Part-based Probabilistic Point Matching using Equivalence Constraints

Correspondence algorithms typically struggle with shapes that display part-based variation. We present a probabilistic approach that matches shapes using independent part transformations, where the parts themselves are learnt during matching. Ideas from semi-supervised learning are used to bias the algorithm towards finding ‘perceptually valid’ part structures. Shapes are represented by unlabeled point sets of arbitrary size and a background component is used to handle occlusion, local dissimilarity and clutter. Thus, unlike many shape matching techniques, our approach can be applied to shapes extracted from real images. Model parameters are estimated using an EM algorithm that alternates between finding a soft correspondence and computing the optimal part transformations using Procrustes analysis

3D reconstruction and motion estimation using forward looking sonar

Autonomous Underwater Vehicles (AUVs) are increasingly used in different domains including archaeology, oil and gas industry, coral reef monitoring, harbour’s security, and mine countermeasure missions. As electromagnetic signals do not penetrate underwater environment, GPS signals cannot be used for AUV navigation, and optical cameras have very short range underwater which limits their use in most underwater environments. Motion estimation for AUVs is a critical requirement for successful vehicle recovery and meaningful data collection. Classical inertial sensors, usually used for AUV motion estimation, suffer from large drift error. On the other hand, accurate inertial sensors are very expensive which limits their deployment to costly AUVs. Furthermore, acoustic positioning systems (APS) used for AUV navigation require costly installation and calibration. Moreover, they have poor performance in terms of the inferred resolution. Underwater 3D imaging is another challenge in AUV industry as 3D information is increasingly demanded to accomplish different AUV missions. Different systems have been proposed for underwater 3D imaging, such as planar-array sonar and T-configured 3D sonar. While the former features good resolution in general, it is very expensive and requires huge computational power, the later is cheaper implementation but requires long time for full 3D scan even in short ranges. In this thesis, we aim to tackle AUV motion estimation and underwater 3D imaging by proposing relatively affordable methodologies and study different parameters affecting their performance. We introduce a new motion estimation framework for AUVs which relies on the successive acoustic images to infer AUV ego-motion. Also, we propose an Acoustic Stereo Imaging (ASI) system for underwater 3D reconstruction based on forward looking sonars; the proposed system features cheaper implementation than planar array sonars and solves the delay problem in T configured 3D sonars

Light Sheet Microscopy and Image Analysis of Neural Development and Programmed Cell Death in C. Elegans Embryos

The positioning of neuronal cell bodies and neurites is critical for intact functioning of the nervous system. Mapping the positions of the soma and neurites in the brains of developing embryos as important central nervous system structures are being created may yield novel insight into the role of distinct cell groups in creating these structures. New developments in microscopy have made this an excellent time to study neural development in the C. elegans embryo. In the past decade, implementations of highly light efficient methods such as single plane illumination microscopy have rendered it possible to follow development of embryonic structures in 3D with excellent temporal resolution (Huisken et al., 2004) and low phototoxicity. Recent work has resulted in quantitative characterization of the outgrowth of a single neurite in the late, rapidly moving three-fold stage of the C. elegans embryo for the first time (Christensen et al., 2015). In this thesis, I first describe the construction and programming of a single plane illumination microscope (SPIM) based on a design from Hari Shroff\u27s lab (Wu et al., 2011). The microscope is developed especially for use with C. elegans embryos and permits fast image acquisition without excessive photodamage, compared to other forms of microscopy. Second, I describe the use of the SPIM microscope to image the development of a subset of sublateral neurons, the earliest known entrants to the nerve ring (Rapti et al, in preparation), into which they grow in the 1.5-fold stage. I describe an algorithm for automatically aligning developing embryos onto one another until the beginning of the rapid embryonic movements known as twitching, which begin at the start of the twofold stage. I employ my algorithm to align a group of identically imaged embryos onto one another and deduce information about the positioning of the nerve ring in an approximately uniform coordinate system. I determine that nerve rings are precisely positioned in the embryo to within about a micrometer while the cell bodies that grow into the nerve ring are positioned over a much wider distance. My work suggests that the nerve ring grows out towards the ALA neuron as an anchor, and that twitching may begin when the developing nerve ring reaches the ALA. I additionally describe observation of new phenotypes related to the cam-1 mutation, which was previously identified as a regulator of anterior-posterior placement of the nerve ring (Kennerdell et al., 2009). Third, I describe an application of the SPIM microscope for imaging the death of the tail spike cell, a complex, multi-compartment differentiated cell which dies over a period of hours during the three-fold stage, when the animal is rapidly moving in its shell, and cannot be imaged otherwise than with a rapid, light efficient microscope such as the one described here. I determined the time course and confirmed the sequence of events of wild type tail spike cell death. Additionally, I report stronger phenotypes for some known tail spike cell death genes when imaged in the embryo, suggesting that eff-1 plays a stronger role than previously known in clearance of the distal part of the tail spike cell process, and additionally that ced-5 has a strong role in clearance of the same compartment (in addition to its known role in soma clearance). In an appendix I describe work beginning on an extension of the microscope, which will hopefully see the microscope used as a tool for selectively inducing fluorescence in individual cells and following the development of those cells in time. My results demonstrate the utility of single plane illumination microscopy for study of C. elegans embryogenesis and establish fundamental facts about the variability of the C. elegans central nervous system by making direct comparisons between animals. This work contributes to our understanding of the C. elegans nervous system by establishing fundamental bounds on the range of nerve ring positioning between individuals

