Joint Rectification and Stitching of Images Formulated as Camera Pose Estimation Problems

학위논문 (박사)-- 서울대학교 대학원 : 전기·컴퓨터공학부, 2015. 8. 조남익.This dissertation presents a study of image rectification and stitching problems formulated as camera pose estimation problems. There have been many approaches to the rectification and/or stitching of images for their importance in image processing and computer vision areas. This dissertation adds a new approach to these problems, which finds appropriate optimization problems whose solutions give camera pose parameters for the given problems. Specifically, the contribution of this dissertation is to develop (i) a new optimization problem that can handle image rectification and stitching in a unified framework through the pose estimation formulation, and (ii) a new approach to planar object rectification problem which is also formulated as an optimal homography estimation problem. First, a unified framework for the image rectification and stitching problem is studied, which can handle both assumptions or conditions that (i) the optical center of camera is fixed or (ii) the camera captures a plane target. For this, the camera pose is modeled with six parameters (three for the rotation and three for the translation) and a cost function is developed that reflects the registration errors on a reference plane (image stitching results). The designed cost function is effectively minimized via the Levenberg-Marquardt algorithm. From the estimated camera poses, the relative camera motion is computed: when the optical center is moved (i.e., the camera motion is large), metric rectification is possible and thus provides rectified composites as well as camera poses are obtained. Second, this dissertation presents a rectification method for planar objects using line segments which can be augmented to the previous problem for further rectification or performed independently to single images when there are planar objects in the image such as building facades or name cards. Based on the 2D Manhattan world assumption (i.e., the majority of line segments are aligned with principal axes), a cost function is formulated as an optimal homography estimation problem that makes the line segments horizontally or vertically straight. Since there are outliers in the line segment detection, an iterative optimization scheme for the robust estimation is also developed. The application of the proposed methods is the stitching of many images of the same scene into a high resolution image along with its rectification. Also it can be applied to the rectification of building facades, documents, name cards, etc, which helps the optical character recognition (OCR) rates of texts in the scene and also to improve the recognition of buildings and visual qualities of scenery images. In addition, this dissertation finally presents an application of the proposed method for finding boundaries of document in videos for mobile device based application. This is a challenging problem due to perspective distortion, focus and motion blur, partial occlusion, and so on. For this, a cost function is formulated which comprises a data term (color distributions of the document and background), boundary term (alignment and contrast errors after the contour of the documents is rectified), and temporal term (temporal coherence in consecutive frames).1 Introduction 1 1.1 Background 1 1.2 Contributions 2 1.3 Homography between the i-th image and pi_E 4 1.4 Structure of the dissertation 5 2 A unified framework for automatic image stitching and rectification 7 2.1 Related works 7 2.2 Proposed cost function and its optimization 8 2.2.1 Proposed cost function 12 2.2.2 Optimization 13 2.2.3 Relation to the model in [1] 14 2.3 Post-processing 15 2.3.1 Classification of the conditions 15 2.3.2 Skew removal 16 2.4 Experimental results 18 2.4.1 Quantitative evaluation on metric reconstruction performance 19 2.4.2 Determining the capturing environment 21 2.4.3 Experiments on real images 25 2.4.4 Applications to document image stitching and more results 28 2.5 Summary 28 3 Rectification of planar targets based on line segments 31 3.1 Related works 31 3.1.1 Rectification of planar objects 32 3.1.2 Rectification based on self calibration 33 3.2 Proposed rectification model 33 3.2.1 Optimization-based framework 36 3.2.2 Cost function based on line segment alignments 37 3.2.3 Optimization 38 3.3 Experimental results 40 3.3.1 Evaluation metrics 40 3.3.2 Quantitative evaluation 41 3.3.3 Computation complexity 45 3.3.4 Qualitative comparisons and limitations 45 3.4 Summary 52 4 Application: Document capture system for mobile devices 53 4.1 Related works 53 4.2 The proposed method 54 4.2.1 Notation 54 4.2.2 Optimization-based framework 55 4.3 Experimental results 62 4.3.1 Initialization 65 4.3.2 Quantitative evaluation 65 4.3.3 Qualitative evaluation and limitations 66 4.4 Summary 67 5 Conclusions and future works 75 Bibliography 77 Abstract (Korean) 83Docto

