Enhanced 3D Point Cloud from a Light Field Image

The importance of three-dimensional (3D) point cloud technologies in the field of agriculture environmental research has increased in recent years. Obtaining dense and accurate 3D reconstructions of plants and urban areas provide useful information for remote sensing. In this paper, we propose a novel strategy for the enhancement of 3D point clouds from a single 4D light field (LF) image. Using a light field camera in this way creates an easy way for obtaining 3D point clouds from one snapshot and enabling diversity in monitoring and modelling applications for remote sensing. Considering an LF image and associated depth map as an input, we first apply histogram equalization and histogram stretching to enhance the separation between depth planes. We then apply multi-modal edge detection by using feature matching and fuzzy logic from the central sub-aperture LF image and the depth map. These two steps of depth map enhancement are significant parts of our novelty for this work. After combing the two previous steps and transforming the point–plane correspondence, we can obtain the 3D point cloud. We tested our method with synthetic and real world image databases. To verify the accuracy of our method, we compared our results with two different state-of-the-art algorithms. The results showed that our method can reliably mitigate noise and had the highest level of detail compared to other existing methods

Computer Vision System for Tactode Programming

A programação tangível, quando direcionada à robótica, torna a atividade de programar mais compreensível e direta. Este tipo de programação ajuda no desenvolvimento precoce das capacidades de programação e do pensamento computacional das crianças de uma forma interativa. Desta ideia surgiu o Tactode: um sistema de programação tangível composto por peças tipo puzzle e uma aplicação web que visa a programação de robôs. Os utilizadores alvo deste sistema são as crianças que, recorrendo às peças, formam um código tangível, tiram uma fotografia ao mesmo e depois podem carregá-lo para a aplicação para, posteriormente, ser testado e executado no robô. O projeto Tactode encontra-se desenvolvido com base em marcadores ArUco, isto é, cada peça contém um marcador deste tipo que facilita a sua deteção e distinção no código tangível. Posto isto, esta dissertação vai dar continuidade a este projeto através do desenvolvimento de um sistema de visão computacional capaz de detetar e identificar cada peça em fotografias de códigos Tactode, sem recorrer aos marcadores ArUco.Tangible programming, when applied to robotics, makes programming more understandable and straightforward. This type of programming helps children developing their abilities of programming and computational thinking interactively and at earlier stages of their lives. From this idea came Tactode: a tangible programming system composed by puzzle-like pieces and a web application that aims robot programming. The target users of this system are children who, using the pieces, build a tangible code, take a picture of it and then can upload it to the application to be tested and executed on the robot later. The Tactode project is developed based on ArUco markers, meaning that each piece have a marker of this type that facilitates its detection and distinction in the tangible code. Therefore, this dissertation will continue this project through the development of a computer vision system capable of detecting and identifying each piece in photographed Tactode codes without depending on the ArUco markers

Automatic object classification for surveillance videos.

PhDThe recent popularity of surveillance video systems, specially located in urban scenarios, demands the development of visual techniques for monitoring purposes. A primary step towards intelligent surveillance video systems consists on automatic object classification, which still remains an open research problem and the keystone for the development of more specific applications. Typically, object representation is based on the inherent visual features. However, psychological studies have demonstrated that human beings can routinely categorise objects according to their behaviour. The existing gap in the understanding between the features automatically extracted by a computer, such as appearance-based features, and the concepts unconsciously perceived by human beings but unattainable for machines, or the behaviour features, is most commonly known as semantic gap. Consequently, this thesis proposes to narrow the semantic gap and bring together machine and human understanding towards object classification. Thus, a Surveillance Media Management is proposed to automatically detect and classify objects by analysing the physical properties inherent in their appearance (machine understanding) and the behaviour patterns which require a higher level of understanding (human understanding). Finally, a probabilistic multimodal fusion algorithm bridges the gap performing an automatic classification considering both machine and human understanding. The performance of the proposed Surveillance Media Management framework has been thoroughly evaluated on outdoor surveillance datasets. The experiments conducted demonstrated that the combination of machine and human understanding substantially enhanced the object classification performance. Finally, the inclusion of human reasoning and understanding provides the essential information to bridge the semantic gap towards smart surveillance video systems

Enhancing Automatic Annotation for Optimal Image Retrieval

Image search and retrieval based on content is very cumbersome task particularly when the image database is large. The accuracy of the retrieval as well as the processing speed are two important measures used for assessing and comparing the effectiveness of various systems. Text retrieval is more mature and advanced than image content retrieval. In this dissertation, the focus is on converting image content into text tags that can be easily searched using standard search engines where the size and speed issues of the database have been already dealt with. Therefore, image tagging becomes an essential tool for image retrieval from large image databases. Automation of image tagging has received considerable attention by many researchers in recent years. The optimal goal of image description is to automatically annotate images with tags that semantically represent the image content. The speed and accuracy of Image retrieval from large databases are few of the important domains that can benefit from automatic tagging. In this work, several state of the art image classification and image tagging techniques are reviewed. We propose a new self-learning multilayered tagging framework that can address the limitations of current approaches and provide mutual accuracy improvement between the recognition layer and the annotation layer. Our results indicate that the proposed framework can improve the overall accuracy of information retrieval in a variety of image databases

