The Discriminative Generalized Hough Transform for Localization of Highly Variable Objects and its Application for Surveillance Recordings

This work is about the localization of arbitrary objects in 2D images in general and the localization of persons in video surveillance recordings in particular. More precisely, it is about localizing specific landmarks. Thereby the possibilities and limitations of localization approaches based on the Generalized Hough Transform (GHT), especially of the Discriminative Generalized Hough Transform (DGHT) will be evaluated. GHT-based approaches determine the number of matching model and feature points and the most likely target point position is given by the highest number of matching model and feature points. Additionally, the DGHT comprises a statistical learning approach to generate optimal DGHT-models achieving good results on medical images. This work will show that the DGHT is not restricted to medical tasks but has issues with large target object variabilities, which are frequent in video surveillance tasks. As all GHT-based approaches also the DGHT only considers the number of matching model-feature-point-combinations, which means that all model points are treated independently. This work will show that model points are not independent of each other and considering them independently will result in high error rates. This drawback is analyzed and a universal solution, which is not only applicable for the DGHT but all GHT-based approaches, is presented. This solution is based on an additional classifier that takes the whole set of matching model-feature-point-combinations into account to estimate a confidence score. On all tested databases, this approach could reduce the error rates drastically by up to 94.9%. Furthermore, this work presents a general approach for combining multiple GHT-models into a deeper model. This can be used to combine the localization results of different object landmarks such as mouth, nose, and eyes. Similar to Convolutional Neural Networks (CNNs) this will split the target object variability into multiple and smaller variabilities. A comparison of GHT-based approaches with CNNs and a description of the advantages, disadvantages, and potential application of both approaches will conclude this work.Diese Arbeit beschäftigt sich im Allgemeinen mit der Lokalisierung von Objekten in 2D Bilddaten und im Speziellen mit der Lokalisierung von Personen in Videoüberwachungsaufnahmen. Genauer gesagt handelt es sich hierbei um die Lokalisierung spezieller Landmarken. Dabei werden die Möglichkeiten und Limiterungen von Lokalisierungsverfahren basierend auf der Generalisierten Hough Transformation (GHT) untersucht, insbesondere die der Diskriminativen Generalisierten Hough Transformation (DGHT). Bei GHT-basierten Ansätze wird die Anzahl an übereinstimmenden Modelpunkten und Merkmalspunkten ermittelt und die wahrscheinlicheste Objekt-Position ergibt sich aus der höchsten Anzahl an übereinstimmenden Model- und Merkmalspunkte. Die DGHT umfasst darüber hinaus noch ein statistisches Lernverfahren, um optimale DGHT-Modele zu erzeugen und erzielte damit auf medizinischen Bilder und Anwendungen sehr gute Erfolge. Wie sich in dieser Arbeit zeigen wird, ist die DGHT nicht auf medizinische Anwendungen beschränkt, hat allerdings Schwierigkeiten große Variabilität der Ziel-Objekte abzudecken, wie sie in Überwachungsszenarien zu erwarten sind. Genau wie alle GHT-basierten Ansätze leidet auch die DGHT unter dem Problem, dass lediglich die Anzahl an übereinstimmenden Model- und Merkmalspunkten ermittelt wird, was bedeutet, dass alle Modelpunkte unabhängig voneinander betrachtet werden. Dass Modelpunkte nicht unabhängig voneinander sind, wird im Laufe dieser Arbeit gezeigt werden, und die unabhängige Betrachtung führt gerade bei sehr variablen Zielobjekten zu einer hohen Fehlerrate. Dieses Problem wird in dieser Arbeit grundlegend untersucht und ein allgemeiner Lösungsansatz vorgestellt, welcher nicht nur für die DGHT sondern grundsätzlich für alle GHT-basierten Verfahren Anwendung finden kann. Die Lösung basiert auf der Integration eines zusätzlichen Klassifikators, welcher die gesamte Menge an übereinstimmenden Model- und Merkmalspunkten betrachtet und anhand dessen ein zusätzliches Konfidenzmaß vergibt. Dadurch konnte auf allen getesteten Datenbanken eine deutliche Reduktion der Fehlerrate erzielt werden von bis zu 94.9%. Darüber hinaus umfasst die Arbeit einen generellen Ansatz zur Kombination mehrere GHT-Model in einem tieferen Model. Dies kann dazu verwendet werden, um die Lokalisierungsergebnisse verschiedener Objekt-Landmarken zu kombinieren, z. B. die von Mund, Nase und Augen. Ähnlich wie auch bei Convolutional Neural Networks (CNNs) ist es damit möglich über mehrere Ebenen unterschiedliche Bereiche zu lokalisieren und somit die Variabilität des Zielobjektes in mehrere, leichter zu handhabenden Variabilitäten aufzuspalten. Abgeschlossen wird die Arbeit durch einen Vergleich von GHT-basierten Ansätzen mit CNNs und einer Beschreibung der Vor- und Nachteile und mögliche Einsatzfelder beider Verfahren

