Object recognition using multi-view imaging

Single view imaging data has been used in most previous research in computer vision and image understanding and lots of techniques have been developed. Recently with the fast development and dropping cost of multiple cameras, it has become possible to have many more views to achieve image processing tasks. This thesis will consider how to use the obtained multiple images in the application of target object recognition. In this context, we present two algorithms for object recognition based on scale- invariant feature points. The first is single view object recognition method (SOR), which operates on single images and uses a chirality constraint to reduce the recognition errors that arise when only a small number of feature points are matched. The procedure is extended in the second multi-view object recognition algorithm (MOR) which operates on a multi-view image sequence and, by tracking feature points using a dynamic programming method in the plenoptic domain subject to the epipolar constraint, is able to fuse feature point matches from all the available images, resulting in more robust recognition. We evaluated these algorithms using a number of data sets of real images capturing both indoor and outdoor scenes. We demonstrate that MOR is better than SOR particularly for noisy and low resolution images, and it is also able to recognize objects that are partially occluded by combining it with some segmentation techniques

Towards visualization and searching :a dual-purpose video coding approach

In modern video applications, the role of the decoded video is much more than filling a screen for visualization. To offer powerful video-enabled applications, it is increasingly critical not only to visualize the decoded video but also to provide efficient searching capabilities for similar content. Video surveillance and personal communication applications are critical examples of these dual visualization and searching requirements. However, current video coding solutions are strongly biased towards the visualization needs. In this context, the goal of this work is to propose a dual-purpose video coding solution targeting both visualization and searching needs by adopting a hybrid coding framework where the usual pixel-based coding approach is combined with a novel feature-based coding approach. In this novel dual-purpose video coding solution, some frames are coded using a set of keypoint matches, which not only allow decoding for visualization, but also provide the decoder valuable feature-related information, extracted at the encoder from the original frames, instrumental for efficient searching. The proposed solution is based on a flexible joint Lagrangian optimization framework where pixel-based and feature-based processing are combined to find the most appropriate trade-off between the visualization and searching performances. Extensive experimental results for the assessment of the proposed dual-purpose video coding solution under meaningful test conditions are presented. The results show the flexibility of the proposed coding solution to achieve different optimization trade-offs, notably competitive performance regarding the state-of-the-art HEVC standard both in terms of visualization and searching performance.Em modernas aplicações de vídeo, o papel do vídeo decodificado é muito mais que simplesmente preencher uma tela para visualização. Para oferecer aplicações mais poderosas por meio de sinais de vídeo,é cada vez mais crítico não apenas considerar a qualidade do conteúdo objetivando sua visualização, mas também possibilitar meios de realizar busca por conteúdos semelhantes. Requisitos de visualização e de busca são considerados, por exemplo, em modernas aplicações de vídeo vigilância e comunicações pessoais. No entanto, as atuais soluções de codificação de vídeo são fortemente voltadas aos requisitos de visualização. Nesse contexto, o objetivo deste trabalho é propor uma solução de codificação de vídeo de propósito duplo, objetivando tanto requisitos de visualização quanto de busca. Para isso, é proposto um arcabouço de codificação em que a abordagem usual de codificação de pixels é combinada com uma nova abordagem de codificação baseada em features visuais. Nessa solução, alguns quadros são codificados usando um conjunto de pares de keypoints casados, possibilitando não apenas visualização, mas também provendo ao decodificador valiosas informações de features visuais, extraídas no codificador a partir do conteúdo original, que são instrumentais em aplicações de busca. A solução proposta emprega um esquema flexível de otimização Lagrangiana onde o processamento baseado em pixel é combinado com o processamento baseado em features visuais objetivando encontrar um compromisso adequado entre os desempenhos de visualização e de busca. Os resultados experimentais mostram a flexibilidade da solução proposta em alcançar diferentes compromissos de otimização, nomeadamente desempenho competitivo em relação ao padrão HEVC tanto em termos de visualização quanto de busca

Review of Person Re-identification Techniques

Person re-identification across different surveillance cameras with disjoint fields of view has become one of the most interesting and challenging subjects in the area of intelligent video surveillance. Although several methods have been developed and proposed, certain limitations and unresolved issues remain. In all of the existing re-identification approaches, feature vectors are extracted from segmented still images or video frames. Different similarity or dissimilarity measures have been applied to these vectors. Some methods have used simple constant metrics, whereas others have utilised models to obtain optimised metrics. Some have created models based on local colour or texture information, and others have built models based on the gait of people. In general, the main objective of all these approaches is to achieve a higher-accuracy rate and lowercomputational costs. This study summarises several developments in recent literature and discusses the various available methods used in person re-identification. Specifically, their advantages and disadvantages are mentioned and compared.Comment: Published 201

