Image Understanding and Robotics Research at Columbia University

The research investigations of the Vision/Robotics Laboratory at Columbia University reflect the diversity of interests of its four faculty members, two staff programmers and 15 Ph.D. students. Several of the projects involve either a visiting computer science post-doc, other faculty members in the department or the university, or researchers at AT&T Bell Laboratories or Philips laboratories. We list below a summary of our interest and results, together with the principal researchers associated with them. Since it is difficult to separate those aspects of robotic research that are purely visual from those that are vision-like (for example, tactile sensing) or vision-related (for example, integrated vision-robotic systems), we have listed all robotic research that is not purely manipulative

Constrained Querying of Multimedia Databases

Copyright 2001 Society of Photo-Optical Instrumentation Engineers. One print or electronic copy may be made for personal use only. Systematic electronic or print reproduction and distribution, duplication of any material in this paper for a fee or for commercial purposes, or modification of the content of the paper are prohibited. http://dx.doi.org/10.1117/12.410976This paper investigates the problem of high-level querying of multimedia data by imposing arbitrary domain-specific constraints among multimedia objects. We argue that the current structured query mode, and the query-by-content model, are insufficient for many important applications, and we propose an alternative query framework that unifies and extends the previous two models. The proposed framework is based on the querying-by-concept paradigm, where the query is expressed simply in terms of concepts, regardless of the complexity of the underlying multimedia search engines. The query-by-concept paradigm was previously illustrated by the CAMEL system. The present paper builds upon and extends that work by adding arbitrary constraints and multiple levels of hierarchy in the concept representation model. We consider queries simply as descriptions of virtual data set, and that allows us to use the same unifying concept representation for query specification, as well as for data annotation purposes. We also identify some key issues and challenges presented by the new framework, and we outline possible approaches for overcoming them. In particular, we study the problems of concept representation, extraction, refinement, storage, and matching

An Experimental System for the Integration of Information from Stereo and Multiple Shape From Texture Algorithms

In numerous computer vision applications, there is both the need and the ability to access multiple types of information about the three dimensional aspects of objects or surfaces. When this information comes from different sources the combination becomes non-trivial. This paper describes the present state of ongoing research in Columbia's Vision Laboratory in the integration of multiple visual sensing methodologies which yield three dimensional information, in particular, feature based stereo algorithms, and various shape-from-texture algorithms are already in operation and multi-view shape-from-texture and shape-from shading modules are expected to be incorporated. Unlike most systems for multi-sensor integration, which fuse all the information at one conceptual level, e.g., the surface level, the system under development uses two levels of data fusion, intra-process integration and inter-process integration. The paper discusses intra-process integration techniques for feature-based stereo and shape-from-texture algorithms. It also discusses an inter-process integration technique based on smooth models of surfaces. Examples are presented using camera acquired images

CONFIGR: A Vision-Based Model for Long-Range Figure Completion

CONFIGR (CONtour FIgure GRound) is a computational model based on principles of biological vision that completes sparse and noisy image figures. Within an integrated vision/recognition system, CONFIGR posits an initial recognition stage which identifies figure pixels from spatially local input information. The resulting, and typically incomplete, figure is fed back to the “early vision” stage for long-range completion via filling-in. The reconstructed image is then re-presented to the recognition system for global functions such as object recognition. In the CONFIGR algorithm, the smallest independent image unit is the visible pixel, whose size defines a computational spatial scale. Once pixel size is fixed, the entire algorithm is fully determined, with no additional parameter choices. Multi-scale simulations illustrate the vision/recognition system. Open-source CONFIGR code is available online, but all examples can be derived analytically, and the design principles applied at each step are transparent. The model balances filling-in as figure against complementary filling-in as ground, which blocks spurious figure completions. Lobe computations occur on a subpixel spatial scale. Originally designed to fill-in missing contours in an incomplete image such as a dashed line, the same CONFIGR system connects and segments sparse dots, and unifies occluded objects from pieces locally identified as figure in the initial recognition stage. The model self-scales its completion distances, filling-in across gaps of any length, where unimpeded, while limiting connections among dense image-figure pixel groups that already have intrinsic form. Long-range image completion promises to play an important role in adaptive processors that reconstruct images from highly compressed video and still camera images.Air Force Office of Scientific Research (F49620-01-1-0423); National Geospatial-Intelligence Agency (NMA 201-01-1-0216); National Science Foundation (SBE-0354378); Office of Naval Research (N000014-01-1-0624

