5,481 research outputs found
Fast and robust 3D feature extraction from sparse point clouds
Matching 3D point clouds, a critical operation in map building and localization, is difficult with Velodyne-type sensors due to the sparse and non-uniform point clouds that they produce. Standard methods from dense 3D point clouds are generally not effective. In this paper, we describe a featurebased approach using Principal Components Analysis (PCA) of neighborhoods of points, which results in mathematically principled line and plane features. The key contribution in this work is to show how this type of feature extraction can be done efficiently and robustly even on non-uniformly sampled point clouds. The resulting detector runs in real-time and can be easily tuned to have a low false positive rate, simplifying data association. We evaluate the performance of our algorithm on an autonomous car at the MCity Test Facility using a Velodyne HDL-32E, and we compare our results against the state-of-theart NARF keypoint detector. © 2016 IEEE
Hausdorff-Distance Enhanced Matching of Scale Invariant Feature Transform Descriptors in Context of Image Querying
Reliable and effective matching of visual descriptors is a key step for many vision applications, e.g. image retrieval. In this paper, we propose to integrate the Hausdorff distance matching together with our pairing algorithm, in order to obtain a robust while computationally efficient process of matching feature descriptors for image-to-image querying in standards datasets. For this purpose, Scale Invariant Feature Transform (SIFT) descriptors have been matched using our presented algorithm, followed by the computation of our related similarity measure. This approach has shown excellent performance in both retrieval accuracy and speed
Real-time Monocular Object SLAM
We present a real-time object-based SLAM system that leverages the largest
object database to date. Our approach comprises two main components: 1) a
monocular SLAM algorithm that exploits object rigidity constraints to improve
the map and find its real scale, and 2) a novel object recognition algorithm
based on bags of binary words, which provides live detections with a database
of 500 3D objects. The two components work together and benefit each other: the
SLAM algorithm accumulates information from the observations of the objects,
anchors object features to especial map landmarks and sets constrains on the
optimization. At the same time, objects partially or fully located within the
map are used as a prior to guide the recognition algorithm, achieving higher
recall. We evaluate our proposal on five real environments showing improvements
on the accuracy of the map and efficiency with respect to other
state-of-the-art techniques
2D Reconstruction of Small Intestine's Interior Wall
Examining and interpreting of a large number of wireless endoscopic images
from the gastrointestinal tract is a tiresome task for physicians. A practical
solution is to automatically construct a two dimensional representation of the
gastrointestinal tract for easy inspection. However, little has been done on
wireless endoscopic image stitching, let alone systematic investigation. The
proposed new wireless endoscopic image stitching method consists of two main
steps to improve the accuracy and efficiency of image registration. First, the
keypoints are extracted by Principle Component Analysis and Scale Invariant
Feature Transform (PCA-SIFT) algorithm and refined with Maximum Likelihood
Estimation SAmple Consensus (MLESAC) outlier removal to find the most reliable
keypoints. Second, the optimal transformation parameters obtained from first
step are fed to the Normalised Mutual Information (NMI) algorithm as an initial
solution. With modified Marquardt-Levenberg search strategy in a multiscale
framework, the NMI can find the optimal transformation parameters in the
shortest time. The proposed methodology has been tested on two different
datasets - one with real wireless endoscopic images and another with images
obtained from Micro-Ball (a new wireless cubic endoscopy system with six image
sensors). The results have demonstrated the accuracy and robustness of the
proposed methodology both visually and quantitatively.Comment: Journal draf
Comparative Analysis of Techniques Used to Detect Copy-Move Tampering for Real-World Electronic Images
Evolution of high computational powerful computers, easy availability of several innovative editing software package and high-definition quality-based image capturing tools follows to effortless result in producing image forgery. Though, threats for security and misinterpretation of digital images and scenes have been observed to be happened since a long period and also a lot of research has been established in developing diverse techniques to authenticate the digital images. On the contrary, the research in this region is not limited to checking the validity of digital photos but also to exploring the specific signs of distortion or forgery. This analysis would not require additional prior information of intrinsic content of corresponding digital image or prior embedding of watermarks. In this paper, recent growth in the area of digital image tampering identification have been discussed along with benchmarking study has been shown with qualitative and quantitative results. With variety of methodologies and concepts, different applications of forgery detection have been discussed with corresponding outcomes especially using machine and deep learning methods in order to develop efficient automated forgery detection system. The future applications and development of advanced soft-computing based techniques in digital image forgery tampering has been discussed
Comparative Analysis of Techniques Used to Detect Copy-Move Tampering for Real-World Electronic Images
