Object recognition in lake and estuary environments

Traditionally, autonomous underwater vehicles employ multiple configurations of sensor payloads in order to accomplish a specific mission. Due to advances in imaging technology, imaging sonar arrays and optical imaging devices are among these payloads. Independent of mission specifics, the majority of imaging data is either stored onboard the vehicle or transmitted to a base station for later analysis. In either situation, there is limited local real time analysis and limited mission duration. One focus for increasing real time analysis is the reduction of image information. By using image processing techniques, such as edge detection, less relevant information can be eliminated while preserving important object features. This reduced object information is then used as inputs to a neural network. A neural network is a cognitive algorithm which has the ability to adapt to achieve desired tasks. These networks are able to generalize and make decisions based on partial or limited input information. The goal of this research is to create an autonomous in-situ recognition system for marine environments, specifically the processing and classification of object image data. Image information will be applied to a neural network approach to mimic higher order decision making in an artificial cognitive algorithm

Principal component pyramids using image blurring for nonlinearity reduction in hand shape recognition

The thesis presents four algorithms using a multistage hierarchical strategy for hand shape recognition. The proposed multistage hierarchy analyzes new patterns by projecting them into the different levels of a data pyramid, which consists of different principal component spaces. Image blurring is used to reduce the nonlinearity in manifolds generated by a set of example images. Flattening the space helps in classifying different hand shapes more accurately. Four algorithms using different pattern recognition techniques are proposed. The first algorithm is based on using perpendicular distance to measure the distance between new patterns and the nearest manifold. The second algorithm is based on using supervised multidimensional grids. The third algorithm uses unsupervised multidimensional grids to cluster the space into cells of similar objects. The fourth algorithm is based on training a set of simple architecture multi-layer neural networks at the different levels of the pyramid to map new patterns to the closest class. The proposed algorithms are categorized as example-based approaches where a large set of computer generated images are used to densely sample the space. Experimental results are presented to examine the accuracy and performance of the proposed algorithms. The effect of image blurring on reducing the nonlinearity in manifolds is examined. The results are compared with the exhaustive search scenario. The experimental results show that the proposed algorithms are applicable for real time applications with high accuracy measures. They can achieve frame rates of more than 10 frames per second and accuracies of up to 98% on test data

Hyperspectral Data Acquisition and Its Application for Face Recognition

Current face recognition systems are rife with serious challenges in uncontrolled conditions: e.g., unrestrained lighting, pose variations, accessories, etc. Hyperspectral imaging (HI) is typically employed to counter many of those challenges, by incorporating the spectral information within different bands. Although numerous methods based on hyperspectral imaging have been developed for face recognition with promising results, three fundamental challenges remain: 1) low signal to noise ratios and low intensity values in the bands of the hyperspectral image specifically near blue bands; 2) high dimensionality of hyperspectral data; and 3) inter-band misalignment (IBM) correlated with subject motion during data acquisition. This dissertation concentrates mainly on addressing the aforementioned challenges in HI. First, to address low quality of the bands of the hyperspectral image, we utilize a custom light source that has more radiant power at shorter wavelengths and properly adjust camera exposure times corresponding to lower transmittance of the filter and lower radiant power of our light source. Second, the high dimensionality of spectral data imposes limitations on numerical analysis. As such, there is an emerging demand for robust data compression techniques with lows of less relevant information to manage real spectral data. To cope with these challenging problems, we describe a reduced-order data modeling technique based on local proper orthogonal decomposition in order to compute low-dimensional models by projecting high-dimensional clusters onto subspaces spanned by local reduced-order bases. Third, we investigate 11 leading alignment approaches to address IBM correlated with subject motion during data acquisition. To overcome the limitations of the considered alignment approaches, we propose an accurate alignment approach ( A3) by incorporating the strengths of point correspondence and a low-rank model. In addition, we develop two qualitative prediction models to assess the alignment quality of hyperspectral images in determining improved alignment among the conducted alignment approaches. Finally, we show that the proposed alignment approach leads to promising improvement on face recognition performance of a probabilistic linear discriminant analysis approach

Integrated characterisation of mud-rich overburden sediment sequences using limited log and seismic data: Application to seal risk

