3D Building Synthesis Based on Images and Affine Invariant Salient Features

In this thesis, we introduce a method to synthesize and recognize buildings using a set of at least two 2D images taken from different views. Based on a coarse set of affine invariant salient feature points (corner points) on the images, a 3D high-resolution building model is obtained in accordance with the observed images. Corresponding salient points are found using the ratio of triangle areas formed from a set of four consecutive ordered salient corresponding points that form two triangles. The order is obtained by finding the vertices of the convex hull of the salient points. The salient points are tessellated to form a high-resolution triangular mesh with the appearance of a triangular patch in the image imported onto the personalized 3D model. With multiple images, all coordinates and appearances are reconstructed in accordance with the observed images. The 3D model reconstruction method allows for a 3D classification of a test building to one of many possible buildings stored in the database. The classification is based on a geometric 3D point cloud error. For buildings with very close 3D point cloud errors, a further classification is achieved based on the mean squared error (MSE) on the appearance of corresponding points on the test and base models. Our method can also be used in localization when preloaded location information of each model in the database is stored, hence helping an observer navigate without a GPS system.M.S., Electrical Engineering -- Drexel University, 201

Have I seen this place before? A fast and robust loop detection and correction method for 3D Lidar SLAM

In this paper, we present a complete loop detection and correction system developed for data originating from lidar scanners. Regarding detection, we propose a combination of a global point cloud matcher with a novel registration algorithm to determine loop candidates in a highly effective way. The registration method can deal with point clouds that are largely deviating in orientation while improving the efficiency over existing techniques. In addition, we accelerated the computation of the global point cloud matcher by a factor of 2–4, exploiting the GPU to its maximum. Experiments demonstrated that our combined approach more reliably detects loops in lidar data compared to other point cloud matchers as it leads to better precision–recall trade-offs: for nearly 100% recall, we gain up to 7% in precision. Finally, we present a novel loop correction algorithm that leads to an improvement by a factor of 2 on the average and median pose error, while at the same time only requires a handful of seconds to complete

Shape-based invariant features extraction for object recognition

International audienceThe emergence of new technologies enables generating large quantity of digital information including images; this leads to an increasing number of generated digital images. Therefore it appears a necessity for automatic systems for image retrieval. These systems consist of techniques used for query specification and re-trieval of images from an image collection. The most frequent and the most com-mon means for image retrieval is the indexing using textual keywords. But for some special application domains and face to the huge quantity of images, key-words are no more sufficient or unpractical. Moreover, images are rich in content; so in order to overcome these mentioned difficulties, some approaches are pro-posed based on visual features derived directly from the content of the image: these are the content-based image retrieval (CBIR) approaches. They allow users to search the desired image by specifying image queries: a query can be an exam-ple, a sketch or visual features (e.g., colour, texture and shape). Once the features have been defined and extracted, the retrieval becomes a task of measuring simi-larity between image features. An important property of these features is to be in-variant under various deformations that the observed image could undergo. In this chapter, we will present a number of existing methods for CBIR applica-tions. We will also describe some measures that are usually used for similarity measurement. At the end, and as an application example, we present a specific ap-proach, that we are developing, to illustrate the topic by providing experimental results

3D Pedestrian Tracking and Virtual Reconstruction of Ceramic Vessels Using Geometric and Color Cues

Object tracking using cameras has many applications ranging from monitoring children and the elderly, to behavior analysis, entertainment, and homeland security. This thesis concentrates on the problem of tracking person(s) of interest in crowded scenes (e.g., airports, train stations, malls, etc.), rendering their locations in time and space along with high quality close-up images of the person for recognition. The tracking is achieved using a combination of overhead cameras for 3D tracking and a network of pan-tilt-zoom (PTZ) cameras to obtain close-up frontal face images. Based on projective geometry, the overhead cameras track people using salient and easily computable feature points such as head points. When the obtained head point is not accurate enough, the color information of the head tops across subsequent frames is integrated to detect and track people. To capture the best frontal face images of a target across time, a PTZ camera scheduling is proposed, where the 'best' PTZ camera is selected based on the capture quality (as close as possible to frontal view) and handoff success (response time needed by the newly selected camera to move from current to desired state) probabilities. The experiments show the 3D tracking errors are very small (less than 5 cm with 14 people crowding an area of around 4 m2) and the frontal face images are captured effectively with most of them centering in the frames. Computational archaeology is becoming a success story of applying computational tools in the reconstruction of vessels obtained from digs, freeing the expert from hours of intensive labor in manually stitching shards into meaningful vessels. In this thesis, we concentrate on the use of geometric and color information of the fragments for 3D virtual reconstruction of broken ceramic vessels. Generic models generated by the experts as a rendition of what the original vessel may have looked like are also utilized. The generic models need not to be identical to the original vessel, but are within a geometric transformation of it in most of its parts. The markings on the 3D surfaces of fragments and generic models are extracted based on their color cues. Ceramic fragments are then aligned against the corresponding generic models based on the geometric relation between the extracted markings. The alignments yield sub-scanner resolution fitting errors.Ph.D., Electrical Engineering -- Drexel University, 201

Multi-Object Shape Retrieval Using Curvature Trees

This work presents a geometry-based image retrieval approach for multi-object images. We commence with developing an effective shape matching method for closed boundaries. Then, a structured representation, called curvature tree (CT), is introduced to extend the shape matching approach to handle images containing multiple objects with possible holes. We also propose an algorithm, based on Gestalt principles, to detect and extract high-level boundaries (or envelopes), which may evolve as a result of the spatial arrangement of a group of image objects. At first, a shape retrieval method using triangle-area representation (TAR) is presented for non-rigid shapes with closed boundaries. This representation is effective in capturing both local and global characteristics of a shape, invariant to translation, rotation, scaling and shear, and robust against noise and moderate amounts of occlusion. For matching, two algorithms are introduced. The first algorithm matches concavity maxima points extracted from TAR image obtained by thresholding the TAR. In the second matching algorithm, dynamic space warping (DSW) is employed to search efficiently for the optimal (least cost) correspondence between the points of two shapes. Experimental results using the MPEG-7 CE-1 database of 1400 shapes show the superiority of our method over other recent methods. Then, a geometry-based image retrieval system is developed for multi-object images. We model both shape and topology of image objects including holes using a structured representation called curvature tree (CT). To facilitate shape-based matching, the TAR of each object and hole is stored at the corresponding node in the CT. The similarity between two CTs is measured based on the maximum similarity subtree isomorphism (MSSI) where a one-to-one correspondence is established between the nodes of the two trees. Our matching scheme agrees with many recent findings in psychology about the human perception of multi-object images. Two algorithms are introduced to solve the MSSI problem: an approximate and an exact. Both algorithms have polynomial-time computational complexity and use the DSW as the similarity measure between the attributed nodes. Experiments on a database of 13500 medical images and a database of 1580 logo images have shown the effectiveness of the proposed method. The purpose of the last part is to allow for high-level shape retrieval in multi-object images by detecting and extracting the envelope of high-level object groupings in the image. Motivated by studies in Gestalt theory, a new algorithm for the envelope extraction is proposed that works in two stages. The first stage detects the envelope (if exists) and groups its objects using hierarchical clustering. In the second stage, each grouping is merged using morphological operations and then further refined using concavity tree reconstruction to eliminate odd concavities in the extracted envelope. Experiment on a set of 110 logo images demonstrates the feasibility of our approach