SEGMENTATION, RECOGNITION, AND ALIGNMENT OF COLLABORATIVE GROUP MOTION

Modeling and recognition of human motion in videos has broad applications in behavioral biometrics, content-based visual data analysis, security and surveillance, as well as designing interactive environments. Significant progress has been made in the past two decades by way of new models, methods, and implementations. In this dissertation, we focus our attention on a relatively less investigated sub-area called collaborative group motion analysis. Collaborative group motions are those that typically involve multiple objects, wherein the motion patterns of individual objects may vary significantly in both space and time, but the collective motion pattern of the ensemble allows characterization in terms of geometry and statistics. Therefore, the motions or activities of an individual object constitute local information. A framework to synthesize all local information into a holistic view, and to explicitly characterize interactions among objects, involves large scale global reasoning, and is of significant complexity. In this dissertation, we first review relevant previous contributions on human motion/activity modeling and recognition, and then propose several approaches to answer a sequence of traditional vision questions including 1) which of the motion elements among all are the ones relevant to a group motion pattern of interest (Segmentation); 2) what is the underlying motion pattern (Recognition); and 3) how two motion ensembles are similar and how we can 'optimally' transform one to match the other (Alignment). Our primary practical scenario is American football play, where the corresponding problems are 1) who are offensive players; 2) what are the offensive strategy they are using; and 3) whether two plays are using the same strategy and how we can remove the spatio-temporal misalignment between them due to internal or external factors. The proposed approaches discard traditional modeling paradigm but explore either concise descriptors, hierarchies, stochastic mechanism, or compact generative model to achieve both effectiveness and efficiency. In particular, the intrinsic geometry of the spaces of the involved features/descriptors/quantities is exploited and statistical tools are established on these nonlinear manifolds. These initial attempts have identified new challenging problems in complex motion analysis, as well as in more general tasks in video dynamics. The insights gained from nonlinear geometric modeling and analysis in this dissertation may hopefully be useful toward a broader class of computer vision applications

Fast and robust image feature matching methods for computer vision applications

Service robotic systems are designed to solve tasks such as recognizing and manipulating objects, understanding natural scenes, navigating in dynamic and populated environments. It's immediately evident that such tasks cannot be modeled in all necessary details as easy as it is with industrial robot tasks; therefore, service robotic system has to have the ability to sense and interact with the surrounding physical environment through a multitude of sensors and actuators. Environment sensing is one of the core problems that limit the deployment of mobile service robots since existing sensing systems are either too slow or too expensive. Visual sensing is the most promising way to provide a cost effective solution to the mobile robot sensing problem. It's usually achieved using one or several digital cameras placed on the robot or distributed in its environment. Digital cameras are information rich sensors and are relatively inexpensive and can be used to solve a number of key problems for robotics and other autonomous intelligent systems, such as visual servoing, robot navigation, object recognition, pose estimation, and much more. The key challenges to taking advantage of this powerful and inexpensive sensor is to come up with algorithms that can reliably and quickly extract and match the useful visual information necessary to automatically interpret the environment in real-time. Although considerable research has been conducted in recent years on the development of algorithms for computer and robot vision problems, there are still open research challenges in the context of the reliability, accuracy and processing time. Scale Invariant Feature Transform (SIFT) is one of the most widely used methods that has recently attracted much attention in the computer vision community due to the fact that SIFT features are highly distinctive, and invariant to scale, rotation and illumination changes. In addition, SIFT features are relatively easy to extract and to match against a large database of local features. Generally, there are two main drawbacks of SIFT algorithm, the first drawback is that the computational complexity of the algorithm increases rapidly with the number of key-points, especially at the matching step due to the high dimensionality of the SIFT feature descriptor. The other one is that the SIFT features are not robust to large viewpoint changes. These drawbacks limit the reasonable use of SIFT algorithm for robot vision applications since they require often real-time performance and dealing with large viewpoint changes. This dissertation proposes three new approaches to address the constraints faced when using SIFT features for robot vision applications, Speeded up SIFT feature matching, robust SIFT feature matching and the inclusion of the closed loop control structure into object recognition and pose estimation systems. The proposed methods are implemented and tested on the FRIEND II/III service robotic system. The achieved results are valuable to adapt SIFT algorithm to the robot vision applications