10 research outputs found

    Probabilistic-based Feature Embedding of 4-D Light Fields for Compressive Imaging and Denoising

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    The high-dimensional nature of the 4-D light field (LF) poses great challenges in achieving efficient and effective feature embedding, that severely impacts the performance of downstream tasks. To tackle this crucial issue, in contrast to existing methods with empirically-designed architectures, we propose a probabilistic-based feature embedding (PFE), which learns a feature embedding architecture by assembling various low-dimensional convolution patterns in a probability space for fully capturing spatial-angular information. Building upon the proposed PFE, we then leverage the intrinsic linear imaging model of the coded aperture camera to construct a cycle-consistent 4-D LF reconstruction network from coded measurements. Moreover, we incorporate PFE into an iterative optimization framework for 4-D LF denoising. Our extensive experiments demonstrate the significant superiority of our methods on both real-world and synthetic 4-D LF images, both quantitatively and qualitatively, when compared with state-of-the-art methods. The source code will be publicly available at https://github.com/lyuxianqiang/LFCA-CR-NET

    Enhanced processing methods for light field imaging

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    The light field camera provides rich textural and geometric information, but it is still challenging to use it efficiently and accurately to solve computer vision problems. Light field image processing is divided into multiple levels. First, low-level processing technology mainly includes the acquisition of light field images and their preprocessing. Second, the middle-level process consists of the depth estimation, light field encoding, and the extraction of cues from the light field. Third, high-level processing involves 3D reconstruction, target recognition, visual odometry, image reconstruction, and other advanced applications. We propose a series of improved algorithms for each of these levels. The light field signal contains rich angular information. By contrast, traditional computer vision methods, as used for 2D images, often cannot make full use of the high-frequency part of the light field angular information. We propose a fast pre-estimation algorithm to enhance the light field feature to improve its speed and accuracy when keeping full use of the angular information.Light field filtering and refocusing are essential cues in light field signal processing. Modern frequency domain filtering technology and wavelet technology have effectively improved light field filtering accuracy but may fail at object edges. We adapted the sub-window filtering with the light field to improve the reconstruction of object edges. Light field images can analyze the effects of scattering and refraction phenomena, and there are still insufficient metrics to evaluate the results. Therefore, we propose a physical rendering-based light field dataset that simulates the distorted light field image through a transparent medium, such as atmospheric turbulence or water surface. The neural network is an essential method to process complex light field data. We propose an efficient 3D convolutional autoencoder network for the light field structure. This network overcomes the severe distortion caused by high-intensity turbulence with limited angular resolution and solves the difficulty of pixel matching between distorted images. This work emphasizes the application and usefulness of light field imaging in computer vision whilst improving light field image processing speed and accuracy through signal processing, computer graphics, computer vision, and artificial neural networks

    Light Field Denoising via Anisotropic Parallax Analysis in a CNN Framework

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    Light field (LF) cameras provide perspective information of scenes by taking directional measurements of the focusing light rays. The raw outputs are usually dark with additive camera noise, which impedes subsequent processing and applications. We propose a novel LF denoising framework based on anisotropic parallax analysis (APA). Two convolutional neural networks are jointly designed for the task: first, the structural parallax synthesis network predicts the parallax details for the entire LF based on a set of anisotropic parallax features. These novel features can efficiently capture the high frequency perspective components of a LF from noisy observations. Second, the view-dependent detail compensation network restores non-Lambertian variation to each LF view by involving view-specific spatial energies. Extensive experiments show that the proposed APA LF denoiser provides a much better denoising performance than state-of-the-art methods in terms of visual quality and in preservation of parallax details

    Depth Estimation Through a Generative Model of Light Field Synthesis

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    Light field photography captures rich structural information that may facilitate a number of traditional image processing and computer vision tasks. A crucial ingredient in such endeavors is accurate depth recovery. We present a novel framework that allows the recovery of a high quality continuous depth map from light field data. To this end we propose a generative model of a light field that is fully parametrized by its corresponding depth map. The model allows for the integration of powerful regularization techniques such as a non-local means prior, facilitating accurate depth map estimation.Comment: German Conference on Pattern Recognition (GCPR) 201

    Past, Present, and Future of Simultaneous Localization And Mapping: Towards the Robust-Perception Age

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    Simultaneous Localization and Mapping (SLAM)consists in the concurrent construction of a model of the environment (the map), and the estimation of the state of the robot moving within it. The SLAM community has made astonishing progress over the last 30 years, enabling large-scale real-world applications, and witnessing a steady transition of this technology to industry. We survey the current state of SLAM. We start by presenting what is now the de-facto standard formulation for SLAM. We then review related work, covering a broad set of topics including robustness and scalability in long-term mapping, metric and semantic representations for mapping, theoretical performance guarantees, active SLAM and exploration, and other new frontiers. This paper simultaneously serves as a position paper and tutorial to those who are users of SLAM. By looking at the published research with a critical eye, we delineate open challenges and new research issues, that still deserve careful scientific investigation. The paper also contains the authors' take on two questions that often animate discussions during robotics conferences: Do robots need SLAM? and Is SLAM solved

