High-speed multi-dimensional relative navigation for uncooperative space objects

This work proposes a high-speed Light Detection and Ranging (LIDAR) based navigation architecture that is appropriate for uncooperative relative space navigation applications. In contrast to current solutions that exploit 3D LIDAR data, our architecture transforms the odometry problem from the 3D space into multiple 2.5D ones and completes the odometry problem by utilizing a recursive filtering scheme. Trials evaluate several current state-of-the-art 2D keypoint detection and local feature description methods as well as recursive filtering techniques on a number of simulated but credible scenarios that involve a satellite model developed by Thales Alenia Space (France). Most appealing performance is attained by the 2D keypoint detector Good Features to Track (GFFT) combined with the feature descriptor KAZE, that are further combined with either the H∞ or the Kalman recursive filter. Experimental results demonstrate that compared to current algorithms, the GFTT/KAZE combination is highly appealing affording one order of magnitude more accurate odometry and a very low processing burden, which depending on the competitor method, may exceed one order of magnitude faster computation

Video Inter-frame Forgery Detection Approach for Surveillance and Mobile Recorded Videos

We are living in an age where use of multimedia technologies like digital recorders and mobile phones is increasing rapidly. On the other hand, digital content manipulating softwares are also increasing making it easy for an individual to doctor the recorded content with trivial consumption of time and wealth. Digital multimedia forensics is gaining utmost importance to restrict unethical use of such easily available tampering techniques. These days, it is common for people to record videos using their smart phones. We have also witnessed a sudden growth in the use of surveillance cameras, which we see inhabiting almost every public location. Videos recorded using these devices usually contains crucial evidence of some event occurence and thereby most susceptible to inter-frame forgery which can be easily performed by insertion/removal/replication of frame(s). The proposed forensic technique enabled detection of inter-frame forgery in H.264 and MPEG-2 encoded videos especially mobile recorded and surveillance videos. This novel method introduced objectivity for automatic detection and localization of tampering by utilizing prediction residual gradient and optical flow gradient. Experimental results showed that this technique can detect tampering with 90% true positive rate, regardless of the video codec and recording device utilized and number of frames tampered

Spontaneous Subtle Expression Detection and Recognition based on Facial Strain

Optical strain is an extension of optical flow that is capable of quantifying subtle changes on faces and representing the minute facial motion intensities at the pixel level. This is computationally essential for the relatively new field of spontaneous micro-expression, where subtle expressions can be technically challenging to pinpoint. In this paper, we present a novel method for detecting and recognizing micro-expressions by utilizing facial optical strain magnitudes to construct optical strain features and optical strain weighted features. The two sets of features are then concatenated to form the resultant feature histogram. Experiments were performed on the CASME II and SMIC databases. We demonstrate on both databases, the usefulness of optical strain information and more importantly, that our best approaches are able to outperform the original baseline results for both detection and recognition tasks. A comparison of the proposed method with other existing spatio-temporal feature extraction approaches is also presented.Comment: 21 pages (including references), single column format, accepted to Signal Processing: Image Communication journa

Post-Acquisition Small-Animal Respiratory Gated Imaging Using Micro Cone-Beam CT

On many occasions, it is desirable to image lungs in vivo to perform a pulmonary physiology study. Since the lungs are moving, gating with respect to the ventilatory phase has to be performed in order to minimize motion artifacts. Gating can be done in real time, similar to cardiac imaging in clinical applications, however, there are technical problems that have lead us to investigate different approaches. The problems include breath-to-breath inconsistencies in tidal volume, which makes the precise detection of ventilatory phase difficult, and the relatively high ventilation rates seen in small animals (rats and mice have ventilation rates in the range of a hundred cycles per minute), which challenges the capture rate of many imaging systems (this is particularly true of our system which utilizes cone-beam geometry and a 2 dimensional detector). Instead of pre-capture ventilation gating we implemented a method of post-acquisition gating. We acquire a sequence of projections images at 30 frames per second for each of 360 viewing angles. During each capture sequence the rat undergoes multiple ventilation cycles. Using the sequence of projection images, an automated region of interest algorithm, based on integrated grayscale intensity, tracts the ventilatory phase of the lungs. In the processing of an image sequence, multiple projection images are identified at a particular phase and averaged to improve the signal-to-ratio. The resulting averaged projection images are input to a Feldkamp cone-beam algorithm reconstruction algorithm in order to obtain isotropic image volumes. Minimal motion artifact data sets improve qualitative and quantitative analysis techniques useful in physiologic studies of pulmonary structure and function

GASP : Geometric Association with Surface Patches

A fundamental challenge to sensory processing tasks in perception and robotics is the problem of obtaining data associations across views. We present a robust solution for ascertaining potentially dense surface patch (superpixel) associations, requiring just range information. Our approach involves decomposition of a view into regularized surface patches. We represent them as sequences expressing geometry invariantly over their superpixel neighborhoods, as uniquely consistent partial orderings. We match these representations through an optimal sequence comparison metric based on the Damerau-Levenshtein distance - enabling robust association with quadratic complexity (in contrast to hitherto employed joint matching formulations which are NP-complete). The approach is able to perform under wide baselines, heavy rotations, partial overlaps, significant occlusions and sensor noise. The technique does not require any priors -- motion or otherwise, and does not make restrictive assumptions on scene structure and sensor movement. It does not require appearance -- is hence more widely applicable than appearance reliant methods, and invulnerable to related ambiguities such as textureless or aliased content. We present promising qualitative and quantitative results under diverse settings, along with comparatives with popular approaches based on range as well as RGB-D data.Comment: International Conference on 3D Vision, 201