Automated Quantitative Analyses of Fatigue-Induced Surface Damage by Deep Learning

The digitization of materials is the prerequisite for accelerating product development. However, technologically, this is only beneficial when reliability is maintained. This requires comprehension of the microstructure-driven fatigue damage mechanisms across scales. A substantial fraction of the lifetime for high performance materials is attributed to surface damage accumulation at the microstructural scale (e.g., extrusions and micro crack formation). Although, its modeling is impeded by a lack of comprehensive understanding of the related mechanisms. This makes statistical validation at the same scale by micromechanical experimentation a fundamental requirement. Hence, a large quantity of processed experimental data, which can only be acquired by automated experiments and data analyses, is crucial. Surface damage evolution is often accessed by imaging and subsequent image post-processing. In this work, we evaluated deep learning (DL) methodologies for semantic segmentation and different image processing approaches for quantitative slip trace characterization. Due to limited annotated data, a U-Net architecture was utilized. Three data sets of damage locations observed in scanning electron microscope (SEM) images of ferritic steel, martensitic steel, and copper specimens were prepared. In order to allow the developed models to cope with material-specific damage morphology and imaging-induced variance, a customized augmentation pipeline for the input images was developed. Material domain generalizability of ferritic steel and conjunct material trained models were tested successfully. Multiple image processing routines to detect slip trace orientation (STO) from the DL segmented extrusion areas were implemented and assessed. In conclusion, generalization to multiple materials has been achieved for the DL methodology, suggesting that extending it well beyond fatigue damage is feasible

Automatic Main Road Extraction from High Resolution Satellite Imagery

Road information is essential for automatic GIS (geographical information system) data acquisition, transportation and urban planning. Automatic road (network) detection from high resolution satellite imagery will hold great potential for significant reduction of database development/updating cost and turnaround time. From so called low level feature detection to high level context supported grouping, so many algorithms and methodologies have been presented for this purpose. There is not any practical system that can fully automatically extract road network from space imagery for the purpose of automatic mapping. This paper presents the methodology of automatic main road detection from high resolution satellite IKONOS imagery. The strategies include multiresolution or image pyramid method, Gaussian blurring and the line finder using 1-dimemsional template correlation filter, line segment grouping and multi-layer result integration. Multi-layer or multi-resolution method for road extraction is a very effective strategy to save processing time and improve robustness. To realize the strategy, the original IKONOS image is compressed into different corresponding image resolution so that an image pyramid is generated; after that the line finder of 1-dimemsional template correlation filter after Gaussian blurring filtering is applied to detect the road centerline. Extracted centerline segments belong to or do not belong to roads. There are two ways to identify the attributes of the segments, the one is using segment grouping to form longer line segments and assign a possibility to the segment depending on the length and other geometric and photometric attribute of the segment, for example the longer segment means bigger possibility of being road. Perceptual-grouping based method is used for road segment linking by a possibility model that takes multi-information into account; here the clues existing in the gaps are considered. Another way to identify the segments is feature detection back-to-higher resolution layer from the image pyramid

Space Image Processing and Orbit Estimation Using Small Aperture Optical Systems

Angles-only initial orbit determination (AIOD) methods have been used to find the orbit of satellites since the beginning of the Space Race. Given the ever increasing number of objects in orbit today, the need for accurate space situational awareness (SSA) data has never been greater. Small aperture (\u3c 0:5m) optical systems, increasingly popular in both amateur and professional circles, provide an inexpensive source of such data. However, utilizing these types of systems requires understanding their limits. This research uses a combination of image processing techniques and orbit estimation algorithms to evaluate the limits and improve the resulting orbit solution obtained using small aperture systems. Characterization of noise from physical, electronic, and digital sources leads to a better understanding of reducing noise in the images used to provide the best solution possible. Given multiple measurements, choosing the best images for use is a non-trivial process and often results in trying all combinations. In an effort to help autonomize the process, a novel “observability metric” using only information from the captured images was shown empirically as a method of choosing the best observations. A method of identifying resident space objects (RSOs) in a single image using a gradient based search algorithm was developed and tested on actual space imagery captured with a small aperture optical system. The algorithm was shown to correctly identify candidate RSOs in a variety of observational scenarios

Milestones in Autonomous Driving and Intelligent Vehicles Part II: Perception and Planning

