4,844 research outputs found
Fully Automatic Expression-Invariant Face Correspondence
We consider the problem of computing accurate point-to-point correspondences
among a set of human face scans with varying expressions. Our fully automatic
approach does not require any manually placed markers on the scan. Instead, the
approach learns the locations of a set of landmarks present in a database and
uses this knowledge to automatically predict the locations of these landmarks
on a newly available scan. The predicted landmarks are then used to compute
point-to-point correspondences between a template model and the newly available
scan. To accurately fit the expression of the template to the expression of the
scan, we use as template a blendshape model. Our algorithm was tested on a
database of human faces of different ethnic groups with strongly varying
expressions. Experimental results show that the obtained point-to-point
correspondence is both highly accurate and consistent for most of the tested 3D
face models
Distributed Robotic Vision for Calibration, Localisation, and Mapping
This dissertation explores distributed algorithms for calibration, localisation, and mapping in the context of a multi-robot network equipped with cameras and onboard processing, comparing against centralised alternatives where all data is transmitted to a singular external node on which processing occurs. With the rise of large-scale camera networks, and as low-cost on-board processing becomes increasingly feasible in robotics networks, distributed algorithms are becoming important for robustness and scalability. Standard solutions to multi-camera computer vision require the data from all nodes to be processed at a central node which represents a significant single point of failure and incurs infeasible communication costs. Distributed solutions solve these issues by spreading the work over the entire network, operating only on local calculations and direct communication with nearby neighbours.
This research considers a framework for a distributed robotic vision platform for calibration, localisation, mapping tasks where three main stages are identified: an initialisation stage where calibration and localisation are performed in a distributed manner, a local tracking stage where visual odometry is performed without inter-robot communication, and a global mapping stage where global alignment and optimisation strategies are applied. In consideration of this framework, this research investigates how algorithms can be developed to produce fundamentally distributed solutions, designed to minimise computational complexity whilst maintaining excellent performance, and designed to operate effectively in the long term. Therefore, three primary objectives are sought aligning with these three stages
Structured Light-Based 3D Reconstruction System for Plants.
Camera-based 3D reconstruction of physical objects is one of the most popular computer vision trends in recent years. Many systems have been built to model different real-world subjects, but there is lack of a completely robust system for plants. This paper presents a full 3D reconstruction system that incorporates both hardware structures (including the proposed structured light system to enhance textures on object surfaces) and software algorithms (including the proposed 3D point cloud registration and plant feature measurement). This paper demonstrates the ability to produce 3D models of whole plants created from multiple pairs of stereo images taken at different viewing angles, without the need to destructively cut away any parts of a plant. The ability to accurately predict phenotyping features, such as the number of leaves, plant height, leaf size and internode distances, is also demonstrated. Experimental results show that, for plants having a range of leaf sizes and a distance between leaves appropriate for the hardware design, the algorithms successfully predict phenotyping features in the target crops, with a recall of 0.97 and a precision of 0.89 for leaf detection and less than a 13-mm error for plant size, leaf size and internode distance
Learning to Associate Words and Images Using a Large-scale Graph
We develop an approach for unsupervised learning of associations between
co-occurring perceptual events using a large graph. We applied this approach to
successfully solve the image captcha of China's railroad system. The approach
is based on the principle of suspicious coincidence. In this particular
problem, a user is presented with a deformed picture of a Chinese phrase and
eight low-resolution images. They must quickly select the relevant images in
order to purchase their train tickets. This problem presents several
challenges: (1) the teaching labels for both the Chinese phrases and the images
were not available for supervised learning, (2) no pre-trained deep
convolutional neural networks are available for recognizing these Chinese
phrases or the presented images, and (3) each captcha must be solved within a
few seconds. We collected 2.6 million captchas, with 2.6 million deformed
Chinese phrases and over 21 million images. From these data, we constructed an
association graph, composed of over 6 million vertices, and linked these
vertices based on co-occurrence information and feature similarity between
pairs of images. We then trained a deep convolutional neural network to learn a
projection of the Chinese phrases onto a 230-dimensional latent space. Using
label propagation, we computed the likelihood of each of the eight images
conditioned on the latent space projection of the deformed phrase for each
captcha. The resulting system solved captchas with 77% accuracy in 2 seconds on
average. Our work, in answering this practical challenge, illustrates the power
of this class of unsupervised association learning techniques, which may be
related to the brain's general strategy for associating language stimuli with
visual objects on the principle of suspicious coincidence.Comment: 8 pages, 7 figures, 14th Conference on Computer and Robot Vision 201
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