281 research outputs found

    Robot Vision in the Language of Geometric Algebra

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    A Novel Representation for Two-dimensional Image Structures

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    This paper presents a novel approach towards two-dimensional (2D) image structures modeling. To obtain more degrees of freedom, a 2D image signal is embedded into a certain geometric algebra. Coupling methods of differential geometry, tensor algebra, monogenic signal and quadrature filter, we can design a general model for 2D structures as the monogenic extension of a curvature tensor. Based on it, a local representation for the intrinsically two-dimensional (i2D) structure is derived as the monogenic curvature signal. From it, independent features of local amplitude, phase and orientation are simultaneously extracted. Besides, a monogenic curvature scale-space can be built by applying a Poisson kernel to the monogenic curvature signal. Compared with the other related work, the remarkable advantage of our approach lies in the rotationally invariant phase evaluation of 2D structures in a multi-scale framework, which delivers access to phase-based processing in many computer vision tasks

    Hölder norm estimate for a Hilbert transform in Hermitian Clifford analysis

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    A Hilbert transform for Holder continuous circulant (2 x 2) matrix functions, on the d-summable (or fractal) boundary I" of a Jordan domain Omega in a"e(2n) , has recently been introduced within the framework of Hermitean Clifford analysis. The main goal of the present paper is to estimate the Holder norm of this Hermitean Hilbert transform. The expression for the upper bound of this norm is given in terms of the Holder exponents, the diameter of I" and a specific d-sum (d > d) of the Whitney decomposition of Omega. The result is shown to include the case of a more standard Hilbert transform for domains with left Ahlfors-David regular boundary

    Vector extension of monogenic wavelets for geometric representation of color images

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    14 pagesInternational audienceMonogenic wavelets offer a geometric representation of grayscale images through an AM/FM model allowing invariance of coefficients to translations and rotations. The underlying concept of local phase includes a fine contour analysis into a coherent unified framework. Starting from a link with structure tensors, we propose a non-trivial extension of the monogenic framework to vector-valued signals to carry out a non marginal color monogenic wavelet transform. We also give a practical study of this new wavelet transform in the contexts of sparse representations and invariant analysis, which helps to understand the physical interpretation of coefficients and validates the interest of our theoretical construction

    Signal Modeling for Two-Dimensional Image Structures and Scale-Space Based Image Analysis

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    Model based image representation plays an important role in many computer vision tasks. Consequently, it is of high significance to model image structures with more powerful representation capabilities. In the literature, there exist bulk of researches for intensity based modeling. However, most of them suffer from the illumination variation. On the other hand, phase information, which carries most essential structural information of the original signal, has the advantage of being invariant to the brightness change. Therefore, phase based image analysis is advantageous when compared to purely intensity based approaches. This thesis aims to propose novel image representations for 2D image structures, from which useful local features can be extracted, which are useful for phase based image analysis. The first approach presents a 2D rotationally invariant quadrature filter. This model is able to handle superimposed intrinsically two-dimensional (i2D) patterns with flexible angles of intersection. Hence, it can be regarded as an extension of the structure multivector. The second approach is the monogenic curvature tensor. Coupling methods of differential geometry, tensor algebra, monogenic signal and quadrature filter, we can design a general model for 2D structures as the monogenic extension of a curvature tensor. Based on it, local representations for the intrinsically one-dimensional (i1D) and i2D structures are derived as the monogenic signal and the generalized monogenic curvature signal, respectively. From them, independent features of local amplitude, phase and orientation are simultaneously extracted. Besides, a generalized monogenic curvature scale-space can be built by applying a Poisson kernel to the monogenic curvature tensor. Compared with other related work, the remarkable advantage of our approach lies in the rotationally invariant phase evaluation of 2D structures in a multi-scale framework, which delivers access to phase-based processing in many computer vision tasks. To demonstrate the efficiency and power of the theoretic framework, some computer vision applications are presented, which include the phase based image reconstruction, detecting i2D image structures using local phase and monogenic curvature tensor for optical flow estimation

    Elliptical Monogenic Wavelets for the analysis and processing of color images

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    International audienceThis paper studies and gives new algorithms for image processing based on monogenic wavelets. Existing greyscale monogenic filterbanks are reviewed and we reveal a lack of discussion about the synthesis part. The monogenic synthesis is therefore defined from the idea of wavelet modulation, and an innovative filterbank is constructed by using the Radon transform. The color extension is then investigated. First, the elliptical Fourier atom model is proposed to generalize theanalytic signal representation for vector-valued signals. Then a color Riesz-transform is defined so as to construct color elliptical monogenic wavelets. Our Radon-based monogenic filterbank can be easily extended to color according to this definition. The proposed wavelet representation provides efficient analysis of local features in terms of shape and color, thanks to the concepts of amplitude, phase, orientation, and ellipse parameters. The synthesis from local features is deeply studied. We conclude the article by defining the color local frequency, proposing an estimation algorithm

    The Hilbert transform on the two-sphere: A spectral characterization

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    The analytic signal is an important representation in one dimensional signal processing. Its generalization to two dimensions is the monogenic signal. The properties of the analytic and the monogenic signal in the Fourier domain are well known. A generalization to the sphere is given by the Hilbert transform on the sphere known from Clifford analysis. Nonetheless no spectral characterization exists and therefore prohibits an interpretation. We derive the spherical harmonic coefficients of the Hilbert transform on the sphere and give a series expansion. It will turn out that it acts as a differential operator on the spherical harmonic basis functions of the Laplace equation solution, analogously to the Riesz transform in two dimensions. This allows an interpretation of the Hilbert transform suitable for signal processing of signals naturally arising on the two-sphere. We show that the scale space naturally arising is a Poisson scale space in the unit ball. In addition the obtained interpretation of the Hilbert transform is used for orientation analysis of plane waves. This representation is justified as a novel signal model on the sphere which can be used to construct intensity and rotation invariant feature detectors in a scale-space concept
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