Fundamental remote sensing science research program. Part 1: Status report of the mathematical pattern recognition and image analysis project

The Mathematical Pattern Recognition and Image Analysis (MPRIA) Project is concerned with basic research problems related to the study of the Earth from remotely sensed measurement of its surface characteristics. The program goal is to better understand how to analyze the digital image that represents the spatial, spectral, and temporal arrangement of these measurements for purposing of making selected inference about the Earth

Latent-Class Hough Forests for 3D object detection and pose estimation of rigid objects

In this thesis we propose a novel framework, Latent-Class Hough Forests, for the problem of 3D object detection and pose estimation in heavily cluttered and occluded scenes. Firstly, we adapt the state-of-the-art template-based representation, LINEMOD [34, 36], into a scale-invariant patch descriptor and integrate it into a regression forest using a novel template-based split function. In training, rather than explicitly collecting representative negative samples, our method is trained on positive samples only and we treat the class distributions at the leaf nodes as latent variables. During the inference process we iteratively update these distributions, providing accurate estimation of background clutter and foreground occlusions and thus a better detection rate. Furthermore, as a by-product, the latent class distributions can provide accurate occlusion aware segmentation masks, even in the multi-instance scenario. In addition to an existing public dataset, which contains only single-instance sequences with large amounts of clutter, we have collected a new, more challenging, dataset for multiple-instance detection containing heavy 2D and 3D clutter as well as foreground occlusions. We evaluate the Latent-Class Hough Forest on both of these datasets where we outperform state-of-the art methods.Open Acces

Hierarchical testing designs for pattern recognition

We explore the theoretical foundations of a ``twenty questions'' approach to pattern recognition. The object of the analysis is the computational process itself rather than probability distributions (Bayesian inference) or decision boundaries (statistical learning). Our formulation is motivated by applications to scene interpretation in which there are a great many possible explanations for the data, one (``background'') is statistically dominant, and it is imperative to restrict intensive computation to genuinely ambiguous regions. The focus here is then on pattern filtering: Given a large set Y of possible patterns or explanations, narrow down the true one Y to a small (random) subset \hat Y\subsetY of ``detected'' patterns to be subjected to further, more intense, processing. To this end, we consider a family of hypothesis tests for Y\in A versus the nonspecific alternatives Y\in A^c. Each test has null type I error and the candidate sets A\subsetY are arranged in a hierarchy of nested partitions. These tests are then characterized by scope (|A|), power (or type II error) and algorithmic cost. We consider sequential testing strategies in which decisions are made iteratively, based on past outcomes, about which test to perform next and when to stop testing. The set \hat Y is then taken to be the set of patterns that have not been ruled out by the tests performed. The total cost of a strategy is the sum of the ``testing cost'' and the ``postprocessing cost'' (proportional to |\hat Y|) and the corresponding optimization problem is analyzed.Comment: Published at http://dx.doi.org/10.1214/009053605000000174 in the Annals of Statistics (http://www.imstat.org/aos/) by the Institute of Mathematical Statistics (http://www.imstat.org

Object recognition for an autonomous wheelchair equipped with a RGB-D camera

This thesis has been carried out within a project at AR Lab (Autonomous Robot Laboratory) and IAS-Lab (Intelligent Autonomous Systems Lab) of Shanghai Jiao Tong University and University of Padua respectively. The project aims to create a system to recognize and localize multiple object classes for an autonomous wheelchair called JiaoLong, and in general for a mobile robot. The thesis had as main objective the creation of an object recognition and localization system in an indoor environment through a RGB-D sensor. The approach we followed is based on the recognition of the object by using 2D algorithm and 3D information to identify location and size of it. This will help to obtained robust performance for the recognition step and accurate estimation for the localization, thus changing the behavior of the robot in accordance with the class and the location of the object in the room. This thesis is mainly based on two aspects: • the creation of a 2D module to recognize and detect the object in a RGB image; • the creation of a 3D module to filter point cloud and estimate pose and size of the object. In this thesis we used the Bag of Features algorithm to perform the recognition of objects and a variation of the Constellation Method algorithm for the detection; 3D data are computed with several filtering algorithms which lead to a 3D analysis of the object, then are used the intrinsic information of point cloud for the pose and size estimation. We will also analyze the performance of the algorithm and propose some improvements aimed to increase the overall performance of the system besides research directions that this project could lea

Laser Scanner Technology

Laser scanning technology plays an important role in the science and engineering arena. The aim of the scanning is usually to create a digital version of the object surface. Multiple scanning is sometimes performed via multiple cameras to obtain all slides of the scene under study. Usually, optical tests are used to elucidate the power of laser scanning technology in the modern industry and in the research laboratories. This book describes the recent contributions reported by laser scanning technology in different areas around the world. The main topics of laser scanning described in this volume include full body scanning, traffic management, 3D survey process, bridge monitoring, tracking of scanning, human sensing, three-dimensional modelling, glacier monitoring and digitizing heritage monuments

Multisource Data Integration in Remote Sensing

Papers presented at the workshop on Multisource Data Integration in Remote Sensing are compiled. The full text of these papers is included. New instruments and new sensors are discussed that can provide us with a large variety of new views of the real world. This huge amount of data has to be combined and integrated in a (computer-) model of this world. Multiple sources may give complimentary views of the world - consistent observations from different (and independent) data sources support each other and increase their credibility, while contradictions may be caused by noise, errors during processing, or misinterpretations, and can be identified as such. As a consequence, integration results are very reliable and represent a valid source of information for any geographical information system