Rhythmic Representations: Learning Periodic Patterns for Scalable Place Recognition at a Sub-Linear Storage Cost

Robotic and animal mapping systems share many challenges and characteristics: they must function in a wide variety of environmental conditions, enable the robot or animal to navigate effectively to find food or shelter, and be computationally tractable from both a speed and storage perspective. With regards to map storage, the mammalian brain appears to take a diametrically opposed approach to all current robotic mapping systems. Where robotic mapping systems attempt to solve the data association problem to minimise representational aliasing, neurons in the brain intentionally break data association by encoding large (potentially unlimited) numbers of places with a single neuron. In this paper, we propose a novel method based on supervised learning techniques that seeks out regularly repeating visual patterns in the environment with mutually complementary co-prime frequencies, and an encoding scheme that enables storage requirements to grow sub-linearly with the size of the environment being mapped. To improve robustness in challenging real-world environments while maintaining storage growth sub-linearity, we incorporate both multi-exemplar learning and data augmentation techniques. Using large benchmark robotic mapping datasets, we demonstrate the combined system achieving high-performance place recognition with sub-linear storage requirements, and characterize the performance-storage growth trade-off curve. The work serves as the first robotic mapping system with sub-linear storage scaling properties, as well as the first large-scale demonstration in real-world environments of one of the proposed memory benefits of these neurons.Comment: Pre-print of article that will appear in the IEEE Robotics and Automation Letter

An approach to summarize video data in compressed domain

Thesis (Master)--Izmir Institute of Technology, Electronics and Communication Engineering, Izmir, 2007Includes bibliographical references (leaves: 54-56)Text in English; Abstract: Turkish and Englishx, 59 leavesThe requirements to represent digital video and images efficiently and feasibly have collected great efforts on research, development and standardization over past 20 years. These efforts targeted a vast area of applications such as video on demand, digital TV/HDTV broadcasting, multimedia video databases, surveillance applications etc. Moreover, the applications demand more efficient collections of algorithms to enable lower bit rate levels, with acceptable quality depending on application requirements. In our time, most of the video content either stored, transmitted is in compressed form. The increase in the amount of video data that is being shared attracted interest of researchers on the interrelated problems of video summarization, indexing and abstraction. In this study, the scene cut detection in emerging ISO/ITU H264/AVC coded bit stream is realized by extracting spatio-temporal prediction information directly in the compressed domain. The syntax and semantics, parsing and decoding processes of ISO/ITU H264/AVC bit-stream is analyzed to detect scene information. Various video test data is constructed using Joint Video Team.s test model JM encoder, and implementations are made on JM decoder. The output of the study is the scene information to address video summarization, skimming, indexing applications that use the new generation ISO/ITU H264/AVC video

Algorithms & implementation of advanced video coding standards

Advanced video coding standards have become widely deployed coding techniques used in numerous products, such as broadcast, video conference, mobile television and blu-ray disc, etc. New compression techniques are gradually included in video coding standards so that a 50% compression rate reduction is achievable every five years. However, the trend also has brought many problems, such as, dramatically increased computational complexity, co-existing multiple standards and gradually increased development time. To solve the above problems, this thesis intends to investigate efficient algorithms for the latest video coding standard, H.264/AVC. Two aspects of H.264/AVC standard are inspected in this thesis: (1) Speeding up intra4x4 prediction with parallel architecture. (2) Applying an efficient rate control algorithm based on deviation measure to intra frame. Another aim of this thesis is to work on low-complexity algorithms for MPEG-2 to H.264/AVC transcoder. Three main mapping algorithms and a computational complexity reduction algorithm are focused by this thesis: motion vector mapping, block mapping, field-frame mapping and efficient modes ranking algorithms. Finally, a new video coding framework methodology to reduce development time is examined. This thesis explores the implementation of MPEG-4 simple profile with the RVC framework. A key technique of automatically generating variable length decoder table is solved in this thesis. Moreover, another important video coding standard, DV/DVCPRO, is further modeled by RVC framework. Consequently, besides the available MPEG-4 simple profile and China audio/video standard, a new member is therefore added into the RVC framework family. A part of the research work presented in this thesis is targeted algorithms and implementation of video coding standards. In the wide topic, three main problems are investigated. The results show that the methodologies presented in this thesis are efficient and encourage

Localized temporal decorrelation for video compression

Many of the current video compression algorithms perform analysis and coding operations in a block-wise manner. Most of them use a motion compensated DCT algorithm as the basis. Many other codecs, mostly academic and in their infancy and known as Second Generation techniques, utilize region and contour based and model based techniques. Unfortunately, these second-generation methods have not been successful in gaining widespread acceptance in both the standards and the consumer world. Many of them require specialized computationally intensive software and/or hardware. Due to these shortcomings, current block based methods have been finetuned to get better performance at even very low bit rates (sub 64 kbps). Block based motion estimation is the principal mechanism used to compensate for motion between frames in an image sequence. Although current algorithms are fast and quite effective, they fail in compensating for uncovered background areas in a frame. Solutions such as hierarchical motion estimation schemes do not work very well since there is no reference in past, and in some cases, future frames for an uncovered background resulting in the block being transmitted as an intra frame (which requires the most bandwidth among all type of blocks). This thesis intro duces an intermediate stage, which compensates for these isolated uncovered areas. The intermediate stage uses a localized decorrelation technique to reduce frame to frame temporal redundancies. The algorithm can be easily incorporated into exist ing systems to achieve an even better performance and can be easily extended as a scalable video coding architecture. Experimental results show that the algorithm, used in conjunction with motion estimation, is quite effective in reducing temporal redundancies

An FPGA Implementation of HW/SW Codesign Architecture for H.263 Video Coding

Chapitre 12 http://www.intechopen.com/download/pdf/pdfs_id/1574

Efficient Video Transport over Lossy Networks

Nowadays, packet video is an important application of the Internet. Unfortunately the capacity of the Internet is still very heterogeneous because it connects high bandwidth ATM networks as well as low bandwidth ISDN dial in lines. The MPEG-2 and MPEG-4 video compression standards provide efficient video encoding for high and low bandwidth media streams. In particular they include two paradigms which make those standards suitable for the transmission of video via heterogeneous networks. Both support layered video streams and MPEG-4 additionally allows the independent coding of video objects. In this paper we discuss those two paradigms, give an overview of the MPEG video compression standards and describe transport protocols for Real Time Media transport over lossy networks. Furthermore, we propose a real-time segmentation approach for extracting video objects in teleteaching scenarios

A new adaptive interframe transform coding using directional classification

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