Mixing multi-core CPUs and GPUs for scientific simulation software

Recent technological and economic developments have led to widespread availability of multi-core CPUs and specialist accelerator processors such as graphical processing units (GPUs). The accelerated computational performance possible from these devices can be very high for some applications paradigms. Software languages and systems such as NVIDIA's CUDA and Khronos consortium's open compute language (OpenCL) support a number of individual parallel application programming paradigms. To scale up the performance of some complex systems simulations, a hybrid of multi-core CPUs for coarse-grained parallelism and very many core GPUs for data parallelism is necessary. We describe our use of hybrid applica- tions using threading approaches and multi-core CPUs to control independent GPU devices. We present speed-up data and discuss multi-threading software issues for the applications level programmer and o er some suggested areas for language development and integration between coarse-grained and ne-grained multi-thread systems. We discuss results from three common simulation algorithmic areas including: partial di erential equations; graph cluster metric calculations and random number generation. We report on programming experiences and selected performance for these algorithms on: single and multiple GPUs; multi-core CPUs; a CellBE; and using OpenCL. We discuss programmer usability issues and the outlook and trends in multi-core programming for scienti c applications developers

Ortogonal Approach for Haptic Rendering Algorithm based in Conformal Geometric Algebra

This work presents a novel method for haptic rendering contact force and surface properties for virtual objects using the Conformal Geometric Algebra orthogonal decomposition approach. The mathematical representation of geometric primitives along with collision algorithms based on its mathematical properties is presented. The orthogonal decomposition of contact and interaction forces is achieved using the same framework and dynamic properties in both subspaces are rendered simultaneously. Comparing with vector calculus, the Conformal Geometric Algebra (CGA) approach provides an easier and more intuitive way to deal with haptic rendering problems due to its inner properties and a simpler representation of geometric objects and linear transformation. The results of the evaluation of the method using a 3 DOF haptic device are presented

Real-Time Anisotropic Diffusion using Space-Variant Vision

Many computer and robot vision applications require multi-scale image analysis. Classically, this has been accomplished through the use of a linear scale-space, which is constructed by convolution of visual input with Gaussian kernels of varying size (scale). This has been shown to be equivalent to the solution of a linear diffusion equation on an infinite domain, as the Gaussian is the Green's function of such a system (Koenderink, 1984). Recently, much work has been focused on the use of a variable conductance function resulting in anisotropic diffusion described by a nonlinear partial differential equation (PDF). The use of anisotropic diffusion with a conductance coefficient which is a decreasing function of the gradient magnitude has been shown to enhance edges, while decreasing some types of noise (Perona and Malik, 1987). Unfortunately, the solution of the anisotropic diffusion equation requires the numerical integration of a nonlinear PDF which is a costly process when carried out on a fixed mesh such as a typical image. In this paper we show that the complex log transformation, variants of which are universally used in mammalian retino-cortical systems, allows the nonlinear diffusion equation to be integrated at exponentially enhanced rates due to the non-uniform mesh spacing inherent in the log domain. The enhanced integration rates, coupled with the intrinsic compression of the complex log transformation, yields a seed increase of between two and three orders of magnitude, providing a means of performing real-time image enhancement using anisotropic diffusion.Office of Naval Research (N00014-95-I-0409

Feature Extraction Techniques in Medical Imaging: A Systematic Review

With the surge in the development of various applications in the field of Computer Vision and Digital Image Processing, a significant amount of medical pictures are being produced. Thus, the patient-specific scan pictures represent the boundless volume of data that requires careful organization and supervision to assist clinical decision support systems. Now that retrieval, classification, segmentation, and other procedures have been completed, these devices assist doctors to uncover serious illnesses including skin conditions, tumors, and cancer. This imaging largely depends on characteristics to detect the afflicted region and perform the diagnosis visually. The authors of this paper present an overview of numerous feature extraction approaches used to extract features from medical images obtained via different modalities, but only used a handful of these techniques for this job and provided the findings