Circulant temporal encoding for video retrieval and temporal alignment

We address the problem of specific video event retrieval. Given a query video of a specific event, e.g., a concert of Madonna, the goal is to retrieve other videos of the same event that temporally overlap with the query. Our approach encodes the frame descriptors of a video to jointly represent their appearance and temporal order. It exploits the properties of circulant matrices to efficiently compare the videos in the frequency domain. This offers a significant gain in complexity and accurately localizes the matching parts of videos. The descriptors can be compressed in the frequency domain with a product quantizer adapted to complex numbers. In this case, video retrieval is performed without decompressing the descriptors. We also consider the temporal alignment of a set of videos. We exploit the matching confidence and an estimate of the temporal offset computed for all pairs of videos by our retrieval approach. Our robust algorithm aligns the videos on a global timeline by maximizing the set of temporally consistent matches. The global temporal alignment enables synchronous playback of the videos of a given scene

Vehicle detection and tracking using homography-based plane rectification and particle filtering

This paper presents a full system for vehicle detection and tracking in non-stationary settings based on computer vision. The method proposed for vehicle detection exploits the geometrical relations between the elements in the scene so that moving objects (i.e., vehicles) can be detected by analyzing motion parallax. Namely, the homography of the road plane between successive images is computed. Most remarkably, a novel probabilistic framework based on Kalman filtering is presented for reliable and accurate homography estimation. The estimated homography is used for image alignment, which in turn allows to detect the moving vehicles in the image. Tracking of vehicles is performed on the basis of a multidimensional particle filter, which also manages the exit and entries of objects. The filter involves a mixture likelihood model that allows a better adaptation of the particles to the observed measurements. The system is specially designed for highway environments, where it has been proven to yield excellent results

Obstacle Avoidance and Path Planning Using a Sparse Array of Sonars

This paper proposes an exploration method for robots equipped with a set of sonar sensors that does not allow for complete coverage of the robot's close surroundings. In such cases, there is a high risk of collision with possible undetected obstacles. The proposed method, adapted for use in urban outdoors environments, minimizes such risks while guiding the robot towards a predefined target location. During the process, a compact and accurate representation of the environment can be obtained

Exploiting Points and Lines in Regression Forests for RGB-D Camera Relocalization

Camera relocalization plays a vital role in many robotics and computer vision tasks, such as global localization, recovery from tracking failure and loop closure detection. Recent random forests based methods exploit randomly sampled pixel comparison features to predict 3D world locations for 2D image locations to guide the camera pose optimization. However, these image features are only sampled randomly in the images, without considering the spatial structures or geometric information, leading to large errors or failure cases with the existence of poorly textured areas or in motion blur. Line segment features are more robust in these environments. In this work, we propose to jointly exploit points and lines within the framework of uncertainty driven regression forests. The proposed approach is thoroughly evaluated on three publicly available datasets against several strong state-of-the-art baselines in terms of several different error metrics. Experimental results prove the efficacy of our method, showing superior or on-par state-of-the-art performance.Comment: published as a conference paper at 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS

Long gravitational-wave transients and associated detection strategies for a network of terrestrial interferometers

Searches for gravitational waves (GWs) traditionally focus on persistent sources (e.g., pulsars or the stochastic background) or on transients sources (e.g., compact binary inspirals or core-collapse supernovae), which last for time scales of milliseconds to seconds. We explore the possibility of long GW transients with unknown waveforms lasting from many seconds to weeks. We propose a novel analysis technique to bridge the gap between short O(s) “burst” analyses and persistent stochastic analyses. Our technique utilizes frequency-time maps of GW strain cross power between two spatially separated terrestrial GW detectors. The application of our cross power statistic to searches for GW transients is framed as a pattern recognition problem, and we discuss several pattern-recognition techniques. We demonstrate these techniques by recovering simulated GW signals in simulated detector noise. We also recover environmental noise artifacts, thereby demonstrating a novel technique for the identification of such artifacts in GW interferometers. We compare the efficiency of this framework to other techniques such as matched filtering

SCHLIEREN SEQUENCE ANALYSIS USING COMPUTER VISION

Computer vision-based methods are proposed for extraction and measurement of flow structures of interest in schlieren video. As schlieren data has increased with faster frame rates, we are faced with thousands of images to analyze. This presents an opportunity to study global flow structures over time that may not be evident from surface measurements. A degree of automation is desirable to extract flow structures and features to give information on their behavior through the sequence. Using an interdisciplinary approach, the analysis of large schlieren data is recast as a computer vision problem. The double-cone schlieren sequence is used as a testbed for the methodology; it is unique in that it contains 5,000 images, complex phenomena, and is feature rich. Oblique structures such as shock waves and shear layers are common in schlieren images. A vision-based methodology is used to provide an estimate of oblique structure angles through the unsteady sequence. The methodology has been applied to a complex flowfield with multiple shocks. A converged detection success rate between 94% and 97% for these structures is obtained. The modified curvature scale space is used to define features at salient points on shock contours. A challenge in developing methods for feature extraction in schlieren images is the reconciliation of existing techniques with features of interest to an aerodynamicist. Domain-specific knowledge of physics must therefore be incorporated into the definition and detec- tion phases. Known location and physically possible structure representations form a knowledge base that provides a unique feature definition and extraction. Model tip location and the motion of a shock intersection across several thousand frames are identified, localized, and tracked. Images are parsed into physically meaningful labels using segmentation. Using this representation, it is shown that in the double-cone flowfield, the dominant unsteady motion is associated with large scale random events within the aft-cone bow shock. Small scale organized motion is associated with the shock-separated flow on the fore-cone surface. We show that computer vision is a natural and useful extension to the evaluation of schlieren data, and that segmentation has the potential to permit new large scale measurements of flow motion

Hough Transform Track Reconstruction in the Cathode Strip Chambers in ATLAS

The world's largest and highest energy particle accelerator, the Large Hadron Collider (LHC), will collide two highly energetic proton beams in an attempt to discover a wide range of new physics. Among which, the primary ambitions are the discovery of the Higgs boson and suppersymmetric particles. ATLAS, one of its primary particle detectors, was designed as a general-purpose detector covering a broad range of energies and physical processes. A special emphasis on accurate muon tracking has led the ATLAS collaboration to design a stand-alone Muon Spectrometer, an extremely large tracking system extending all the way around the detector. Due to its immense size and range, parts of the spectrometer were designed to withstand a high rate of radiation, sifting the muon signals from the rest of the signals (primarily neutrons and photons). The Cathode Strip Chambers (CSCs) are special multiwire proportional chambers placed in the high $\eta$ region on of the Muon Spectrometer, where flux of background particles is highest. Their purpose is to efficiently filter out the background particle, tracking only the muons traversing it with high degree of accuracy. In order to do that, this special algorithm was designed using a novel modification of the Hough Transform. This thesis will detail the key elements of this algorithm, how it is used for better muon track detection and parameterization, and give a preliminary evaluation of the perform ance of this algorithm