Camera Calibration from Dynamic Silhouettes Using Motion Barcodes

Computing the epipolar geometry between cameras with very different viewpoints is often problematic as matching points are hard to find. In these cases, it has been proposed to use information from dynamic objects in the scene for suggesting point and line correspondences. We propose a speed up of about two orders of magnitude, as well as an increase in robustness and accuracy, to methods computing epipolar geometry from dynamic silhouettes. This improvement is based on a new temporal signature: motion barcode for lines. Motion barcode is a binary temporal sequence for lines, indicating for each frame the existence of at least one foreground pixel on that line. The motion barcodes of two corresponding epipolar lines are very similar, so the search for corresponding epipolar lines can be limited only to lines having similar barcodes. The use of motion barcodes leads to increased speed, accuracy, and robustness in computing the epipolar geometry.Comment: Update metadat

Detecção de eventos complexos em vídeos baseada em ritmos visuais

Orientador: Hélio PedriniDissertação (mestrado) - Universidade Estadual de Campinas, Instituto de ComputaçãoResumo: O reconhecimento de eventos complexos em vídeos possui várias aplicações práticas relevantes, alavancadas pela grande disponibilidade de câmeras digitais instaladas em aeroportos, estações de ônibus e trens, centros de compras, estádios, hospitais, escolas, prédios, estradas, entre vários outros locais. Avanços na tecnologia digital têm aumentado as capacidades dos sistemas em reconhecer eventos em vídeos por meio do desenvolvimento de dispositivos com alta resolução, dimensões físicas pequenas e altas taxas de amostragem. Muitos trabalhos disponíveis na literatura têm explorado o tema a partir de diferentes pontos de vista. Este trabalho apresenta e avalia uma metodologia para extrair características dos ritmos visuais no contexto de detecção de eventos em vídeos. Um ritmo visual pode ser visto com a projeção de um vídeo em uma imagem, tal que a tarefa de análise de vídeos é reduzida a um problema de análise de imagens, beneficiando-se de seu baixo custo de processamento em termos de tempo e complexidade. Para demonstrar o potencial do ritmo visual na análise de vídeos complexos, três problemas da área de visão computacional são selecionados: detecção de eventos anômalos, classificação de ações humanas e reconhecimento de gestos. No primeiro problema, um modelo e? aprendido com situações de normalidade a partir dos rastros deixados pelas pessoas ao andar, enquanto padro?es representativos das ações são extraídos nos outros dois problemas. Nossa hipo?tese e? de que vídeos similares produzem padro?es semelhantes, tal que o problema de classificação de ações pode ser reduzido a uma tarefa de classificação de imagens. Experimentos realizados em bases públicas de dados demonstram que o método proposto produz resultados promissores com baixo custo de processamento, tornando-o possível aplicar em tempo real. Embora os padro?es dos ritmos visuais sejam extrai?dos como histograma de gradientes, algumas tentativas para adicionar características do fluxo o?tico são discutidas, além de estratégias para obter ritmos visuais alternativosAbstract: The recognition of complex events in videos has currently several important applications, particularly due to the wide availability of digital cameras in environments such as airports, train and bus stations, shopping centers, stadiums, hospitals, schools, buildings, roads, among others. Moreover, advances in digital technology have enhanced the capabilities for detection of video events through the development of devices with high resolution, small physical size, and high sampling rates. Many works available in the literature have explored the subject from different perspectives. This work presents and evaluates a methodology for extracting a feature descriptor from visual rhythms of video sequences in order to address the video event detection problem. A visual rhythm can be seen as the projection of a video onto an image, such that the video analysis task can be reduced into an image analysis problem, benefiting from its low processing cost in terms of time and complexity. To demonstrate the potential of the visual rhythm in the analysis of complex videos, three computer vision problems are selected in this work: abnormal event detection, human action classification, and gesture recognition. The former problem learns a normalcy model from the traces that people leave when they walk, whereas the other two problems extract representative patterns from actions. Our hypothesis is that similar videos produce similar patterns, therefore, the action classification problem is reduced into an image classification task. Experiments conducted on well-known public datasets demonstrate that the method produces promising results at high processing rates, making it possible to work in real time. Even though the visual rhythm features are mainly extracted as histogram of gradients, some attempts for adding optical flow features are discussed, as well as strategies for obtaining alternative visual rhythmsMestradoCiência da ComputaçãoMestre em Ciência da Computação1570507, 1406910, 1374943CAPE

