Lifting schemes for joint coding of stereoscopic pairs of satellite images

electronic version (5 pp.)International audienceStereo data compression is an important issue for the new generation of vision systems. In this paper, we are interested in lossless coding methods for stereo images allowing progressive reconstruction. Most of the existing approaches account for the mutual similarities between the left and the right images. More precisely, the disparity compensation process consists in predicting the right image from the left one based on the disparity map. Then, the disparity map, the reference image, and the residual image are encoded. In this work, we propose a novel approach based on the concept of vector lifting scheme. Its main feature is that it does not generate one residual image but two compact multiresolution representations of the left and the right views, driven by the underlying disparity map. Experimental results show a significant improvement using this technique compared with conventional methods

A family of stereoscopic image compression algorithms using wavelet transforms

With the standardization of JPEG-2000, wavelet-based image and video compression technologies are gradually replacing the popular DCT-based methods. In parallel to this, recent developments in autostereoscopic display technology is now threatening to revolutionize the way in which consumers are used to enjoying the traditional 2-D display based electronic media such as television, computer and movies. However, due to the two-fold bandwidth/storage space requirement of stereoscopic imaging, an essential requirement of a stereo imaging system is efficient data compression. In this thesis, seven wavelet-based stereo image compression algorithms are proposed, to take advantage of the higher data compaction capability and better flexibility of wavelets. [Continues.

A family of stereoscopic image compression algorithms using wavelet transforms

With the standardization of JPEG-2000, wavelet-based image and video compression technologies are gradually replacing the popular DCT-based methods. In parallel to this, recent developments in autostereoscopic display technology is now threatening to revolutionize the way in which consumers are used to enjoying the traditional 2D display based electronic media such as television, computer and movies. However, due to the two-fold bandwidth/storage space requirement of stereoscopic imaging, an essential requirement of a stereo imaging system is efficient data compression. In this thesis, seven wavelet-based stereo image compression algorithms are proposed, to take advantage of the higher data compaction capability and better flexibility of wavelets. In the proposed CODEC I, block-based disparity estimation/compensation (DE/DC) is performed in pixel domain. However, this results in an inefficiency when DWT is applied on the whole predictive error image that results from the DE process. This is because of the existence of artificial block boundaries between error blocks in the predictive error image. To overcome this problem, in the remaining proposed CODECs, DE/DC is performed in the wavelet domain. Due to the multiresolution nature of the wavelet domain, two methods of disparity estimation and compensation have been proposed. The first method is performing DEJDC in each subband of the lowest/coarsest resolution level and then propagating the disparity vectors obtained to the corresponding subbands of higher/finer resolution. Note that DE is not performed in every subband due to the high overhead bits that could be required for the coding of disparity vectors of all subbands. This method is being used in CODEC II. In the second method, DEJDC is performed m the wavelet-block domain. This enables disparity estimation to be performed m all subbands simultaneously without increasing the overhead bits required for the coding disparity vectors. This method is used by CODEC III. However, performing disparity estimation/compensation in all subbands would result in a significant improvement of CODEC III. To further improve the performance of CODEC ill, pioneering wavelet-block search technique is implemented in CODEC IV. The pioneering wavelet-block search technique enables the right/predicted image to be reconstructed at the decoder end without the need of transmitting the disparity vectors. In proposed CODEC V, pioneering block search is performed in all subbands of DWT decomposition which results in an improvement of its performance. Further, the CODEC IV and V are able to perform at very low bit rates(< 0.15 bpp). In CODEC VI and CODEC VII, Overlapped Block Disparity Compensation (OBDC) is used with & without the need of coding disparity vector. Our experiment results showed that no significant coding gains could be obtained for these CODECs over CODEC IV & V. All proposed CODECs m this thesis are wavelet-based stereo image coding algorithms that maximise the flexibility and benefits offered by wavelet transform technology when applied to stereo imaging. In addition the use of a baseline-JPEG coding architecture would enable the easy adaptation of the proposed algorithms within systems originally built for DCT-based coding. This is an important feature that would be useful during an era where DCT-based technology is only slowly being phased out to give way for DWT based compression technology. In addition, this thesis proposed a stereo image coding algorithm that uses JPEG-2000 technology as the basic compression engine. The proposed CODEC, named RASTER is a rate scalable stereo image CODEC that has a unique ability to preserve the image quality at binocular depth boundaries, which is an important requirement in the design of stereo image CODEC. The experimental results have shown that the proposed CODEC is able to achieve PSNR gains of up to 3.7 dB as compared to directly transmitting the right frame using JPEG-2000