텍스트와 특징점 기반의 목적함수 최적화를 이용한 문서와 텍스트 평활화 기법

학위논문 (박사)-- 서울대학교 대학원 : 전기·컴퓨터공학부, 2014. 8. 조남익.There are many techniques and applications that detect and recognize text information in the images, e.g., document retrieval using the camera-captured document image, book reader for visually impaired, and augmented reality based on text recognition. In these applications, the planar surfaces which contain the text are often distorted in the captured image due to the perspective view (e.g., road signs), curvature (e.g., unfolded books), and wrinkles (e.g., old documents). Specifically, recovering the original document texture by removing these distortions from the camera-captured document images is called the document rectification. In this dissertation, new text surface rectification algorithms are proposed, for improving text recognition accuracy and visual quality. The proposed methods are categorized into 3 types depending on the types of the input. The contributions of the proposed methods can be summarized as follows. In the first rectification algorithm, the dense text-lines in the documents are employed to rectify the images. Unlike the conventional approaches, the proposed method does not directly use the text-line. Instead, the proposed method use the discrete representation of text-lines and text-blocks which are the sets of connected components. Also, the geometric distortion caused by page curl and perspective view are modeled as generalized cylindrical surfaces and camera rotation respectively. With these distortion model and discrete representation of the features, a cost function whose minimization yields parameters of the distortion model is developed. In the cost function, the properties of the pages such as text-block alignment, line-spacing, and the straightness of text-lines are encoded. By describing the text features using the sets of discrete points, the cost function can be easily defined and well solved by Levenberg-Marquadt algorithm. Experiments show that the proposed method works well for the various layouts and curved surfaces, and compares favorably with the conventional methods on the standard dataset. The second algorithm is a unified framework to rectify and stitch multiple document images using visual feature points instead of text lines. This is similar to the method employed in general image stitching algorithm. However, the general image stitching algorithm usually assumes fixed center of camera, which is not taken for granted in capturing the document. To deal with the camera motion between images, a new parametric family of motion model is proposed in this dissertation. Besides, to remove the ambiguity in the reference plane, a new cost function is developed to impose the constraints on the reference plane. This enables the estimation of physically correct reference plane without prior knowledge. The estimated reference plane can also be used to rectify the stitching result. Furthermore, the proposed method can be applied to any other planar object such as building facades or mural paintings as well as the camera-captured document image since it employs the general features. The third rectification method is based on scene text detection algorithm, which is independent from the language model. The conventional methods assume that a character consists of a single connected component (CC) like English alphabet. However, this assumption is brittle in the Asian characters such as Korean, Chinese, and Japanese, where a single character consists of several CCs. Therefore, it is difficult to divide CCs into text lines without language model. To alleviate this problem, the proposed method clusters the candidate regions based on the similarity measure considering inter-character relation. The adjacency measure is trained on the data set labeled with the bounding box of text region. Non-text regions that remain after clustering are filtered out in text/non-text classification step. Final text regions are merged or divided into each text line considering the orientation and location. The detected text is rectified using the orientation of text-line and vertical strokes. The proposed method outperforms state-of-the-art algorithms in English as well as Asian characters in the extensive experiments.1 Introduction 1 1.1 Document rectification via text-line based optimization . . . . . . . 2 1.2 A unified approach of rectification and stitching for document images 4 1.3 Rectification via scene text detection . . . . . . . . . . . . . . . . . . 5 1.4 Contents . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7 2 Related work 9 2.1 Document rectification . . . . . . . . . . . . . . . . . . . . . . . . . . 9 2.1.1 Document dewarping without text-lines . . . . . . . . . . . . 9 2.1.2 Document dewarping with text-lines . . . . . . . . . . . . . . 10 2.1.3 Text-block identification and text-line extraction . . . . . . . 11 2.2 Document stitching . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12 2.3 Scene text detection . . . . . . . . . . . . . . . . . . . . . . . . . . . 13 3 Document rectification based on text-lines 15 3.1 Proposed approach . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15 3.1.1 Image acquisition model . . . . . . . . . . . . . . . . . . . . . 16 3.1.2 Proposed approach to document dewarping . . . . . . . . . . 18 3.2 Proposed cost function and its optimization . . . . . . . . . . . . . . 22 3.2.1 Design of Estr(·) . . . . . . . . . . . . . . . . . . . . . . . . . 22 3.2.2 Minimization of Estr(·) . . . . . . . . . . . . . . . . . . . . . 23 3.2.3 Alignment type classification . . . . . . . . . . . . . . . . . . 28 3.2.4 Design of Ealign(·) . . . . . . . . . . . . . . . . . . . . . . . . 29 3.2.5 Design of Espacing(·) . . . . . . . . . . . . . . . . . . . . . . . 31 3.3 Extension to unfolded book surfaces . . . . . . . . . . . . . . . . . . 32 3.4 Experimental result . . . . . . . . . . . . . . . . . . . . . . . . . . . 34 3.4.1 Experiments on synthetic data . . . . . . . . . . . . . . . . . 36 3.4.2 Experiments on real images . . . . . . . . . . . . . . . . . . . 39 3.4.3 Comparison with existing methods . . . . . . . . . . . . . . . 43 3.4.4 Limitations . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45 4 Document rectification based on feature detection 49 4.1 Proposed approach . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50 4.2 Proposed cost function and its optimization . . . . . . . . . . . . . . 51 4.2.1 Notations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51 4.2.2 Homography between the i-th image and E . . . . . . . . . 52 4.2.3 Proposed cost function . . . . . . . . . . . . . . . . . . . . . . 53 4.2.4 Optimization . . . . . . . . . . . . . . . . . . . . . . . . . . . 53 4.2.5 Relation to the model in [17] . . . . . . . . . . . . . . . . . . 55 4.3 Post-processing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55 4.3.1 Classification of two cases . . . . . . . . . . . . . . . . . . . . 56 4.3.2 Skew removal . . . . . . . . . . . . . . . . . . . . . . . . . . . 56 4.4 Experimental results . . . . . . . . . . . . . . . . . . . . . . . . . . . 57 4.4.1 Quantitative evaluation on metric reconstruction performance 57 4.4.2 Experiments on real images . . . . . . . . . . . . . . . . . . . 58 5 Scene text detection and rectification 67 5.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67 5.1.1 Contribution . . . . . . . . . . . . . . . . . . . . . . . . . . . 67 5.1.2 Proposed approach . . . . . . . . . . . . . . . . . . . . . . . . 69 5.2 Candidate region detection . . . . . . . . . . . . . . . . . . . . . . . 70 5.2.1 CC extraction . . . . . . . . . . . . . . . . . . . . . . . . . . . 70 5.2.2 Computation of similarity between CCs . . . . . . . . . . . . 70 5.2.3 CC clustering . . . . . . . . . . . . . . . . . . . . . . . . . . . 73 5.3 Rectification of candidate region . . . . . . . . . . . . . . . . . . . . 73 5.4 Text/non-text classification . . . . . . . . . . . . . . . . . . . . . . . 76 5.5 Experimental result . . . . . . . . . . . . . . . . . . . . . . . . . . . 80 5.5.1 Experimental results on ICDAR 2011 dataset . . . . . . . . . 80 5.5.2 Experimental results on the Asian character dataset . . . . . 80 6 Conclusion 83 Bibliography 87 Abstract (Korean) 97Docto

