Toward Global Localization of Unmanned Aircraft Systems using Overhead Image Registration with Deep Learning Convolutional Neural Networks

Global localization, in which an unmanned aircraft system (UAS) estimates its unknown current location without access to its take-off location or other locational data from its flight path, is a challenging problem. This research brings together aspects from the remote sensing, geoinformatics, and machine learning disciplines by framing the global localization problem as a geospatial image registration problem in which overhead aerial and satellite imagery serve as a proxy for UAS imagery. A literature review is conducted covering the use of deep learning convolutional neural networks (DLCNN) with global localization and other related geospatial imagery applications. Differences between geospatial imagery taken from the overhead perspective and terrestrial imagery are discussed, as well as difficulties in using geospatial overhead imagery for image registration due to a lack of suitable machine learning datasets. Geospatial analysis is conducted to identify suitable areas for future UAS imagery collection. One of these areas, Jerusalem northeast (JNE) is selected as the area of interest (AOI) for this research. Multi-modal, multi-temporal, and multi-resolution geospatial overhead imagery is aggregated from a variety of publicly available sources and processed to create a controlled image dataset called Jerusalem northeast rural controlled imagery (JNE RCI). JNE RCI is tested with handcrafted feature-based methods SURF and SIFT and a non-handcrafted feature-based pre-trained fine-tuned VGG-16 DLCNN on coarse-grained image registration. Both handcrafted and non-handcrafted feature based methods had difficulty with the coarse-grained registration process. The format of JNE RCI is determined to be unsuitable for the coarse-grained registration process with DLCNNs and the process to create a new supervised machine learning dataset, Jerusalem northeast machine learning (JNE ML) is covered in detail. A multi-resolution grid based approach is used, where each grid cell ID is treated as the supervised training label for that respective resolution. Pre-trained fine-tuned VGG-16 DLCNNs, two custom architecture two-channel DLCNNs, and a custom chain DLCNN are trained on JNE ML for each spatial resolution of subimages in the dataset. All DLCNNs used could more accurately coarsely register the JNE ML subimages compared to the pre-trained fine-tuned VGG-16 DLCNN on JNE RCI. This shows the process for creating JNE ML is valid and is suitable for using machine learning with the coarse-grained registration problem. All custom architecture two-channel DLCNNs and the custom chain DLCNN were able to more accurately coarsely register the JNE ML subimages compared to the fine-tuned pre-trained VGG-16 approach. Both the two-channel custom DLCNNs and the chain DLCNN were able to generalize well to new imagery that these networks had not previously trained on. Through the contributions of this research, a foundation is laid for future work to be conducted on the UAS global localization problem within the rural forested JNE AOI

Learning to count with deep object features

Learning to count is a learning strategy that has been recently proposed in the literature for dealing with problems where estimating the number of object instances in a scene is the final objective. In this framework, the task of learning to detect and localize individual object instances is seen as a harder task that can be evaded by casting the problem as that of computing a regression value from hand-crafted image features. In this paper we explore the features that are learned when training a counting convolutional neural network in order to understand their underlying representation. To this end we define a counting problem for MNIST data and show that the internal representation of the network is able to classify digits in spite of the fact that no direct supervision was provided for them during training. We also present preliminary results about a deep network that is able to count the number of pedestrians in a scene.Comment: This paper has been accepted at Deep Vision Workshop at CVPR 201

ClassCut for Unsupervised Class Segmentation

Abstract. We propose a novel method for unsupervised class segmentation on a set of images. It alternates between segmenting object instances and learning a class model. The method is based on a segmentation energy defined over all images at the same time, which can be optimized efficiently by techniques used before in interactive segmentation. Over iterations, our method progressively learns a class model by integrating observations over all images. In addition to appearance, this model captures the location and shape of the class with respect to an automatically determined coordinate frame common across images. This frame allows us to build stronger shape and location models, similar to those used in object class detection. Our method is inspired by interactive segmentation methods [1], but it is fully automatic and learns models characteristic for the object class rather than specific to one particular object/image. We experimentally demonstrate on the Caltech4, Caltech101, and Weizmann horses datasets that our method (a) transfers class knowledge across images and this improves results compared to segmenting every image independently; (b) outperforms Grabcut [1] for the task of unsupervised segmentation; (c) offers competitive performance compared to the state-of-the-art in unsupervised segmentation and in particular it outperforms the topic model [2].

Exploiting Textons Distributions on Spatial Hierarchy for Scene Classification

This paper proposes a method to recognize scene categories using bags of visual words obtained by hierarchically partitioning into subregion the input images. Specifically, for each subregion the Textons distribution and the extension of the corresponding subregion are taken into account. The bags of visual words computed on the subregions are weighted and used to represent the whole scene. The classification of scenes is carried out by discriminative methods (i.e., SVM, KNN). A similarity measure based on Bhattacharyya coefficient is proposed to establish similarities between images, represented as hierarchy of bags of visual words. Experimental tests, using fifteen different scene categories, show that the proposed approach achieves good performances with respect to the state-of-the-art methods

Block-level discrete cosine transform coefficients for autonomic face recognition

This dissertation presents a novel method of autonomic face recognition based on the recently proposed biologically plausible network of networks (NoN) model of information processing. The NoN model is based on locally parallel and globally coordinated transformations. In the NoN architecture, the neurons or computational units form distributed networks, which themselves link to form larger networks. In the general case, an n-level hierarchy of nested distributed networks is constructed. This models the structures in the cerebral cortex described by Mountcastle and the architecture based on that proposed for information processing by Sutton. In the implementation proposed in the dissertation, the image is processed by a nested family of locally operating networks along with a hierarchically superior network that classifies the information from each of the local networks. The implementation of this approach helps obtain sensitivity to the contrast sensitivity function (CSF) in the middle of the spectrum, as is true for the human vision system. The input images are divided into blocks to define the local regions of processing. The two-dimensional Discrete Cosine Transform (DCT), a spatial frequency transform, is used to transform the data into the frequency domain. Thereafter, statistical operators that calculate various functions of spatial frequency in the block are used to produce a block-level DCT coefficient. The image is now transformed into a variable length vector that is trained with respect to the data set. The classification was done by the use of a backpropagation neural network. The proposed method yields excellent results on a benchmark database. The results of the experiments yielded a maximum of 98.5% recognition accuracy and an average of 97.4% recognition accuracy. An advanced version of the method where the local processing is done on offset blocks has also been developed. This has validated the NoN approach and further research using local processing as well as more advanced global operators is likely to yield even better results

PMN J1632-0033: A new gravitationally lensed quasar

We report the discovery of a gravitationally lensed quasar resulting from our survey for lenses in the southern sky. Radio images of PMN J1632-0033 with the VLA and ATCA exhibit two compact, flat-spectrum components with separation 1.47" and flux density ratio 13.2. Images with the HST reveal the optical counterparts to the radio components and also the lens galaxy. An optical spectrum of the bright component, obtained with the first Magellan telescope, reveals quasar emission lines at redshift 3.42. Deeper radio images with MERLIN and the VLBA reveal a faint third radio component located near the center of the lens galaxy, which is either a third image of the background quasar or faint emission from the lens galaxy.Comment: 21 pp., including 4 figures; thoroughly revised in light of new MERLIN/HST data; accepted for publication in A