Camera positioning for 3D panoramic image rendering

This thesis was submitted for the degree of Doctor of Philosophy and awarded by Brunel University London.Virtual camera realisation and the proposition of trapezoidal camera architecture are the two broad contributions of this thesis. Firstly, multiple camera and their arrangement constitute a critical component which affect the integrity of visual content acquisition for multi-view video. Currently, linear, convergence, and divergence arrays are the prominent camera topologies adopted. However, the large number of cameras required and their synchronisation are two of prominent challenges usually encountered. The use of virtual cameras can significantly reduce the number of physical cameras used with respect to any of the known camera structures, hence adequately reducing some of the other implementation issues. This thesis explores to use image-based rendering with and without geometry in the implementations leading to the realisation of virtual cameras. The virtual camera implementation was carried out from the perspective of depth map (geometry) and use of multiple image samples (no geometry). Prior to the virtual camera realisation, the generation of depth map was investigated using region match measures widely known for solving image point correspondence problem. The constructed depth maps have been compare with the ones generated using the dynamic programming approach. In both the geometry and no geometry approaches, the virtual cameras lead to the rendering of views from a textured depth map, construction of 3D panoramic image of a scene by stitching multiple image samples and performing superposition on them, and computation of virtual scene from a stereo pair of panoramic images. The quality of these rendered images were assessed through the use of either objective or subjective analysis in Imatest software. Further more, metric reconstruction of a scene was performed by re-projection of the pixel points from multiple image samples with a single centre of projection. This was done using sparse bundle adjustment algorithm. The statistical summary obtained after the application of this algorithm provides a gauge for the efficiency of the optimisation step. The optimised data was then visualised in Meshlab software environment, hence providing the reconstructed scene. Secondly, with any of the well-established camera arrangements, all cameras are usually constrained to the same horizontal plane. Therefore, occlusion becomes an extremely challenging problem, and a robust camera set-up is required in order to resolve strongly the hidden part of any scene objects. To adequately meet the visibility condition for scene objects and given that occlusion of the same scene objects can occur, a multi-plane camera structure is highly desirable. Therefore, this thesis also explore trapezoidal camera structure for image acquisition. The approach here is to assess the feasibility and potential of several physical cameras of the same model being sparsely arranged on the edge of an efficient trapezoid graph. This is implemented both Matlab and Maya. The quality of the depth maps rendered in Matlab are better in Quality

Holoscopic 3D image depth estimation and segmentation techniques

This thesis was submitted for the award of Doctor of Philosophy and was awarded by Brunel University LondonToday’s 3D imaging techniques offer significant benefits over conventional 2D imaging techniques. The presence of natural depth information in the scene affords the observer an overall improved sense of reality and naturalness. A variety of systems attempting to reach this goal have been designed by many independent research groups, such as stereoscopic and auto-stereoscopic systems. Though the images displayed by such systems tend to cause eye strain, fatigue and headaches after prolonged viewing as users are required to focus on the screen plane/accommodation to converge their eyes to a point in space in a different plane/convergence. Holoscopy is a 3D technology that targets overcoming the above limitations of current 3D technology and was recently developed at Brunel University. This work is part W4.1 of the 3D VIVANT project that is funded by the EU under the ICT program and coordinated by Dr. Aman Aggoun at Brunel University, West London, UK. The objective of the work described in this thesis is to develop estimation and segmentation techniques that are capable of estimating precise 3D depth, and are applicable for holoscopic 3D imaging system. Particular emphasis is given to the task of automatic techniques i.e. favours algorithms with broad generalisation abilities, as no constraints are placed on the setting. Algorithms that provide invariance to most appearance based variation of objects in the scene (e.g. viewpoint changes, deformable objects, presence of noise and changes in lighting). Moreover, have the ability to estimate depth information from both types of holoscopic 3D images i.e. Unidirectional and Omni-directional which gives horizontal parallax and full parallax (vertical and horizontal), respectively. The main aim of this research is to develop 3D depth estimation and 3D image segmentation techniques with great precision. In particular, emphasis on automation of thresholding techniques and cues identifications for development of robust algorithms. A method for depth-through-disparity feature analysis has been built based on the existing correlation between the pixels at a one micro-lens pitch which has been exploited to extract the viewpoint images (VPIs). The corresponding displacement among the VPIs has been exploited to estimate the depth information map via setting and extracting reliable sets of local features. ii Feature-based-point and feature-based-edge are two novel automatic thresholding techniques for detecting and extracting features that have been used in this approach. These techniques offer a solution to the problem of setting and extracting reliable features automatically to improve the performance of the depth estimation related to the generalizations, speed and quality. Due to the resolution limitation of the extracted VPIs, obtaining an accurate 3D depth map is challenging. Therefore, sub-pixel shift and integration is a novel interpolation technique that has been used in this approach to generate super-resolution VPIs. By shift and integration of a set of up-sampled low resolution VPIs, the new information contained in each viewpoint is exploited to obtain a super resolution VPI. This produces a high resolution perspective VPI with wide Field Of View (FOV). This means that the holoscopic 3D image system can be converted into a multi-view 3D image pixel format. Both depth accuracy and a fast execution time have been achieved that improved the 3D depth map. For a 3D object to be recognized the related foreground regions and depth information map needs to be identified. Two novel unsupervised segmentation methods that generate interactive depth maps from single viewpoint segmentation were developed. Both techniques offer new improvements over the existing methods due to their simple use and being fully automatic; therefore, producing the 3D depth interactive map without human interaction. The final contribution is a performance evaluation, to provide an equitable measurement for the extent of the success of the proposed techniques for foreground object segmentation, 3D depth interactive map creation and the generation of 2D super-resolution viewpoint techniques. The no-reference image quality assessment metrics and their correlation with the human perception of quality are used with the help of human participants in a subjective manner

