Regularized Newton-Raphson method for small strain calculation

Digital Image Correlation (DIC) has been proven to be a highly reliable framework for the full-field displacement and strain measurement of materials that undergo deformation when subjected to physical stresses. This paper presents a new method that extends the popular Newton-Raphson algorithm through the inclusion of spatial regularization in the minimization process used to obtain the motion data. The basic principle is that the motion data is calculated between corresponding blocks in the reference and deformed images using adaptively previously obtained motion estimates in the immediate vicinity of the respective location along with the local block-based image information. The results indicate significant accuracy improvements over the classic approach especially when the block sizes and strain calculation windows used for motion and strain estimation decrease in size

Dense and accurate motion and strain estimation in high resolution speckle images using an image-adaptive approach

Digital image processing methods represent a viable and well acknowledged alternative to strain gauges and interferometric techniques for determining full-field displacements and strains in materials under stress. This paper presents an image adaptive technique for dense motion and strain estimation using high-resolution speckle images that show the analyzed material in its original and deformed states. The algorithm starts by dividing the speckle image showing the original state into irregular cells taking into consideration both spatial and gradient image information present. Subsequently the Newton-Raphson digital image correlation technique is applied to calculate the corresponding motion for each cell. Adaptive spatial regularization in the form of the Geman-McClure robust spatial estimator is employed to increase the spatial consistency of the motion components of a cell with respect to the components of neighbouring cells. To obtain the final strain information, local least-squares fitting using a linear displacement model is performed on the horizontal and vertical displacement fields. To evaluate the presented image partitioning and strain estimation techniques two numerical and two real experiments are employed. The numerical experiments simulate the deformation of a specimen with constant strain across the surface as well as small rigid-body rotations present while real experiments consist specimens that undergo uniaxial stress. The results indicate very good accuracy of the recovered strains as well as better rotation insensitivity compared to classical techniques

Dense and accurate motion and strain estimation in high resolution speckle images using an image-adaptive approach

Digital image processing methods represent a viable and well acknowledged alternative to strain gauges and interferometric techniques for determining full-field displacements and strains in materials under stress. This paper presents an image adaptive technique for dense motion and strain estimation using high-resolution speckle images that show the analyzed material in its original and deformed states. The algorithm starts by dividing the speckle image showing the original state into irregular cells taking into consideration both spatial and gradient image information present. Subsequently the Newton-Raphson digital image correlation technique is applied to calculate the corresponding motion for each cell. Adaptive spatial regularization in the form of the Geman-McClure robust spatial estimator is employed to increase the spatial consistency of the motion components of a cell with respect to the components of neighbouring cells. To obtain the final strain information, local least-squares fitting using a linear displacement model is performed on the horizontal and vertical displacement fields. To evaluate the presented image partitioning and strain estimation techniques two numerical and two real experiments are employed. The numerical experiments simulate the deformation of a specimen with constant strain across the surface as well as small rigid-body rotations present while real experiments consist specimens that undergo uniaxial stress. The results indicate very good accuracy of the recovered strains as well as better rotation insensitivity compared to classical techniques

Aggregation of local parametric candidates with exemplar-based occlusion handling for optical flow

International audienceHandling all together large displacements, motion details and occlusions remains an open issue for reliable computation of optical flow in a video sequence. We propose a two-step aggregation paradigm to address this problem. The idea is to supply local motion candidates at every pixel in a first step, and then to combine them to determine the global optical flow field in a second step. We exploit local parametric estimations combined with patch correspondences and we experimentally demonstrate that they are sufficient to produce highly accurate motion candidates. The aggregation step is designed as the discrete optimization of a global regularized energy. The occlusion map is estimated jointly with the flow field throughout the two steps. We propose a generic exemplar-based approach for occlusion filling with motion vectors. We achieve state-of-the-art results in computer vision benchmarks, with particularly significant improvements in the case of large displacements and occlusions