Evolution of high computational powerful computers, easy availability of several innovative editing software package and high-definition quality-based image capturing tools follows to effortless result in producing image forgery. Though, threats for security and misinterpretation of digital images and scenes have been observed to be happened since a long period and also a lot of research has been established in developing diverse techniques to authenticate the digital images. On the contrary, the research in this region is not limited to checking the validity of digital photos but also to exploring the specific signs of distortion or forgery. This analysis would not require additional prior information of intrinsic content of corresponding digital image or prior embedding of watermarks. In this paper, recent growth in the area of digital image tampering identification have been discussed along with benchmarking study has been shown with qualitative and quantitative results. With variety of methodologies and concepts, different applications of forgery detection have been discussed with corresponding outcomes especially using machine and deep learning methods in order to develop efficient automated forgery detection system. The future applications and development of advanced soft-computing based techniques in digital image forgery tampering has been discussed
Protecting Ownership Rights of Videos Against Digital Piracy: An Efficient Digital Watermarking Scheme
Violation of one’s intellectual ownership rights by the others is a common problem which entertainment industry frequently faces now-a-days. Sharing of information over social media platforms such as Instagram, WhatsApp and twitter without giving credit the owner causes huge financial losses to the owner and hence needs an immediate attention. Digital watermarking is a promising technique to protect owners’ right against digital piracy. Most of the state-of-the-art techniques does not provides adequate level of resilience against majority of video specific attacks and other commonly applied attacks. Therefore, this paper proposes a highly transparent and robust video watermarking solution to protect the owners rights by first convert each video frame into YCbCr color components and then select twenty five strongest speeded-up robust features (SURF) points of the normalized luminance component as points for both watermark embedding and extraction. After applying variety of geometric, simple signal processing and video specific attacks on the watermarked video meticulous analysis is performed using popular metrics which reveals that the proposed scheme possesses high correlation value which makes it superior for practical applications against these attacks. The scheme also proposes a novel three-level impairment scale for subjective analysis which gives stable results to derive correct conclusions
Place and Object Recognition for Real-time Visual Mapping
Este trabajo aborda dos de las principales dificultades presentes en los sistemas actuales de localizaciĂłn y creaciĂłn de mapas de forma simultánea (del inglĂ©s Simultaneous Localization And Mapping, SLAM): el reconocimiento de lugares ya visitados para cerrar bucles en la trajectoria y crear mapas precisos, y el reconocimiento de objetos para enriquecer los mapas con estructuras de alto nivel y mejorar la interaciĂłn entre robots y personas. En SLAM visual, las caracterĂsticas que se extraen de las imágenes de una secuencia de vĂdeo se van acumulando con el tiempo, haciendo más laboriosos dos de los aspectos de la detecciĂłn de bucles: la eliminaciĂłn de los bucles incorrectos que se detectan entre lugares que tienen una apariencia muy similar, y conseguir un tiempo de ejecuciĂłn bajo y factible en trayectorias largas. En este trabajo proponemos una tĂ©cnica basada en vocabularios visuales y en bolsas de palabras para detectar bucles de manera robusta y eficiente, centrándonos en dos ideas principales: 1) aprovechar el origen secuencial de las imágenes de vĂdeo, y 2) hacer que todo el proceso pueda funcionar a frecuencia de vĂdeo. Para beneficiarnos del origen secuencial de las imágenes, presentamos una mĂ©trica de similaridad normalizada para medir el parecido entre imágenes e incrementar la distintividad de las detecciones correctas. A su vez, agrupamos los emparejamientos de imágenes candidatas a ser bucle para evitar que Ă©stas compitan cuando realmente fueron tomadas desde el mismo lugar. Finalmente, incorporamos una restricciĂłn temporal para comprobar la coherencia entre detecciones consecutivas. La eficiencia se logra utilizando Ăndices inversos y directos y caracterĂsticas binarias. Un Ăndice inverso acelera la comparaciĂłn entre imágenes de lugares, y un Ăndice directo, el cálculo de correspondencias de puntos entre Ă©stas. Por primera vez, en este trabajo se han utilizado caracterĂsticas binarias para detectar bucles, dando lugar a una soluciĂłn viable incluso hasta para decenas de miles de imágenes. Los bucles se verifican comprobando la coherencia de la geometrĂa de las escenas emparejadas. Para ello utilizamos varios mĂ©todos robustos que funcionan tanto con una como con mĂşltiples cámaras. Presentamos resultados competitivos y sin falsos positivos en distintas secuencias, con imágenes adquiridas tanto a alta como a baja frecuencia, con cámaras frontales y laterales, y utilizando el mismo vocabulario y la misma configuraciĂłn. Con descriptores binarios, el sistema completo requiere 22 milisegundos por imagen en una secuencia de 26.300 imágenes, resultando un orden de magnitud más rápido que otras tĂ©cnicas actuales. Se puede utilizar un algoritmo similar al de reconocimiento de lugares para resolver el reconocimiento de objetos en SLAM visual. Detectar objetos en este contexto es particularmente complicado debido a que las distintas ubicaciones, posiciones y tamaños en los que se puede ver un objeto en una imagen son potencialmente infinitos, por lo que suelen ser difĂciles de distinguir. Además, esta complejidad se multiplica cuando la comparaciĂłn ha de hacerse contra varios objetos 3D. Nuestro esfuerzo en este trabajo está orientado a: 1) construir el primer sistema de SLAM visual que puede colocar objectos 3D reales en el mapa, y 2) abordar los problemas de escalabilidad resultantes al tratar con mĂşltiples objetos y vistas de Ă©stos. En este trabajo, presentamos el primer sistema de SLAM monocular que reconoce objetos 3D, los inserta en el mapa y refina su posiciĂłn en