Discrete Optimization Methods for Segmentation and Matching

This dissertation studies discrete optimization methods for several computer vision problems. In the first part, a new objective function for superpixel segmentation is proposed. This objective function consists of two components: entropy rate of a random walk on a graph and a balancing term. The entropy rate favors formation of compact and homogeneous clusters, while the balancing function encourages clusters with similar sizes. I present a new graph construction for images and show that this construction induces a matroid. The segmentation is then given by the graph topology which maximizes the objective function under the matroid constraint. By exploiting submodular and monotonic properties of the objective function, I develop an efficient algorithm with a worst-case performance bound of $\frac{1}{2}$ for the superpixel segmentation problem. Extensive experiments on the Berkeley segmentation benchmark show the proposed algorithm outperforms the state of the art in all the standard evaluation metrics. Next, I propose a video segmentation algorithm by maximizing a submodular objective function subject to a matroid constraint. This function is similar to the standard energy function in computer vision with unary terms, pairwise terms from the Potts model, and a novel higher-order term based on appearance histograms. I show that the standard Potts model prior, which becomes non-submodular for multi-label problems, still induces a submodular function in a maximization framework. A new higher-order prior further enforces consistency in the appearance histograms both spatially and temporally across the video. The matroid constraint leads to a simple algorithm with a performance bound of $\frac{1}{2}$. A branch and bound procedure is also presented to improve the solution computed by the algorithm. The last part of the dissertation studies the object localization problem in images given a single hand-drawn example or a gallery of shapes as the object model. Although many shape matching algorithms have been proposed for the problem, chamfer matching remains to be the preferred method when speed and robustness are considered. In this dissertation, I significantly improve the accuracy of chamfer matching while reducing the computational time from linear to sublinear (shown empirically). It is achieved by incorporating edge orientation information in the matching algorithm so the resulting cost function is piecewise smooth and the cost variation is tightly bounded. Moreover, I present a sublinear time algorithm for exact computation of the directional chamfer matching score using techniques from 3D distance transforms and directional integral images. In addition, the smooth cost function allows one to bound the cost distribution of large neighborhoods and skip the bad hypotheses. Experiments show that the proposed approach improves the speed of the original chamfer matching up to an order of 45 times, and it is much faster than many state of art techniques while the accuracy is comparable. I further demonstrate the application of the proposed algorithm in providing seamless operation for a robotic bin picking system

Multispectral image classification from axiomatic locally finite spaces-based segmentation

Geographical object-based image analysis (GEOBIA) usually starts defining coarse geometric space elements, i.e. image-objects, by grouping near pixels based on (a, b)-connected graphs as neighbourhood definitions. In such an approach, however, topological axioms needed to ensure a correct representation of connectedness relationships can not be satisfied. Thus, conventional image-object boundaries definition presents ambiguities because one-dimensional contours are represented by two-dimensional pixels. In this paper, segmentation is conducted using a novel approach based on axiomatic locally finite spaces (provided by Cartesian complexes) and their linked oriented matroids. For the test, the ALFS-based image segments were classified using the support vector machine (SVM) algorithm using directional filter response as an additional channel. The proposed approach uses a multi-scale approach for the segmentation, which includes multi-scale texture and spectral affinity analysis in boundary definition. The proposed approach was evaluated comparatively with conventional pixel representation on a small subset of GEOBIA2016 benchmark dataset. Results show that classification accuracy is increased in comparison to a conventional pixel segmentation.El análisis de imagenes basado en objetos geográficos (GEOBIA por su sigla en inglés) comienza generalmente definiendo elementos más gruesos del espacio geométrico u objetos de imagen, agrupando píxeles cercanos con base en grafos (a, b)-conectados como definiciones de vecindario. En este enfoque, sin embargo, pueden no cumplirse algunos axiomas topológicos requeridos para garantizar una correcta representación de las relaciones de conexión. Por lo tanto, la definición convencional de límites de objetos de imagen, presenta ambigüedades debido a que los contornos unidimensionales están representados por píxeles bidimensionales. En este trabajo, la segmentación se lleva a cabo mediante un nuevo enfoque basado en espacios axiomáticos localmente finitos (proporcionados por complejos cartesianos) y sus matroides orientados asociados. Para probar el enfoque propuesto, los segmentos de la imagen basada en ALFS fueron clasificados usando el algoritmo de máquina de soporte vectorial (SVM por su sigla en inglés) usando la respuesta a filtros direccionales como un canal adicional. El enfoque propuesto utiliza un enfoque multiescala para la segmentación, que incluye análisis de textura y de afinidad espectral en la definición de límite. La propuesta se evaluó comparativamente con la representación de píxeles convencionales en un pequeño subconjunto del conjunto de datos de referencia GEOBIA2016. Los resultados muestran que la exactitud de la clasificación se incrementa en comparación con la segmentación convencional de pixeles