Traffic Scene Perception for Automated Driving with Top-View Grid Maps

Ein automatisiertes Fahrzeug muss sichere, sinnvolle und schnelle Entscheidungen auf Basis seiner Umgebung treffen. Dies benötigt ein genaues und recheneffizientes Modell der Verkehrsumgebung. Mit diesem Umfeldmodell sollen Messungen verschiedener Sensoren fusioniert, gefiltert und nachfolgenden Teilsysteme als kompakte, aber aussagekräftige Information bereitgestellt werden. Diese Arbeit befasst sich mit der Modellierung der Verkehrsszene auf Basis von Top-View Grid Maps. Im Vergleich zu anderen Umfeldmodellen ermöglichen sie eine frühe Fusion von Distanzmessungen aus verschiedenen Quellen mit geringem Rechenaufwand sowie eine explizite Modellierung von Freiraum. Nach der Vorstellung eines Verfahrens zur Bodenoberflächenschätzung, das die Grundlage der Top-View Modellierung darstellt, werden Methoden zur Belegungs- und Elevationskartierung für Grid Maps auf Basis von mehreren, verrauschten, teilweise widersprüchlichen oder fehlenden Distanzmessungen behandelt. Auf der resultierenden, sensorunabhängigen Repräsentation werden anschließend Modelle zur Detektion von Verkehrsteilnehmern sowie zur Schätzung von Szenenfluss, Odometrie und Tracking-Merkmalen untersucht. Untersuchungen auf öffentlich verfügbaren Datensätzen und einem Realfahrzeug zeigen, dass Top-View Grid Maps durch on-board LiDAR Sensorik geschätzt und verlässlich sicherheitskritische Umgebungsinformationen wie Beobachtbarkeit und Befahrbarkeit abgeleitet werden können. Schließlich werden Verkehrsteilnehmer als orientierte Bounding Boxen mit semantischen Klassen, Geschwindigkeiten und Tracking-Merkmalen aus einem gemeinsamen Modell zur Objektdetektion und Flussschätzung auf Basis der Top-View Grid Maps bestimmt

Surface Modeling and Analysis Using Range Images: Smoothing, Registration, Integration, and Segmentation

This dissertation presents a framework for 3D reconstruction and scene analysis, using a set of range images. The motivation for developing this framework came from the needs to reconstruct the surfaces of small mechanical parts in reverse engineering tasks, build a virtual environment of indoor and outdoor scenes, and understand 3D images. The input of the framework is a set of range images of an object or a scene captured by range scanners. The output is a triangulated surface that can be segmented into meaningful parts. A textured surface can be reconstructed if color images are provided. The framework consists of surface smoothing, registration, integration, and segmentation. Surface smoothing eliminates the noise present in raw measurements from range scanners. This research proposes area-decreasing flow that is theoretically identical to the mean curvature flow. Using area-decreasing flow, there is no need to estimate the curvature value and an optimal step size of the flow can be obtained. Crease edges and sharp corners are preserved by an adaptive scheme. Surface registration aligns measurements from different viewpoints in a common coordinate system. This research proposes a new surface representation scheme named point fingerprint. Surfaces are registered by finding corresponding point pairs in an overlapping region based on fingerprint comparison. Surface integration merges registered surface patches into a whole surface. This research employs an implicit surface-based integration technique. The proposed algorithm can generate watertight models by space carving or filling the holes based on volumetric interpolation. Textures from different views are integrated inside a volumetric grid. Surface segmentation is useful to decompose CAD models in reverse engineering tasks and help object recognition in a 3D scene. This research proposes a watershed-based surface mesh segmentation approach. The new algorithm accurately segments the plateaus by geodesic erosion using fast marching method. The performance of the framework is presented using both synthetic and real world data from different range scanners. The dissertation concludes by summarizing the development of the framework and then suggests future research topics

Probabilistic ToF and Stereo Data Fusion Based on Mixed Pixel Measurement Models

This paper proposes a method for fusing data acquired by a ToF camera and a stereo pair based on a model for depth measurement by ToF cameras which accounts also for depth discontinuity artifacts due to the mixed pixel effect. Such model is exploited within both a ML and a MAP-MRF frameworks for ToF and stereo data fusion. The proposed MAP-MRF framework is characterized by site-dependent range values, a rather important feature since it can be used both to improve the accuracy and to decrease the computational complexity of standard MAP-MRF approaches. This paper, in order to optimize the site dependent global cost function characteristic of the proposed MAP-MRF approach, also introduces an extension to Loopy Belief Propagation which can be used in other contexts. Experimental data validate the proposed ToF measurements model and the effectiveness of the proposed fusion techniques