Automatic visual recognition using parallel machines

Invariant features and quick matching algorithms are two major concerns in the area of automatic visual recognition. The former reduces the size of an established model database, and the latter shortens the computation time. This dissertation, will discussed both line invariants under perspective projection and parallel implementation of a dynamic programming technique for shape recognition. The feasibility of using parallel machines can be demonstrated through the dramatically reduced time complexity. In this dissertation, our algorithms are implemented on the AP1000 MIMD parallel machines. For processing an object with a features, the time complexity of the proposed parallel algorithm is O(n), while that of a uniprocessor is O(n2). The two applications, one for shape matching and the other for chain-code extraction, are used in order to demonstrate the usefulness of our methods. Invariants from four general lines under perspective projection are also discussed in here. In contrast to the approach which uses the epipolar geometry, we investigate the invariants under isotropy subgroups. Theoretically speaking, two independent invariants can be found for four general lines in 3D space. In practice, we show how to obtain these two invariants from the projective images of four general lines without the need of camera calibration. A projective invariant recognition system based on a hypothesis-generation-testing scheme is run on the hypercube parallel architecture. Object recognition is achieved by matching the scene projective invariants to the model projective invariants, called transfer. Then a hypothesis-generation-testing scheme is implemented on the hypercube parallel architecture

Computational methods and software systems for dynamics and control of large space structures

Two key areas of crucial importance to the computer-based simulation of large space structures are discussed. The first area involves multibody dynamics (MBD) of flexible space structures, with applications directed to deployment, construction, and maneuvering. The second area deals with advanced software systems, with emphasis on parallel processing. The latest research thrust in the second area involves massively parallel computers

Computational methods and software systems for dynamics and control of large space structures

This final report on computational methods and software systems for dynamics and control of large space structures covers progress to date, projected developments in the final months of the grant, and conclusions. Pertinent reports and papers that have not appeared in scientific journals (or have not yet appeared in final form) are enclosed. The grant has supported research in two key areas of crucial importance to the computer-based simulation of large space structure. The first area involves multibody dynamics (MBD) of flexible space structures, with applications directed to deployment, construction, and maneuvering. The second area deals with advanced software systems, with emphasis on parallel processing. The latest research thrust in the second area, as reported here, involves massively parallel computers

A graph theoretic approach to transputer network design for computer vision

The work in this thesis is concerned with parallel architectures based on the Inmos transputer-type processors and parallelisation of some computer vision tasks chosen from low to high level. The transputer is a microprocessor with a micro-programmed scheduler and four serial communication links. It directly supports parallel processing since several transputers can be connected through their links to co-operate on solving a problem. Also several processes can be run on the same transputer. A major issue in parallel processing is the communication overhead introduced by parallelising a given task. This overhead is not present in sequential processing and must be curbed if the implementation of a task on a parallel machine is to be successful. The interconnection network underlying the architecture of a parallel computer is therefore of the utmost importance. Computer Vision consists of a hierarchy of tasks ranging from low-level operations dealing with large amounts of relatively simple data to high level operations handling increasingly complex structures. In this work a novel edge detector based on adaptive filtering and an edge detector operating on colour images are presented and implemented on a number of transputers. These parallel implementations together with implementations of vector quantisation, Fourier descriptors for shape discrimination, the Hough transform and the Maximum clique algorithm, offer a notable performance increase when compared with sequential implementations. However, every algorithm required the design of a specific network of transputers to take advantage of the parallelism and data dependencies inherent in each. Consequently, attention is focused on the topology of interconnection networks. In particular, the communication requirements of computer vision algorithms as identified by the various computer vision tasks are analysed. These requirements together with graph theoretical considerations are then used to suggest a topology for large transputer networks. The latter is based on sub-graphs, with proven performance when used to implement interconnection networks, combined to form an architecture with improved performance. This architecture consists of a fixed structure supplemented with a dynamically reconfigured network. After describing this topology, a routing algorithm that conveys messages along shortest paths in the network is given and implemented. And finally, some practical issues in the use of transputers are considered and solutions proposed

Studies of inspection algorithms and associated microprogrammable hardware implementations

This work is concerned with the design and development of real-time algorithms for industrial inspection applications. Rather than implement algorithms in dedicated hardware, microprogrammable machines were considered essential in order to maintain flexibility. After a survey of image pattern recognition where algorithms applicable to real-time use are cited, this thesis presents industrial inspection algorithms that locate and scrutinise actual manufactured products. These are fast and robust - a necessary requirement in industrial environments. The National Physical Laboratory have developed a Linear Array Processor (LAP) specifically designed for industrial recognition work. As with most array processors, the LAP has a greater performance than conventional processors, yet is strictly limited to parallel algorithms for optimum performance. It was therefore necessary to incorporate sequentialism into the design of a multiprocessor system. A microcoded bit-slice Sequential Image Processor (SIP) has been designed and built at RHBNC in conjunction with the NPL. This was primarily intended as a post-processor for the LAP based on the VMEbus but in fact has proved its usefulness as a stand-alone processor. This is described along with an assembler written for SIP which translates assembly language mnemonics to microcode. This work, which includes a review of current architectures, leads to the specification of a hybrid (SIMD/NIMD) architecture consisting of multiple autonomous sequential processors. This involves an analysis of various configurations and entails an investigation of the source of bottlenecks within each design. Such systems require a significant amount of interprocessor communication: methods for achieving this are discussed, some of which have only become practical with the decrease incost of electronic components. This eventually leads to a system for which algorithm execution speed increases approximately linearly with the number of processors. The algorithms described in earlier chapters are examined on the system and the practicalities of such a design are analysed in detail. Overall, this thesis has arrived at designs of programmable real-time inspection systems, and has obtained guidelines which will help with the implementation of future inspection systems.<p