    Plenoptic Signal Processing for Robust Vision in Field Robotics

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    This thesis proposes the use of plenoptic cameras for improving the robustness and simplicity of machine vision in field robotics applications. Dust, rain, fog, snow, murky water and insufficient light can cause even the most sophisticated vision systems to fail. Plenoptic cameras offer an appealing alternative to conventional imagery by gathering significantly more light over a wider depth of field, and capturing a rich 4D light field structure that encodes textural and geometric information. The key contributions of this work lie in exploring the properties of plenoptic signals and developing algorithms for exploiting them. It lays the groundwork for the deployment of plenoptic cameras in field robotics by establishing a decoding, calibration and rectification scheme appropriate to compact, lenslet-based devices. Next, the frequency-domain shape of plenoptic signals is elaborated and exploited by constructing a filter which focuses over a wide depth of field rather than at a single depth. This filter is shown to reject noise, improving contrast in low light and through attenuating media, while mitigating occluders such as snow, rain and underwater particulate matter. Next, a closed-form generalization of optical flow is presented which directly estimates camera motion from first-order derivatives. An elegant adaptation of this "plenoptic flow" to lenslet-based imagery is demonstrated, as well as a simple, additive method for rendering novel views. Finally, the isolation of dynamic elements from a static background is considered, a task complicated by the non-uniform apparent motion caused by a mobile camera. Two elegant closed-form solutions are presented dealing with monocular time-series and light field image pairs. This work emphasizes non-iterative, noise-tolerant, closed-form, linear methods with predictable and constant runtimes, making them suitable for real-time embedded implementation in field robotics applications

    Light field image denoising using a linear 4D frequency-hyperfan all-in-focus filter

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    Imaging in low light is problematic as sensor noise can dominate imagery, and increasing illumination or aperture size is not always effective or practical. Computational photography offers a promising solution in the form of the light field camera, which by capturing redundant information offers an opportunity for elegant noise rejection. We show that the light field of a Lambertian scene has a 4D hyperfan-shaped frequency-domain region of support at the intersection of a dual-fan and a hypercone. By designing and implementing a filter with appropriately shaped passband we accomplish denoising with a single all-in-focus linear filter. Drawing examples from the Stanford Light Field Archive and images captured using a commercially available lenselet-based plenoptic camera, we demonstrate that the hyperfan outperforms competing methods including synthetic focus, fan-shaped antialiasing filters, and a range of modern nonlinear image and video denoising techniques. We show the hyperfan preserves depth of field, making it a single-step all-in-focus denoising filter suitable for general-purpose light field rendering. We include results for different noise types and levels, over a variety of metrics, and in real-world scenarios. Finally, we show that the hyperfan’s performance scales with aperture count. 1

    Plenoptic Signal Processing for Robust Vision in Field Robotics

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    This thesis proposes the use of plenoptic cameras for improving the robustness and simplicity of machine vision in field robotics applications. Dust, rain, fog, snow, murky water and insufficient light can cause even the most sophisticated vision systems to fail. Plenoptic cameras offer an appealing alternative to conventional imagery by gathering significantly more light over a wider depth of field, and capturing a rich 4D light field structure that encodes textural and geometric information. The key contributions of this work lie in exploring the properties of plenoptic signals and developing algorithms for exploiting them. It lays the groundwork for the deployment of plenoptic cameras in field robotics by establishing a decoding, calibration and rectification scheme appropriate to compact, lenslet-based devices. Next, the frequency-domain shape of plenoptic signals is elaborated and exploited by constructing a filter which focuses over a wide depth of field rather than at a single depth. This filter is shown to reject noise, improving contrast in low light and through attenuating media, while mitigating occluders such as snow, rain and underwater particulate matter. Next, a closed-form generalization of optical flow is presented which directly estimates camera motion from first-order derivatives. An elegant adaptation of this "plenoptic flow" to lenslet-based imagery is demonstrated, as well as a simple, additive method for rendering novel views. Finally, the isolation of dynamic elements from a static background is considered, a task complicated by the non-uniform apparent motion caused by a mobile camera. Two elegant closed-form solutions are presented dealing with monocular time-series and light field image pairs. This work emphasizes non-iterative, noise-tolerant, closed-form, linear methods with predictable and constant runtimes, making them suitable for real-time embedded implementation in field robotics applications
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