Video Processing with Additional Information

Cameras are frequently deployed along with many additional sensors in aerial and ground-based platforms. Many video datasets have metadata containing measurements from inertial sensors, GPS units, etc. Hence the development of better video processing algorithms using additional information attains special significance. We first describe an intensity-based algorithm for stabilizing low resolution and low quality aerial videos. The primary contribution is the idea of minimizing the discrepancy in the intensity of selected pixels between two images. This is an application of inverse compositional alignment for registering images of low resolution and low quality, for which minimizing the intensity difference over salient pixels with high gradients results in faster and better convergence than when using all the pixels. Secondly, we describe a feature-based method for stabilization of aerial videos and segmentation of small moving objects. We use the coherency of background motion to jointly track features through the sequence. This enables accurate tracking of large numbers of features in the presence of repetitive texture, lack of well conditioned feature windows etc. We incorporate the segmentation problem within the joint feature tracking framework and propose the first combined joint-tracking and segmentation algorithm. The proposed approach enables highly accurate tracking, and segmentation of feature tracks that is used in a MAP-MRF framework for obtaining dense pixelwise labeling of the scene. We demonstrate competitive moving object detection in challenging video sequences of the VIVID dataset containing moving vehicles and humans that are small enough to cause background subtraction approaches to fail. Structure from Motion (SfM) has matured to a stage, where the emphasis is on developing fast, scalable and robust algorithms for large reconstruction problems. The availability of additional sensors such as inertial units and GPS along with video cameras motivate the development of SfM algorithms that leverage these additional measurements. In the third part, we study the benefits of the availability of a specific form of additional information - the vertical direction (gravity) and the height of the camera both of which can be conveniently measured using inertial sensors, and a monocular video sequence for 3D urban modeling. We show that in the presence of this information, the SfM equations can be rewritten in a bilinear form. This allows us to derive a fast, robust, and scalable SfM algorithm for large scale applications. The proposed SfM algorithm is experimentally demonstrated to have favorable properties compared to the sparse bundle adjustment algorithm. We provide experimental evidence indicating that the proposed algorithm converges in many cases to solutions with lower error than state-of-art implementations of bundle adjustment. We also demonstrate that for the case of large reconstruction problems, the proposed algorithm takes lesser time to reach its solution compared to bundle adjustment. We also present SfM results using our algorithm on the Google StreetView research dataset, and several other datasets

Mapping Wide Row Crops with Video Sequences Acquired from a Tractor Moving at Treatment Speed

This paper presents a mapping method for wide row crop fields. The resulting map shows the crop rows and weeds present in the inter-row spacing. Because field videos are acquired with a camera mounted on top of an agricultural vehicle, a method for image sequence stabilization was needed and consequently designed and developed. The proposed stabilization method uses the centers of some crop rows in the image sequence as features to be tracked, which compensates for the lateral movement (sway) of the camera and leaves the pitch unchanged. A region of interest is selected using the tracked features, and an inverse perspective technique transforms the selected region into a bird’s-eye view that is centered on the image and that enables map generation. The algorithm developed has been tested on several video sequences of different fields recorded at different times and under different lighting conditions, with good initial results. Indeed, lateral displacements of up to 66% of the inter-row spacing were suppressed through the stabilization process, and crop rows in the resulting maps appear straight

Physicochemical analysis of rotavirus segment 11 supports a 'modified panhandle' structure and not the predicted alternative tRNA-like structure (TRLS)

.Rotaviruses are a major cause of acute gastroenteritis, which is often fatal in infants. The viral genome consists of 11 double-stranded RNA segments, but little is known about their cis-acting sequences and structural elements. Covariation studies and phylogenetic analysis exploring the potential structure of RNA11 of rotaviruses suggested that, besides the previously predicted "modified panhandle" structure, the 5' and 3' termini of one of the isoforms of the bovine rotavirus UKtc strain may interact to form a tRNA-like structure (TRLS). Such TRLSs have been identified in RNAs of plant viruses, where they are important for enhancing replication and packaging. However, using tRNA mimicry assays (in vitro aminoacylation and 3'- adenylation), we found no biochemical evidence for tRNA-like functions of RNA11. Capping, synthetic 3' adenylation and manipulation of divalent cation concentrations did not change this finding. NMR studies on a 5'- and 3'-deletion construct of RNA11 containing the putative intra-strand complementary sequences supported a predominant panhandle structure and did not conform to a cloverleaf fold despite the strong evidence for a predicted structure in this conserved region of the viral RNA. Additional viral or cellular factors may be needed to stabilise it into a form with tRNA-like properties

The Design Fabrication and Flight Testing of an Academic Research Platform for High Resolution Terrain Imaging

This thesis addresses the design, construction, and flight testing of an Unmanned Aircraft System (UAS) created to serve as a testbed for Intelligence, Surveillance, and Reconnaissance (ISR) research topics that require the rapid acquisition and processing of high resolution aerial imagery and are to be performed by academic research institutions. An analysis of the requirements of various ISR research applications and the practical limitations of academic research yields a consolidated set of requirements by which the UAS is designed. An iterative design process is used to transition from these requirements to cycles of component selection, systems integration, flight tests, diagnostics, and subsystem redesign. The resulting UAS is designed as an academic research platform to support a variety of ISR research applications ranging from human machine interaction with UAS technology to orthorectified mosaic imaging. The lessons learned are provided to enable future researchers to create similar systems

Viral RNAs are unusually compact.

A majority of viruses are composed of long single-stranded genomic RNA molecules encapsulated by protein shells with diameters of just a few tens of nanometers. We examine the extent to which these viral RNAs have evolved to be physically compact molecules to facilitate encapsulation. Measurements of equal-length viral, non-viral, coding and non-coding RNAs show viral RNAs to have among the smallest sizes in solution, i.e., the highest gel-electrophoretic mobilities and the smallest hydrodynamic radii. Using graph-theoretical analyses we demonstrate that their sizes correlate with the compactness of branching patterns in predicted secondary structure ensembles. The density of branching is determined by the number and relative positions of 3-helix junctions, and is highly sensitive to the presence of rare higher-order junctions with 4 or more helices. Compact branching arises from a preponderance of base pairing between nucleotides close to each other in the primary sequence. The density of branching represents a degree of freedom optimized by viral RNA genomes in response to the evolutionary pressure to be packaged reliably. Several families of viruses are analyzed to delineate the effects of capsid geometry, size and charge stabilization on the selective pressure for RNA compactness. Compact branching has important implications for RNA folding and viral assembly

SEAMLESS IMAGE MOSAICKING VIA SYNCHRONIZATION

This paper proposes an innovative method to create high-quality seamless planar mosaics. The developed pipeline ensures good robustness against many common mosaicking problems (e.g., misalignments, colour distortion, moving objects, parallax) and differs from other works in the literature because a global approach, known as synchronization, is used for image registration and colour correction. To better conceal the mosaic seamlines, images are cut along specific paths, computed using a Voronoi decomposition of the mosaic area and a shortest path algorithm. Results obtained on challenging real datasets show that the colour correction mitigates significantly the colour variations between the original images and the seams on the final mosaic are not evident