17,546 research outputs found
Temporal Interpolation via Motion Field Prediction
Navigated 2D multi-slice dynamic Magnetic Resonance (MR) imaging enables high
contrast 4D MR imaging during free breathing and provides in-vivo observations
for treatment planning and guidance. Navigator slices are vital for
retrospective stacking of 2D data slices in this method. However, they also
prolong the acquisition sessions. Temporal interpolation of navigator slices an
be used to reduce the number of navigator acquisitions without degrading
specificity in stacking. In this work, we propose a convolutional neural
network (CNN) based method for temporal interpolation via motion field
prediction. The proposed formulation incorporates the prior knowledge that a
motion field underlies changes in the image intensities over time. Previous
approaches that interpolate directly in the intensity space are prone to
produce blurry images or even remove structures in the images. Our method
avoids such problems and faithfully preserves the information in the image.
Further, an important advantage of our formulation is that it provides an
unsupervised estimation of bi-directional motion fields. We show that these
motion fields can be used to halve the number of registrations required during
4D reconstruction, thus substantially reducing the reconstruction time.Comment: Submitted to 1st Conference on Medical Imaging with Deep Learning
(MIDL 2018), Amsterdam, The Netherland
High-speed Video from Asynchronous Camera Array
This paper presents a method for capturing high-speed video using an
asynchronous camera array. Our method sequentially fires each sensor in a
camera array with a small time offset and assembles captured frames into a
high-speed video according to the time stamps. The resulting video, however,
suffers from parallax jittering caused by the viewpoint difference among
sensors in the camera array. To address this problem, we develop a dedicated
novel view synthesis algorithm that transforms the video frames as if they were
captured by a single reference sensor. Specifically, for any frame from a
non-reference sensor, we find the two temporally neighboring frames captured by
the reference sensor. Using these three frames, we render a new frame with the
same time stamp as the non-reference frame but from the viewpoint of the
reference sensor. Specifically, we segment these frames into super-pixels and
then apply local content-preserving warping to warp them to form the new frame.
We employ a multi-label Markov Random Field method to blend these warped
frames. Our experiments show that our method can produce high-quality and
high-speed video of a wide variety of scenes with large parallax, scene
dynamics, and camera motion and outperforms several baseline and
state-of-the-art approaches.Comment: 10 pages, 82 figures, Published at IEEE WACV 201
Detail-preserving and Content-aware Variational Multi-view Stereo Reconstruction
Accurate recovery of 3D geometrical surfaces from calibrated 2D multi-view
images is a fundamental yet active research area in computer vision. Despite
the steady progress in multi-view stereo reconstruction, most existing methods
are still limited in recovering fine-scale details and sharp features while
suppressing noises, and may fail in reconstructing regions with few textures.
To address these limitations, this paper presents a Detail-preserving and
Content-aware Variational (DCV) multi-view stereo method, which reconstructs
the 3D surface by alternating between reprojection error minimization and mesh
denoising. In reprojection error minimization, we propose a novel inter-image
similarity measure, which is effective to preserve fine-scale details of the
reconstructed surface and builds a connection between guided image filtering
and image registration. In mesh denoising, we propose a content-aware
-minimization algorithm by adaptively estimating the value and
regularization parameters based on the current input. It is much more promising
in suppressing noise while preserving sharp features than conventional
isotropic mesh smoothing. Experimental results on benchmark datasets
demonstrate that our DCV method is capable of recovering more surface details,
and obtains cleaner and more accurate reconstructions than state-of-the-art
methods. In particular, our method achieves the best results among all
published methods on the Middlebury dino ring and dino sparse ring datasets in
terms of both completeness and accuracy.Comment: 14 pages,16 figures. Submitted to IEEE Transaction on image
processin
A minimalistic approach to appearance-based visual SLAM
This paper presents a vision-based approach to SLAM in indoor / outdoor environments with minimalistic sensing and computational requirements. The approach is based on a graph representation of robot poses, using a relaxation algorithm to obtain a globally consistent map. Each link corresponds to a
relative measurement of the spatial relation between the two nodes it connects. The links describe the likelihood distribution of the relative pose as a Gaussian distribution. To estimate the covariance matrix for links obtained from an omni-directional vision sensor, a novel method is introduced based on the relative similarity of neighbouring images. This new method does not require determining distances to image features using multiple
view geometry, for example. Combined indoor and outdoor experiments demonstrate that the approach can handle qualitatively different environments (without modification of the parameters), that it can cope with violations of the “flat floor assumption” to some degree, and that it scales well with increasing size of the environment, producing topologically correct and geometrically accurate maps at low computational cost. Further experiments demonstrate that the approach is also suitable for combining multiple overlapping maps, e.g. for solving the multi-robot SLAM problem with unknown initial poses
Motion estimation with chessboard pattern prediction strategy
Due to high correlations among the adjacent blocks, several algorithms utilize movement information of spatially and temporally correlated neighboring blocks to adapt their search patterns to that information. In this paper, this information is used to define a dynamic search pattern. Each frame is divided into two sets, black and white blocks, like a chessboard pattern and a different search pattern, is defined for each set. The advantage of this definition is that the number of spatially neighboring blocks is increased for each current block and it leads to a better prediction for each block. Simulation results show that the proposed algorithm is closer to the Full-Search algorithm in terms of quality metrics such as PSNR than the other state-of-the-art algorithms while at the same time the average number of search points is less.info:eu-repo/semantics/publishedVersio
RSGM: Real-time Raster-Respecting Semi-Global Matching for Power-Constrained Systems
Stereo depth estimation is used for many computer vision applications. Though
many popular methods strive solely for depth quality, for real-time mobile
applications (e.g. prosthetic glasses or micro-UAVs), speed and power
efficiency are equally, if not more, important. Many real-world systems rely on
Semi-Global Matching (SGM) to achieve a good accuracy vs. speed balance, but
power efficiency is hard to achieve with conventional hardware, making the use
of embedded devices such as FPGAs attractive for low-power applications.