Geometric Invariance In The Analysis Of Human Motion In Video Data

Human motion analysis is one of the major problems in computer vision research. It deals with the study of the motion of human body in video data from different aspects, ranging from the tracking of body parts and reconstruction of 3D human body configuration, to higher level of interpretation of human action and activities in image sequences. When human motion is observed through video camera, it is perspectively distorted and may appear totally different from different viewpoints. Therefore it is highly challenging to establish correct relationships between human motions across video sequences with different camera settings. In this work, we investigate the geometric invariance in the motion of human body, which is critical to accurately understand human motion in video data regardless of variations in camera parameters and viewpoints. In human action analysis, the representation of human action is a very important issue, and it usually determines the nature of the solutions, including their limits in resolving the problem. Unlike existing research that study human motion as a whole 2D/3D object or a sequence of postures, we study human motion as a sequence of body pose transitions. We also decompose a human body pose further into a number of body point triplets, and break down a pose transition into the transition of a set of body point triplets. In this way the study of complex non-rigid motion of human body is reduced to that of the motion of rigid body point triplets, i.e. a collection of planes in motion. As a result, projective geometry and linear algebra can be applied to explore the geometric invariance in human motion. Based on this formulation, we have discovered the fundamental ratio invariant and the eigenvalue equality invariant in human motion. We also propose solutions based on these geometric invariants to the problems of view-invariant recognition of human postures and actions, as well as analysis of human motion styles. These invariants and their applicability have been validated by experimental results supporting that their effectiveness in understanding human motion with various camera parameters and viewpoints

SEMANTIC ANALYSIS AND UNDERSTANDING OF HUMAN BEHAVIOUR IN VIDEO STREAMING

This thesis investigates the semantic analysis of the human behaviour captured by video streaming, both from the theoretical and technological points of view. The video analysis based on the semantic content is in fact still an open issue for the computer vision research community, especially when real-time analysis of complex scenes is concerned. Automated video analysis can be described and performed at different abstraction levels, from the pixel analysis up to the human behaviour understanding. Similarly, the organisation of computer vision systems is often hierarchical with low-level image processing techniques feeding into tracking algorithms and, then, into higher level scene analysis and/or behaviour analysis modules. Each level of this hierarchy has its open issues, among which the main ones are: - motion and object detection: dynamic background modelling, ghosts, suddenly changes in illumination conditions; - object tracking: modelling and estimating the dynamics of moving objects, presence of occlusions; - human behaviour identification: human behaviour patterns are characterized by ambiguity, inconsistency and time-variance. Researchers proposed various approaches which partially address some aspects of the above issues from the perspective of the semantic analysis and understanding of the video streaming. Many progresses were achieved, but usually not in a comprehensive way and often without reference to the actual operating situations. A popular class of approaches has been devised to enhance the quality of the semantic analysis by exploiting some background knowledge about scene and/or the human behaviour, thus narrowing the huge variety of possible behavioural patterns by focusing on a specific narrow domain. In general, the main drawback of the existing approaches to semantic analysis of the human behaviour, even in narrow domains, is inefficiency due to the high computational complexity related to the complex models representing the dynamics of the moving objects and the patterns of the human behaviours. In this perspective this thesis explores an innovative, original approach to human behaviour analysis and understanding by using the syntactical symbolic analysis of images and video streaming described by means of strings of symbols. A symbol is associated to each area of the analysed scene. When a moving object enters an area, the corresponding symbol is appended to the string describing the motion. This approach allows for characterizing the motion of a moving object with a word composed by symbols. By studying and classifying these words we can categorize and understand the various behaviours. The main advantage of this approach consists in the simplicity of the scene and motion descriptions so that the behaviour analysis will have limited computational complexity due to the intrinsic nature both of the representations and the related operations used to manipulate them. Besides, the structure of the representations is well suited for possible parallel processing, thus allowing for speeding up the analysis when appropriate hardware architectures are used. The theoretical background, the original theoretical results underlying this approach, the human behaviour analysis methodology, the possible implementations, and the related performance are presented and discussed in the thesis. To show the effectiveness of the proposed approach, a demonstrative system has been implemented and applied to a real indoor environment with valuable results. Furthermore, this thesis proposes an innovative method to improve the overall performance of the object tracking algorithm. This method is based on using two cameras to record the same scene from different point of view without introducing any constraint on cameras\u2019 position. The image fusion task is performed by solving the correspondence problem only for few relevant points. This approach reduces the problem of partial occlusions in crowded scenes. Since this method works at a level lower than that of semantic analysis, it can be applied also in other systems for human behaviour analysis and it can be seen as an optional method to improve the semantic analysis (because it reduces the problem of partial occlusions)

