Quadtree-based eigendecomposition for pose estimation in the presence of occlusion and background clutter

Includes bibliographical references (pages 29-30).Eigendecomposition-based techniques are popular for a number of computer vision problems, e.g., object and pose estimation, because they are purely appearance based and they require few on-line computations. Unfortunately, they also typically require an unobstructed view of the object whose pose is being detected. The presence of occlusion and background clutter precludes the use of the normalizations that are typically applied and significantly alters the appearance of the object under detection. This work presents an algorithm that is based on applying eigendecomposition to a quadtree representation of the image dataset used to describe the appearance of an object. This allows decisions concerning the pose of an object to be based on only those portions of the image in which the algorithm has determined that the object is not occluded. The accuracy and computational efficiency of the proposed approach is evaluated on 16 different objects with up to 50% of the object being occluded and on images of ships in a dockyard

Object recognition in infrared imagery using appearance-based methods

Abstract unavailable please refer to PD

GEFF: Graph Embedding for Functional Fingerprinting

It has been well established that Functional Connectomes (FCs), as estimated from functional MRI (fMRI) data, have an individual fingerprint that can be used to identify an individual from a population (subject-identification). Although identification rate is high when using resting-state FCs, other tasks show moderate to low values. Furthermore, identification rate is task-dependent, and is low when distinct cognitive states, as captured by different fMRI tasks, are compared. Here we propose an embedding framework, GEFF (Graph Embedding for Functional Fingerprinting), based on group-level decomposition of FCs into eigenvectors. GEFF creates an eigenspace representation of a group of subjects using one or more task FCs (Learning Stage). In the Identification Stage, we compare new instances of FCs from the Learning subjects within this eigenspace (validation dataset). The validation dataset contains FCs either from the same tasks as the Learning dataset or from the remaining tasks that were not included in Learning. Assessment of validation FCs within the eigenspace results in significantly increased subject-identification rates for all fMRI tasks tested and potentially task-independent fingerprinting process. It is noteworthy that combining resting-state with one fMRI task for GEFF Learning Stage covers most of the cognitive space for subject identification. In addition to subject-identification, GEFF was also used for identification of cognitive states, i.e. to identify the task associated to a given FC, regardless of the subject being already in the Learning dataset or not (subject-independent task-identification). In addition, we also show that eigenvectors from the Learning Stage can be characterized as task-dominant, subject dominant or neither, providing a deeper insight into the extent of variance in functional connectivity across individuals and cognitive states.Comment: 30 pages; 6 figures; 5 supplementary figure

GEFF: Graph Embedding for Functional Fingerprinting

It has been well established that Functional Connectomes (FCs), as estimated from functional MRI (fMRI) data, have an individual fingerprint that can be used to identify an individual from a population (subject-identification). Although identification rate is high when using resting-state FCs, other tasks show moderate to low values. Furthermore, identification rate is task-dependent, and is low when distinct cognitive states, as captured by different fMRI tasks, are compared. Here we propose an embedding framework, GEFF (Graph Embedding for Functional Fingerprinting), based on group-level decomposition of FCs into eigenvectors. GEFF creates an eigenspace representation of a group of subjects using one or more task FCs (Learning Stage). In the Identification Stage, we compare new instances of FCs from the Learning subjects within this eigenspace (validation dataset). The validation dataset contains FCs either from the same tasks as the Learning dataset or from the remaining tasks that were not included in Learning. Assessment of validation FCs within the eigenspace results in significantly increased subject-identification rates for all fMRI tasks tested and potentially task-independent fingerprinting process. It is noteworthy that combining resting-state with one fMRI task for GEFF Learning Stage covers most of the cognitive space for subject identification. Thus, while designing an experiment, one could choose a task fMRI to ask a specific question and combine it with resting-state fMRI to extract maximum subject differentiability using GEFF. In addition to subject-identification, GEFF was also used for identification of cognitive states, i.e. to identify the task associated to a given FC, regardless of the subject being already in the Learning dataset or not (subject-independent task-identification). In addition, we also show that eigenvectors from the Learning Stage can be characterized as task- and subject-dominant, subject-dominant or neither, using two-way ANOVA of their corresponding loadings, providing a deeper insight into the extent of variance in functional connectivity across individuals and cognitive states

