Research on a modifeied RANSAC and its applications to ellipse detection from a static image and motion detection from active stereo video sequences

制度:新 ; 報告番号:甲3091号 ; 学位の種類:博士(国際情報通信学) ; 授与年月日:2010/2/24 ; 早大学位記番号:新535

Super resolution and dynamic range enhancement of image sequences

Camera producers try to increase the spatial resolution of a camera by reducing size of sites on sensor array. However, shot noise causes the signal to noise ratio drop as sensor sites get smaller. This fact motivates resolution enhancement to be performed through software. Super resolution (SR) image reconstruction aims to combine degraded images of a scene in order to form an image which has higher resolution than all observations. There is a demand for high resolution images in biomedical imaging, surveillance, aerial/satellite imaging and high-definition TV (HDTV) technology. Although extensive research has been conducted in SR, attention has not been given to increase the resolution of images under illumination changes. In this study, a unique framework is proposed to increase the spatial resolution and dynamic range of a video sequence using Bayesian and Projection onto Convex Sets (POCS) methods. Incorporating camera response function estimation into image reconstruction allows dynamic range enhancement along with spatial resolution improvement. Photometrically varying input images complicate process of projecting observations onto common grid by violating brightness constancy. A contrast invariant feature transform is proposed in this thesis to register input images with high illumination variation. Proposed algorithm increases the repeatability rate of detected features among frames of a video. Repeatability rate is increased by computing the autocorrelation matrix using the gradients of contrast stretched input images. Presented contrast invariant feature detection improves repeatability rate of Harris corner detector around %25 on average. Joint multi-frame demosaicking and resolution enhancement is also investigated in this thesis. Color constancy constraint set is devised and incorporated into POCS framework for increasing resolution of color-filter array sampled images. Proposed method provides fewer demosaicking artifacts compared to existing POCS method and a higher visual quality in final image

THE ROLE OF TEXTURE IN INDOOR SCENE RECOGNITION

Ph.DDOCTOR OF PHILOSOPH

RANSAC for Robotic Applications: A Survey

Random Sample Consensus, most commonly abbreviated as RANSAC, is a robust estimation method for the parameters of a model contaminated by a sizable percentage of outliers. In its simplest form, the process starts with a sampling of the minimum data needed to perform an estimation, followed by an evaluation of its adequacy, and further repetitions of this process until some stopping criterion is met. Multiple variants have been proposed in which this workflow is modified, typically tweaking one or several of these steps for improvements in computing time or the quality of the estimation of the parameters. RANSAC is widely applied in the field of robotics, for example, for finding geometric shapes (planes, cylinders, spheres, etc.) in cloud points or for estimating the best transformation between different camera views. In this paper, we present a review of the current state of the art of RANSAC family methods with a special interest in applications in robotics.This work has been partially funded by the Basque Government, Spain, under Research Teams Grant number IT1427-22 and under ELKARTEK LANVERSO Grant number KK-2022/00065; the Spanish Ministry of Science (MCIU), the State Research Agency (AEI), the European Regional Development Fund (FEDER), under Grant number PID2021-122402OB-C21 (MCIU/AEI/FEDER, UE); and the Spanish Ministry of Science, Innovation and Universities, under Grant FPU18/04737

Multi-Scale Hierarchical Conditional Random Field for Railway Electrification Scene Classification Using Mobile Laser Scanning Data

With the recent rapid development of high-speed railway in many countries, precise inspection for railway electrification systems has become more significant to ensure safe railway operation. However, this time-consuming manual inspection is not satisfactory for the high-demanding inspection task, thus a safe, fast and automatic inspection method is required. With LiDAR (Light Detection and Ranging) data becoming more available, the accurate railway electrification scene understanding using LiDAR data becomes feasible towards automatic 3D precise inspection. This thesis presents a supervised learning method to classify railway electrification objects from Mobile Laser Scanning (MLS) data. First, a multi-range Conditional Random Field (CRF), which characterizes not only labeling homogeneity at a short range, but also the layout compatibility between different objects at a middle range in the probabilistic graphical model is implemented and tested. Then, this multi-range CRF model will be extended and improved into a hierarchical CRF model to consider multi-scale layout compatibility at full range. The proposed method is evaluated on a dataset collected in Korea with complex railway electrification systems environment. The experiment shows the effectiveness of proposed model