Local descriptors for visual SLAM

We present a comparison of several local image descriptors in the context of visual Simultaneous Localization and Mapping (SLAM). In visual SLAM a set of points in the environment are extracted from images and used as landmarks. The points are represented by local descriptors used to resolve the association between landmarks. In this paper, we study the class separability of several descriptors under changes in viewpoint and scale. Several experiments were carried out using sequences of images in 2D and 3D scenes

A comparative evaluation of interest point detectors and local descriptors for visual SLAM

Abstract In this paper we compare the behavior of different interest points detectors and descriptors under the conditions needed to be used as landmarks in vision-based simultaneous localization and mapping (SLAM). We evaluate the repeatability of the detectors, as well as the invariance and distinctiveness of the descriptors, under different perceptual conditions using sequences of images representing planar objects as well as 3D scenes. We believe that this information will be useful when selecting an appropriat

A PatchMatch-based Dense-field Algorithm for Video Copy-Move Detection and Localization

We propose a new algorithm for the reliable detection and localization of video copy-move forgeries. Discovering well crafted video copy-moves may be very difficult, especially when some uniform background is copied to occlude foreground objects. To reliably detect both additive and occlusive copy-moves we use a dense-field approach, with invariant features that guarantee robustness to several post-processing operations. To limit complexity, a suitable video-oriented version of PatchMatch is used, with a multiresolution search strategy, and a focus on volumes of interest. Performance assessment relies on a new dataset, designed ad hoc, with realistic copy-moves and a wide variety of challenging situations. Experimental results show the proposed method to detect and localize video copy-moves with good accuracy even in adverse conditions

Applying machine learning methods for characterization of hexagonal prisms from their 2D scattering patterns – an investigation using modelled scattering data

This document is the Accepted Manuscript version of the following article: Emmanuel Oluwatobi Salawu, Evelyn Hesse, Chris Stopford, Neil Davey, and Yi Sun, 'Applying machine learning methods for characterization of hexagonal prisms from their 2D scattering patterns – an investigation using modelled scattering data', Journal of Quantitative Spectroscopy and Radiative Transfer, Vol. 201, pp. 115-127, first published online 5 July 2017. Under embargo. Embargo end date: 5 July 2019. The Version of Record is available online at doi: https://doi.org/10.1016/j.jqsrt.2017.07.001. © 2017 Elsevier Ltd. All rights reserved.Better understanding and characterization of cloud particles, whose properties and distributions affect climate and weather, are essential for the understanding of present climate and climate change. Since imaging cloud probes have limitations of optical resolution, especially for small particles (with diameter < 25 μm), instruments like the Small Ice Detector (SID) probes, which capture high-resolution spatial light scattering patterns from individual particles down to 1 μm in size, have been developed. In this work, we have proposed a method using Machine Learning techniques to estimate simulated particles’ orientation-averaged projected sizes (PAD) and aspect ratio from their 2D scattering patterns. The two-dimensional light scattering patterns (2DLSP) of hexagonal prisms are computed using the Ray Tracing with Diffraction on Facets (RTDF) model. The 2DLSP cover the same angular range as the SID probes. We generated 2DLSP for 162 hexagonal prisms at 133 orientations for each. In a first step, the 2DLSP were transformed into rotation-invariant Zernike moments (ZMs), which are particularly suitable for analyses of pattern symmetry. Then we used ZMs, summed intensities, and root mean square contrast as inputs to the advanced Machine Learning methods. We created one random forests classifier for predicting prism orientation, 133 orientation-specific (OS) support vector classification models for predicting the prism aspect-ratios, 133 OS support vector regression models for estimating prism sizes, and another 133 OS Support Vector Regression (SVR) models for estimating the size PADs. We have achieved a high accuracy of 0.99 in predicting prism aspect ratios, and a low value of normalized mean square error of 0.004 for estimating the particle’s size and size PADs.Peer reviewe