Rigidity through a Projective Lens

In this paper, we offer an overview of a number of results on the static rigidity and infinitesimal rigidity of discrete structures which are embedded in projective geometric reasoning, representations, and transformations. Part I considers the fundamental case of a bar−joint framework in projective d-space and places particular emphasis on the projective invariance of infinitesimal rigidity, coning between dimensions, transfer to the spherical metric, slide joints and pure conditions for singular configurations. Part II extends the results, tools and concepts from Part I to additional types of rigid structures including body-bar, body−hinge and rod-bar frameworks, all drawing on projective representations, transformations and insights. Part III widens the lens to include the closely related cofactor matroids arising from multivariate splines, which also exhibit the projective invariance. These are another fundamental example of abstract rigidity matroids with deep analogies to rigidity. We conclude in Part IV with commentary on some nearby areas

LIPIcs, Volume 251, ITCS 2023, Complete Volume

LIPIcs, Volume 251, ITCS 2023, Complete Volum

Q(sqrt(-3))-Integral Points on a Mordell Curve

We use an extension of quadratic Chabauty to number fields,recently developed by the author with Balakrishnan, Besser and M ̈uller,combined with a sieving technique, to determine the integral points overQ(√−3) on the Mordell curve y2 = x3 − 4

Structure of Development or Development and Topology of Biological Shapeexemplified on the early embryology in the egg of the nematode C. elegans

The pre-morpho-genetic development of nematode Caenorhabditis elegans in the egg is studied to formulate a base system, in which rules that govern the formation of shape and functions in biological organisms can be defined. The spatial cell positions and the cell movements are subject of analysis by mathematical means, with respect to the determination of biological form and function . The mathematical concepts of Vector space chains, Matrix and Boundary operations are made available for the analysis. The development of one organism can be described in a unique matrix form. The structure of the development of two different organisms can be compared

Adaptive Robotic Information Gathering via Non-Stationary Gaussian Processes

Robotic Information Gathering (RIG) is a foundational research topic that answers how a robot (team) collects informative data to efficiently build an accurate model of an unknown target function under robot embodiment constraints. RIG has many applications, including but not limited to autonomous exploration and mapping, 3D reconstruction or inspection, search and rescue, and environmental monitoring. A RIG system relies on a probabilistic model's prediction uncertainty to identify critical areas for informative data collection. Gaussian Processes (GPs) with stationary kernels have been widely adopted for spatial modeling. However, real-world spatial data is typically non-stationary -- different locations do not have the same degree of variability. As a result, the prediction uncertainty does not accurately reveal prediction error, limiting the success of RIG algorithms. We propose a family of non-stationary kernels named Attentive Kernel (AK), which is simple, robust, and can extend any existing kernel to a non-stationary one. We evaluate the new kernel in elevation mapping tasks, where AK provides better accuracy and uncertainty quantification over the commonly used stationary kernels and the leading non-stationary kernels. The improved uncertainty quantification guides the downstream informative planner to collect more valuable data around the high-error area, further increasing prediction accuracy. A field experiment demonstrates that the proposed method can guide an Autonomous Surface Vehicle (ASV) to prioritize data collection in locations with significant spatial variations, enabling the model to characterize salient environmental features.Comment: International Journal of Robotics Research (IJRR). arXiv admin note: text overlap with arXiv:2205.0642