Graph matching using position coordinates and local features for image analysis

Encontrar las correspondencias entre dos imágenes es un problema crucial en el campo de la visión por ordenador i el reconocimiento de patrones. Es relevante para un amplio rango de propósitos des de aplicaciones de reconocimiento de objetos en las áreas de biometría, análisis de documentos i análisis de formas hasta aplicaciones relacionadas con la geometría desde múltiples puntos de vista tales cómo la recuperación de la pose, estructura desde el movimiento y localización y mapeo. La mayoría de las técnicas existentes enfocan este problema o bien usando características locales en la imagen o bien usando métodos de registro de conjuntos de puntos (o bien una mezcla de ambos). En las primeras, un conjunto disperso de características es primeramente extraído de las imágenes y luego caracterizado en la forma de vectores descriptores usando evidencias locales de la imagen. Las características son asociadas según la similitud entre sus descriptores. En las segundas, los conjuntos de características son considerados cómo conjuntos de puntos los cuales son asociados usando técnicas de optimización no lineal. Estos son procedimientos iterativos que estiman los parámetros de correspondencia y de alineamiento en pasos alternados. Los grafos son representaciones que contemplan relaciones binarias entre las características. Tener en cuenta relaciones binarias al problema de la correspondencia a menudo lleva al llamado problema del emparejamiento de grafos. Existe cierta cantidad de métodos en la literatura destinados a encontrar soluciones aproximadas a diferentes instancias del problema de emparejamiento de grafos, que en la mayoría de casos es del tipo "NP-hard". El cuerpo de trabajo principal de esta tesis está dedicado a formular ambos problemas de asociación de características de imagen y registro de conjunto de puntos como instancias del problema de emparejamiento de grafos. En todos los casos proponemos algoritmos aproximados para solucionar estos problemas y nos comparamos con un número de métodos existentes pertenecientes a diferentes áreas como eliminadores de "outliers", métodos de registro de conjuntos de puntos y otros métodos de emparejamiento de grafos. Los experimentos muestran que en la mayoría de casos los métodos propuestos superan al resto. En ocasiones los métodos propuestos o bien comparten el mejor rendimiento con algún método competidor o bien obtienen resultados ligeramente peores. En estos casos, los métodos propuestos normalmente presentan tiempos computacionales inferiores.Trobar les correspondències entre dues imatges és un problema crucial en el camp de la visió per ordinador i el reconeixement de patrons. És rellevant per un ampli ventall de propòsits des d’aplicacions de reconeixement d’objectes en les àrees de biometria, anàlisi de documents i anàlisi de formes fins aplicacions relacionades amb geometria des de múltiples punts de vista tals com recuperació de pose, estructura des del moviment i localització i mapeig. La majoria de les tècniques existents enfoquen aquest problema o bé usant característiques locals a la imatge o bé usant mètodes de registre de conjunts de punts (o bé una mescla d’ambdós). En les primeres, un conjunt dispers de característiques és primerament extret de les imatges i després caracteritzat en la forma de vectors descriptors usant evidències locals de la imatge. Les característiques son associades segons la similitud entre els seus descriptors. En les segones, els conjunts de característiques son considerats com conjunts de punts els quals son associats usant tècniques d’optimització no lineal. Aquests son procediments iteratius que estimen els paràmetres de correspondència i d’alineament en passos alternats. Els grafs son representacions que contemplen relacions binaries entre les característiques. Tenir en compte relacions binàries al problema de la correspondència sovint porta a l’anomenat problema de l’emparellament de grafs. Existeix certa quantitat de mètodes a la literatura destinats a trobar solucions aproximades a diferents instàncies del problema d’emparellament de grafs, el qual en la majoria de casos és del tipus “NP-hard”. Una part del nostre treball està dedicat a investigar els beneficis de les mesures de ``bins'' creuats per a la comparació de característiques locals de les imatges. La resta està dedicat a formular ambdós problemes d’associació de característiques d’imatge i registre de conjunt de punts com a instàncies del problema d’emparellament de grafs. En tots els casos proposem algoritmes aproximats per solucionar aquests problemes i ens comparem amb un nombre de mètodes existents pertanyents a diferents àrees com eliminadors d’“outliers”, mètodes de registre de conjunts de punts i altres mètodes d’emparellament de grafs. Els experiments mostren que en la majoria de casos els mètodes proposats superen a la resta. En ocasions els mètodes proposats o bé comparteixen el millor rendiment amb algun mètode competidor o bé obtenen resultats lleugerament pitjors. En aquests casos, els mètodes proposats normalment presenten temps computacionals inferiors