Unsupervised Odometry and Depth Learning for Endoscopic Capsule Robots

In the last decade, many medical companies and research groups have tried to convert passive capsule endoscopes as an emerging and minimally invasive diagnostic technology into actively steerable endoscopic capsule robots which will provide more intuitive disease detection, targeted drug delivery and biopsy-like operations in the gastrointestinal(GI) tract. In this study, we introduce a fully unsupervised, real-time odometry and depth learner for monocular endoscopic capsule robots. We establish the supervision by warping view sequences and assigning the re-projection minimization to the loss function, which we adopt in multi-view pose estimation and single-view depth estimation network. Detailed quantitative and qualitative analyses of the proposed framework performed on non-rigidly deformable ex-vivo porcine stomach datasets proves the effectiveness of the method in terms of motion estimation and depth recovery.Comment: submitted to IROS 201

Towards vision based navigation in large indoor environments

The main contribution of this paper is a novel stereo-based algorithm which serves as a tool to examine the viability of stereo vision solutions to the simultaneous localisation and mapping (SLAM) for large indoor environments. Using features extracted from the scale invariant feature transform (SIFT) and depth maps from a small vision system (SVS) stereo head, an extended Kalman fllter (EKF) based SLAM algorithm, that allows the independent use of information relating to depth and bearing, is developed. By means of a map pruning strategy for managing the computational cost, it is demonstrated that statistically consistent location estimates can be generated for a small (6 m × 6 m) structured office environment, and in a robotics search and rescue arena of similar size. It is shown that in a larger office environment, the proposed algorithm generates location estimates which are topologically correct, but statistically inconsistent. A discussion on the possible reasons for the inconsistency is presented. The paper highlights that, despite recent advances, building accurate geometric maps of large environments with vision only sensing is still a challenging task. ©2006 IEEE

Design and implementation of a visual sensor - based depth estimation module in a system-on-chip architecture

En este trabajo de grado, se diseña e implements un sistema de estimación de profundidad basado en sensores visuales (cámara estereoscópica) sobre una arquitectura computacional SoC (system-on-chip), El método hace uso de una técnica conocida como SGBM (semi-global block matching) para obtener la disparidad de la escena. Se implementa en un SoC con miras a montarse sobre un vehículo aéreo no tripulado. Se requiere de un proceso inicial de calibración y rectificación para asegurar que todas las imágenes capturadas están alineadas entre ambas cámaras.In this document, an image-based depth estimation module is proposed. It uses a visual sensor, which in this case, is a stereoscopic camera and a semi-global block matching (SGBM) technique to compute the disparity in the scene. After selecting and implementing the previously mentioned method, it is then adapted to a SoC (system-on-chip) architecture since it is meant to be embedded into a drone. An initial calibration and rectification procedure is necessary to assure that all captured images are consistently aligned between both left and right cameras.Magíster en Ingeniería ElectrónicaMaestrí

Camera positioning for 3D panoramic image rendering

This thesis was submitted for the degree of Doctor of Philosophy and awarded by Brunel University London.Virtual camera realisation and the proposition of trapezoidal camera architecture are the two broad contributions of this thesis. Firstly, multiple camera and their arrangement constitute a critical component which affect the integrity of visual content acquisition for multi-view video. Currently, linear, convergence, and divergence arrays are the prominent camera topologies adopted. However, the large number of cameras required and their synchronisation are two of prominent challenges usually encountered. The use of virtual cameras can significantly reduce the number of physical cameras used with respect to any of the known camera structures, hence adequately reducing some of the other implementation issues. This thesis explores to use image-based rendering with and without geometry in the implementations leading to the realisation of virtual cameras. The virtual camera implementation was carried out from the perspective of depth map (geometry) and use of multiple image samples (no geometry). Prior to the virtual camera realisation, the generation of depth map was investigated using region match measures widely known for solving image point correspondence problem. The constructed depth maps have been compare with the ones generated using the dynamic programming approach. In both the geometry and no geometry approaches, the virtual cameras lead to the rendering of views from a textured depth map, construction of 3D panoramic image of a scene by stitching multiple image samples and performing superposition on them, and computation of virtual scene from a stereo pair of panoramic images. The quality of these rendered images were assessed through the use of either objective or subjective analysis in Imatest software. Further more, metric reconstruction of a scene was performed by re-projection of the pixel points from multiple image samples with a single centre of projection. This was done using sparse bundle adjustment algorithm. The statistical summary obtained after the application of this algorithm provides a gauge for the efficiency of the optimisation step. The optimised data was then visualised in Meshlab software environment, hence providing the reconstructed scene. Secondly, with any of the well-established camera arrangements, all cameras are usually constrained to the same horizontal plane. Therefore, occlusion becomes an extremely challenging problem, and a robust camera set-up is required in order to resolve strongly the hidden part of any scene objects. To adequately meet the visibility condition for scene objects and given that occlusion of the same scene objects can occur, a multi-plane camera structure is highly desirable. Therefore, this thesis also explore trapezoidal camera structure for image acquisition. The approach here is to assess the feasibility and potential of several physical cameras of the same model being sparsely arranged on the edge of an efficient trapezoid graph. This is implemented both Matlab and Maya. The quality of the depth maps rendered in Matlab are better in Quality