --- Motivations and objectives --- p.1Chapter 1.2 --- Mathematical formulation for problem statement --- p.2Chapter 1.3 --- Survey of non-blind deconvolution approaches --- p.2Chapter 1.3.1 --- Regularization --- p.2Chapter 1.3.2 --- Regularized inversion followed by denoising --- p.4Chapter 1.3.3 --- Bayesian approach --- p.4Chapter 1.3.4 --- Remark --- p.5Chapter 1.4 --- Survey of blind deconvolution approaches --- p.5Chapter 1.4.1 --- Non-parametric blind deconvolution --- p.5Chapter 1.4.2 --- Parametric blind deconvolution --- p.7Chapter 1.5 --- Objective assessment of the deconvolution quality --- p.8Chapter 1.5.1 --- Peak Signal-to-Noise Ratio (PSNR) --- p.8Chapter 1.5.2 --- Structural Similarity Index (SSIM) --- p.8Chapter 1.6 --- Thesis contributions --- p.9Chapter 1.6.1 --- Theoretical contributions --- p.9Chapter 1.6.2 --- Algorithmic contributions --- p.10Chapter 1.7 --- Organization --- p.11Chapter I --- The SURE-LET Approach to Non-blind Deconvolution --- p.13Chapter 2 --- The SURE-LET Framework for Deconvolution --- p.15Chapter 2.1 --- Motivations --- p.15Chapter 2.2 --- Related work --- p.15Chapter 2.3 --- Problem statement --- p.17Chapter 2.4 --- Stein's Unbiased Risk Estimate (SURE) for deconvolution --- p.17Chapter 2.4.1 --- Original SURE --- p.17Chapter 2.4.2 --- Regularized approximation of SURE --- p.18Chapter 2.5 --- The SURE-LET approach --- p.19Chapter 2.6 --- Summary --- p.20Chapter 3 --- Multi-Wiener SURE-LET Approach --- p.23Chapter 3.1 --- Problem statement --- p.23Chapter 3.2 --- Linear deconvolution: multi-Wiener filtering --- p.23Chapter 3.3 --- SURE-LET in orthonormal wavelet representation --- p.24Chapter 3.3.1 --- Mathematical formulation --- p.24Chapter 3.3.2 --- SURE minimization in orthonormal wavelet domain --- p.26Chapter 3.3.3 --- Computational issues --- p.27Chapter 3.4 --- SURE-LET approach for redundant wavelet representation --- p.30Chapter 3.5 --- Computational aspects --- p.32Chapter 3.5.1 --- Periodic boundary extensions --- p.33Chapter 3.5.2 --- Symmetric convolution --- p.36Chapter 3.5.3 --- Half-point symmetric boundary extensions --- p.36Chapter 3.5.4 --- Whole-point symmetric boundary extensions --- p.43Chapter 3.6 --- Results and discussions --- p.46Chapter 3.6.1 --- Experimental setting --- p.46Chapter 3.6.2 --- Influence of the number of Wiener lters --- p.47Chapter 3.6.3 --- Influence of the parameters on the deconvolution performance --- p.48Chapter 3.6.4 --- Influence of the boundary conditions: periodic vs symmetric --- p.52Chapter 3.6.5 --- Comparison with the state-of-the-art --- p.52Chapter 3.6.6 --- Analysis of computational complexity --- p.59Chapter 3.7 --- Conclusion --- p.60Chapter II --- The SURE-based Approach to Blind Deconvolution --- p.63Chapter 4 --- The Blur-SURE Framework to PSF Estimation --- p.65Chapter 4.1 --- Introduction --- p.65Chapter 4.2 --- Problem statement --- p.66Chapter 4.3 --- The blur-SURE framework for general linear model --- p.66Chapter 4.3.1 --- Blur-MSE: a modified version of MSE --- p.66Chapter 4.3.2 --- Blur-MSE minimization --- p.67Chapter 4.3.3 --- Blur-SURE: an unbiased estimate of the blur-MSE --- p.67Chapter 4.4 --- Application of blur-SURE framework for PSF estimation --- p.68Chapter 4.4.1 --- Problem statement in the context of convolution --- p.68Chapter 4.4.2 --- Blur-MSE minimization for PSF estimation --- p.69Chapter 4.4.3 --- Approximation of exact Wiener filtering --- p.70Chapter 4.4.4 --- Blur-SURE minimization for PSF estimation --- p.72Chapter 4.5 --- Concluding remarks --- p.72Chapter 5 --- The Blur-SURE Approach to Parametric PSF Estimation --- p.75Chapter 5.1 --- Introduction --- p.75Chapter 5.1.1 --- Overview of parametric PSF estimation --- p.75Chapter 5.1.2 --- Gaussian PSF as a typical example --- p.75Chapter 5.1.3 --- Outline of this chapter --- p.76Chapter 5.2 --- Parametric estimation: problem formulation --- p.77Chapter 5.3 --- Examples of PSF parameter estimation --- p.77Chapter 5.3.1 --- Gaussian kernel --- p.77Chapter 5.3.2 --- Non-Gaussian PSF with scaling factor s --- p.78Chapter 5.4 --- Minimization via the approximated function λ = λ (s) --- p.79Chapter 5.5 --- Results and discussions --- p.82Chapter 5.5.1 --- Experimental setting --- p.82Chapter 5.5.2 --- Non-Gaussian functions: estimation of scaling factor s --- p.83Chapter 5.5.3 --- Gaussian function: estimation of standard deviation s --- p.84Chapter 5.5.4 --- Comparison of deconvolution performance with the state-of-the-art --- p.84Chapter 5.5.5 --- Application to real images --- p.87Chapter 