No-reference Image Denoising Quality Assessment

A wide variety of image denoising methods are available now. However, the performance of a denoising algorithm often depends on individual input noisy images as well as its parameter setting. In this paper, we present a no-reference image denoising quality assessment method that can be used to select for an input noisy image the right denoising algorithm with the optimal parameter setting. This is a challenging task as no ground truth is available. This paper presents a data-driven approach to learn to predict image denoising quality. Our method is based on the observation that while individual existing quality metrics and denoising models alone cannot robustly rank denoising results, they often complement each other. We accordingly design denoising quality features based on these existing metrics and models and then use Random Forests Regression to aggregate them into a more powerful unified metric. Our experiments on images with various types and levels of noise show that our no-reference denoising quality assessment method significantly outperforms the state-of-the-art quality metrics. This paper also provides a method that leverages our quality assessment method to automatically tune the parameter settings of a denoising algorithm for an input noisy image to produce an optimal denoising result.Comment: 17 pages, 41 figures, accepted by Computer Vision Conference (CVC) 201

Localization in Unstructured Environments: Towards Autonomous Robots in Forests with Delaunay Triangulation

Autonomous harvesting and transportation is a long-term goal of the forest industry. One of the main challenges is the accurate localization of both vehicles and trees in a forest. Forests are unstructured environments where it is difficult to find a group of significant landmarks for current fast feature-based place recognition algorithms. This paper proposes a novel approach where local observations are matched to a general tree map using the Delaunay triangularization as the representation format. Instead of point cloud based matching methods, we utilize a topology-based method. First, tree trunk positions are registered at a prior run done by a forest harvester. Second, the resulting map is Delaunay triangularized. Third, a local submap of the autonomous robot is registered, triangularized and matched using triangular similarity maximization to estimate the position of the robot. We test our method on a dataset accumulated from a forestry site at Lieksa, Finland. A total length of 2100\,m of harvester path was recorded by an industrial harvester with a 3D laser scanner and a geolocation unit fixed to the frame. Our experiments show a 12\,cm s.t.d. in the location accuracy and with real-time data processing for speeds not exceeding 0.5\,m/s. The accuracy and speed limit is realistic during forest operations

Counting, generating and sampling tree alignments

Pairwise ordered tree alignment are combinatorial objects that appear in RNA secondary structure comparison. However, the usual representation of tree alignments as supertrees is ambiguous, i.e. two distinct supertrees may induce identical sets of matches between identical pairs of trees. This ambiguity is uninformative, and detrimental to any probabilistic analysis.In this work, we consider tree alignments up to equivalence. Our first result is a precise asymptotic enumeration of tree alignments, obtained from a context-free grammar by mean of basic analytic combinatorics. Our second result focuses on alignments between two given ordered trees $S$ and $T$. By refining our grammar to align specific trees, we obtain a decomposition scheme for the space of alignments, and use it to design an efficient dynamic programming algorithm for sampling alignments under the Gibbs-Boltzmann probability distribution. This generalizes existing tree alignment algorithms, and opens the door for a probabilistic analysis of the space of suboptimal RNA secondary structures alignments.Comment: ALCOB - 3rd International Conference on Algorithms for Computational Biology - 2016, Jun 2016, Trujillo, Spain. 201