Coplanar Repeats by Energy Minimization

This paper proposes an automated method to detect, group and rectify arbitrarily-arranged coplanar repeated elements via energy minimization. The proposed energy functional combines several features that model how planes with coplanar repeats are projected into images and captures global interactions between different coplanar repeat groups and scene planes. An inference framework based on a recent variant of $\alpha$-expansion is described and fast convergence is demonstrated. We compare the proposed method to two widely-used geometric multi-model fitting methods using a new dataset of annotated images containing multiple scene planes with coplanar repeats in varied arrangements. The evaluation shows a significant improvement in the accuracy of rectifications computed from coplanar repeats detected with the proposed method versus those detected with the baseline methods.Comment: 14 pages with supplemental materials attache

Vehicle detection and tracking using homography-based plane rectification and particle filtering

This paper presents a full system for vehicle detection and tracking in non-stationary settings based on computer vision. The method proposed for vehicle detection exploits the geometrical relations between the elements in the scene so that moving objects (i.e., vehicles) can be detected by analyzing motion parallax. Namely, the homography of the road plane between successive images is computed. Most remarkably, a novel probabilistic framework based on Kalman filtering is presented for reliable and accurate homography estimation. The estimated homography is used for image alignment, which in turn allows to detect the moving vehicles in the image. Tracking of vehicles is performed on the basis of a multidimensional particle filter, which also manages the exit and entries of objects. The filter involves a mixture likelihood model that allows a better adaptation of the particles to the observed measurements. The system is specially designed for highway environments, where it has been proven to yield excellent results

Rapid mapping of digital integrated circuit logic gates via multi-spectral backside imaging

Modern semiconductor integrated circuits are increasingly fabricated at untrusted third party foundries. There now exist myriad security threats of malicious tampering at the hardware level and hence a clear and pressing need for new tools that enable rapid, robust and low-cost validation of circuit layouts. Optical backside imaging offers an attractive platform, but its limited resolution and throughput cannot cope with the nanoscale sizes of modern circuitry and the need to image over a large area. We propose and demonstrate a multi-spectral imaging approach to overcome these obstacles by identifying key circuit elements on the basis of their spectral response. This obviates the need to directly image the nanoscale components that define them, thereby relaxing resolution and spatial sampling requirements by 1 and 2 - 4 orders of magnitude respectively. Our results directly address critical security needs in the integrated circuit supply chain and highlight the potential of spectroscopic techniques to address fundamental resolution obstacles caused by the need to image ever shrinking feature sizes in semiconductor integrated circuits

Advancing image quantification methods and tools for analysis of nanoparticle electrokinetics

Image processing methods and techniques for high-throughput quantification of dielectrophoretic (DEP) collections onto planar castellated electrode arrays are developed and evaluated. Fluorescence-based dielectrophoretic spectroscopy is an important tool for laboratory investigations of AC electrokinetic properties of nanoparticles. This paper details new, first principle, theoretical and experimental developments of geometric feature recognition techniques that enable quantification of positive dielectrophoretic (pDEP) nanoparticle collections onto castellated arrays. As an alternative to the geometric-based method, novel statistical methods that do not require any information about array features, are also developed using the quantile and standard deviation functions. Data from pDEP collection and release experiments using 200 nm diameter latex nanospheres demonstrates that pDEP quantification using the statistic-based methods yields quantitatively similar results to the geometric-based method. The development of geometric- and statistic-based quantification methods enables high-throughput, supervisor-free image processing tools critical for dielectrophoretic spectroscopy and automated DEP technology development

Automated Visual Fin Identification of Individual Great White Sharks

This paper discusses the automated visual identification of individual great white sharks from dorsal fin imagery. We propose a computer vision photo ID system and report recognition results over a database of thousands of unconstrained fin images. To the best of our knowledge this line of work establishes the first fully automated contour-based visual ID system in the field of animal biometrics. The approach put forward appreciates shark fins as textureless, flexible and partially occluded objects with an individually characteristic shape. In order to recover animal identities from an image we first introduce an open contour stroke model, which extends multi-scale region segmentation to achieve robust fin detection. Secondly, we show that combinatorial, scale-space selective fingerprinting can successfully encode fin individuality. We then measure the species-specific distribution of visual individuality along the fin contour via an embedding into a global `fin space'. Exploiting this domain, we finally propose a non-linear model for individual animal recognition and combine all approaches into a fine-grained multi-instance framework. We provide a system evaluation, compare results to prior work, and report performance and properties in detail.Comment: 17 pages, 16 figures. To be published in IJCV. Article replaced to update first author contact details and to correct a Figure reference on page

Plane-extraction from depth-data using a Gaussian mixture regression model

We propose a novel algorithm for unsupervised extraction of piecewise planar models from depth-data. Among other applications, such models are a good way of enabling autonomous agents (robots, cars, drones, etc.) to effectively perceive their surroundings and to navigate in three dimensions. We propose to do this by fitting the data with a piecewise-linear Gaussian mixture regression model whose components are skewed over planes, making them flat in appearance rather than being ellipsoidal, by embedding an outlier-trimming process that is formally incorporated into the proposed expectation-maximization algorithm, and by selectively fusing contiguous, coplanar components. Part of our motivation is an attempt to estimate more accurate plane-extraction by allowing each model component to make use of all available data through probabilistic clustering. The algorithm is thoroughly evaluated against a standard benchmark and is shown to rank among the best of the existing state-of-the-art methods.Comment: 11 pages, 2 figures, 1 tabl

Data-Driven Grasp Synthesis - A Survey

We review the work on data-driven grasp synthesis and the methodologies for sampling and ranking candidate grasps. We divide the approaches into three groups based on whether they synthesize grasps for known, familiar or unknown objects. This structure allows us to identify common object representations and perceptual processes that facilitate the employed data-driven grasp synthesis technique. In the case of known objects, we concentrate on the approaches that are based on object recognition and pose estimation. In the case of familiar objects, the techniques use some form of a similarity matching to a set of previously encountered objects. Finally for the approaches dealing with unknown objects, the core part is the extraction of specific features that are indicative of good grasps. Our survey provides an overview of the different methodologies and discusses open problems in the area of robot grasping. We also draw a parallel to the classical approaches that rely on analytic formulations.Comment: 20 pages, 30 Figures, submitted to IEEE Transactions on Robotic

Source extraction and photometry for the far-infrared and sub-millimeter continuum in the presence of complex backgrounds

(Abridged) We present a new method for detecting and measuring compact sources in conditions of intense, and highly variable, fore/background. While all most commonly used packages carry out the source detection over the signal image, our proposed method builds from the measured image a "curvature" image by double-differentiation in four different directions. In this way point-like as well as resolved, yet relatively compact, objects are easily revealed while the slower varying fore/background is greatly diminished. Candidate sources are then identified by looking for pixels where the curvature exceeds, in absolute terms, a given threshold; the methodology easily allows us to pinpoint breakpoints in the source brightness profile and then derive reliable guesses for the sources extent. Identified peaks are fit with 2D elliptical Gaussians plus an underlying planar inclined plateau, with mild constraints on size and orientation. Mutually contaminating sources are fit with multiple Gaussians simultaneously using flexible constraints. We ran our method on simulated large-scale fields with 1000 sources of different peak flux overlaid on a realistic realization of diffuse background. We find detection rates in excess of 90% for sources with peak fluxes above the 3-sigma signal noise limit; for about 80% of the sources the recovered peak fluxes are within 30% of their input values.Comment: Accepted on A&