5.6 --- Conclusion --- p.90Chapter 6 --- The Blur-SURE Approach to Motion Deblurring --- p.93Chapter 6.1 --- Introduction --- p.93Chapter 6.1.1 --- Background of motion deblurring --- p.93Chapter 6.1.2 --- Related work: parametric estimation of motion blur --- p.93Chapter 6.1.3 --- Outline of this chapter --- p.94Chapter 6.2 --- Parametric estimation of motion blur: problem formulation --- p.94Chapter 6.2.1 --- Parametrized form of linear motion blur --- p.94Chapter 6.2.2 --- The blur-SURE framework to motion blur estimation --- p.94Chapter 6.3 --- An example of the blur-SURE approach to motion blur estimation --- p.95Chapter 6.4 --- Implementation issues --- p.96Chapter 6.4.1 --- Estimation of motion direction --- p.97Chapter 6.4.2 --- Estimation of blur length --- p.97Chapter 6.4.3 --- Short summary --- p.98Chapter 6.5 --- Results and discussions --- p.98Chapter 6.5.1 --- Experimental setting --- p.98Chapter 6.5.2 --- Estimations of blur direction and length --- p.99Chapter 6.5.3 --- Motion deblurring: the synthetic experiments --- p.99Chapter 6.5.4 --- Motion deblurring: the real experiment --- p.101Chapter 6.6 --- Conclusion --- p.103Chapter 7 --- Epilogue --- p.107Chapter 7.1 --- Summary --- p.107Chapter 7.2 --- Perspectives --- p.108Chapter A --- Proof --- p.109Chapter A.1 --- Proof of Theorem 2.1 --- p.109Chapter A.2 --- Proof of Eq.(2.6) in Section 2.4.2 --- p.110Chapter A.3 --- Proof of Eq.(3.5) in Section 3.3.1 --- p.110Chapter A.4 --- Proof of Theorem 3.6 --- p.112Chapter A.5 --- Proof of Theorem 3.12 --- p.112Chapter A.6 --- Derivation of noise variance in 2-D case (Section 3.5.4) --- p.114Chapter A.7 --- Proof of Theorem 4.1 --- p.116Chapter A.8 --- Proof of Theorem 4.2 --- p.11

Biologically motivated keypoint detection for RGB-D data

With the emerging interest in active vision, computer vision researchers have been increasingly concerned with the mechanisms of attention. Therefore, several visual attention computational models inspired by the human visual system, have been developed, aiming at the detection of regions of interest in images. This thesis is focused on selective visual attention, which provides a mechanism for the brain to focus computational resources on an object at a time, guided by low-level image properties (Bottom-Up attention). The task of recognizing objects in different locations is achieved by focusing on different locations, one at a time. Given the computational requirements of the models proposed, the research in this area has been mainly of theoretical interest. More recently, psychologists, neurobiologists and engineers have developed cooperation's and this has resulted in considerable benefits. The first objective of this doctoral work is to bring together concepts and ideas from these different research areas, providing a study of the biological research on human visual system and a discussion of the interdisciplinary knowledge in this area, as well as the state-of-art on computational models of visual attention (bottom-up). Normally, the visual attention is referred by engineers as saliency: when people fix their look in a particular region of the image, that's because that region is salient. In this research work, saliency methods are presented based on their classification (biological plausible, computational or hybrid) and in a chronological order. A few salient structures can be used for applications like object registration, retrieval or data simplification, being possible to consider these few salient structures as keypoints when aiming at performing object recognition. Generally, object recognition algorithms use a large number of descriptors extracted in a dense set of points, which comes along with very high computational cost, preventing real-time processing. To avoid the problem of the computational complexity required, the features have to be extracted from a small set of points, usually called keypoints. The use of keypoint-based detectors allows the reduction of the processing time and the redundancy in the data. Local descriptors extracted from images have been extensively reported in the computer vision literature. Since there is a large set of keypoint detectors, this suggests the need of a comparative evaluation between them. In this way, we propose to do a description of 2D and 3D keypoint detectors, 3D descriptors and an evaluation of existing 3D keypoint detectors in a public available point cloud library with 3D real objects. The invariance of the 3D keypoint detectors was evaluated according to