Local Descriptor by Zernike Moments for Real-time Keypoint Matching

This paper presents a real-time keypoint matching algorithm using a local descriptor derived by Zernike moments. From an input image, we find a set of keypoints by using an existing corner detection algorithm. At each keypoint we extract a fixed size image patch and compute a local descriptor derived by Zernike moments. The proposed local descriptor is invariant to rotation and illumination changes. In order to speed up the computation of Zernike moments, we compute the Zernike basis functions in advance and store them in a set of lookup tables. The matching is performed with an Approximate Nearest Neighbor (ANN) method and refined by a RANSAC algorithm. In the experiments we confirmed that videos of frame size 320×240 with the scale, rotation, illumination and even 3D viewpoint changes are processed at 25~30Hz using the proposed method. Unlike existing keypoint matching algorithms, our approach also works in realtime for registering a reference image

Testing for image symmetries – with application to confocal microscopy

Statistical tests are introduced for checking whether an image function f(x, y) defined on the unit disc D = {(x, y) : x2 + y2 ≤ 1} is invariant under certain symmetry transformations of D, given that discrete and noisy data are observed. We consider invariance under reflections or under rotations by rational angles, as well as joint invariance under both reflections and rotations. Furthermore, we propose a test for rotational invariance of f(x, y), i.e., for checking whether f(x, y), after transformation to polar coordinates, only depends on the radius and not on the angle. These symmetry relations can be naturally expressed as restrictions for the Zernike moments of the image function f(x, y), i.e., the Fourier coefficients with respect to the Zernike orthogonal basis. Therefore, our test statistics are based on checking whether the estimated Zernike coefficients approximately satisfy those restrictions. This is carried out by forming the L2 distance between the image function and its transformed version obtained by some symmetry transformation. We derive the asymptotic distribution of the test statistics under both the hypothesis of symmetry as well as under fixed alternatives. Furthermore, we investigate the quality of the asymptotic approximations via simulation studies. The usefulness our theory is verified by examining an important problem in confocal microscopy, i.e., we investigate possible imprecise alignments in the optical path of the microscope. For optical systems with rotational symmetry, the theoretical point-spread-function (PSF) is reflection symmetric with respect to two orthogonal axes, and rotationally invariant if the detector plane matches the optical plane of the microscope. We use our tests to investigate whether the required symmetries can indeed be detected in the empirical PSF

Image understanding and feature extraction for applications in industry and mapping

Bibliography: p. 212-220.The aim of digital photogrammetry is the automated extraction and classification of the three dimensional information of a scene from a number of images. Existing photogrammetric systems are semi-automatic requiring manual editing and control, and have very limited domains of application so that image understanding capabilities are left to the user. Among the most important steps in a fully integrated system are the extraction of features suitable for matching, the establishment of the correspondence between matching points and object classification. The following study attempts to explore the applicability of pattern recognition concepts in conjunction with existing area-based methods, feature-based techniques and other approaches used in computer vision in order to increase the level of automation and as a general alternative and addition to existing methods. As an illustration of the pattern recognition approach examples of industrial applications are given. The underlying method is then extended to the identification of objects in aerial images of urban scenes and to the location of targets in close-range photogrammetric applications. Various moment-based techniques are considered as pattern classifiers including geometric invariant moments, Legendre moments, Zernike moments and pseudo-Zernike moments. Two-dimensional Fourier transforms are also considered as pattern classifiers. The suitability of these techniques is assessed. These are then applied as object locators and as feature extractors or interest operators. Additionally the use of fractal dimension to segment natural scenes for regional classification in order to limit the search space for particular objects is considered. The pattern recognition techniques require considerable preprocessing of images. The various image processing techniques required are explained where needed. Extracted feature points are matched using relaxation based techniques in conjunction with area-based methods to 'obtain subpixel accuracy. A subpixel pattern recognition based method is also proposed and an investigation into improved area-based subpixel matching methods is undertaken. An algorithm for determining relative orientation parameters incorporating the epipolar line constraint is investigated and compared with a standard relative orientation algorithm. In conclusion a basic system that can be automated based on some novel techniques in conjunction with existing methods is described and implemented in a mapping application. This system could be largely automated with suitably powerful computers