28,460 research outputs found
Coplanar Repeats by Energy Minimization
This paper proposes an automated method to detect, group and rectify
arbitrarily-arranged coplanar repeated elements via energy minimization. The
proposed energy functional combines several features that model how planes with
coplanar repeats are projected into images and captures global interactions
between different coplanar repeat groups and scene planes. An inference
framework based on a recent variant of -expansion is described and fast
convergence is demonstrated. We compare the proposed method to two widely-used
geometric multi-model fitting methods using a new dataset of annotated images
containing multiple scene planes with coplanar repeats in varied arrangements.
The evaluation shows a significant improvement in the accuracy of
rectifications computed from coplanar repeats detected with the proposed method
versus those detected with the baseline methods.Comment: 14 pages with supplemental materials attache
3D Object Discovery and Modeling Using Single RGB-D Images Containing Multiple Object Instances
Unsupervised object modeling is important in robotics, especially for
handling a large set of objects. We present a method for unsupervised 3D object
discovery, reconstruction, and localization that exploits multiple instances of
an identical object contained in a single RGB-D image. The proposed method does
not rely on segmentation, scene knowledge, or user input, and thus is easily
scalable. Our method aims to find recurrent patterns in a single RGB-D image by
utilizing appearance and geometry of the salient regions. We extract keypoints
and match them in pairs based on their descriptors. We then generate triplets
of the keypoints matching with each other using several geometric criteria to
minimize false matches. The relative poses of the matched triplets are computed
and clustered to discover sets of triplet pairs with similar relative poses.
Triplets belonging to the same set are likely to belong to the same object and
are used to construct an initial object model. Detection of remaining instances
with the initial object model using RANSAC allows to further expand and refine
the model. The automatically generated object models are both compact and
descriptive. We show quantitative and qualitative results on RGB-D images with
various objects including some from the Amazon Picking Challenge. We also
demonstrate the use of our method in an object picking scenario with a robotic
arm
Local and global gestalt laws: A neurally based spectral approach
A mathematical model of figure-ground articulation is presented, taking into
account both local and global gestalt laws. The model is compatible with the
functional architecture of the primary visual cortex (V1). Particularly the
local gestalt law of good continuity is described by means of suitable
connectivity kernels, that are derived from Lie group theory and are neurally
implemented in long range connectivity in V1. Different kernels are compatible
with the geometric structure of cortical connectivity and they are derived as
the fundamental solutions of the Fokker Planck, the Sub-Riemannian Laplacian
and the isotropic Laplacian equations. The kernels are used to construct
matrices of connectivity among the features present in a visual stimulus.
Global gestalt constraints are then introduced in terms of spectral analysis of
the connectivity matrix, showing that this processing can be cortically
implemented in V1 by mean field neural equations. This analysis performs
grouping of local features and individuates perceptual units with the highest
saliency. Numerical simulations are performed and results are obtained applying
the technique to a number of stimuli.Comment: submitted to Neural Computatio
Perceptual grouping abilities in individuals with Autism Spectrum Disorder: exploring patterns of ability in relation to grouping type and levels of development
This study further investigates findings of impairment in Gestalt, but not global processing in Autism Spectrum Disorder (ASD) [Brosnan, Scott, Fox, & Pye, 2004]. Nineteen males with ASD and nineteen typically developing (TD) males matched by nonverbal ability, took part in five Gestalt perceptual grouping tasks. Results showed that performance differed according to grouping type. The ASD group showed typical performance for grouping by proximity and by alignment, impairment on low difficulty trials for orientation and luminance similarity, and general impairment for grouping by shape similarity. Group differences were also observed developmentally; for the ASD group, with the exception of grouping by shape similarity, perceptual grouping performance was poorer at lower than higher levels of nonverbal ability. In contrast, no developmental progression was observed in the TD controls
Radially-Distorted Conjugate Translations
This paper introduces the first minimal solvers that jointly solve for
affine-rectification and radial lens distortion from coplanar repeated
patterns. Even with imagery from moderately distorted lenses, plane
rectification using the pinhole camera model is inaccurate or invalid. The
proposed solvers incorporate lens distortion into the camera model and extend
accurate rectification to wide-angle imagery, which is now common from consumer
cameras. The solvers are derived from constraints induced by the conjugate
translations of an imaged scene plane, which are integrated with the division
model for radial lens distortion. The hidden-variable trick with ideal
saturation is used to reformulate the constraints so that the solvers generated
by the Grobner-basis method are stable, small and fast.
Rectification and lens distortion are recovered from either one conjugately
translated affine-covariant feature or two independently translated
similarity-covariant features. The proposed solvers are used in a \RANSAC-based
estimator, which gives accurate rectifications after few iterations. The
proposed solvers are evaluated against the state-of-the-art and demonstrate
significantly better rectifications on noisy measurements. Qualitative results
on diverse imagery demonstrate high-accuracy undistortions and rectifications.
The source code is publicly available at https://github.com/prittjam/repeats
Superpixel-based Two-view Deterministic Fitting for Multiple-structure Data
This paper proposes a two-view deterministic geometric model fitting method,
termed Superpixel-based Deterministic Fitting (SDF), for multiple-structure
data. SDF starts from superpixel segmentation, which effectively captures prior
information of feature appearances. The feature appearances are beneficial to
reduce the computational complexity for deterministic fitting methods. SDF also
includes two original elements, i.e., a deterministic sampling algorithm and a
novel model selection algorithm. The two algorithms are tightly coupled to
boost the performance of SDF in both speed and accuracy. Specifically, the
proposed sampling algorithm leverages the grouping cues of superpixels to
generate reliable and consistent hypotheses. The proposed model selection
algorithm further makes use of desirable properties of the generated
hypotheses, to improve the conventional fit-and-remove framework for more
efficient and effective performance. The key characteristic of SDF is that it
can efficiently and deterministically estimate the parameters of model
instances in multi-structure data. Experimental results demonstrate that the
proposed SDF shows superiority over several state-of-the-art fitting methods
for real images with single-structure and multiple-structure data.Comment: Accepted by European Conference on Computer Vision (ECCV
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