Computational strategies for understanding underwater optical image datasets

Thesis: Ph. D. in Mechanical and Oceanographic Engineering, Joint Program in Oceanography/Applied Ocean Science and Engineering (Massachusetts Institute of Technology, Department of Mechanical Engineering; and the Woods Hole Oceanographic Institution), 2013.Cataloged from PDF version of thesis.Includes bibliographical references (pages 117-135).A fundamental problem in autonomous underwater robotics is the high latency between the capture of image data and the time at which operators are able to gain a visual understanding of the survey environment. Typical missions can generate imagery at rates hundreds of times greater than highly compressed images can be transmitted acoustically, delaying that understanding until after the vehicle has been recovered and the data analyzed. While automated classification algorithms can lessen the burden on human annotators after a mission, most are too computationally expensive or lack the robustness to run in situ on a vehicle. Fast algorithms designed for mission-time performance could lessen the latency of understanding by producing low-bandwidth semantic maps of the survey area that can then be telemetered back to operators during a mission. This thesis presents a lightweight framework for processing imagery in real time aboard a robotic vehicle. We begin with a review of pre-processing techniques for correcting illumination and attenuation artifacts in underwater images, presenting our own approach based on multi-sensor fusion and a strong physical model. Next, we construct a novel image pyramid structure that can reduce the complexity necessary to compute features across multiple scales by an order of magnitude and recommend features which are fast to compute and invariant to underwater artifacts. Finally, we implement our framework on real underwater datasets and demonstrate how it can be used to select summary images for the purpose of creating low-bandwidth semantic maps capable of being transmitted acoustically.by Jeffrey W. Kaeli.Ph. D. in Mechanical and Oceanographic Engineerin

Extracción y análisis de características para identificación, agrupamiento y modificación de la fuente de imágenes generadas por dispositivos móviles

