102,932 research outputs found
A joint motion & disparity motion estimation technique for 3D integral video compression using evolutionary strategy
3D imaging techniques have the potential to establish a future mass-market in the fields of entertainment and communications. Integral imaging, which can capture true 3D color images with only one camera, has been seen as the right technology to offer stress-free viewing to audiences of more than one person. Just like any digital video, 3D video sequences must also be compressed in order to make it suitable for consumer domain applications. However, ordinary compression techniques found in state-of-the-art video coding standards such as H.264, MPEG-4 and MPEG-2 are not capable of producing enough compression while preserving the 3D clues. Fortunately, a huge amount of redundancies can be found in an integral video sequence in terms of motion and disparity. This paper discusses a novel approach to use both motion and disparity information to compress 3D integral video sequences. We propose to decompose the integral video sequence down to viewpoint video sequences and jointly exploit motion and disparity redundancies to maximize the compression. We further propose an optimization technique based on evolutionary strategies to minimize the computational complexity of the joint motion disparity estimation. Experimental results demonstrate that Joint Motion and Disparity Estimation can achieve over 1 dB objective quality gain over normal motion estimation. Once combined with Evolutionary strategy, this can achieve up to 94% computational cost saving
Enhancing Compressed Sensing 4D Photoacoustic Tomography by Simultaneous Motion Estimation
A crucial limitation of current high-resolution 3D photoacoustic tomography
(PAT) devices that employ sequential scanning is their long acquisition time.
In previous work, we demonstrated how to use compressed sensing techniques to
improve upon this: images with good spatial resolution and contrast can be
obtained from suitably sub-sampled PAT data acquired by novel acoustic scanning
systems if sparsity-constrained image reconstruction techniques such as total
variation regularization are used. Now, we show how a further increase of image
quality can be achieved for imaging dynamic processes in living tissue (4D
PAT). The key idea is to exploit the additional temporal redundancy of the data
by coupling the previously used spatial image reconstruction models with
sparsity-constrained motion estimation models. While simulated data from a
two-dimensional numerical phantom will be used to illustrate the main
properties of this recently developed
joint-image-reconstruction-and-motion-estimation framework, measured data from
a dynamic experimental phantom will also be used to demonstrate their potential
for challenging, large-scale, real-world, three-dimensional scenarios. The
latter only becomes feasible if a carefully designed combination of tailored
optimization schemes is employed, which we describe and examine in more detail
Cellular neural networks for motion estimation and obstacle detection
Obstacle detection is an important part of Video Processing because it is indispensable for a collision prevention of autonomously navigating moving objects. For example, vehicles driving without human guidance need a robust prediction of potential obstacles, like other vehicles or pedestrians. Most of the common approaches of obstacle detection so far use analytical and statistical methods like motion estimation or generation of maps. In the first part of this contribution a statistical algorithm for obstacle detection in monocular video sequences is presented. The proposed procedure is based on a motion estimation and a planar world model which is appropriate to traffic scenes. The different processing steps of the statistical procedure are a feature extraction, a subsequent displacement vector estimation and a robust estimation of the motion parameters. Since the proposed procedure is composed of several processing steps, the error propagation of the successive steps often leads to inaccurate results. In the second part of this contribution it is demonstrated, that the above mentioned problems can be efficiently overcome by using Cellular Neural Networks (CNN). It will be shown, that a direct obstacle detection algorithm can be easily performed, based only on CNN processing of the input images. Beside the enormous computing power of programmable CNN based devices, the proposed method is also very robust in comparison to the statistical method, because is shows much less sensibility to noisy inputs. Using the proposed approach of obstacle detection in planar worlds, a real time processing of large input images has been made possible
Glacier motion estimation using SAR offset-tracking procedures
Two image-to-image patch offset techniques for
estimating feature motion between satellite synthetic aperture radar (SAR) images are discussed. Intensity tracking, based on patch intensity cross-correlation optimization, and coherence tracking, based on patch coherence optimization, are used to estimate the movement of glacier surfaces between two SAR images in both slant-range and azimuth direction. The accuracy and application range of the two methods are examined in the case of the surge of Monacobreen in Northern Svalbard between
1992 and 1996. Offset-tracking procedures of SAR images are an alternative to differential SAR interferometry for the estimation of glacier motion when differential SAR interferometry is limited by loss of coherence, i.e., in the case of rapid and incoherent flow and of large acquisition time intervals between the two SAR images. In addition, an offset-tracking procedure in the azimuth
direction may be combined with differential SAR interferometry in the slant-range direction in order to retrieve a two-dimensional displacement map when SAR data of only one orbit configuration are available
An Efficient Algorithm for Video Super-Resolution Based On a Sequential Model
In this work, we propose a novel procedure for video super-resolution, that
is the recovery of a sequence of high-resolution images from its low-resolution
counterpart. Our approach is based on a "sequential" model (i.e., each
high-resolution frame is supposed to be a displaced version of the preceding
one) and considers the use of sparsity-enforcing priors. Both the recovery of
the high-resolution images and the motion fields relating them is tackled. This
leads to a large-dimensional, non-convex and non-smooth problem. We propose an
algorithmic framework to address the latter. Our approach relies on fast
gradient evaluation methods and modern optimization techniques for
non-differentiable/non-convex problems. Unlike some other previous works, we
show that there exists a provably-convergent method with a complexity linear in
the problem dimensions. We assess the proposed optimization method on {several
video benchmarks and emphasize its good performance with respect to the state
of the art.}Comment: 37 pages, SIAM Journal on Imaging Sciences, 201
Keep Rollin' - Whole-Body Motion Control and Planning for Wheeled Quadrupedal Robots
We show dynamic locomotion strategies for wheeled quadrupedal robots, which
combine the advantages of both walking and driving. The developed optimization
framework tightly integrates the additional degrees of freedom introduced by
the wheels. Our approach relies on a zero-moment point based motion
optimization which continuously updates reference trajectories. The reference
motions are tracked by a hierarchical whole-body controller which computes
optimal generalized accelerations and contact forces by solving a sequence of
prioritized tasks including the nonholonomic rolling constraints. Our approach
has been tested on ANYmal, a quadrupedal robot that is fully torque-controlled
including the non-steerable wheels attached to its legs. We conducted
experiments on flat and inclined terrains as well as over steps, whereby we
show that integrating the wheels into the motion control and planning framework
results in intuitive motion trajectories, which enable more robust and dynamic
locomotion compared to other wheeled-legged robots. Moreover, with a speed of 4
m/s and a reduction of the cost of transport by 83 % we prove the superiority
of wheeled-legged robots compared to their legged counterparts.Comment: IEEE Robotics and Automation Letter
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