Estimating the Orientation and Recovery of Text Planes in a Single Image

A method for the fronto-parallel recovery of paragraphs of text under full perspective transformation is presented. The horizontal vanishing point of the text plane is found using an extension of 2D projection profiles. This allows the accurate segmentation of the lines of text. Analysis of the lines will then reveal the style of justification of the paragraph, and provide an estimate of the vertical vanishing point of the plane. The text is finally recovered to a fronto-parallel view suitable for OCR or other higher-level recognition

Computergestützte Inhaltsanalyse von digitalen Videoarchiven

Der Übergang von analogen zu digitalen Videos hat in den letzten Jahren zu großen Veränderungen innerhalb der Filmarchive geführt. Insbesondere durch die Digitalisierung der Filme ergeben sich neue Möglichkeiten für die Archive. Eine Abnutzung oder Alterung der Filmrollen ist ausgeschlossen, so dass die Qualität unverändert erhalten bleibt. Zudem wird ein netzbasierter und somit deutlich einfacherer Zugriff auf die Videos in den Archiven möglich. Zusätzliche Dienste stehen den Archivaren und Anwendern zur Verfügung, die erweiterte Suchmöglichkeiten bereitstellen und die Navigation bei der Wiedergabe erleichtern. Die Suche innerhalb der Videoarchive erfolgt mit Hilfe von Metadaten, die weitere Informationen über die Videos zur Verfügung stellen. Ein großer Teil der Metadaten wird manuell von Archivaren eingegeben, was mit einem großen Zeitaufwand und hohen Kosten verbunden ist. Durch die computergestützte Analyse eines digitalen Videos ist es möglich, den Aufwand bei der Erzeugung von Metadaten für Videoarchive zu reduzieren. Im ersten Teil dieser Dissertation werden neue Verfahren vorgestellt, um wichtige semantische Inhalte der Videos zu erkennen. Insbesondere werden neu entwickelte Algorithmen zur Erkennung von Schnitten, der Analyse der Kamerabewegung, der Segmentierung und Klassifikation von Objekten, der Texterkennung und der Gesichtserkennung vorgestellt. Die automatisch ermittelten semantischen Informationen sind sehr wertvoll, da sie die Arbeit mit digitalen Videoarchiven erleichtern. Die Informationen unterstützen nicht nur die Suche in den Archiven, sondern führen auch zur Entwicklung neuer Anwendungen, die im zweiten Teil der Dissertation vorgestellt werden. Beispielsweise können computergenerierte Zusammenfassungen von Videos erzeugt oder Videos automatisch an die Eigenschaften eines Abspielgerätes angepasst werden. Ein weiterer Schwerpunkt dieser Dissertation liegt in der Analyse historischer Filme. Vier europäische Filmarchive haben eine große Anzahl historischer Videodokumentationen zur Verfügung gestellt, welche Anfang bis Mitte des letzten Jahrhunderts gedreht und in den letzten Jahren digitalisiert wurden. Durch die Lagerung und Abnutzung der Filmrollen über mehrere Jahrzehnte sind viele Videos stark verrauscht und enthalten deutlich sichtbare Bildfehler. Die Bildqualität der historischen Schwarz-Weiß-Filme unterscheidet sich signifikant von der Qualität aktueller Videos, so dass eine verlässliche Analyse mit bestehenden Verfahren häufig nicht möglich ist. Im Rahmen dieser Dissertation werden neue Algorithmen vorgestellt, um eine zuverlässige Erkennung von semantischen Inhalten auch in historischen Videos zu ermöglichen