Tesis inédita de la Universidad Complutense de Madrid, Facultad de Informática, Departamento de Ingeniería del Software e Inteligencia Artificial, leída el 02/10/2017.Nowadays, digital images play an important role in our society. The presence of mobile devices with integrated cameras is growing at an unrelenting pace, resulting in the majority of digital images coming from this kind of device. Technological development not only facilitates the generation of these images, but also the malicious manipulation of them. Therefore, it is of interest to have tools that allow the device that has generated a certain digital image to be identified. The digital image source can be identified through the features that the generating device permeates it with during the creation process. In recent years most research on techniques for identifying the source has focused solely on traditional cameras. The forensic analysis techniques of digital images generated by mobile devices are therefore of particular importance since they have specific characteristics which allow for better results, and forensic techniques for digital images generated by another kind of device are often not valid. This thesis provides various contributions in two of the main research lines of forensic analysis, the field of identification techniques and the counter-forensics or attacks on these techniques. In the field of digital image source acquisition identification techniques, both closed and open scenarios are addressed. In closed scenarios, the images whose acquisition source are to be determined belong to a group of devices known a priori. Meanwhile, an open scenario is one in which the images under analysis belong to a set of devices that is not known a priori by the fo rensic analyst. In this case, the objective is not t he concrete image acquisition source identification, but their classification into groups whose images all belong to the same mobile device. The image clustering t echniques are of particular interest in real situations since in many cases the forensic analyst does not know a priori which devices have generated certain images. Firstly, techniques for identifying the device type (computer, scanner or digital camera of the mobile device) or class (make and model) of the image acquisition source in mobile devices are proposed, which are two relevant branches of forensic analysis of mobile device images. An approach based on different types of image features and Support Vector Machine as a classifier is presented. Secondly, a technique for the ident ification in open scenarios that consists of grouping digital images of mobile devices according to the acquisition source is developed, that is to say, a class-grouping of all input images is performed. The proposal is based on the combination of hierarchical grouping and flat grouping using the Sensor Pattern Noise. Lastly, in the area of att acks on forensic t echniques, topics related to the robustness of the image source identificat ion forensic techniques are addressed. For this, two new algorithms based on the sensor noise and the wavelet transform are designed, one for the destruction of t he image identity and another for its fo rgery. Results obtained by the two algorithms were compared with other tools designed for the same purpose. It is worth mentioning that the solution presented in this work requires less amount and complexity of input data than the tools to which it was compared. Finally, these identification t echniques have been included in a tool for the forensic analysis of digital images of mobile devices called Theia. Among the different branches of forensic analysis, Theia focuses mainly on the trustworthy identification of make and model of the mobile camera that generated a given image. All proposed algorithms have been implemented and integrated in Theia thus strengthening its functionality.Actualmente las imágenes digitales desempeñan un papel importante en nuestra sociedad. La presencia de dispositivos móviles con cámaras fotográficas integradas crece a un ritmo imparable, provocando que la mayoría de las imágenes digitales procedan de este tipo de dispositivos. El desarrollo tecnológico no sólo facilita la generación de estas imágenes, sino también la manipulación malintencionada de éstas. Es de interés, por tanto, contar con herramientas que permitan identificar al dispositivo que ha generado una cierta imagen digital. La fuente de una imagen digital se puede identificar a través de los rasgos que el dispositivo que la genera impregna en ella durante su proceso de creación. La mayoría de las investigaciones realizadas en los últimos años sobre técnicas de identificación de la fuente se han enfocado únicamente en las cámaras tradicionales. Las técnicas de análisis forense de imágenes generadas por dispositivos móviles cobran, pues, especial importancia, ya que éstos presentan características específicas que permiten obtener mejores resultados, no siendo válidas muchas veces además las técnicas forenses para imágenes digitales generadas por otros tipos de dispositivos. La presente Tesis aporta diversas contribuciones en dos de las principales líneas del análisis forense: el campo de las t écnicas de identificación de la fuente de adquisición de imágenes digitales y las contramedidas o at aques a est as técnicas. En el primer campo se abordan tanto los escenarios cerrados como los abiertos. En el escenario denominado cerrado las imágenes cuya fuente de adquisición hay que determinar pertenecen a un grupo de dispositivos conocidos a priori. Por su parte, un escenario abierto es aquel en el que las imágenes pertenecen a un conjunto de dispositivos que no es conocido a priori por el analista forense. En este caso el obj etivo no es la identificación concreta de la fuente de adquisición de las imágenes, sino su clasificación en grupos cuyas imágenes pertenecen todas al mismo dispositivo móvil. Las técnicas de agrupamiento de imágenes son de gran interés en situaciones reales, ya que en muchos casos el analist a forense desconoce a priori cuáles son los dispositivos que generaron las imágenes. En primer lugar se presenta una técnica para la identificación en escenarios cerrados del tipo de dispositivo (computador, escáner o cámara digital de dispositivo móvil) o la marca y modelo de la fuente en dispositivos móviles, que son dos problemáticas relevantes del análisis forense de imágenes digitales. La propuesta muestra un enfoque basado en distintos tipos de características de la imagen y en una clasificación mediante máquinas de soporte vectorial. En segundo lugar se diseña una técnica para la identificación en escenarios abiertos que consiste en el agrupamiento de imágenes digitales de dispositivos móviles según la fuente de adquisición, es decir, se realiza un agrupamiento en clases de todas las imágenes de ent rada. La propuesta combina agrupamiento jerárquico y agrupamiento plano con el uso del patrón de ruido del sensor. Por último, en el área de los ataques a las técnicas fo renses se tratan temas relacionados con la robustez de las técnicas forenses de identificación de la fuente de adquisición de imágenes. Se especifican dos algoritmos basados en el ruido del sensor y en la transformada wavelet ; el primero destruye la identidad de una imagen y el segundo falsifica la misma. Los resultados obtenidos por estos dos algoritmos se comparan con otras herramientas diseñadas para el mismo fin, observándose que la solución aquí presentada requiere de menor cantidad y complejidad de datos de entrada. Finalmente, estas técnicas de identificación han sido incluidas en una herramienta para el análisis forense de imágenes digitales de dispositivos móviles llamada Theia. Entre las diferentes ramas del análisis forense, Theia se centra principalmente en la identificación confiable de la marca y el modelo de la cámara móvil que generó una imagen dada. Todos los algoritmos desarrollados han sido implementados e integrados en Theia, reforzando así su funcionalidad.Depto. de Ingeniería de Software e Inteligencia Artificial (ISIA)Fac. de InformáticaTRUEunpu

