Estimating hyperparameters and instrument parameters in regularized inversion. Illustration for SPIRE/Herschel map making

We describe regularized methods for image reconstruction and focus on the question of hyperparameter and instrument parameter estimation, i.e. unsupervised and myopic problems. We developed a Bayesian framework that is based on the \post density for all unknown quantities, given the observations. This density is explored by a Markov Chain Monte-Carlo sampling technique based on a Gibbs loop and including a Metropolis-Hastings step. The numerical evaluation relies on the SPIRE instrument of the Herschel observatory. Using simulated and real observations, we show that the hyperparameters and instrument parameters are correctly estimated, which opens up many perspectives for imaging in astrophysics

RGBDTAM: A Cost-Effective and Accurate RGB-D Tracking and Mapping System

Simultaneous Localization and Mapping using RGB-D cameras has been a fertile research topic in the latest decade, due to the suitability of such sensors for indoor robotics. In this paper we propose a direct RGB-D SLAM algorithm with state-of-the-art accuracy and robustness at a los cost. Our experiments in the RGB-D TUM dataset [34] effectively show a better accuracy and robustness in CPU real time than direct RGB-D SLAM systems that make use of the GPU. The key ingredients of our approach are mainly two. Firstly, the combination of a semi-dense photometric and dense geometric error for the pose tracking (see Figure 1), which we demonstrate to be the most accurate alternative. And secondly, a model of the multi-view constraints and their errors in the mapping and tracking threads, which adds extra information over other approaches. We release the open-source implementation of our approach 1 . The reader is referred to a video with our results 2 for a more illustrative visualization of its performance

Space adaptive and hierarchical Bayesian variational models for image restoration

The main contribution of this thesis is the proposal of novel space-variant regularization or penalty terms motivated by a strong statistical rational. In light of the connection between the classical variational framework and the Bayesian formulation, we will focus on the design of highly flexible priors characterized by a large number of unknown parameters. The latter will be automatically estimated by setting up a hierarchical modeling framework, i.e. introducing informative or non-informative hyperpriors depending on the information at hand on the parameters. More specifically, in the first part of the thesis we will focus on the restoration of natural images, by introducing highly parametrized distribution to model the local behavior of the gradients in the image. The resulting regularizers hold the potential to adapt to the local smoothness, directionality and sparsity in the data. The estimation of the unknown parameters will be addressed by means of non-informative hyperpriors, namely uniform distributions over the parameter domain, thus leading to the classical Maximum Likelihood approach. In the second part of the thesis, we will address the problem of designing suitable penalty terms for the recovery of sparse signals. The space-variance in the proposed penalties, corresponding to a family of informative hyperpriors, namely generalized gamma hyperpriors, will follow directly from the assumption of the independence of the components in the signal. The study of the properties of the resulting energy functionals will thus lead to the introduction of two hybrid algorithms, aimed at combining the strong sparsity promotion characterizing non-convex penalty terms with the desirable guarantees of convex optimization

Image Denoising by using Modified SGHP Algorithm

In real time applications, image denoising is a predominant task. This task makes adequate preparation for images looks prominent. But there are several denoising algorithms and every algorithm has its own distinctive attribute based upon different natural images. In this paper, we proposed a perspective that is modified parameter in S-Gradient Histogram Preservation denoising method. S-Gradient Histogram Preservation is a method to compute the structure gradient histogram from the noisy observation by taking different noise standard deviations of different images. The performance of this method is enumerated in terms of peak signal to noise ratio and structural similarity index of a particular image. In this paper, mainly focus on peak signal to noise ratio, structural similarity index, noise estimation and a measure of structure gradient histogram of a given image

VITALAS at TRECVID-2008

In this paper, we present our experiments in TRECVID 2008 about High-Level feature extraction task. This is the first year for our participation in TRECVID, our system adopts some popular approaches that other workgroups proposed before. We proposed 2 advanced low-level features NEW Gabor texture descriptor and the Compact-SIFT Codeword histogram. Our system applied well-known LIBSVM to train the SVM classifier for the basic classifier. In fusion step, some methods were employed such as the Voting, SVM-base, HCRF and Bootstrap Average AdaBoost(BAAB)