Sparse image approximation with application to flexible image coding

Natural images are often modeled through piecewise-smooth regions. Region edges, which correspond to the contours of the objects, become, in this model, the main information of the signal. Contours have the property of being smooth functions along the direction of the edge, and irregularities on the perpendicular direction. Modeling edges with the minimum possible number of terms is of key importance for numerous applications, such as image coding, segmentation or denoising. Standard separable basis fail to provide sparse enough representation of contours, due to the fact that this kind of basis do not see the regularity of edges. In order to be able to detect this regularity, a new method based on (possibly redundant) sets of basis functions able to capture the geometry of images is needed. This thesis presents, in a first stage, a study about the features that basis functions should have in order to provide sparse representations of a piecewise-smooth image. This study emphasizes the need for edge-adapted basis functions, capable to accurately capture local orientation and anisotropic scaling of image structures. The need of different anisotropy degrees and orientations in the basis function set leads to the use of redundant dictionaries. However, redundant dictionaries have the inconvenience of giving no unique sparse image decompositions, and from all the possible decompositions of a signal in a redundant dictionary, just the sparsest is needed. There are several algorithms that allow to find sparse decompositions over redundant dictionaries, but most of these algorithms do not always guarantee that the optimal approximation has been recovered. To cope with this problem, a mathematical study about the properties of sparse approximations is performed. From this, a test to check whether a given sparse approximation is the sparsest is provided. The second part of this thesis presents a novel image approximation scheme, based on the use of a redundant dictionary. This scheme allows to have a good approximation of an image with a number of terms much smaller than the dimension of the signal. This novel approximation scheme is based on a dictionary formed by a combination of anisotropically refined and rotated wavelet-like mother functions and Gaussians. An efficient Full Search Matching Pursuit algorithm to perform the image decomposition in such a dictionary is designed. Finally, a geometric image coding scheme based on the image approximated over the anisotropic and rotated dictionary of basis functions is designed. The coding performances of this dictionary are studied. Coefficient quantization appears to be of crucial importance in the design of a Matching Pursuit based coding scheme. Thus, a quantization scheme for the MP coefficients has been designed, based on the theoretical energy upper bound of the MP algorithm and the empirical observations of the coefficient distribution and evolution. Thanks to this quantization, our image coder provides low to medium bit-rate image approximations, while it allows for on the fly resolution switching and several other affine image transformations to be performed directly in the transformed domain

Perceptually Optimized Visualization on Autostereoscopic 3D Displays

The family of displays, which aims to visualize a 3D scene with realistic depth, are known as "3D displays". Due to technical limitations and design decisions, such displays create visible distortions, which are interpreted by the human vision as artefacts. In absence of visual reference (e.g. the original scene is not available for comparison) one can improve the perceived quality of the representations by making the distortions less visible. This thesis proposes a number of signal processing techniques for decreasing the visibility of artefacts on 3D displays. The visual perception of depth is discussed, and the properties (depth cues) of a scene which the brain uses for assessing an image in 3D are identified. Following the physiology of vision, a taxonomy of 3D artefacts is proposed. The taxonomy classifies the artefacts based on their origin and on the way they are interpreted by the human visual system. The principles of operation of the most popular types of 3D displays are explained. Based on the display operation principles, 3D displays are modelled as a signal processing channel. The model is used to explain the process of introducing distortions. It also allows one to identify which optical properties of a display are most relevant to the creation of artefacts. A set of optical properties for dual-view and multiview 3D displays are identified, and a methodology for measuring them is introduced. The measurement methodology allows one to derive the angular visibility and crosstalk of each display element without the need for precision measurement equipment. Based on the measurements, a methodology for creating a quality profile of 3D displays is proposed. The quality profile can be either simulated using the angular brightness function or directly measured from a series of photographs. A comparative study introducing the measurement results on the visual quality and position of the sweet-spots of eleven 3D displays of different types is presented. Knowing the sweet-spot position and the quality profile allows for easy comparison between 3D displays. The shape and size of the passband allows depth and textures of a 3D content to be optimized for a given 3D display. Based on knowledge of 3D artefact visibility and an understanding of distortions introduced by 3D displays, a number of signal processing techniques for artefact mitigation are created. A methodology for creating anti-aliasing filters for 3D displays is proposed. For multiview displays, the methodology is extended towards so-called passband optimization which addresses Moiré, fixed-pattern-noise and ghosting artefacts, which are characteristic for such displays. Additionally, design of tuneable anti-aliasing filters is presented, along with a framework which allows the user to select the so-called 3d sharpness parameter according to his or her preferences. Finally, a set of real-time algorithms for view-point-based optimization are presented. These algorithms require active user-tracking, which is implemented as a combination of face and eye-tracking. Once the observer position is known, the image on a stereoscopic display is optimised for the derived observation angle and distance. For multiview displays, the combination of precise light re-direction and less-precise face-tracking is used for extending the head parallax. For some user-tracking algorithms, implementation details are given, regarding execution of the algorithm on a mobile device or on desktop computer with graphical accelerator