Dynamically reconfigurable architecture for embedded computer vision systems

The objective of this research work is to design, develop and implement a new architecture which integrates on the same chip all the processing levels of a complete Computer Vision system, so that the execution is efficient without compromising the power consumption while keeping a reduced cost. For this purpose, an analysis and classification of different mathematical operations and algorithms commonly used in Computer Vision are carried out, as well as a in-depth review of the image processing capabilities of current-generation hardware devices. This permits to determine the requirements and the key aspects for an efficient architecture. A representative set of algorithms is employed as benchmark to evaluate the proposed architecture, which is implemented on an FPGA-based system-on-chip. Finally, the prototype is compared to other related approaches in order to determine its advantages and weaknesses

The development of a multi-layer architecture for image processing

The extraction of useful information from an image involves a series of operations, which can be functionally divided into low-level, intermediate-level and high- level processing. Because different amounts of computing power may be demanded by each level, a system which can simultaneously carry out operations at different levels is desirable. A multi-layer system which embodies both functional and spatial parallelism is envisioned. This thesis describes the development of a three-layer architecture which is designed to tackle vision problems embodying operations in each processing level. A survey of various multi-layer and multi-processor systems is carried out and a set of guidelines for the design of a multi-layer image processing system is established. The linear array is proposed as a possible basis for multi-layer systems and a significant part of the thesis is concerned with a study of this structure. The CLIP7A system, which is a linear array with 256 processing elements, is examined in depth. The CLIP7A system operates under SIMD control, enhanced by local autonomy. In order to examine the possible benefits of this arrangement, image processing algorithms which exploit the autonomous functions are implemented. Additionally, the structural properties of linear arrays are also studied. Information regarding typical computing requirements in each layer and the communication networks between elements in different layers is obtained by applying the CLIP7A system to solve an integrated vision problem. From the results obtained, a three layer architecture is proposed. The system has 256, 16 and 4 processing elements in the low, intermediate and high level layer respectively. The processing elements will employ a 16-bit microprocessor as the computing unit, which is selected from off-the-shelf components. Communication between elements in consecutive layers is via two different networks, which are designed so that efficient data transfer is achieved. Additionally, the networks enable the system to maintain fault tolerance and to permit expansion in the second and third layers

Characterization and surface reconstruction of objects in tomographic images of composite materials

Dissertação para obtenção do Grau de Mestre em Engenharia InformáticaIn the scope of the project Tomo-GPU supported by FCT / MCTES the aim is to build an interactive graphical environment that allows a Materials specialist to define their own programs for analysis of 3D tomographic images. This project aims to build a tool to characterize and investigate the identified objects, where the user can define search criteria such as size, orientation, bounding boxes, among others. All this processing will be done on a desktop computer equipped with a graphics card with some processing power. On the proposed solution the modules for characterizing objects, received from the identification phase, will be implemented using some existing software libraries, most notably the CGAL library. The characterization modules with bigger execution times will be implemented using OpenCL and GPUs. With this work the characterization and reconstruction of objects and their research can now be done on conventional machines, using GPUs to accelerate the most time-consuming computations. After the conclusion of this thesis, new tools that will help to improve the current development cycle of new materials will be available for Materials Science specialists

Automatic segmentation and reconstruction of traffic accident scenarios from mobile laser scanning data

Virtual reconstruction of historic sites, planning of restorations and attachments of new building parts, as well as forest inventory are few examples of fields that benefit from the application of 3D surveying data. Originally using 2D photo based documentation and manual distance measurements, the 3D information obtained from multi camera and laser scanning systems realizes a noticeable improvement regarding the surveying times and the amount of generated 3D information. The 3D data allows a detailed post processing and better visualization of all relevant spatial information. Yet, for the extraction of the required information from the raw scan data and for the generation of useable visual output, time-consuming, complex user-based data processing is still required, using the commercially available 3D software tools. In this context, the automatic object recognition from 3D point cloud and depth data has been discussed in many different works. The developed tools and methods however, usually only focus on a certain kind of object or the detection of learned invariant surface shapes. Although the resulting methods are applicable for certain practices of data segmentation, they are not necessarily suitable for arbitrary tasks due to the varying requirements of the different fields of research. This thesis presents a more widespread solution for automatic scene reconstruction from 3D point clouds, targeting street scenarios, specifically for the task of traffic accident scene analysis and documentation. The data, obtained by sampling the scene using a mobile scanning system is evaluated, segmented, and finally used to generate detailed 3D information of the scanned environment. To realize this aim, this work adapts and validates various existing approaches on laser scan segmentation regarding the application on accident relevant scene information, including road surfaces and markings, vehicles, walls, trees and other salient objects. The approaches are therefore evaluated regarding their suitability and limitations for the given tasks, as well as for possibilities concerning the combined application together with other procedures. The obtained knowledge is used for the development of new algorithms and procedures to allow a satisfying segmentation and reconstruction of the scene, corresponding to the available sampling densities and precisions. Besides the segmentation of the point cloud data, this thesis presents different visualization and reconstruction methods to achieve a wider range of possible applications of the developed system for data export and utilization in different third party software tools