Precise localization for aerial inspection using augmented reality markers

The final publication is available at link.springer.comThis chapter is devoted to explaining a method for precise localization using augmented reality markers. This method can achieve precision of less of 5 mm in position at a distance of 0.7 m, using a visual mark of 17 mm × 17 mm, and it can be used by controller when the aerial robot is doing a manipulation task. The localization method is based on optimizing the alignment of deformable contours from textureless images working from the raw vertexes of the observed contour. The algorithm optimizes the alignment of the XOR area computed by means of computer graphics clipping techniques. The method can run at 25 frames per second.Peer ReviewedPostprint (author's final draft

A stochastic-variational model for soft Mumford-Shah segmentation

In contemporary image and vision analysis, stochastic approaches demonstrate great flexibility in representing and modeling complex phenomena, while variational-PDE methods gain enormous computational advantages over Monte-Carlo or other stochastic algorithms. In combination, the two can lead to much more powerful novel models and efficient algorithms. In the current work, we propose a stochastic-variational model for soft (or fuzzy) Mumford-Shah segmentation of mixture image patterns. Unlike the classical hard Mumford-Shah segmentation, the new model allows each pixel to belong to each image pattern with some probability. We show that soft segmentation leads to hard segmentation, and hence is more general. The modeling procedure, mathematical analysis, and computational implementation of the new model are explored in detail, and numerical examples of synthetic and natural images are presented.Comment: 22 page

Colour image segmentation by the vector-valued Allen-Cahn phase-field model: a multigrid solution

We propose a new method for the numerical solution of a PDE-driven model for colour image segmentation and give numerical examples of the results. The method combines the vector-valued Allen-Cahn phase field equation with initial data fitting terms. This method is known to be closely related to the Mumford-Shah problem and the level set segmentation by Chan and Vese. Our numerical solution is performed using a multigrid splitting of a finite element space, thereby producing an efficient and robust method for the segmentation of large images.Comment: 17 pages, 9 figure