8,438 research outputs found
ShapeFit and ShapeKick for Robust, Scalable Structure from Motion
We introduce a new method for location recovery from pair-wise directions
that leverages an efficient convex program that comes with exact recovery
guarantees, even in the presence of adversarial outliers. When pairwise
directions represent scaled relative positions between pairs of views
(estimated for instance with epipolar geometry) our method can be used for
location recovery, that is the determination of relative pose up to a single
unknown scale. For this task, our method yields performance comparable to the
state-of-the-art with an order of magnitude speed-up. Our proposed numerical
framework is flexible in that it accommodates other approaches to location
recovery and can be used to speed up other methods. These properties are
demonstrated by extensively testing against state-of-the-art methods for
location recovery on 13 large, irregular collections of images of real scenes
in addition to simulated data with ground truth
Linear Global Translation Estimation with Feature Tracks
This paper derives a novel linear position constraint for cameras seeing a
common scene point, which leads to a direct linear method for global camera
translation estimation. Unlike previous solutions, this method deals with
collinear camera motion and weak image association at the same time. The final
linear formulation does not involve the coordinates of scene points, which
makes it efficient even for large scale data. We solve the linear equation
based on norm, which makes our system more robust to outliers in
essential matrices and feature correspondences. We experiment this method on
both sequentially captured images and unordered Internet images. The
experiments demonstrate its strength in robustness, accuracy, and efficiency.Comment: Changes: 1. Adopt BMVC2015 style; 2. Combine sections 3 and 5; 3.
Move "Evaluation on synthetic data" out to supplementary file; 4. Divide
subsection "Evaluation on general data" to subsections "Experiment on
sequential data" and "Experiment on unordered Internet data"; 5. Change Fig.
1 and Fig.8; 6. Move Fig. 6 and Fig. 7 to supplementary file; 7 Change some
symbols; 8. Correct some typo
2D Reconstruction of Small Intestine's Interior Wall
Examining and interpreting of a large number of wireless endoscopic images
from the gastrointestinal tract is a tiresome task for physicians. A practical
solution is to automatically construct a two dimensional representation of the
gastrointestinal tract for easy inspection. However, little has been done on
wireless endoscopic image stitching, let alone systematic investigation. The
proposed new wireless endoscopic image stitching method consists of two main
steps to improve the accuracy and efficiency of image registration. First, the
keypoints are extracted by Principle Component Analysis and Scale Invariant
Feature Transform (PCA-SIFT) algorithm and refined with Maximum Likelihood
Estimation SAmple Consensus (MLESAC) outlier removal to find the most reliable
keypoints. Second, the optimal transformation parameters obtained from first
step are fed to the Normalised Mutual Information (NMI) algorithm as an initial
solution. With modified Marquardt-Levenberg search strategy in a multiscale
framework, the NMI can find the optimal transformation parameters in the
shortest time. The proposed methodology has been tested on two different
datasets - one with real wireless endoscopic images and another with images
obtained from Micro-Ball (a new wireless cubic endoscopy system with six image
sensors). The results have demonstrated the accuracy and robustness of the
proposed methodology both visually and quantitatively.Comment: Journal draf
Robust Camera Location Estimation by Convex Programming
D structure recovery from a collection of D images requires the
estimation of the camera locations and orientations, i.e. the camera motion.
