9,256 research outputs found
Rate-Accuracy Trade-Off In Video Classification With Deep Convolutional Neural Networks
Advanced video classification systems decode video frames to derive the
necessary texture and motion representations for ingestion and analysis by
spatio-temporal deep convolutional neural networks (CNNs). However, when
considering visual Internet-of-Things applications, surveillance systems and
semantic crawlers of large video repositories, the video capture and the
CNN-based semantic analysis parts do not tend to be co-located. This
necessitates the transport of compressed video over networks and incurs
significant overhead in bandwidth and energy consumption, thereby significantly
undermining the deployment potential of such systems. In this paper, we
investigate the trade-off between the encoding bitrate and the achievable
accuracy of CNN-based video classification models that directly ingest
AVC/H.264 and HEVC encoded videos. Instead of retaining entire compressed video
bitstreams and applying complex optical flow calculations prior to CNN
processing, we only retain motion vector and select texture information at
significantly-reduced bitrates and apply no additional processing prior to CNN
ingestion. Based on three CNN architectures and two action recognition
datasets, we achieve 11%-94% saving in bitrate with marginal effect on
classification accuracy. A model-based selection between multiple CNNs
increases these savings further, to the point where, if up to 7% loss of
accuracy can be tolerated, video classification can take place with as little
as 3 kbps for the transport of the required compressed video information to the
system implementing the CNN models
Human Motion Capture Data Tailored Transform Coding
Human motion capture (mocap) is a widely used technique for digitalizing
human movements. With growing usage, compressing mocap data has received
increasing attention, since compact data size enables efficient storage and
transmission. Our analysis shows that mocap data have some unique
characteristics that distinguish themselves from images and videos. Therefore,
directly borrowing image or video compression techniques, such as discrete
cosine transform, does not work well. In this paper, we propose a novel
mocap-tailored transform coding algorithm that takes advantage of these
features. Our algorithm segments the input mocap sequences into clips, which
are represented in 2D matrices. Then it computes a set of data-dependent
orthogonal bases to transform the matrices to frequency domain, in which the
transform coefficients have significantly less dependency. Finally, the
compression is obtained by entropy coding of the quantized coefficients and the
bases. Our method has low computational cost and can be easily extended to
compress mocap databases. It also requires neither training nor complicated
parameter setting. Experimental results demonstrate that the proposed scheme
significantly outperforms state-of-the-art algorithms in terms of compression
performance and speed
Mirrored Light Field Video Camera Adapter
This paper proposes the design of a custom mirror-based light field camera
adapter that is cheap, simple in construction, and accessible. Mirrors of
different shape and orientation reflect the scene into an upwards-facing camera
to create an array of virtual cameras with overlapping field of view at
specified depths, and deliver video frame rate light fields. We describe the
design, construction, decoding and calibration processes of our mirror-based
light field camera adapter in preparation for an open-source release to benefit
the robotic vision community.Comment: tech report, v0.5, 15 pages, 6 figure
A mask-based approach for the geometric calibration of thermal-infrared cameras
Accurate and efficient thermal-infrared (IR) camera calibration is important for advancing computer vision research within the thermal modality. This paper presents an approach for geometrically calibrating individual and multiple cameras in both the thermal and visible modalities. The proposed technique can be used to correct for lens distortion and to simultaneously reference both visible and thermal-IR cameras to a single coordinate frame. The most popular existing approach for the geometric calibration of thermal cameras uses a printed chessboard heated by a flood lamp and is comparatively inaccurate and difficult to execute. Additionally, software toolkits provided for calibration either are unsuitable for this task or require substantial manual intervention. A new geometric mask with high thermal contrast and not requiring a flood lamp is presented as an alternative calibration pattern. Calibration points on the pattern are then accurately located using a clustering-based algorithm which utilizes the maximally stable extremal region detector. This algorithm is integrated into an automatic end-to-end system for calibrating single or multiple cameras. The evaluation shows that using the proposed mask achieves a mean reprojection error up to 78% lower than that using a heated chessboard. The effectiveness of the approach is further demonstrated by using it to calibrate two multiple-camera multiple-modality setups. Source code and binaries for the developed software are provided on the project Web site
Tightly Coupled 3D Lidar Inertial Odometry and Mapping
Ego-motion estimation is a fundamental requirement for most mobile robotic
applications. By sensor fusion, we can compensate the deficiencies of
stand-alone sensors and provide more reliable estimations. We introduce a
tightly coupled lidar-IMU fusion method in this paper. By jointly minimizing
the cost derived from lidar and IMU measurements, the lidar-IMU odometry (LIO)
can perform well with acceptable drift after long-term experiment, even in
challenging cases where the lidar measurements can be degraded. Besides, to
obtain more reliable estimations of the lidar poses, a rotation-constrained
refinement algorithm (LIO-mapping) is proposed to further align the lidar poses
with the global map. The experiment results demonstrate that the proposed
method can estimate the poses of the sensor pair at the IMU update rate with
high precision, even under fast motion conditions or with insufficient
features.Comment: Accepted by ICRA 201
Multi-set canonical correlation analysis for 3D abnormal gait behaviour recognition based on virtual sample generation
Small sample dataset and two-dimensional (2D) approach are challenges to vision-based abnormal gait behaviour recognition (AGBR). The lack of three-dimensional (3D) structure of the human body causes 2D based methods to be limited in abnormal gait virtual sample generation (VSG). In this paper, 3D AGBR based on VSG and multi-set canonical correlation analysis (3D-AGRBMCCA) is proposed. First, the unstructured point cloud data of gait are obtained by using a structured light sensor. A 3D parametric body model is then deformed to fit the point cloud data, both in shape and posture. The features of point cloud data are then converted to a high-level structured representation of the body. The parametric body model is used for VSG based on the estimated body pose and shape data. Symmetry virtual samples, pose-perturbation virtual samples and various body-shape virtual samples with multi-views are generated to extend the training samples. The spatial-temporal features of the abnormal gait behaviour from different views, body pose and shape parameters are then extracted by convolutional neural network based Long Short-Term Memory model network. These are projected onto a uniform pattern space using deep learning based multi-set canonical correlation analysis. Experiments on four publicly available datasets show the proposed system performs well under various conditions
2.5D multi-view gait recognition based on point cloud registration
This paper presents a method for modeling a 2.5-dimensional (2.5D) human body and extracting the gait features for identifying the human subject. To achieve view-invariant gait recognition, a multi-view synthesizing method based on point cloud registration (MVSM) to generate multi-view training galleries is proposed. The concept of a density and curvature-based Color Gait Curvature Image is introduced to map 2.5D data onto a 2D space to enable data dimension reduction by discrete cosine transform and 2D principle component analysis. Gait recognition is achieved via a 2.5D view-invariant gait recognition method based on point cloud registration. Experimental results on the in-house database captured by a Microsoft Kinect camera show a significant performance gain when using MVSM
- β¦