A Novel Framework for Highlight Reflectance Transformation Imaging

We propose a novel pipeline and related software tools for processing the multi-light image collections (MLICs) acquired in different application contexts to obtain shape and appearance information of captured surfaces, as well as to derive compact relightable representations of them. Our pipeline extends the popular Highlight Reflectance Transformation Imaging (H-RTI) framework, which is widely used in the Cultural Heritage domain. We support, in particular, perspective camera modeling, per-pixel interpolated light direction estimation, as well as light normalization correcting vignetting and uneven non-directional illumination. Furthermore, we propose two novel easy-to-use software tools to simplify all processing steps. The tools, in addition to support easy processing and encoding of pixel data, implement a variety of visualizations, as well as multiple reflectance-model-fitting options. Experimental tests on synthetic and real-world MLICs demonstrate the usefulness of the novel algorithmic framework and the potential benefits of the proposed tools for end-user applications.Terms: "European Union (EU)" & "Horizon 2020" / Action: H2020-EU.3.6.3. - Reflective societies - cultural heritage and European identity / Acronym: Scan4Reco / Grant number: 665091DSURF project (PRIN 2015) funded by the Italian Ministry of University and ResearchSardinian Regional Authorities under projects VIGEC and Vis&VideoLa

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

Robust Photogeometric Localization over Time for Map-Centric Loop Closure

Map-centric SLAM is emerging as an alternative of conventional graph-based SLAM for its accuracy and efficiency in long-term mapping problems. However, in map-centric SLAM, the process of loop closure differs from that of conventional SLAM and the result of incorrect loop closure is more destructive and is not reversible. In this paper, we present a tightly coupled photogeometric metric localization for the loop closure problem in map-centric SLAM. In particular, our method combines complementary constraints from LiDAR and camera sensors, and validates loop closure candidates with sequential observations. The proposed method provides a visual evidence-based outlier rejection where failures caused by either place recognition or localization outliers can be effectively removed. We demonstrate the proposed method is not only more accurate than the conventional global ICP methods but is also robust to incorrect initial pose guesses.Comment: To Appear in IEEE ROBOTICS AND AUTOMATION LETTERS, ACCEPTED JANUARY 201

Space-Varying Coefficient Models for Brain Imaging

The methodological development and the application in this paper originate from diffusion tensor imaging (DTI), a powerful nuclear magnetic resonance technique enabling diagnosis and monitoring of several diseases as well as reconstruction of neural pathways. We reformulate the current analysis framework of separate voxelwise regressions as a 3d space-varying coefficient model (VCM) for the entire set of DTI images recorded on a 3d grid of voxels. Hence by allowing to borrow strength from spatially adjacent voxels, to smooth noisy observations, and to estimate diffusion tensors at any location within the brain, the three-step cascade of standard data processing is overcome simultaneously. We conceptualize two VCM variants based on B-spline basis functions: a full tensor product approach and a sequential approximation, rendering the VCM numerically and computationally feasible even for the huge dimension of the joint model in a realistic setup. A simulation study shows that both approaches outperform the standard method of voxelwise regressions with subsequent regularization. Due to major efficacy, we apply the sequential method to a clinical DTI data set and demonstrate the inherent ability of increasing the rigid grid resolution by evaluating the incorporated basis functions at intermediate points. In conclusion, the suggested fitting methods clearly improve the current state-of-the-art, but ameloriation of local adaptivity remains desirable

Volume ray casting techniques and applications using general purpose computations on graphics processing units

Traditional 3D computer graphics focus on rendering the exterior of objects. Volume rendering is a technique used to visualize information corresponding to the interior of an object, commonly used in medical imaging and other fields. Visualization of such data may be accomplished by ray casting; an embarrassingly parallel algorithm also commonly used in ray tracing. There has been growing interest in performing general purpose computations on graphics processing units (GPGPU), which are capable exploiting parallel applications and yielding far greater performance than sequential implementations on CPUs. Modern GPUs allow for rapid acceleration of volume rendering applications, offering affordable high performance visualization systems. This thesis explores volume ray casting performance and visual quality enhancements using the NVIDIA CUDA platform, and demonstrates how high quality volume renderings can be produced with interactive and real time frame rates on modern commodity graphics hardware. A number of techniques are employed in this effort, including early ray termination, super sampling and texture filtering. In a performance comparison of a sequential versus CUDA implementation on high-end hardware, the latter is capable of rendering 60 frames per second with an impressive price-performance ratio heavily favoring GPUs. A number of unique volume rendering applications are explored including multiple volume rendering capable of arbitrary placement and rigid volume registration, hypertexturing and stereoscopic anaglyphs, each greatly enhanced by the real time interaction of volume data. The techniques and applications discussed in this thesis may prove to be invaluable tools in fields such as medical and molecular imaging, flow and scientific visualization, engineering drawing and many others