3,931 research outputs found
Human Pose Estimation using Deep Consensus Voting
In this paper we consider the problem of human pose estimation from a single
still image. We propose a novel approach where each location in the image votes
for the position of each keypoint using a convolutional neural net. The voting
scheme allows us to utilize information from the whole image, rather than rely
on a sparse set of keypoint locations. Using dense, multi-target votes, not
only produces good keypoint predictions, but also enables us to compute
image-dependent joint keypoint probabilities by looking at consensus voting.
This differs from most previous methods where joint probabilities are learned
from relative keypoint locations and are independent of the image. We finally
combine the keypoints votes and joint probabilities in order to identify the
optimal pose configuration. We show our competitive performance on the MPII
Human Pose and Leeds Sports Pose datasets
Object Edge Contour Localisation Based on HexBinary Feature Matching
This paper addresses the issue of localising object
edge contours in cluttered backgrounds to support robotics
tasks such as grasping and manipulation and also to improve
the potential perceptual capabilities of robot vision systems. Our
approach is based on coarse-to-fine matching of a new recursively
constructed hierarchical, dense, edge-localised descriptor,
the HexBinary, based on the HexHog descriptor structure first
proposed in [1]. Since Binary String image descriptors [2]–
[5] require much lower computational resources, but provide
similar or even better matching performance than Histogram
of Orientated Gradient (HoG) descriptors, we have replaced
the HoG base descriptor fields used in HexHog with Binary
Strings generated from first and second order polar derivative
approximations. The ALOI [6] dataset is used to evaluate
the HexBinary descriptors which we demonstrate to achieve
a superior performance to that of HexHoG [1] for pose
refinement. The validation of our object contour localisation
system shows promising results with correctly labelling ~86% of edgel positions and mis-labelling ~3%
Polar Fusion Technique Analysis for Evaluating the Performances of Image Fusion of Thermal and Visual Images for Human Face Recognition
This paper presents a comparative study of two different methods, which are
based on fusion and polar transformation of visual and thermal images. Here,
investigation is done to handle the challenges of face recognition, which
include pose variations, changes in facial expression, partial occlusions,
variations in illumination, rotation through different angles, change in scale
etc. To overcome these obstacles we have implemented and thoroughly examined
two different fusion techniques through rigorous experimentation. In the first
method log-polar transformation is applied to the fused images obtained after
fusion of visual and thermal images whereas in second method fusion is applied
on log-polar transformed individual visual and thermal images. After this step,
which is thus obtained in one form or another, Principal Component Analysis
(PCA) is applied to reduce dimension of the fused images. Log-polar transformed
images are capable of handling complicacies introduced by scaling and rotation.
The main objective of employing fusion is to produce a fused image that
provides more detailed and reliable information, which is capable to overcome
the drawbacks present in the individual visual and thermal face images.
Finally, those reduced fused images are classified using a multilayer
perceptron neural network. The database used for the experiments conducted here
is Object Tracking and Classification Beyond Visible Spectrum (OTCBVS) database
benchmark thermal and visual face images. The second method has shown better
performance, which is 95.71% (maximum) and on an average 93.81% as correct
recognition rate.Comment: Proceedings of IEEE Workshop on Computational Intelligence in
Biometrics and Identity Management (IEEE CIBIM 2011), Paris, France, April 11
- 15, 201
Correlation Flow: Robust Optical Flow Using Kernel Cross-Correlators
Robust velocity and position estimation is crucial for autonomous robot
navigation. The optical flow based methods for autonomous navigation have been
receiving increasing attentions in tandem with the development of micro
unmanned aerial vehicles. This paper proposes a kernel cross-correlator (KCC)
based algorithm to determine optical flow using a monocular camera, which is
named as correlation flow (CF). Correlation flow is able to provide reliable
and accurate velocity estimation and is robust to motion blur. In addition, it
can also estimate the altitude velocity and yaw rate, which are not available
by traditional methods. Autonomous flight tests on a quadcopter show that
correlation flow can provide robust trajectory estimation with very low
processing power. The source codes are released based on the ROS framework.Comment: 2018 International Conference on Robotics and Automation (ICRA 2018
Study of object recognition and identification based on shape and texture analysis
The objective of object recognition is to enable computers to recognize image patterns without human intervention. According to its applications, it is mainly divided into two parts: recognition of object categories and detection/identification of objects.
My thesis studied the techniques of object feature analysis and identification strategies, which solve the object recognition problem by employing effective and perceptually important object features. The shape information is of particular interest and a review of the shape representation and description is presented, as well as the latest research work on object recognition. In the second chapter of the thesis, a novel content-based approach is proposed for efficient shape classification and retrieval of 2D objects.
Two object detection approaches, which are designed according to the characteristics of the shape context and SIFT descriptors, respectively, are analyzed and compared. It is found that the identification strategy constructed on a single type of object feature is only able to recognize the target object under specific conditions which the identifier is adapted to. These identifiers are usually designed to detect the target objects which are rich in the feature type captured by the identifier. In addition, this type of feature often distinguishes the target object from the complex scene.
To overcome this constraint, a novel prototyped-based object identification method is presented to detect the target object in the complex scene by employing different types of descriptors to capture the heterogeneous features. All types of descriptors are modified to meet the requirement of the detection strategy’s framework. Thus this new method is able to describe and identify various kinds of objects whose dominant features are quite different. The identification system employs the cosine similarity to evaluate the resemblance between the prototype image and image windows on the complex scene. Then a ‘resemblance map’ is established with values on each patch representing the likelihood of the target object’s presence. The simulation approved that this novel object detection strategy is efficient, robust and of scale and rotation invariance
Accurate Single Image Multi-Modal Camera Pose Estimation
Abstract. A well known problem in photogrammetry and computer vision is the precise and robust determination of camera poses with respect to a given 3D model. In this work we propose a novel multi-modal method for single image camera pose estimation with respect to 3D models with intensity information (e.g., LiDAR data with reflectance information). We utilize a direct point based rendering approach to generate synthetic 2D views from 3D datasets in order to bridge the dimensionality gap. The proposed method then establishes 2D/2D point and local region correspondences based on a novel self-similarity distance measure. Correct correspondences are robustly identified by searching for small regions with a similar geometric relationship of local self-similarities using a Generalized Hough Transform. After backprojection of the generated features into 3D a standard Perspective-n-Points problem is solved to yield an initial camera pose. The pose is then accurately refined using an intensity based 2D/3D registration approach. An evaluation on Vis/IR 2D and airborne and terrestrial 3D datasets shows that the proposed method is applicable to a wide range of different sensor types. In addition, the approach outperforms standard global multi-modal 2D/3D registration approaches based on Mutual Information with respect to robustness and speed. Potential applications are widespread and include for instance multispectral texturing of 3D models, SLAM applications, sensor data fusion and multi-spectral camera calibration and super-resolution applications
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