Analysis of 3D human gait reconstructed with a depth camera and mirrors

L'évaluation de la démarche humaine est l'une des composantes essentielles dans les soins de santé. Les systèmes à base de marqueurs avec plusieurs caméras sont largement utilisés pour faire cette analyse. Cependant, ces systèmes nécessitent généralement des équipements spécifiques à prix élevé et/ou des moyens de calcul intensif. Afin de réduire le coût de ces dispositifs, nous nous concentrons sur un système d'analyse de la marche qui utilise une seule caméra de profondeur. Le principe de notre travail est similaire aux systèmes multi-caméras, mais l'ensemble de caméras est remplacé par un seul capteur de profondeur et des miroirs. Chaque miroir dans notre configuration joue le rôle d'une caméra qui capture la scène sous un point de vue différent. Puisque nous n'utilisons qu'une seule caméra, il est ainsi possible d'éviter l'étape de synchronisation et également de réduire le coût de l'appareillage. Notre thèse peut être divisée en deux sections: reconstruction 3D et analyse de la marche. Le résultat de la première section est utilisé comme entrée de la seconde. Notre système pour la reconstruction 3D est constitué d'une caméra de profondeur et deux miroirs. Deux types de capteurs de profondeur, qui se distinguent sur la base du mécanisme d'estimation de profondeur, ont été utilisés dans nos travaux. Avec la technique de lumière structurée (SL) intégrée dans le capteur Kinect 1, nous effectuons la reconstruction 3D à partir des principes de l'optique géométrique. Pour augmenter le niveau des détails du modèle reconstruit en 3D, la Kinect 2 qui estime la profondeur par temps de vol (ToF), est ensuite utilisée pour l'acquisition d'images. Cependant, en raison de réflections multiples sur les miroirs, il se produit une distorsion de la profondeur dans notre système. Nous proposons donc une approche simple pour réduire cette distorsion avant d'appliquer les techniques d'optique géométrique pour reconstruire un nuage de points de l'objet 3D. Pour l'analyse de la démarche, nous proposons diverses alternatives centrées sur la normalité de la marche et la mesure de sa symétrie. Cela devrait être utile lors de traitements cliniques pour évaluer, par exemple, la récupération du patient après une intervention chirurgicale. Ces méthodes se composent d'approches avec ou sans modèle qui ont des inconvénients et avantages différents. Dans cette thèse, nous présentons 3 méthodes qui traitent directement les nuages de points reconstruits dans la section précédente. La première utilise la corrélation croisée des demi-corps gauche et droit pour évaluer la symétrie de la démarche, tandis que les deux autres methodes utilisent des autoencodeurs issus de l'apprentissage profond pour mesurer la normalité de la démarche.The problem of assessing human gaits has received a great attention in the literature since gait analysis is one of key components in healthcare. Marker-based and multi-camera systems are widely employed to deal with this problem. However, such systems usually require specific equipments with high price and/or high computational cost. In order to reduce the cost of devices, we focus on a system of gait analysis which employs only one depth sensor. The principle of our work is similar to multi-camera systems, but the collection of cameras is replaced by one depth sensor and mirrors. Each mirror in our setup plays the role of a camera which captures the scene at a different viewpoint. Since we use only one camera, the step of synchronization can thus be avoided and the cost of devices is also reduced. Our studies can be separated into two categories: 3D reconstruction and gait analysis. The result of the former category is used as the input of the latter one. Our system for 3D reconstruction is built with a depth camera and two mirrors. Two types of depth sensor, which are distinguished based on the scheme of depth estimation, have been employed in our works. With the structured light (SL) technique integrated into the Kinect 1, we perform the 3D reconstruction based on geometrical optics. In order to increase the level of details of the 3D reconstructed model, the Kinect 2 with time-of-flight (ToF) depth measurement is used for image acquisition instead of the previous generation. However, due to multiple reflections on the mirrors, depth distortion occurs in our setup. We thus propose a simple approach for reducing such distortion before applying geometrical optics to reconstruct a point cloud of the 3D object. For the task of gait analysis, we propose various alternative approaches focusing on the problem of gait normality/symmetry measurement. They are expected to be useful for clinical treatments such as monitoring patient's recovery after surgery. These methods consist of model-free and model-based approaches that have different cons and pros. In this dissertation, we present 3 methods that directly process point clouds reconstructed from the previous work. The first one uses cross-correlation of left and right half-bodies to assess gait symmetry while the other ones employ deep auto-encoders to measure gait normality