Compaction of C-band synthetic aperture radar based sea ice information for navigation in the Baltic Sea

In this work operational sea ice synthetic aperture radar (SAR) data products were improved and developed. A SAR instrument is transmitting electromagnetic radiation at certain wavelengths and measures the radiation which is scattered back towards the instrument from the target, in our case sea and sea ice. The measured backscattering is converted to an image describing the target area through complex signal processing. The images, however, differ from optical images, i.e. photographs, and their visual interpretation is not straightforward. The main idea in this work has been to deliver the essential SAR-based sea ice information to end-users (typically on ships) in a compact and user-friendly format. The operational systems at Finnish Institute of Marine Research (FIMR) are currently based on the data received from a Canadian SAR-satellite, Radarsat-1. The operational sea ice classification, developed by the author with colleagues, has been further developed. One problem with the SAR data is typically that the backscattering varies depending on the incidence angle. The incidence angle is the angle in which the transmitted electromagnetic wave meets the target surface and it varies within each SAR image and between different SAR images depending on the measuring geometry. To improve this situation, an incidence angle correction algorithm to normalize the backscattering over the SAR incidence angle range for Baltic Sea ice has been developed as part of this work. The algorithm is based on SAR backscattering statistics over the Baltic Sea. To locate different sea ice areas in SAR images, a SAR segmentation algorithm based on pulse-coupled neural networks has been developed and tested. The parameters have been tuned suitable for the operational data in use at FIMR. The sea ice classification is based on this segmentation and the classification is segment-wise rather than pixel-wise. To improve SAR-based distinguishing between sea ice and open water an open water detection algorithm based on segmentation and local autocorrelation has been developed. Also ice type classification based on higher-order statistics and independent component analysis have been studied to get an improved SAR-based ice type classification. A compression algorithm for compressing sea ice SAR data for visual use has been developed. This algorithm is based on the wavelet decomposition, zero-tree structure and arithmetic coding. Also some properties of the human visual system were utilized. This algorithm was developed to produce smaller compressed SAR images, with a reasonable visual quality. The transmission of the compressed images to ships with low-speed data connections in reasonable time is then possible. One of the navigationally most important sea ice parameters is the ice thickness. SAR-based ice thickness estimation has been developed and evaluated as part of this work. This ice thickness estimation method uses the ice thickness history derived from digitized ice charts, made daily at the Finnish Ice Service, as its input, and updates this chart based on the novel SAR data. The result is an ice thickness chart representing the ice situation at the SAR acquisition time in higher resolution than in the manually made ice thickness charts. For the evaluation of the results a helicopter-borne ice thickness measuring instrument, based on electromagnetic induction and laser altimeter, was used.reviewe

Humanoid Robots

For many years, the human being has been trying, in all ways, to recreate the complex mechanisms that form the human body. Such task is extremely complicated and the results are not totally satisfactory. However, with increasing technological advances based on theoretical and experimental researches, man gets, in a way, to copy or to imitate some systems of the human body. These researches not only intended to create humanoid robots, great part of them constituting autonomous systems, but also, in some way, to offer a higher knowledge of the systems that form the human body, objectifying possible applications in the technology of rehabilitation of human beings, gathering in a whole studies related not only to Robotics, but also to Biomechanics, Biomimmetics, Cybernetics, among other areas. This book presents a series of researches inspired by this ideal, carried through by various researchers worldwide, looking for to analyze and to discuss diverse subjects related to humanoid robots. The presented contributions explore aspects about robotic hands, learning, language, vision and locomotion

