196,905 research outputs found
Anytime Stereo Image Depth Estimation on Mobile Devices
Many applications of stereo depth estimation in robotics require the
generation of accurate disparity maps in real time under significant
computational constraints. Current state-of-the-art algorithms force a choice
between either generating accurate mappings at a slow pace, or quickly
generating inaccurate ones, and additionally these methods typically require
far too many parameters to be usable on power- or memory-constrained devices.
Motivated by these shortcomings, we propose a novel approach for disparity
prediction in the anytime setting. In contrast to prior work, our end-to-end
learned approach can trade off computation and accuracy at inference time.
Depth estimation is performed in stages, during which the model can be queried
at any time to output its current best estimate. Our final model can process
1242375 resolution images within a range of 10-35 FPS on an NVIDIA
Jetson TX2 module with only marginal increases in error -- using two orders of
magnitude fewer parameters than the most competitive baseline. The source code
is available at https://github.com/mileyan/AnyNet .Comment: Accepted by ICRA201
Multi-layer Architecture For Storing Visual Data Based on WCF and Microsoft SQL Server Database
In this paper we present a novel architecture for storing visual data.
Effective storing, browsing and searching collections of images is one of the
most important challenges of computer science. The design of architecture for
storing such data requires a set of tools and frameworks such as SQL database
management systems and service-oriented frameworks. The proposed solution is
based on a multi-layer architecture, which allows to replace any component
without recompilation of other components. The approach contains five
components, i.e. Model, Base Engine, Concrete Engine, CBIR service and
Presentation. They were based on two well-known design patterns: Dependency
Injection and Inverse of Control. For experimental purposes we implemented the
SURF local interest point detector as a feature extractor and -means
clustering as indexer. The presented architecture is intended for content-based
retrieval systems simulation purposes as well as for real-world CBIR tasks.Comment: Accepted for the 14th International Conference on Artificial
Intelligence and Soft Computing, ICAISC, June 14-18, 2015, Zakopane, Polan
A graph-based mathematical morphology reader
This survey paper aims at providing a "literary" anthology of mathematical
morphology on graphs. It describes in the English language many ideas stemming
from a large number of different papers, hence providing a unified view of an
active and diverse field of research
Acceleration of stereo-matching on multi-core CPU and GPU
This paper presents an accelerated version of a
dense stereo-correspondence algorithm for two different parallelism
enabled architectures, multi-core CPU and GPU. The
algorithm is part of the vision system developed for a binocular
robot-head in the context of the CloPeMa 1 research project.
This research project focuses on the conception of a new clothes
folding robot with real-time and high resolution requirements
for the vision system. The performance analysis shows that
the parallelised stereo-matching algorithm has been significantly
accelerated, maintaining 12x and 176x speed-up respectively
for multi-core CPU and GPU, compared with non-SIMD singlethread
CPU. To analyse the origin of the speed-up and gain
deeper understanding about the choice of the optimal hardware,
the algorithm was broken into key sub-tasks and the performance
was tested for four different hardware architectures
Recurrent Saliency Transformation Network: Incorporating Multi-Stage Visual Cues for Small Organ Segmentation
We aim at segmenting small organs (e.g., the pancreas) from abdominal CT
scans. As the target often occupies a relatively small region in the input
image, deep neural networks can be easily confused by the complex and variable
background. To alleviate this, researchers proposed a coarse-to-fine approach,
which used prediction from the first (coarse) stage to indicate a smaller input
region for the second (fine) stage. Despite its effectiveness, this algorithm
dealt with two stages individually, which lacked optimizing a global energy
function, and limited its ability to incorporate multi-stage visual cues.
Missing contextual information led to unsatisfying convergence in iterations,
and that the fine stage sometimes produced even lower segmentation accuracy
than the coarse stage.
This paper presents a Recurrent Saliency Transformation Network. The key
innovation is a saliency transformation module, which repeatedly converts the
segmentation probability map from the previous iteration as spatial weights and
applies these weights to the current iteration. This brings us two-fold
benefits. In training, it allows joint optimization over the deep networks
dealing with different input scales. In testing, it propagates multi-stage
visual information throughout iterations to improve segmentation accuracy.
Experiments in the NIH pancreas segmentation dataset demonstrate the
state-of-the-art accuracy, which outperforms the previous best by an average of
over 2%. Much higher accuracies are also reported on several small organs in a
larger dataset collected by ourselves. In addition, our approach enjoys better
convergence properties, making it more efficient and reliable in practice.Comment: Accepted to CVPR 2018 (10 pages, 6 figures
Guided Filtering based Pyramidal Stereo Matching for Unrectified Images
Stereo matching deals with recovering quantitative
depth information from a set of input images, based on the visual
disparity between corresponding points. Generally most of the
algorithms assume that the processed images are rectified. As
robotics becomes popular, conducting stereo matching in the
context of cloth manipulation, such as obtaining the disparity
map of the garments from the two cameras of the cloth folding
robot, is useful and challenging. This is resulted from the fact of
the high efficiency, accuracy and low memory requirement under
the usage of high resolution images in order to capture the details
(e.g. cloth wrinkles) for the given application (e.g. cloth folding).
Meanwhile, the images can be unrectified. Therefore, we propose
to adapt guided filtering algorithm into the pyramidical stereo
matching framework that works directly for unrectified images.
To evaluate the proposed unrectified stereo matching in terms of
accuracy, we present three datasets that are suited to especially
the characteristics of the task of cloth manipulations. By com-
paring the proposed algorithm with two baseline algorithms on
those three datasets, we demonstrate that our proposed approach
is accurate, efficient and requires low memory. This also shows
that rather than relying on image rectification, directly applying
stereo matching through the unrectified images can be also quite
effective and meanwhile efficien
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