Growing interest in autonomous driving (AD) and intelligent vehicles (IVs) is fueled by their promise for enhanced safety, efficiency, and economic benefits. While previous surveys have captured progress in this field, a comprehensive and forward-looking summary is needed. Our work fills this gap through three distinct articles. The first part, a "Survey of Surveys" (SoS), outlines the history, surveys, ethics, and future directions of AD and IV technologies. The second part, "Milestones in Autonomous Driving and Intelligent Vehicles Part I: Control, Computing System Design, Communication, HD Map, Testing, and Human Behaviors" delves into the development of control, computing system, communication, HD map, testing, and human behaviors in IVs. This part, the third part, reviews perception and planning in the context of IVs. Aiming to provide a comprehensive overview of the latest advancements in AD and IVs, this work caters to both newcomers and seasoned researchers. By integrating the SoS and Part I, we offer unique insights and strive to serve as a bridge between past achievements and future possibilities in this dynamic field.Comment: 17pages, 6figures. IEEE Transactions on Systems, Man, and Cybernetics: System

A Sparsity-Inducing Optimization-Based Algorithm for Planar Patches Extraction from Noisy Point-Cloud Data

Currently, much of the manual labor needed to generate as-built Building Information Models (BIMs) of existing facilities is spent converting raw Point Cloud Datasets (PCDs) to BIMs descriptions. Automating the PCD conversion process can drastically reduce the cost of generating as-built BIMs. Due to the widespread existence of planar structures in civil infrastructures, detecting and extracting planar patches from raw PCDs is a fundamental step in the conversion pipeline from PCDs to BIMs. However, existing methods cannot effectively address both automatically detecting and extracting planar patches from infrastructure PCDs. The existing methods cannot resolve the problem due to the large scale and model complexity of civil infrastructure, or due to the requirements of extra constraints or known information. To address the problem, this paper presents a novel framework for automatically detecting and extracting planar patches from large-scale and noisy raw PCDs. The proposed method automatically detects planar structures, estimates the parametric plane models, and determines the boundaries of the planar patches. The first step recovers existing linear dependence relationships amongst points in the PCD by solving a group-sparsity inducing optimization problem. Next, a spectral clustering procedure based on the recovered linear dependence relationships segments the PCD. Then, for each segmented group, model parameters of the extracted planes are estimated via Singular Value Decomposition (SVD) and Maximum Likelihood Estimation Sample Consensus (MLESAC). Finally, the α-shape algorithm detects the boundaries of planar structures based on a projection of the data to the planar model. The proposed approach is evaluated comprehensively by experiments on two types of PCDs from real-world infrastructures, one captured directly by laser scanners and the other reconstructed from video using structure-from-motion techniques. In order to evaluate the performance comprehensively, five evaluation metrics are proposed which measure different aspects of performance. Experimental results reveal that the proposed method outperforms the existing methods, in the sense that the method automatically and accurately extracts planar patches from large-scaled raw PCDs without any extra constraints nor user assistance.This is the accepted manuscript. The final version is available from Wiley at http://onlinelibrary.wiley.com/doi/10.1111/mice.12063/abstract

Multi-Surface Simplex Spine Segmentation for Spine Surgery Simulation and Planning

This research proposes to develop a knowledge-based multi-surface simplex deformable model for segmentation of healthy as well as pathological lumbar spine data. It aims to provide a more accurate and robust segmentation scheme for identification of intervertebral disc pathologies to assist with spine surgery planning. A robust technique that combines multi-surface and shape statistics-aware variants of the deformable simplex model is presented. Statistical shape variation within the dataset has been captured by application of principal component analysis and incorporated during the segmentation process to refine results. In the case where shape statistics hinder detection of the pathological region, user-assistance is allowed to disable the prior shape influence during deformation. Results have been validated against user-assisted expert segmentation

Automatic extraction of retinal features from colour retinal images for glaucoma diagnosis: a review

Glaucoma is a group of eye diseases that have common traits such as, high eye pressure, damage to the Optic Nerve Head and gradual vision loss. It affects peripheral vision and eventually leads to blindness if left untreated. The current common methods of pre-diagnosis of Glaucoma include measurement of Intra-Ocular Pressure (IOP) using Tonometer, Pachymetry, Gonioscopy; which are performed manually by the clinicians. These tests are usually followed by Optic Nerve Head (ONH) Appearance examination for the confirmed diagnosis of Glaucoma. The diagnoses require regular monitoring, which is costly and time consuming. The accuracy and reliability of diagnosis is limited by the domain knowledge of different ophthalmologists. Therefore automatic diagnosis of Glaucoma attracts a lot of attention.This paper surveys the state-of-the-art of automatic extraction of anatomical features from retinal images to assist early diagnosis of the Glaucoma. We have conducted critical evaluation of the existing automatic extraction methods based on features including Optic Cup to Disc Ratio (CDR), Retinal Nerve Fibre Layer (RNFL), Peripapillary Atrophy (PPA), Neuroretinal Rim Notching, Vasculature Shift, etc., which adds value on efficient feature extraction related to Glaucoma diagnosis. © 2013 Elsevier Ltd