Discontinuity-Aware Base-Mesh Modeling of Depth for Scalable Multiview Image Synthesis and Compression

This thesis is concerned with the challenge of deriving disparity from sparsely communicated depth for performing disparity-compensated view synthesis for compression and rendering of multiview images. The modeling of depth is essential for deducing disparity at view locations where depth is not available and is also critical for visibility reasoning and occlusion handling. This thesis first explores disparity derivation methods and disparity-compensated view synthesis approaches. Investigations reveal the merits of adopting a piece-wise continuous mesh description of depth for deriving disparity at target view locations to enable disparity-compensated backward warping of texture. Visibility information can be reasoned due to the correspondence relationship between views that a mesh model provides, while the connectivity of a mesh model assists in resolving depth occlusion. The recent JPEG 2000 Part-17 extension defines tools for scalable coding of discontinuous media using breakpoint-dependent DWT, where breakpoints describe discontinuity boundary geometry. This thesis proposes a method to efficiently reconstruct depth coded using JPEG 2000 Part-17 as a piece-wise continuous mesh, where discontinuities are driven by the encoded breakpoints. Results show that the proposed mesh can accurately represent decoded depth while its complexity scales along with decoded depth quality. The piece-wise continuous mesh model anchored at a single viewpoint or base-view can be augmented to form a multi-layered structure where the underlying layers carry depth information of regions that are occluded at the base-view. Such a consolidated mesh representation is termed a base-mesh model and can be projected to many viewpoints, to deduce complete disparity fields between any pair of views that are inherently consistent. Experimental results demonstrate the superior performance of the base-mesh model in multiview synthesis and compression compared to other state-of-the-art methods, including the JPEG Pleno light field codec. The proposed base-mesh model departs greatly from conventional pixel-wise or block-wise depth models and their forward depth mapping for deriving disparity ingrained in existing multiview processing systems. When performing disparity-compensated view synthesis, there can be regions for which reference texture is unavailable, and inpainting is required. A new depth-guided texture inpainting algorithm is proposed to restore occluded texture in regions where depth information is either available or can be inferred using the base-mesh model

Efficient and Accurate Disparity Estimation from MLA-Based Plenoptic Cameras

This manuscript focuses on the processing images from microlens-array based plenoptic cameras. These cameras enable the capturing of the light field in a single shot, recording a greater amount of information with respect to conventional cameras, allowing to develop a whole new set of applications. However, the enhanced information introduces additional challenges and results in higher computational effort. For one, the image is composed of thousand of micro-lens images, making it an unusual case for standard image processing algorithms. Secondly, the disparity information has to be estimated from those micro-images to create a conventional image and a three-dimensional representation. Therefore, the work in thesis is devoted to analyse and propose methodologies to deal with plenoptic images. A full framework for plenoptic cameras has been built, including the contributions described in this thesis. A blur-aware calibration method to model a plenoptic camera, an optimization method to accurately select the best microlenses combination, an overview of the different types of plenoptic cameras and their representation. Datasets consisting of both real and synthetic images have been used to create a benchmark for different disparity estimation algorithm and to inspect the behaviour of disparity under different compression rates. A robust depth estimation approach has been developed for light field microscopy and image of biological samples

