Constrained set-up of the tGAP structure for progressive vector data transfer

A promising approach to submit a vector map from a server to a mobile client is to send a coarse representation first, which then is incrementally refined. We consider the problem of defining a sequence of such increments for areas of different land-cover classes in a planar partition. In order to submit well-generalised datasets, we propose a method of two stages: First, we create a generalised representation from a detailed dataset, using an optimisation approach that satisfies certain cartographic constraints. Second, we define a sequence of basic merge and simplification operations that transforms the most detailed dataset gradually into the generalised dataset. The obtained sequence of gradual transformations is stored without geometrical redundancy in a structure that builds up on the previously developed tGAP (topological Generalised Area Partitioning) structure. This structure and the algorithm for intermediate levels of detail (LoD) have been implemented in an object-relational database and tested for land-cover data from the official German topographic dataset ATKIS at scale 1:50 000 to the target scale 1:250 000. Results of these tests allow us to conclude that the data at lowest LoD and at intermediate LoDs is well generalised. Applying specialised heuristics the applied optimisation method copes with large datasets; the tGAP structure allows users to efficiently query and retrieve a dataset at a specified LoD. Data are sent progressively from the server to the client: First a coarse representation is sent, which is refined until the requested LoD is reached

A Bayesian Hyperprior Approach for Joint Image Denoising and Interpolation, with an Application to HDR Imaging

Recently, impressive denoising results have been achieved by Bayesian approaches which assume Gaussian models for the image patches. This improvement in performance can be attributed to the use of per-patch models. Unfortunately such an approach is particularly unstable for most inverse problems beyond denoising. In this work, we propose the use of a hyperprior to model image patches, in order to stabilize the estimation procedure. There are two main advantages to the proposed restoration scheme: Firstly it is adapted to diagonal degradation matrices, and in particular to missing data problems (e.g. inpainting of missing pixels or zooming). Secondly it can deal with signal dependent noise models, particularly suited to digital cameras. As such, the scheme is especially adapted to computational photography. In order to illustrate this point, we provide an application to high dynamic range imaging from a single image taken with a modified sensor, which shows the effectiveness of the proposed scheme.Comment: Some figures are reduced to comply with arxiv's size constraints. Full size images are available as HAL technical report hal-01107519v5, IEEE Transactions on Computational Imaging, 201

Appearance-based localization for mobile robots using digital zoom and visual compass

This paper describes a localization system for mobile robots moving in dynamic indoor environments, which uses probabilistic integration of visual appearance and odometry information. The approach is based on a novel image matching algorithm for appearance-based place recognition that integrates digital zooming, to extend the area of application, and a visual compass. Ambiguous information used for recognizing places is resolved with multiple hypothesis tracking and a selection procedure inspired by Markov localization. This enables the system to deal with perceptual aliasing or absence of reliable sensor data. It has been implemented on a robot operating in an office scenario and the robustness of the approach demonstrated experimentally