A real-time low-cost vision sensor for robotic bin picking

This thesis presents an integrated approach of a vision sensor for bin picking. The vision system that has been devised consists of three major components. The first addresses the implementation of a bifocal range sensor which estimates the depth by measuring the relative blurring between two images captured with different focal settings. A key element in the success of this approach is that it overcomes some of the limitations that were associated with other related implementations and the experimental results indicate that the precision offered by the sensor discussed in this thesis is precise enough for a large variety of industrial applications. The second component deals with the implementation of an edge-based segmentation technique which is applied in order to detect the boundaries of the objects that define the scene. An important issue related to this segmentation technique consists of minimising the errors in the edge detected output, an operation that is carried out by analysing the information associated with the singular edge points. The last component addresses the object recognition and pose estimation using the information resulting from the application of the segmentation algorithm. The recognition stage consists of matching the primitives derived from the scene regions, while the pose estimation is addressed using an appearance-based approach augmented with a range data analysis. The developed system is suitable for real-time operation and in order to demonstrate the validity of the proposed approach it has been examined under varying real-world scenes

Biologically-inspired hierarchical architectures for object recognition

PhD ThesisThe existing methods for machine vision translate the three-dimensional objects in the real world into two-dimensional images. These methods have achieved acceptable performances in recognising objects. However, the recognition performance drops dramatically when objects are transformed, for instance, the background, orientation, position in the image, and scale. The human’s visual cortex has evolved to form an efficient invariant representation of objects from within a scene. The superior performance of human can be explained by the feed-forward multi-layer hierarchical structure of human visual cortex, in addition to, the utilisation of different fields of vision depending on the recognition task. Therefore, the research community investigated building systems that mimic the hierarchical architecture of the human visual cortex as an ultimate objective. The aim of this thesis can be summarised as developing hierarchical models of the visual processing that tackle the remaining challenges of object recognition. To enhance the existing models of object recognition and to overcome the above-mentioned issues, three major contributions are made that can be summarised as the followings 1. building a hierarchical model within an abstract architecture that achieves good performances in challenging image object datasets; 2. investigating the contribution for each region of vision for object and scene images in order to increase the recognition performance and decrease the size of the processed data; 3. further enhance the performance of all existing models of object recognition by introducing hierarchical topologies that utilise the context in which the object is found to determine the identity of the object. Statement ofHigher Committee For Education Development in Iraq (HCED

Multi-scale and multi-spectral shape analysis: from 2d to 3d

Shape analysis is a fundamental aspect of many problems in computer graphics and computer vision, including shape matching, shape registration, object recognition and classification. Since the SIFT achieves excellent matching results in 2D image domain, it inspires us to convert the 3D shape analysis to 2D image analysis using geometric maps. However, the major disadvantage of geometric maps is that it introduces inevitable, large distortions when mapping large, complex and topologically complicated surfaces to a canonical domain. It is demanded for the researchers to construct the scale space directly on the 3D shape. To address these research issues, in this dissertation, in order to find the multiscale processing for the 3D shape, we start with shape vector image diffusion framework using the geometric mapping. Subsequently, we investigate the shape spectrum field by introducing the implementation and application of Laplacian shape spectrum. In order to construct the scale space on 3D shape directly, we present a novel idea to solve the diffusion equation using the manifold harmonics in the spectral point of view. Not only confined on the mesh, by using the point-based manifold harmonics, we rigorously derive our solution from the diffusion equation which is the essential of the scale space processing on the manifold. Built upon the point-based manifold harmonics transform, we generalize the diffusion function directly on the point clouds to create the scale space. In virtue of the multiscale structure from the scale space, we can detect the feature points and construct the descriptor based on the local neighborhood. As a result, multiscale shape analysis directly on the 3D shape can be achieved