Signal processing techniques for mobile multimedia systems

Recent trends in wireless communication systems show a significant demand for the delivery of multimedia services and applications over mobile networks - mobile multimedia - like video telephony, multimedia messaging, mobile gaming, interactive and streaming video, etc. However, despite the ongoing development of key communication technologies that support these applications, the communication resources and bandwidth available to wireless/mobile radio systems are often severely limited. It is well known, that these bottlenecks are inherently due to the processing capabilities of mobile transmission systems, and the time-varying nature of wireless channel conditions and propagation environments. Therefore, new ways of processing and transmitting multimedia data over mobile radio channels have become essential which is the principal focus of this thesis. In this work, the performance and suitability of various signal processing techniques and transmission strategies in the application of multimedia data over wireless/mobile radio links are investigated. The proposed transmission systems for multimedia communication employ different data encoding schemes which include source coding in the wavelet domain, transmit diversity coding (space-time coding), and adaptive antenna beamforming (eigenbeamforming). By integrating these techniques into a robust communication system, the quality (SNR, etc) of multimedia signals received on mobile devices is maximised while mitigating the fast fading and multi-path effects of mobile channels. To support the transmission of high data-rate multimedia applications, a well known multi-carrier transmission technology known as Orthogonal Frequency Division Multiplexing (OFDM) has been implemented. As shown in this study, this results in significant performance gains when combined with other signal-processing techniques such as spa ce-time block coding (STBC). To optimise signal transmission, a novel unequal adaptive modulation scheme for the communication of multimedia data over MIMO-OFDM systems has been proposed. In this system, discrete wavelet transform/subband coding is used to compress data into their respective low-frequency and high-frequency components. Unlike traditional methods, however, data representing the low-frequency data are processed and modulated separately as they are more sensitive to the distortion effects of mobile radio channels. To make use of a desirable subchannel state, such that the quality (SNR) of the multimedia data recovered at the receiver is optimized, we employ a lookup matrix-adaptive bit and power allocation (LM-ABPA) algorithm. Apart from improving the spectral efficiency of OFDM, the modified LM-ABPA scheme, sorts and allocates subcarriers with the highest SNR to low-frequency data and the remaining to the least important data. To maintain a target system SNR, the LM-ABPA loading scheme assigns appropriate signal constella tion sizes and transmit power levels (modulation type) across all subcarriers and is adapted to the varying channel conditions such that the average system error-rate (SER/BER) is minimised. When configured for a constant data-rate load, simulation results show significant performance gains over non-adaptive systems. In addition to the above studies, the simulation framework developed in this work is applied to investigate the performance of other signal processing techniques for multimedia communication such as blind channel equalization, and to examine the effectiveness of a secure communication system based on a logistic chaotic generator (LCG) for chaos shift-keying (CSK)

MediaSync: Handbook on Multimedia Synchronization

This book provides an approachable overview of the most recent advances in the fascinating field of media synchronization (mediasync), gathering contributions from the most representative and influential experts. Understanding the challenges of this field in the current multi-sensory, multi-device, and multi-protocol world is not an easy task. The book revisits the foundations of mediasync, including theoretical frameworks and models, highlights ongoing research efforts, like hybrid broadband broadcast (HBB) delivery and users' perception modeling (i.e., Quality of Experience or QoE), and paves the way for the future (e.g., towards the deployment of multi-sensory and ultra-realistic experiences). Although many advances around mediasync have been devised and deployed, this area of research is getting renewed attention to overcome remaining challenges in the next-generation (heterogeneous and ubiquitous) media ecosystem. Given the significant advances in this research area, its current relevance and the multiple disciplines it involves, the availability of a reference book on mediasync becomes necessary. This book fills the gap in this context. In particular, it addresses key aspects and reviews the most relevant contributions within the mediasync research space, from different perspectives. Mediasync: Handbook on Multimedia Synchronization is the perfect companion for scholars and practitioners that want to acquire strong knowledge about this research area, and also approach the challenges behind ensuring the best mediated experiences, by providing the adequate synchronization between the media elements that constitute these experiences

Gaze-Based Human-Robot Interaction by the Brunswick Model

We present a new paradigm for human-robot interaction based on social signal processing, and in particular on the Brunswick model. Originally, the Brunswick model copes with face-to-face dyadic interaction, assuming that the interactants are communicating through a continuous exchange of non verbal social signals, in addition to the spoken messages. Social signals have to be interpreted, thanks to a proper recognition phase that considers visual and audio information. The Brunswick model allows to quantitatively evaluate the quality of the interaction using statistical tools which measure how effective is the recognition phase. In this paper we cast this theory when one of the interactants is a robot; in this case, the recognition phase performed by the robot and the human have to be revised w.r.t. the original model. The model is applied to Berrick, a recent open-source low-cost robotic head platform, where the gazing is the social signal to be considered