Muds and mudstones are the most abundant sediments in sedimentary basins and can control fluid migration and pressure. In petroleum systems, they can also act as source, reservoir or seal rocks. More recently, the sealing properties of mudstones have been used for nuclear waste storage and geological CO2 sequestration. Despite the growing importance of mudstones, their geological modelling is poorly understood and clear quantitative studies are needed to address 3D lithology and flow properties distribution within these sediments. The key issues in this respect are the high degree of heterogeneity in mudstones and the alteration of lithology and flow properties with time and depth. In addition, there are often very limited field data (log and seismic), with lower quality within these sediments, which makes the common geostatistical modelling practices ineffective. In this study we assess/capture quantitatively the flow-important characteristics of heterogeneous mud-rich sequences based on limited conventional log and post-stack seismic data in a deep offshore West African case study. Additionally, we develop a practical technique of log-seismic integration at the cross-well scale to translate 3D seismic attributes into lithology probabilities. The final products are probabilistic multiattribute transforms at different resolutions which allow prediction of lithologies away from wells while keeping the important sub-seismic stratigraphic and structural flow features. As a key result, we introduced a seismically-driven risk attribute (so-called Seal Risk Factor "SRF") which showed robust correspondence to the lithologies within the seismic volume. High seismic SRFs were often a good approximation for volumes containing a higher percentage of coarser-grained and distorted sediments, and vice versa. We believe that this is the first attempt at quantitative, integrated characterisation of mud-rich overburden sediment sequences using log and seismic data. Its application on modern seismic surveys can save days of processing/mapping time and can reduce exploration risk by basing decisions on seal texture and lithology probabilities