Single View Modeling and View Synthesis

This thesis develops new algorithms to produce 3D content from a single camera. Today, amateurs can use hand-held camcorders to capture and display the 3D world in 2D, using mature technologies. However, there is always a strong desire to record and re-explore the 3D world in 3D. To achieve this goal, current approaches usually make use of a camera array, which suffers from tedious setup and calibration processes, as well as lack of portability, limiting its application to lab experiments. In this thesis, I try to produce the 3D contents using a single camera, making it as simple as shooting pictures. It requires a new front end capturing device rather than a regular camcorder, as well as more sophisticated algorithms. First, in order to capture the highly detailed object surfaces, I designed and developed a depth camera based on a novel technique called light fall-off stereo (LFS). The LFS depth camera outputs color+depth image sequences and achieves 30 fps, which is necessary for capturing dynamic scenes. Based on the output color+depth images, I developed a new approach that builds 3D models of dynamic and deformable objects. While the camera can only capture part of a whole object at any instance, partial surfaces are assembled together to form a complete 3D model by a novel warping algorithm. Inspired by the success of single view 3D modeling, I extended my exploration into 2D-3D video conversion that does not utilize a depth camera. I developed a semi-automatic system that converts monocular videos into stereoscopic videos, via view synthesis. It combines motion analysis with user interaction, aiming to transfer as much depth inferring work from the user to the computer. I developed two new methods that analyze the optical flow in order to provide additional qualitative depth constraints. The automatically extracted depth information is presented in the user interface to assist with user labeling work. In this thesis, I developed new algorithms to produce 3D contents from a single camera. Depending on the input data, my algorithm can build high fidelity 3D models for dynamic and deformable objects if depth maps are provided. Otherwise, it can turn the video clips into stereoscopic video