Recording, compression and representation of dense light fields

The concept of light fields allows image based capture of scenes, providing, on a recorded dataset, many of the features available in computer graphics, like simulation of different viewpoints, or change of core camera parameters, including depth of field. Due to the increase in the recorded dimension from two for a regular image to four for a light field recording, previous works mainly concentrate on small or undersampled light field recordings. This thesis is concerned with the recording of a dense light field dataset, including the estimation of suitable sampling parameters, as well as the implementation of the required capture, storage and processing methods. Towards this goal, the influence of an optical system on the, possibly bandunlimited, light field signal is examined, deriving the required sampling rates from the bandlimiting effects of the camera and optics. To increase storage capacity and bandwidth a very fast image compression methods is introduced, providing an order of magnitude faster compression than previous methods, reducing the I/O bottleneck for light field processing. A fiducial marker system is provided for the calibration of the recorded dataset, which provides a higher number of reference points than previous methods, improving camera pose estimation. In conclusion this work demonstrates the feasibility of dense sampling of a large light field, and provides a dataset which may be used for evaluation or as a reference for light field processing tasks like interpolation, rendering and sampling.Das Konzept des Lichtfelds erlaubt eine bildbasierte Erfassung von Szenen und ermöglicht es, auf den erfassten Daten viele Effekte aus der Computergrafik zu berechnen, wie das Simulieren alternativer Kamerapositionen oder die Veränderung zentraler Parameter, wie zum Beispiel der Tiefenschärfe. Aufgrund der enorm vergrößerte Datenmenge die für eine Aufzeichnung benötigt wird, da Lichtfelder im Vergleich zu den zwei Dimensionen herkömmlicher Kameras über vier Dimensionen verfügen, haben frühere Arbeiten sich vor allem mit kleinen oder unterabgetasteten Lichtfeldaufnahmen beschäftigt. Diese Arbeit hat das Ziel eine dichte Aufnahme eines Lichtfeldes vorzunehmen. Dies beinhaltet die Berechnung adäquater Abtastparameter, sowie die Implementierung der benötigten Aufnahme-, Verarbeitungs- und Speicherprozesse. In diesem Zusammenhang werden die bandlimitierenden Effekte des optischen Aufnahmesystems auf das möglicherweise nicht bandlimiterte Signal des Lichtfeldes untersucht und die benötigten Abtastraten davon abgeleitet. Um die Bandbreite und Kapazität des Speichersystems zu erhöhen wird ein neues, extrem schnelles Verfahren der Bildkompression eingeführt, welches um eine Größenordnung schneller operiert als bisherige Methoden. Für die Kalibrierung der Kamerapositionen des aufgenommenen Datensatzes wird ein neues System von sich selbst identifizierenden Passmarken vorgestellt, welches im Vergleich zu früheren Methoden mehr Referenzpunkte auf gleichem Raum zu Verfügung stellen kann und so die Kamerakalibrierung verbessert. Kurz zusammengefasst demonstriert diese Arbeit die Durchführbarkeit der Aufnahme eines großen und dichten Lichtfeldes, und stellt einen entsprechenden Datensatz zu Verfügung. Der Datensatz ist geeignet als Referenz für die Untersuchung von Methoden zur Verarbeitung von Lichtfeldern, sowie für die Evaluation von Methoden zur Interpolation, zur Abtastung und zum Rendern

Colour depth-from-defocus incorporating experimental point spread function measurements

Depth-From-Defocus (DFD) is a monocular computer vision technique for creating depth maps from two images taken on the same optical axis with different intrinsic camera parameters. A pre-processing stage for optimally converting colour images to monochrome using a linear combination of the colour planes has been shown to improve the accuracy of the depth map. It was found that the first component formed using Principal Component Analysis (PCA) and a technique to maximise the signal-to-noise ratio (SNR) performed better than using an equal weighting of the colour planes with an additive noise model. When the noise is non-isotropic the Mean Square Error (MSE) of the depth map by maximising the SNR was improved by 7.8 times compared to an equal weighting and 1.9 compared to PCA. The fractal dimension (FD) of a monochrome image gives a measure of its roughness and an algorithm was devised to maximise its FD through colour mixing. The formulation using a fractional Brownian motion (mm) model reduced the SNR and thus produced depth maps that were less accurate than using PCA or an equal weighting. An active DFD algorithm to reduce the image overlap problem has been developed, called Localisation through Colour Mixing (LCM), that uses a projected colour pattern. Simulation results showed that LCM produces a MSE 9.4 times lower than equal weighting and 2.2 times lower than PCA. The Point Spread Function (PSF) of a camera system models how a point source of light is imaged. For depth maps to be accurately created using DFD a high-precision PSF must be known. Improvements to a sub-sampled, knife-edge based technique are presented that account for non-uniform illumination of the light box and this reduced the MSE by 25%. The Generalised Gaussian is presented as a model of the PSF and shown to be up to 16 times better than the conventional models of the Gaussian and pillbox