For large, irregular collections of images, existing methods for the location
estimation part, which can be formulated as the inverse problem of estimating
locations in
from noisy measurements of a subset of the pairwise directions
, are
sensitive to outliers in direction measurements. In this paper, we firstly
provide a complete characterization of well-posed instances of the location
estimation problem, by presenting its relation to the existing theory of
parallel rigidity. For robust estimation of camera locations, we introduce a
two-step approach, comprised of a pairwise direction estimation method robust
to outliers in point correspondences between image pairs, and a convex program
to maintain robustness to outlier directions. In the presence of partially
corrupted measurements, we empirically demonstrate that our convex formulation
can even recover the locations exactly. Lastly, we demonstrate the utility of
our formulations through experiments on Internet photo collections.Comment: 10 pages, 6 figures, 3 table
PVR: Patch-to-Volume Reconstruction for Large Area Motion Correction of Fetal MRI
In this paper we present a novel method for the correction of motion
artifacts that are present in fetal Magnetic Resonance Imaging (MRI) scans of
the whole uterus. Contrary to current slice-to-volume registration (SVR)
methods, requiring an inflexible anatomical enclosure of a single investigated
organ, the proposed patch-to-volume reconstruction (PVR) approach is able to
reconstruct a large field of view of non-rigidly deforming structures. It
relaxes rigid motion assumptions by introducing a specific amount of redundant
information that is exploited with parallelized patch-wise optimization,
super-resolution, and automatic outlier rejection. We further describe and
provide an efficient parallel implementation of PVR allowing its execution
within reasonable time on commercially available graphics processing units
(GPU), enabling its use in the clinical practice. We evaluate PVR's
computational overhead compared to standard methods and observe improved
reconstruction accuracy in presence of affine motion artifacts of approximately
30% compared to conventional SVR in synthetic experiments. Furthermore, we have
evaluated our method qualitatively and quantitatively on real fetal MRI data
subject to maternal breathing and sudden fetal movements. We evaluate
peak-signal-to-noise ratio (PSNR), structural similarity index (SSIM), and
cross correlation (CC) with respect to the originally acquired data and provide
a method for visual inspection of reconstruction uncertainty. With these
experiments we demonstrate successful application of PVR motion compensation to
the whole uterus, the human fetus, and the human placenta.Comment: 10 pages, 13 figures, submitted to IEEE Transactions on Medical
Imaging. v2: wadded funders acknowledgements to preprin
Robust Rotation Synchronization via Low-rank and Sparse Matrix Decomposition
This paper deals with the rotation synchronization problem, which arises in
global registration of 3D point-sets and in structure from motion. The problem
is formulated in an unprecedented way as a "low-rank and sparse" matrix
decomposition that handles both outliers and missing data. A minimization
strategy, dubbed R-GoDec, is also proposed and evaluated experimentally against
state-of-the-art algorithms on simulated and real data. The results show that
R-GoDec is the fastest among the robust algorithms.Comment: The material contained in this paper is part of a manuscript
submitted to CVI
Implementation and assessment of two density-based outlier detection methods over large spatial point clouds
Several technologies provide datasets consisting of a large number of spatial points, commonly referred to as point-clouds. These point datasets provide spatial information regarding the phenomenon that is to be investigated, adding value through knowledge of forms and spatial relationships. Accurate methods for automatic outlier detection is a key step. In this note we use a completely open-source workflow to assess two outlier detection methods, statistical outlier removal (SOR) filter and local outlier factor (LOF) filter. The latter was implemented ex-novo for this work using the Point Cloud Library (PCL) environment. Source code is available in a GitHub repository for inclusion in PCL builds. Two very different spatial point datasets are used for accuracy assessment. One is obtained from dense image matching of a photogrammetric survey (SfM) and the other from floating car data (FCD) coming from a smart-city mobility framework providing a position every second of two public transportation bus tracks. Outliers were simulated in the SfM dataset, and manually detected and selected in the FCD dataset. Simulation in SfM was carried out in order to create a controlled set with two classes of outliers: clustered points (up to 30 points per cluster) and isolated points, in both cases at random distances from the other points. Optimal number of nearest neighbours (KNN) and optimal thresholds of SOR and LOF values were defined using area under the curve (AUC) of the receiver operating characteristic (ROC) curve. Absolute differences from median values of LOF and SOR (defined as LOF2 and SOR2) were also tested as metrics for detecting outliers, and optimal thresholds defined through AUC of ROC curves. Results show a strong dependency on the point distribution in the dataset and in the local density fluctuations. In SfM dataset the LOF2 and SOR2 methods performed best, with an optimal KNN value of 60; LOF2 approach gave a slightly better result if considering clustered outliers (true positive rate: LOF2\u2009=\u200959.7% SOR2\u2009=\u200953%). For FCD, SOR with low KNN values performed better for one of the two bus tracks, and LOF with high KNN values for the other; these differences are due to very different local point density. We conclude that choice of outlier detection algorithm very much depends on characteristic of the dataset\u2019s point distribution, no one-solution-fits-all. Conclusions provide some information of what characteristics of the datasets can help to choose the optimal method and KNN values
A survey on rotation optimization in structure from motion
We consider the problem of robust rotation optimization
in Structure from Motion applications. A number of different
approaches have been recently proposed, with solutions that
are at times incompatible, and at times complementary. The
goal of this paper is to survey and compare these ideas in a
unified manner, and to benchmark their robustness against
the presence of outliers. In all, we have tested more than
forty variants of a these methods (including novel ones), and
we find the best performing combination.NSFDGE-0966142 (IGERT), NSF-IIS-1317788, NSF-IIP-1439681 (I/UCRC), NSF-IIS-1426840, ARL MAST-CTA W911NF-08-2-0004, ARL RCTA W911NF-10-2-0016, ONR N000141310778
- …