Towards accurate multi-person pose estimation in the wild

In this thesis we are concerned with the problem of articulated human pose estimation and pose tracking in images and video sequences. Human pose estimation is a task of localising major joints of a human skeleton in natural images and is one of the most important visual recognition tasks in the scenes containing humans with numerous applications in robotics, virtual and augmented reality, gaming and healthcare among others. Articulated human pose tracking requires tracking multiple persons in the video sequence while simultaneously estimating full body poses. This task is important for analysing surveillance footage, activity recognition, sports analytics, etc. Most of the prior work focused on the pose estimation of single pre-localised humans whereas here we address a case with multiple people in real world images which entails several challenges such as person-person overlaps in highly crowded scenes, unknown number of people or people entering and leaving video sequences. The first contribution is a multi-person pose estimation algorithm based on the bottom-up detection-by-grouping paradigm. Unlike the widespread top-down approaches our method detects body joints and pairwise relations between them in a single forward pass of a convolutional neural network. Multi-person parsing is performed by optimizing a joint objective based on a multicut graph partitioning framework. Secondly, we extend our pose estimation approach to articulated multi-person pose tracking in videos. Our approach performs multi-target tracking and pose estimation in a holistic manner by optimising a single objective. We further simplify and refine the formulation which allows us to reach close to the real-time performance. Thirdly, we propose a large scale dataset and a benchmark for articulated multi-person tracking. It is the first dataset of video sequences comprising complex multi-person scenes and fully annotated tracks with 2D keypoints. Our fourth contribution is a method for estimating 3D body pose using on-body wearable cameras. Our approach uses a pair of downward facing, head-mounted cameras and captures an entire body. This egocentric approach is free of limitations of traditional setups with external cameras and can estimate body poses in very crowded environments. Our final contribution goes beyond human pose estimation and is in the field of deep learning of 3D object shapes. In particular, we address the case of reconstructing 3D objects from weak supervision. Our approach represents objects as 3D point clouds and is able to learn them with 2D supervision only and without requiring camera pose information at training time. We design a differentiable renderer of point clouds as well as a novel loss formulation for dealing with camera pose ambiguity.In dieser Arbeit behandeln wir das Problem der Schätzung und Verfolgung artikulierter menschlicher Posen in Bildern und Video-Sequenzen. Die Schätzung menschlicher Posen besteht darin die Hauptgelenke des menschlichen Skeletts in natürlichen Bildern zu lokalisieren und ist eine der wichtigsten Aufgaben der visuellen Erkennung in Szenen, die Menschen beinhalten. Sie hat zahlreiche Anwendungen in der Robotik, virtueller und erweiterter Realität, in Videospielen, in der Medizin und weiteren Bereichen. Die Verfolgung artikulierter menschlicher Posen erfordert die Verfolgung mehrerer Personen in einer Videosequenz bei gleichzeitiger Schätzung vollständiger Körperhaltungen. Diese Aufgabe ist besonders wichtig für die Analyse von Video-Überwachungsaufnahmen, Aktivitätenerkennung, digitale Sportanalyse etc. Die meisten vorherigen Arbeiten sind auf die Schätzung einzelner Posen vorlokalisierter Menschen fokussiert, wohingegen wir den Fall mehrerer Personen in natürlichen Aufnahmen betrachten. Dies bringt einige Herausforderungen mit sich, wie die Überlappung verschiedener Personen in dicht gedrängten Szenen, eine unbekannte Anzahl an Personen oder Personen die das Sichtfeld der Video-Sequenz verlassen oder betreten. Der erste Beitrag ist ein Algorithmus zur Schätzung der Posen mehrerer Personen, welcher auf dem Paradigma der Erkennung durch Gruppierung aufbaut. Im Gegensatz zu den verbreiteten Verfeinerungs-Ansätzen erkennt unsere Methode Körpergelenke and paarweise Beziehungen zwischen ihnen in einer einzelnen Vorwärtsrechnung eines faltenden neuronalen Netzwerkes. Die Gliederung in mehrere Personen erfolgt durch Optimierung einer gemeinsamen Zielfunktion, die auf dem Mehrfachschnitt-Problem in der Graphenzerlegung basiert. Zweitens erweitern wir unseren Ansatz zur Posen-Bestimmung auf das Verfolgen mehrerer Personen und deren Artikulation in Videos. Unser Ansatz führt eine Verfolgung mehrerer Ziele und die Schätzung der zugehörigen Posen in ganzheitlicher Weise durch, indem eine einzelne Zielfunktion optimiert wird. Desweiteren vereinfachen und verfeinern wir die Formulierung, was unsere Methode nah an Echtzeit-Leistung bringt. Drittens schlagen wir einen großen Datensatz und einen Bewertungsmaßstab für die Verfolgung mehrerer artikulierter Personen vor. Dies ist der erste Datensatz der Video-Sequenzen von komplexen Szenen mit mehreren Personen beinhaltet und deren Spuren komplett mit zwei-dimensionalen Markierungen der Schlüsselpunkte versehen sind. Unser vierter Beitrag ist eine Methode zur Schätzung von drei-dimensionalen Körperhaltungen mittels am Körper tragbarer Kameras. Unser Ansatz verwendet ein Paar nach unten gerichteter, am Kopf befestigter Kameras und erfasst den gesamten Körper. Dieser egozentrische Ansatz ist frei von jeglichen Limitierungen traditioneller Konfigurationen mit externen Kameras und kann Körperhaltungen in sehr dicht gedrängten Umgebungen bestimmen. Unser letzter Beitrag geht über die Schätzung menschlicher Posen hinaus in den Bereich des tiefen Lernens der Gestalt von drei-dimensionalen Objekten. Insbesondere befassen wir uns mit dem Fall drei-dimensionale Objekte unter schwacher Überwachung zu rekonstruieren. Unser Ansatz repräsentiert Objekte als drei-dimensionale Punktwolken and ist im Stande diese nur mittels zwei-dimensionaler Überwachung und ohne Informationen über die Kamera-Ausrichtung zur Trainingszeit zu lernen. Wir entwerfen einen differenzierbaren Renderer für Punktwolken sowie eine neue Formulierung um mit uneindeutigen Kamera-Ausrichtungen umzugehen

Entropy in Image Analysis III

Image analysis can be applied to rich and assorted scenarios; therefore, the aim of this recent research field is not only to mimic the human vision system. Image analysis is the main methods that computers are using today, and there is body of knowledge that they will be able to manage in a totally unsupervised manner in future, thanks to their artificial intelligence. The articles published in the book clearly show such a future

Workshop on Fuzzy Control Systems and Space Station Applications

The Workshop on Fuzzy Control Systems and Space Station Applications was held on 14-15 Nov. 1990. The workshop was co-sponsored by McDonnell Douglas Space Systems Company and NASA Ames Research Center. Proceedings of the workshop are presented