rotations, scale changes and translations. This evaluation reports the robustness of a particular detector for changes of point-of-view and the criteria used are the absolute and the relative repeatability rate. In our experiments, the method that achieved better repeatability rate was the ISS3D method. The analysis of the human visual system and saliency maps detectors with biological inspiration led to the idea of making an extension for a keypoint detector based on the color information in the retina. Such proposal produced a 2D keypoint detector inspired by the behavior of the early visual system. Our method is a color extension of the BIMP keypoint detector, where we include both color and intensity channels of an image: color information is included in a biological plausible way and multi-scale image features are combined into a single keypoints map. This detector is compared against state-of-art detectors and found particularly well-suited for tasks such as category and object recognition. The recognition process is performed by comparing the extracted 3D descriptors in the locations indicated by the keypoints after mapping the 2D keypoints locations to the 3D space. The evaluation allowed us to obtain the best pair keypoint detector/descriptor on a RGB-D object dataset. Using our keypoint detector and the SHOTCOLOR descriptor a good category recognition rate and object recognition rate were obtained, and it is with the PFHRGB descriptor that we obtain the best results. A 3D recognition system involves the choice of keypoint detector and descriptor. A new method for the detection of 3D keypoints on point clouds is presented and a benchmarking is performed between each pair of 3D keypoint detector and 3D descriptor to evaluate their performance on object and category recognition. These evaluations are done in a public database of real 3D objects. Our keypoint detector is inspired by the behavior and neural architecture of the primate visual system: the 3D keypoints are extracted based on a bottom-up 3D saliency map, which is a map that encodes the saliency of objects in the visual environment. The saliency map is determined by computing conspicuity maps (a combination across different modalities) of the orientation, intensity and color information, in a bottom-up and in a purely stimulusdriven manner. These three conspicuity maps are fused into a 3D saliency map and, finally, the focus of attention (or "keypoint location") is sequentially directed to the most salient points in this map. Inhibiting this location automatically allows the system to attend to the next most salient location. The main conclusions are: with a similar average number of keypoints, our 3D keypoint detector outperforms the other eight 3D keypoint detectors evaluated by achiving the best result in 32 of the evaluated metrics in the category and object recognition experiments, when the second best detector only obtained the best result in 8 of these metrics. The unique drawback is the computational time, since BIK-BUS is slower than the other detectors. Given that differences are big in terms of recognition performance, size and time requirements, the selection of the keypoint detector and descriptor has to be matched to the desired task and we give some directions to facilitate this choice. After proposing the 3D keypoint detector, the research focused on a robust detection and tracking method for 3D objects by using keypoint information in a particle filter. This method consists of three distinct steps: Segmentation, Tracking Initialization and Tracking. The segmentation is made to remove all the background information, reducing the number of points for further processing. In the initialization, we use a keypoint detector with biological inspiration. The information of the object that we want to follow is given by the extracted keypoints. The particle filter does the tracking of the keypoints, so with that we can predict where the keypoints will be in the next frame. In a recognition system, one of the problems is the computational cost of keypoint detectors with this we intend to solve this problem. The experiments with PFBIKTracking method are done indoors in an office/home environment, where personal robots are expected to operate. The Tracking Error evaluates the stability of the general tracking method. We also quantitatively evaluate this method using a "Tracking Error". Our evaluation is done by the computation of the keypoint and particle centroid. Comparing our system that the tracking method