Local Binary Pattern based algorithms for the discrimination and detection of crops and weeds with similar morphologies

In cultivated agricultural fields, weeds are unwanted species that compete with the crop plants for nutrients, water, sunlight and soil, thus constraining their growth. Applying new real-time weed detection and spraying technologies to agriculture would enhance current farming practices, leading to higher crop yields and lower production costs. Various weed detection methods have been developed for Site-Specific Weed Management (SSWM) aimed at maximising the crop yield through efficient control of weeds. Blanket application of herbicide chemicals is currently the most popular weed eradication practice in weed management and weed invasion. However, the excessive use of herbicides has a detrimental impact on the human health, economy and environment. Before weeds are resistant to herbicides and respond better to weed control strategies, it is necessary to control them in the fallow, pre-sowing, early post-emergent and in pasture phases. Moreover, the development of herbicide resistance in weeds is the driving force for inventing precision and automation weed treatments. Various weed detection techniques have been developed to identify weed species in crop fields, aimed at improving the crop quality, reducing herbicide and water usage and minimising environmental impacts. In this thesis, Local Binary Pattern (LBP)-based algorithms are developed and tested experimentally, which are based on extracting dominant plant features from camera images to precisely detecting weeds from crops in real time. Based on the efficient computation and robustness of the first LBP method, an improved LBP-based method is developed based on using three different LBP operators for plant feature extraction in conjunction with a Support Vector Machine (SVM) method for multiclass plant classification. A 24,000-image dataset, collected using a testing facility under simulated field conditions (Testbed system), is used for algorithm training, validation and testing. The dataset, which is published online under the name “bccr-segset”, consists of four subclasses: background, Canola (Brassica napus), Corn (Zea mays), and Wild radish (Raphanus raphanistrum). In addition, the dataset comprises plant images collected at four crop growth stages, for each subclass. The computer-controlled Testbed is designed to rapidly label plant images and generate the “bccr-segset” dataset. Experimental results show that the classification accuracy of the improved LBP-based algorithm is 91.85%, for the four classes. Due to the similarity of the morphologies of the canola (crop) and wild radish (weed) leaves, the conventional LBP-based method has limited ability to discriminate broadleaf crops from weeds. To overcome this limitation and complex field conditions (illumination variation, poses, viewpoints, and occlusions), a novel LBP-based method (denoted k-FLBPCM) is developed to enhance the classification accuracy of crops and weeds with similar morphologies. Our contributions include (i) the use of opening and closing morphological operators in pre-processing of plant images, (ii) the development of the k-FLBPCM method by combining two methods, namely, the filtered local binary pattern (LBP) method and the contour-based masking method with a coefficient k, and (iii) the optimal use of SVM with the radial basis function (RBF) kernel to precisely identify broadleaf plants based on their distinctive features. The high performance of this k-FLBPCM method is demonstrated by experimentally attaining up to 98.63% classification accuracy at four different growth stages for all classes of the “bccr-segset” dataset. To evaluate performance of the k-FLBPCM algorithm in real-time, a comparison analysis between our novel method (k-FLBPCM) and deep convolutional neural networks (DCNNs) is conducted on morphologically similar crops and weeds. Various DCNN models, namely VGG-16, VGG-19, ResNet50 and InceptionV3, are optimised, by fine-tuning their hyper-parameters, and tested. Based on the experimental results on the “bccr-segset” dataset collected from the laboratory and the “fieldtrip_can_weeds” dataset collected from the field under practical environments, the classification accuracies of the DCNN models and the k-FLBPCM method are almost similar. Another experiment is conducted by training the algorithms with plant images obtained at mature stages and testing them at early stages. In this case, the new k-FLBPCM method outperformed the state-of-the-art CNN models in identifying small leaf shapes of canola-radish (crop-weed) at early growth stages, with an order of magnitude lower error rates in comparison with DCNN models. Furthermore, the execution time of the k-FLBPCM method during the training and test phases was faster than the DCNN counterparts, with an identification time difference of approximately 0.224ms per image for the laboratory dataset and 0.346ms per image for the field dataset. These results demonstrate the ability of the k-FLBPCM method to rapidly detect weeds from crops of similar appearance in real time with less data, and generalize to different size plants better than the CNN-based methods