TVL₁shape approximation from scattered 3D data

With the emergence in 3D sensors such as laser scanners and 3D reconstruction from cameras, large 3D point clouds can now be sampled from physical objects within a scene. The raw 3D samples delivered by these sensors however, contain only a limited degree of information about the environment the objects exist in, which means that further geometrical high-level modelling is essential. In addition, issues like sparse data measurements, noise, missing samples due to occlusion, and the inherently huge datasets involved in such representations makes this task extremely challenging. This paper addresses these issues by presenting a new 3D shape modelling framework for samples acquired from 3D sensor. Motivated by the success of nonlinear kernel-based approximation techniques in the statistics domain, existing methods using radial basis functions are applied to 3D object shape approximation. The task is framed as an optimization problem and is extended using non-smooth L1 total variation regularization. Appropriate convex energy functionals are constructed and solved by applying the Alternating Direction Method of Multipliers approach, which is then extended using Gauss-Seidel iterations. This significantly lowers the computational complexity involved in generating 3D shape from 3D samples, while both numerical and qualitative analysis confirms the superior shape modelling performance of this new framework compared with existing 3D shape reconstruction techniques

Collaborative Representation based Classification for Face Recognition

By coding a query sample as a sparse linear combination of all training samples and then classifying it by evaluating which class leads to the minimal coding residual, sparse representation based classification (SRC) leads to interesting results for robust face recognition. It is widely believed that the l1- norm sparsity constraint on coding coefficients plays a key role in the success of SRC, while its use of all training samples to collaboratively represent the query sample is rather ignored. In this paper we discuss how SRC works, and show that the collaborative representation mechanism used in SRC is much more crucial to its success of face classification. The SRC is a special case of collaborative representation based classification (CRC), which has various instantiations by applying different norms to the coding residual and coding coefficient. More specifically, the l1 or l2 norm characterization of coding residual is related to the robustness of CRC to outlier facial pixels, while the l1 or l2 norm characterization of coding coefficient is related to the degree of discrimination of facial features. Extensive experiments were conducted to verify the face recognition accuracy and efficiency of CRC with different instantiations.Comment: It is a substantial revision of a previous conference paper (L. Zhang, M. Yang, et al. "Sparse Representation or Collaborative Representation: Which Helps Face Recognition?" in ICCV 2011

TVL₁ Planarity Regularization for 3D Shape Approximation

The modern emergence of automation in many industries has given impetus to extensive research into mobile robotics. Novel perception technologies now enable cars to drive autonomously, tractors to till a field automatically and underwater robots to construct pipelines. An essential requirement to facilitate both perception and autonomous navigation is the analysis of the 3D environment using sensors like laser scanners or stereo cameras. 3D sensors generate a very large number of 3D data points when sampling object shapes within an environment, but crucially do not provide any intrinsic information about the environment which the robots operate within. This work focuses on the fundamental task of 3D shape reconstruction and modelling from 3D point clouds. The novelty lies in the representation of surfaces by algebraic functions having limited support, which enables the extraction of smooth consistent implicit shapes from noisy samples with a heterogeneous density. The minimization of total variation of second differential degree makes it possible to enforce planar surfaces which often occur in man-made environments. Applying the new technique means that less accurate, low-cost 3D sensors can be employed without sacrificing the 3D shape reconstruction accuracy