Linear Differential Constraints for Photo-polarimetric Height Estimation

In this paper we present a differential approach to photo-polarimetric shape estimation. We propose several alternative differential constraints based on polarisation and photometric shading information and show how to express them in a unified partial differential system. Our method uses the image ratios technique to combine shading and polarisation information in order to directly reconstruct surface height, without first computing surface normal vectors. Moreover, we are able to remove the non-linearities so that the problem reduces to solving a linear differential problem. We also introduce a new method for estimating a polarisation image from multichannel data and, finally, we show it is possible to estimate the illumination directions in a two source setup, extending the method into an uncalibrated scenario. From a numerical point of view, we use a least-squares formulation of the discrete version of the problem. To the best of our knowledge, this is the first work to consider a unified differential approach to solve photo-polarimetric shape estimation directly for height. Numerical results on synthetic and real-world data confirm the effectiveness of our proposed method.Comment: To appear at International Conference on Computer Vision (ICCV), Venice, Italy, October 22-29, 201

GANVO: Unsupervised Deep Monocular Visual Odometry and Depth Estimation with Generative Adversarial Networks

In the last decade, supervised deep learning approaches have been extensively employed in visual odometry (VO) applications, which is not feasible in environments where labelled data is not abundant. On the other hand, unsupervised deep learning approaches for localization and mapping in unknown environments from unlabelled data have received comparatively less attention in VO research. In this study, we propose a generative unsupervised learning framework that predicts 6-DoF pose camera motion and monocular depth map of the scene from unlabelled RGB image sequences, using deep convolutional Generative Adversarial Networks (GANs). We create a supervisory signal by warping view sequences and assigning the re-projection minimization to the objective loss function that is adopted in multi-view pose estimation and single-view depth generation network. Detailed quantitative and qualitative evaluations of the proposed framework on the KITTI and Cityscapes datasets show that the proposed method outperforms both existing traditional and unsupervised deep VO methods providing better results for both pose estimation and depth recovery.Comment: ICRA 2019 - accepte

Mitigation of H.264 and H.265 Video Compression for Reliable PRNU Estimation

The photo-response non-uniformity (PRNU) is a distinctive image sensor characteristic, and an imaging device inadvertently introduces its sensor's PRNU into all media it captures. Therefore, the PRNU can be regarded as a camera fingerprint and used for source attribution. The imaging pipeline in a camera, however, involves various processing steps that are detrimental to PRNU estimation. In the context of photographic images, these challenges are successfully addressed and the method for estimating a sensor's PRNU pattern is well established. However, various additional challenges related to generation of videos remain largely untackled. With this perspective, this work introduces methods to mitigate disruptive effects of widely deployed H.264 and H.265 video compression standards on PRNU estimation. Our approach involves an intervention in the decoding process to eliminate a filtering procedure applied at the decoder to reduce blockiness. It also utilizes decoding parameters to develop a weighting scheme and adjust the contribution of video frames at the macroblock level to PRNU estimation process. Results obtained on videos captured by 28 cameras show that our approach increases the PRNU matching metric up to more than five times over the conventional estimation method tailored for photos