which exists in the Point Cloud Library, we archive better results, with a much smaller number of points and computational time. Our method is faster and more robust to occlusion when compared to the OpenniTracker.Com o interesse emergente na visão ativa, os investigadores de visão computacional têm estado cada vez mais preocupados com os mecanismos de atenção. Por isso, uma série de modelos computacionais de atenção visual, inspirado no sistema visual humano, têm sido desenvolvidos. Esses modelos têm como objetivo detetar regiões de interesse nas imagens. Esta tese está focada na atenção visual seletiva, que fornece um mecanismo para que o cérebro concentre os recursos computacionais num objeto de cada vez, guiado pelas propriedades de baixo nível da imagem (atenção Bottom-Up). A tarefa de reconhecimento de objetos em diferentes locais é conseguida através da concentração em diferentes locais, um de cada vez. Dados os requisitos computacionais dos modelos propostos, a investigação nesta área tem sido principalmente de interesse teórico. Mais recentemente, psicólogos, neurobiólogos e engenheiros desenvolveram cooperações e isso resultou em benefícios consideráveis. No início deste trabalho, o objetivo é reunir os conceitos e ideias a partir dessas diferentes áreas de investigação. Desta forma, é fornecido o estudo sobre a investigação da biologia do sistema visual humano e uma discussão sobre o conhecimento interdisciplinar da matéria, bem como um estado de arte dos modelos computacionais de atenção visual (bottom-up). Normalmente, a atenção visual é denominada pelos engenheiros como saliência, se as pessoas fixam o olhar numa determinada região da imagem é porque esta região é saliente. Neste trabalho de investigação, os métodos saliência são apresentados em função da sua classificação (biologicamente plausível, computacional ou híbrido) e numa ordem cronológica. Algumas estruturas salientes podem ser usadas, em vez do objeto todo, em aplicações tais como registo de objetos, recuperação ou simplificação de dados. É possível considerar estas poucas estruturas salientes como pontos-chave, com o objetivo de executar o reconhecimento de objetos. De um modo geral, os algoritmos de reconhecimento de objetos utilizam um grande número de descritores extraídos num denso conjunto de pontos. Com isso, estes têm um custo computacional muito elevado, impedindo que o processamento seja realizado em tempo real. A fim de evitar o problema da complexidade computacional requerido, as características devem ser extraídas a partir de um pequeno conjunto de pontos, geralmente chamados pontoschave. O uso de detetores de pontos-chave permite a redução do tempo de processamento e a quantidade de redundância dos dados. Os descritores locais extraídos a partir das imagens têm sido amplamente reportados na literatura de visão por computador. Uma vez que existe um grande conjunto de detetores de pontos-chave, sugere a necessidade de uma avaliação comparativa entre eles. Desta forma, propomos a fazer uma descrição dos detetores de pontos-chave 2D e 3D, dos descritores 3D e uma avaliação dos detetores de pontos-chave 3D existentes numa biblioteca de pública disponível e com objetos 3D reais. A invariância dos detetores de pontoschave 3D foi avaliada de acordo com variações nas rotações, mudanças de escala e translações. Essa avaliação retrata a robustez de um determinado detetor no que diz respeito às mudanças de ponto-de-vista e os critérios utilizados são as taxas de repetibilidade absoluta e relativa. Nas experiências realizadas, o método que apresentou melhor taxa de repetibilidade foi o método ISS3D. Com a análise do sistema visual humano e dos detetores de mapas de saliência com inspiração biológica, surgiu a ideia de se fazer uma extensão para um detetor de ponto-chave com base na informação de cor na retina. A proposta produziu um detetor de ponto-chave 2D inspirado pelo comportamento do sistema visual. O nosso método é uma extensão com base na cor do detetor de ponto-chave BIMP, onde se incluem os canais de cor e de intensidade de uma imagem. A informação de cor é incluída de forma biológica plausível e as características multi-escala da imagem são combinadas num único mapas de pontos-chave. Este detetor é comparado com os detetores de estado-da-arte e é particularmente adequado para tarefas como o reconhecimento de categorias e de objetos. O processo de reconhecimento é realizado comparando os descritores 3D extraídos nos locais indicados pelos pontos-chave. Para isso, as localizações do pontos-chave 