However, the full SGM algorithm is ill-suited to deployment on FPGAs, and so
most FPGA variants of it are partial, at the expense of accuracy. In a non-FPGA
context, the accuracy of SGM has been improved by More Global Matching (MGM),
which also helps tackle the streaking artifacts that afflict SGM. In this
paper, we propose a novel, resource-efficient method that is inspired by MGM's
techniques for improving depth quality, but which can be implemented to run in
real time on a low-power FPGA. Through evaluation on multiple datasets (KITTI
and Middlebury), we show that in comparison to other real-time capable stereo
approaches, we can achieve a state-of-the-art balance between accuracy, power
efficiency and speed, making our approach highly desirable for use in real-time
systems with limited power.Comment: Accepted in FPT 2018 as Oral presentation, 8 pages, 6 figures, 4
table
Increasing the Efficiency of 6-DoF Visual Localization Using Multi-Modal Sensory Data
Localization is a key requirement for mobile robot autonomy and human-robot
interaction. Vision-based localization is accurate and flexible, however, it
incurs a high computational burden which limits its application on many
resource-constrained platforms. In this paper, we address the problem of
performing real-time localization in large-scale 3D point cloud maps of
ever-growing size. While most systems using multi-modal information reduce
localization time by employing side-channel information in a coarse manner (eg.
WiFi for a rough prior position estimate), we propose to inter-weave the map
with rich sensory data. This multi-modal approach achieves two key goals
simultaneously. First, it enables us to harness additional sensory data to
localise against a map covering a vast area in real-time; and secondly, it also
allows us to roughly localise devices which are not equipped with a camera. The
key to our approach is a localization policy based on a sequential Monte Carlo
estimator. The localiser uses this policy to attempt point-matching only in
nodes where it is likely to succeed, significantly increasing the efficiency of
the localization process. The proposed multi-modal localization system is
evaluated extensively in a large museum building. The results show that our
multi-modal approach not only increases the localization accuracy but
significantly reduces computational time.Comment: Presented at IEEE-RAS International Conference on Humanoid Robots
(Humanoids) 201
Automated Markerless Extraction of Walking People Using Deformable Contour Models
We develop a new automated markerless motion capture system for the analysis of walking people. We employ global evidence gathering techniques guided by biomechanical analysis to robustly extract articulated motion. This forms a basis for new deformable contour models, using local image cues to capture shape and motion at a more detailed level. We extend the greedy snake formulation to include temporal constraints and occlusion modelling, increasing the capability of this technique when dealing with cluttered and self-occluding extraction targets. This approach is evaluated on a large database of indoor and outdoor video data, demonstrating fast and autonomous motion capture for walking people
Detection of dirt impairments from archived film sequences : survey and evaluations
Film dirt is the most commonly encountered artifact in archive restoration applications. Since dirt usually appears as a temporally impulsive event, motion-compensated interframe processing is widely applied for its detection. However, motion-compensated prediction requires a high degree of complexity and can be unreliable when motion estimation fails. Consequently, many techniques using spatial or spatiotemporal filtering without motion were also been proposed as alternatives. A comprehensive survey and evaluation of existing methods is presented, in which both qualitative and quantitative performances are compared in terms of accuracy, robustness, and complexity. After analyzing these algorithms and identifying their limitations, we conclude with guidance in choosing from these algorithms and promising directions for future research
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