Image-based tree variations

The automatic generation of realistic vegetation closely reproducing the appearance of specific plant species is still a challenging topic in computer graphics. In this paper, we present a new approach to generate new tree models from a small collection of frontal RGBA images of trees. The new models are represented either as single billboards (suitable for still image generation in areas such as architecture rendering) or as billboard clouds (providing parallax effects in interactive applications). Key ingredients of our method include the synthesis of new contours through convex combinations of exemplar countours, the automatic segmentation into crown/trunk classes and the transfer of RGBA colour from the exemplar images to the synthetic target. We also describe a fully automatic approach to convert a single tree image into a billboard cloud by extracting superpixels and distributing them inside a silhouette-defined 3D volume. Our algorithm allows for the automatic generation of an arbitrary number of tree variations from minimal input, and thus provides a fast solution to add vegetation variety in outdoor scenes.Peer ReviewedPostprint (author's final draft

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

Pulmonary arterial remodeling revealed by microfocal x-ray tomography

Animal models and micro-CT imaging are useful for understanding the functional consequences of, and identifying the genes involved in, the remodeling of vascular structures that accompanies pulmonary vascular disease. Using a micro-CT scanner to image contrast-enhanced arteries in excised lungs from fawn hooded rats (a strain genetically susceptible to hypoxia induced pulmonary hypertension), we found that portions of the pulmonary arterial tree downstream from a given diameter were morphometrically indistinguishable. This \u27self-consistency\u27 property provided a means for summarizing the pulmonary arterial tree architecture and mechanical properties using a parameter vector obtained from measurements of the contiguous set of vessel segments comprising the longest (principal) pathway and its branches over a range of vascular pressures. This parameter vector was used to characterize the pulmonary vascular remodeling that occurred in rats exposed to a hypoxic (11.5% oxygen) environment and provided the input to a hemodynamic model relating structure to function. The major effect of the remodeling was a longitudinally (pulmonary artery to arterioles) uniform decrease in vessel distensibility that resulted in a 90% increase in arterial resistance. Despite the almost uniform change in vessel distensibility, over 50% of the resistance increase was attributable to vessels with unstressed diameters less than 125 microns

Micro-CT Image-Derived Metrics Quantify Arterial Wall Distensibility Reduction in a Rat Model of Pulmonary Hypertension

We developed methods to quantify arterial structural and mechanical properties in excised rat lungs and applied them to investigate the distensibility decrease accompanying chronic hypoxia-induced pulmonary hypertension. Lungs of control and hypertensive (three weeks 11% O2) animals were excised and a contrast agent introduced before micro-CT imaging with a special purpose scanner. For each lung, four 3D image data sets were obtained, each at a different intra-arterial contrast agent pressure. Vessel segment diameters and lengths were measured at all levels in the arterial tree hierarchy, and these data used to generate features sensitive to distensibility changes. Results indicate that measurements obtained from 3D micro-CT images can be used to quantify vessel biomechanical properties in this rat model of pulmonary hypertension and that distensibility is reduced by exposure to chronic hypoxia. Mechanical properties can be assessed in a localized fashion and quantified in a spatially-resolved way or as a single parameter describing the tree as a whole. Micro-CT is a nondestructive way to rapidly assess structural and mechanical properties of arteries in small animal organs maintained in a physiological state. Quantitative features measured by this method may provide valuable insights into the mechanisms causing the elevated pressures in pulmonary hypertension of differing etiologies and should become increasingly valuable tools in the study of complex phenotypes in small-animal models of important diseases such as hypertension

A Supervised Neural Autoregressive Topic Model for Simultaneous Image Classification and Annotation

Topic modeling based on latent Dirichlet allocation (LDA) has been a framework of choice to perform scene recognition and annotation. Recently, a new type of topic model called the Document Neural Autoregressive Distribution Estimator (DocNADE) was proposed and demonstrated state-of-the-art performance for document modeling. In this work, we show how to successfully apply and extend this model to the context of visual scene modeling. Specifically, we propose SupDocNADE, a supervised extension of DocNADE, that increases the discriminative power of the hidden topic features by incorporating label information into the training objective of the model. We also describe how to leverage information about the spatial position of the visual words and how to embed additional image annotations, so as to simultaneously perform image classification and annotation. We test our model on the Scene15, LabelMe and UIUC-Sports datasets and show that it compares favorably to other topic models such as the supervised variant of LDA.Comment: 13 pages, 5 figure