Sampling the Multiple Facets of Light

The theme of this thesis revolves around three important manifestations of light, namely its corpuscular, wave and electromagnetic nature. Our goal is to exploit these principles to analyze, design and build imaging modalities by developing new signal processing and algorithmic tools, based in particular on sampling and sparsity concepts. First, we introduce a new sampling scheme called variable pulse width, which is based on the finite rate of innovation (FRI) sampling paradigm. This new framework enables to sample and perfectly reconstruct weighted sums of Lorentzians; perfect reconstruction from sampled signals is guaranteed by a set of theorems. Second, we turn to the context of light and study its reflection, which is based on the corpuscular model of light. More precisely, we propose to use our FRI-based model to represent bidirectional reflectance distribution functions. We develop dedicated light domes to acquire reflectance functions and use the measurements obtained to demonstrate the usefulness and versatility of our model. In particular, we concentrate on the representation of specularities, which are sharp and bright components generated by the direct reflection of light on surfaces. Third, we explore the wave nature of light through Lippmann photography, a century-old photography technique that acquires the entire spectrum of visible light. This fascinating process captures interferences patterns created by the exposed scene inside the depth of a photosensitive plate. By illuminating the developed plate with a neutral light source, the reflected spectrum corresponds to that of the exposed scene. We propose a mathematical model which precisely explains the technique and demonstrate that the spectrum reproduction suffers from a number of distortions due to the finite depth of the plate and the choice of reflector. In addition to describing these artifacts, we describe an algorithm to invert them, essentially recovering the original spectrum of the exposed scene. Next, the wave nature of light is further generalized to the electromagnetic theory, which we invoke to leverage the concept of polarization of light. We also return to the topic of the representation of reflectance functions and focus this time on the separation of the specular component from the other reflections. We exploit the fact that the polarization of light is preserved in specular reflections and investigate camera designs with polarizing micro-filters with different orientations placed just in front of the camera sensor; the different polarizations of the filters create a mosaic image, from which we propose to extract the specular component. We apply our demosaicing method to several scenes and additionally demonstrate that our approach improves photometric stereo. Finally, we delve into the problem of retrieving the phase information of a sparse signal from the magnitude of its Fourier transform. We propose an algorithm that resolves the phase retrieval problem for sparse signals in three stages. Unlike traditional approaches that recover a discrete approximation of the underlying signal, our algorithm estimates the signal on a continuous domain, which makes it the first of its kind. The concluding chapter outlines several avenues for future research, like new optical devices such as displays and digital cameras, inspired by the topic of Lippmann photography

Image and Video Forensics

Nowadays, images and videos have become the main modalities of information being exchanged in everyday life, and their pervasiveness has led the image forensics community to question their reliability, integrity, confidentiality, and security. Multimedia contents are generated in many different ways through the use of consumer electronics and high-quality digital imaging devices, such as smartphones, digital cameras, tablets, and wearable and IoT devices. The ever-increasing convenience of image acquisition has facilitated instant distribution and sharing of digital images on digital social platforms, determining a great amount of exchange data. Moreover, the pervasiveness of powerful image editing tools has allowed the manipulation of digital images for malicious or criminal ends, up to the creation of synthesized images and videos with the use of deep learning techniques. In response to these threats, the multimedia forensics community has produced major research efforts regarding the identification of the source and the detection of manipulation. In all cases (e.g., forensic investigations, fake news debunking, information warfare, and cyberattacks) where images and videos serve as critical evidence, forensic technologies that help to determine the origin, authenticity, and integrity of multimedia content can become essential tools. This book aims to collect a diverse and complementary set of articles that demonstrate new developments and applications in image and video forensics to tackle new and serious challenges to ensure media authenticity

Image Processing Using FPGAs

This book presents a selection of papers representing current research on using field programmable gate arrays (FPGAs) for realising image processing algorithms. These papers are reprints of papers selected for a Special Issue of the Journal of Imaging on image processing using FPGAs. A diverse range of topics is covered, including parallel soft processors, memory management, image filters, segmentation, clustering, image analysis, and image compression. Applications include traffic sign recognition for autonomous driving, cell detection for histopathology, and video compression. Collectively, they represent the current state-of-the-art on image processing using FPGAs