2D têm de ser convertido para o espaço 3D. Isto foi possível porque o conjunto de dados usado contém a localização de cada ponto de no espaço 2D e 3D. A avaliação permitiu-nos obter o melhor par detetor de ponto-chave/descritor num RGB-D object dataset. Usando o nosso detetor de ponto-chave e o descritor SHOTCOLOR, obtemos uma noa taxa de reconhecimento de categorias e para o reconhecimento de objetos é com o descritor PFHRGB que obtemos os melhores resultados. Um sistema de reconhecimento 3D envolve a escolha de detetor de ponto-chave e descritor, por isso é apresentado um novo método para a deteção de pontos-chave em nuvens de pontos 3D e uma análise comparativa é realizada entre cada par de detetor de ponto-chave 3D e descritor 3D para avaliar o desempenho no reconhecimento de categorias e de objetos. Estas avaliações são feitas numa base de dados pública de objetos 3D reais. O nosso detetor de ponto-chave é inspirado no comportamento e na arquitetura neural do sistema visual dos primatas. Os pontos-chave 3D são extraídas com base num mapa de saliências 3D bottom-up, ou seja, um mapa que codifica a saliência dos objetos no ambiente visual. O mapa de saliência é determinada pelo cálculo dos mapas de conspicuidade (uma combinação entre diferentes modalidades) da orientação, intensidade e informações de cor de forma bottom-up e puramente orientada para o estímulo. Estes três mapas de conspicuidade são fundidos num mapa de saliência 3D e, finalmente, o foco de atenção (ou "localização do ponto-chave") está sequencialmente direcionado para os pontos mais salientes deste mapa. Inibir este local permite que o sistema automaticamente orientado para próximo local mais saliente. As principais conclusões são: com um número médio similar de pontos-chave, o nosso detetor de ponto-chave 3D supera os outros oito detetores de pontos-chave 3D avaliados, obtendo o melhor resultado em 32 das métricas avaliadas nas experiências do reconhecimento das categorias e dos objetos, quando o segundo melhor detetor obteve apenas o melhor resultado em 8 dessas métricas. A única desvantagem é o tempo computacional, uma vez que BIK-BUS é mais lento do que os outros detetores. Dado que existem grandes diferenças em termos de desempenho no reconhecimento, de tamanho e de tempo, a seleção do detetor de ponto-chave e descritor tem de ser interligada com a tarefa desejada e nós damos algumas orientações para facilitar esta escolha neste trabalho de investigação. Depois de propor um detetor de ponto-chave 3D, a investigação incidiu sobre um método robusto de deteção e tracking de objetos 3D usando as informações dos pontos-chave num filtro de partículas. Este método consiste em três etapas distintas: Segmentação, Inicialização do Tracking e Tracking. A segmentação é feita de modo a remover toda a informação de fundo, a fim de reduzir o número de pontos para processamento futuro. Na inicialização, usamos um detetor de ponto-chave com inspiração biológica. A informação do objeto que queremos seguir é dada pelos pontos-chave extraídos. O filtro de partículas faz o acompanhamento dos pontoschave, de modo a se poder prever onde os pontos-chave estarão no próximo frame. As experiências com método PFBIK-Tracking são feitas no interior, num ambiente de escritório/casa, onde se espera que robôs pessoais possam operar. Também avaliado quantitativamente este método utilizando um "Tracking Error". A avaliação passa pelo cálculo das centróides dos pontos-chave e das partículas. Comparando o nosso sistema com o método de tracking que existe na biblioteca usada no desenvolvimento, nós obtemos melhores resultados, com um número muito menor de pontos e custo computacional. O nosso método é mais rápido e mais robusto em termos de oclusão, quando comparado com o OpenniTracker

Balancing flexibility and robustness in machine learning: semi-parametric methods and sparse linear models

Tesis doctoral inédita. Universidad Autónoma de Madrid, Escuela Politécnica Superior, noviembre de 201

MS FT-2-2 7 Orthogonal polynomials and quadrature: Theory, computation, and applications

Quadrature rules find many applications in science and engineering. Their analysis is a classical area of applied mathematics and continues to attract considerable attention. This seminar brings together speakers with expertise in a large variety of quadrature rules. It is the aim of the seminar to provide an overview of recent developments in the analysis of quadrature rules. The computation of error estimates and novel applications also are described