Development of Correspondence Field and Its Application to Effective Depth Estimation in Stereo Camera Systems

Stereo camera systems are still the most widely used apparatus for estimating 3D or depth information of a scene due to their low-cost. Estimation of depth using a stereo camera requires first estimating the disparity map using stereo matching algorithms and calculating depth via triangulation based on the camera arrangement (their locations and orientations with respect to the scene). In almost all cases, the arrangement is determined based on human experience since there lacks an effective theoretical tool to guide the design of the camera arrangement. This thesis presents the development of a novel tool, called correspondence field (CF), and its application to optimize the stereo camera arrangement for depth estimation

Error-resilient multi-view video plus depth based 3-D video coding

Three Dimensional (3-D) video, by definition, is a collection of signals that can provide depth perception of a 3-D scene. With the development of 3-D display technologies and interactive multimedia systems, 3-D video has attracted significant interest from both industries and academia with a variety of applications. In order to provide desired services in various 3-D video applications, the multiview video plus depth (MVD) representation, which can facilitate the generation of virtual views, has been determined to be the best format for 3-D video data. Similar to 2-D video, compressed 3-D video is highly sensitive to transmission errors due to errors propagated from the current frame to the future predicted frames. Moreover, since the virtual views required for auto-stereoscopic displays are rendered from the compressed texture videos and depth maps, transmission errors of the distorted texture videos and depth maps can be further propagated to the virtual views. Besides, the distortions in texture and depth show different effects on the rendering views. Therefore, compared to the reliability of the transmission of the 2-D video, error-resilient texture video and depth map coding are facing major new challenges. This research concentrates on improving the error resilience performance of MVD-based 3-D video in packet loss scenarios. Based on the analysis of the propagating behaviour of transmission errors, a Wyner-Ziv (WZ)-based error-resilient algorithm is first designed for coding of the multi-view video data or depth data. In this scheme, an auxiliary redundant stream encoded according to WZ principle is employed to protect a primary stream encoded with standard multi-view video coding codec. Then, considering the fact that different combinations of texture and depth coding mode will exhibit varying robustness to transmission errors, a rate-distortion optimized mode switching scheme is proposed to strike the optimal trade-off between robustness and compression effciency. In this approach, the texture and depth modes are jointly optimized by minimizing the overall distortion of both the coded and synthesized views subject to a given bit rate. Finally, this study extends the research on the reliable transmission of view synthesis prediction (VSP)-based 3-D video. In order to mitigate the prediction position error caused by packet losses in the depth map, a novel disparity vector correction algorithm is developed, where the corrected disparity vector is calculated from the depth error. To facilitate decoder error concealment, the depth error is recursively estimated at the decoder. The contributions of this dissertation are multifold. First, the proposed WZbased error-resilient algorithm can accurately characterize the effect of transmission error on multi-view distortion at the transform domain in consideration of both temporal and inter-view error propagation, and based on the estimated distortion, this algorithm can perform optimal WZ bit allocation at the encoder through explicitly developing a sophisticated rate allocation strategy. This proposed algorithm is able to provide a finer granularity in performing rate adaptivity and unequal error protection for multi-view data, not only at the frame level, but also at the bit-plane level. Secondly, in the proposed mode switching scheme, a new analytic model is formulated to optimally estimate the view synthesis distortion due to packet losses, in which the compound impact of the transmission distortions of both the texture video and the depth map on the quality of the synthesized view is mathematically analysed. The accuracy of this view synthesis distortion model is demonstrated via simulation results and, further, the estimated distortion is integrated into a rate-distortion framework for optimal mode switching to achieve substantial performance gains over state-of-the-art algorithms. Last, but not least, this dissertation provides a preliminary investigation of VSP-based 3-D video over unreliable channel. In the proposed disparity vector correction algorithm, the pixel-level depth map error can be precisely estimated at the decoder without the deterministic knowledge of the error-free reconstructed depth. The approximation of the innovation term involved in depth error estimation is proved theoretically. This algorithm is very useful to conceal the position-erroneous pixels whose disparity vectors are correctly received