el espacio 3D a medida que el mapa se va construyendo, incluso cuando los objetos dejan de estar en el campo de visiĂłn de la cámara. Esto se logra en tiempo real con modelos de objetos compuestos por informaciĂłn tridimensional y mĂşltiples imágenes representando varios puntos de vista del objeto. DespuĂ©s nos centramos en la escalabilidad de la etapa del reconocimiento de los objetos 3D. Presentamos una tĂ©cnica rápida para segmentar imágenes en regiones de interĂ©s para detectar objetos pequeños o lejanos. Tras ello, proponemos sustituir el modelo de objetos de vistas independientes por un modelado con una Ăşnica bolsa de palabras de caracterĂsticas binarias asociadas a puntos 3D. Creamos tambiĂ©n una base de datos que incorpora Ăndices inversos y directos para aprovechar sus ventajas a la hora de recuperar rápidamente tanto objetos candidatos a ser detectados como correspondencias de puntos, tal y como hacĂan en el caso de la detecciĂłn de bucles. Los resultados experimentales muestran que nuestro sistema funciona en tiempo real en un entorno de escritorio con cámara en mano y en una habitaciĂłn con una cámara montada sobre un robot autĂłnomo. Las mejoras en el proceso de reconocimiento obtienen resultados satisfactorios, sin detecciones errĂłneas y con un tiempo de ejecuciĂłn medio de 28 milisegundos por imagen con una base de datos de 20 objetos 3D
Fast catheter segmentation and tracking based on x-ray fluoroscopic and echocardiographic modalities for catheter-based cardiac minimally invasive interventions
X-ray fluoroscopy and echocardiography imaging (ultrasound, US) are two imaging modalities that are widely used in cardiac catheterization. For these modalities, a fast, accurate and stable algorithm for the detection and tracking of catheters is required to allow clinicians to observe the catheter location in real-time. Currently X-ray fluoroscopy is routinely used as the standard modality in catheter ablation interventions. However, it lacks the ability to visualize soft tissue and uses harmful radiation. US does not have these limitations but often contains acoustic artifacts and has a small field of view. These make the detection and tracking of the catheter in US very challenging.
The first contribution in this thesis is a framework which combines Kalman filter and discrete optimization for multiple catheter segmentation and tracking in X-ray images. Kalman filter is used to identify the whole catheter from a single point detected on the catheter in the first frame of a sequence of x-ray images. An energy-based formulation is developed that can be used to track the catheters in the following frames. We also propose a discrete optimization for minimizing the energy function in each frame of the X-ray image sequence. Our approach is robust to tangential motion of the catheter and combines the tubular and salient feature measurements into a single robust and efficient framework.
The second contribution is an algorithm for catheter extraction in 3D ultrasound images based on (a) the registration between the X-ray and ultrasound images and (b) the segmentation of the catheter in X-ray images. The search space for the catheter extraction in the ultrasound images is constrained to lie on or close to a curved surface in the ultrasound volume. The curved surface corresponds to the back-projection of the extracted catheter from the X-ray image to the ultrasound volume. Blob-like features are detected in the US images and organized in a graphical model. The extracted catheter is modelled as the optimal path in this graphical model.
Both contributions allow the use of ultrasound imaging for the improved visualization of soft tissue. However, X-ray imaging is still required for each ultrasound frame and the amount of X-ray exposure has not been reduced. The final contribution in this thesis is a system that can track the catheter in ultrasound volumes automatically without the need for X-ray imaging during the tracking. Instead X-ray imaging is only required for the system initialization and for recovery from tracking failures. This allows a significant reduction in the amount of X-ray exposure for patient and clinicians.Open Acces
Smart environment monitoring through micro unmanned aerial vehicles
In recent years, the improvements of small-scale Unmanned Aerial Vehicles (UAVs) in terms of flight time, automatic control, and remote transmission are promoting the development of a wide range of practical applications. In aerial video surveillance, the monitoring of broad areas still has many challenges due to the achievement of different tasks in real-time, including mosaicking, change detection, and object detection. In this thesis work, a small-scale UAV based vision system to maintain regular surveillance over target areas is proposed. The system works in two modes. The first mode allows to monitor an area of interest by performing several flights. During the first flight, it creates an incremental geo-referenced mosaic of an area of interest and classifies all the known elements (e.g., persons) found on the ground by an improved Faster R-CNN architecture previously trained. In subsequent reconnaissance flights, the system searches for any changes (e.g., disappearance of persons) that may occur in the mosaic by a histogram equalization and RGB-Local Binary Pattern (RGB-LBP) based algorithm. If present, the mosaic is updated. The second mode, allows to perform a real-time classification by using, again, our improved Faster R-CNN model, useful for time-critical operations. Thanks to different design features, the system works in real-time and performs mosaicking and change detection tasks at low-altitude, thus allowing the classification even of small objects. The proposed system was tested by using the whole set of challenging video sequences contained in the UAV Mosaicking and Change Detection (UMCD) dataset and other public datasets. The evaluation of the system by well-known performance metrics has shown remarkable results in terms of mosaic creation and updating, as well as in terms of change detection and object detection
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