SYMMETRY IN HUMAN MOTION ANALYSIS: THEORY AND EXPERIMENTS

Video based human motion analysis has been actively studied over the past decades. We propose novel approaches that are able to analyze human motion under such challenges and apply them to surveillance and security applications. Part I analyses the cyclic property of human motion and presents algorithms to classify humans in videos by their gait patterns. Two approaches are proposed. The first employs the omputationally efficient periodogram, to characterize periodicity. In order to integrate shape and motion, we convert the cyclic pattern into a binary sequence using the angle between two legs when the toe-to-toe distance is maximized during walking. Part II further extends the previous approaches to analyze the symmetry in articulation within a stride. A feature that has been shown in our work to be a particularly strong indicator of the presence of pedestrians is the X-junction generated by bipedal swing of body limbs. The proposed algorithm extracts the patterns in spatio-temporal surfaces. In Part III, we present a compact characterization of human gait and activities. Our approach is based on decomposing an image sequence into x-t slices, which generate twisted patterns defined as the Double Helical Signature (DHS). It is shown that the patterns sufficiently characterize human gait and a class of activities. The features of DHS are: (1) it naturally codes appearance and kinematic parameters of human motion; (2) it reveals an inherent geometric symmetry (Frieze Group); and (3) it is effective and efficient for recovering gait and activity parameters. Finally, we use the DHS to classify activities such as carrying a backpack, briefcase etc. The advantage of using DHS is that we only need a small portion of 3D data to recognize various symmetries

Exploring Motion Signatures for Vision-Based Tracking, Recognition and Navigation

As cameras become more and more popular in intelligent systems, algorithms and systems for understanding video data become more and more important. There is a broad range of applications, including object detection, tracking, scene understanding, and robot navigation. Besides the stationary information, video data contains rich motion information of the environment. Biological visual systems, like human and animal eyes, are very sensitive to the motion information. This inspires active research on vision-based motion analysis in recent years. The main focus of motion analysis has been on low level motion representations of pixels and image regions. However, the motion signatures can benefit a broader range of applications if further in-depth analysis techniques are developed. In this dissertation, we mainly discuss how to exploit motion signatures to solve problems in two applications: object recognition and robot navigation. First, we use bird species recognition as the application to explore motion signatures for object recognition. We begin with study of the periodic wingbeat motion of flying birds. To analyze the wing motion of a flying bird, we establish kinematics models for bird wings, and obtain wingbeat periodicity in image frames after the perspective projection. Time series of salient extremities on bird images are extracted, and the wingbeat frequency is acquired for species classification. Physical experiments show that the frequency based recognition method is robust to segmentation errors and measurement lost up to 30%. In addition to the wing motion, the body motion of the bird is also analyzed to extract the flying velocity in 3D space. An interacting multi-model approach is then designed to capture the combined object motion patterns and different environment conditions. The proposed systems and algorithms are tested in physical experiments, and the results show a false positive rate of around 20% with a low false negative rate close to zero. Second, we explore motion signatures for vision-based vehicle navigation. We discover that motion vectors (MVs) encoded in Moving Picture Experts Group (MPEG) videos provide rich information of the motion in the environment, which can be used to reconstruct the vehicle ego-motion and the structure of the scene. However, MVs suffer from high noise level. To handle the challenge, an error propagation model for MVs is first proposed. Several steps, including MV merging, plane-at-infinity elimination, and planar region extraction, are designed to further reduce noises. The extracted planes are used as landmarks in an extended Kalman filter (EKF) for simultaneous localization and mapping. Results show that the algorithm performs localization and plane mapping with a relative trajectory error below 5:1%. Exploiting the fact that MVs encodes both environment information and moving obstacles, we further propose to track moving objects at the same time of localization and mapping. This enables the two critical navigation functionalities, localization and obstacle avoidance, to be performed in a single framework. MVs are labeled as stationary or moving according to their consistency to geometric constraints. Therefore, the extracted planes are separated into moving objects and the stationary scene. Multiple EKFs are used to track the static scene and the moving objects simultaneously. In physical experiments, we show a detection rate of moving objects at 96:6% and a mean absolute localization error below 3:5 meters