41,104 research outputs found
Integrated 2-D Optical Flow Sensor
I present a new focal-plane analog VLSI sensor that estimates optical flow in two visual dimensions. The chip significantly improves previous approaches both with respect to the applied model of optical flow estimation as well as the actual hardware implementation. Its distributed computational architecture consists of an array of locally connected motion units that collectively solve for the unique optimal optical flow estimate. The novel gradient-based motion model assumes visual motion to be translational, smooth and biased. The model guarantees that the estimation problem is computationally well-posed regardless of the visual input. Model parameters can be globally adjusted, leading to a rich output behavior. Varying the smoothness strength, for example, can provide a continuous spectrum of motion estimates, ranging from normal to global optical flow. Unlike approaches that rely on the explicit matching of brightness edges in space or time, the applied gradient-based model assures spatiotemporal continuity on visual information. The non-linear coupling of the individual motion units improves the resulting optical flow estimate because it reduces spatial smoothing across large velocity differences. Extended measurements of a 30x30 array prototype sensor under real-world conditions demonstrate the validity of the model and the robustness and functionality of the implementation
Wavelet-based denoising for 3D OCT images
Optical coherence tomography produces high resolution medical images based on spatial and temporal coherence of the optical waves backscattered from the scanned tissue. However, the same coherence introduces speckle noise as well; this degrades the quality of acquired images.
In this paper we propose a technique for noise reduction of 3D OCT images, where the 3D volume is considered as a sequence of 2D images, i.e., 2D slices in depth-lateral projection plane. In the proposed method we first perform recursive temporal filtering through the estimated motion trajectory between the 2D slices using noise-robust motion estimation/compensation scheme previously proposed for video denoising. The temporal filtering scheme reduces the noise level and adapts the motion compensation on it. Subsequently, we apply a spatial filter for speckle reduction in order to remove the remainder of noise in the 2D slices. In this scheme the spatial (2D) speckle-nature of noise in OCT is modeled and used for spatially adaptive denoising. Both the temporal and the spatial filter are wavelet-based techniques, where for the temporal filter two resolution scales are used and for the spatial one four resolution scales.
The evaluation of the proposed denoising approach is done on demodulated 3D OCT images on different sources and of different resolution. For optimizing the parameters for best denoising performance fantom OCT images were used. The denoising performance of the proposed method was measured in terms of SNR, edge sharpness preservation and contrast-to-noise ratio. A comparison was made to the state-of-the-art methods for noise reduction in 2D OCT images, where the proposed approach showed to be advantageous in terms of both objective and subjective quality measures
On-Manifold Preintegration for Real-Time Visual-Inertial Odometry
Current approaches for visual-inertial odometry (VIO) are able to attain
highly accurate state estimation via nonlinear optimization. However, real-time
optimization quickly becomes infeasible as the trajectory grows over time, this
problem is further emphasized by the fact that inertial measurements come at
high rate, hence leading to fast growth of the number of variables in the
optimization. In this paper, we address this issue by preintegrating inertial
measurements between selected keyframes into single relative motion
constraints. Our first contribution is a \emph{preintegration theory} that
properly addresses the manifold structure of the rotation group. We formally
discuss the generative measurement model as well as the nature of the rotation
noise and derive the expression for the \emph{maximum a posteriori} state
estimator. Our theoretical development enables the computation of all necessary
Jacobians for the optimization and a-posteriori bias correction in analytic
form. The second contribution is to show that the preintegrated IMU model can
be seamlessly integrated into a visual-inertial pipeline under the unifying
framework of factor graphs. This enables the application of
incremental-smoothing algorithms and the use of a \emph{structureless} model
for visual measurements, which avoids optimizing over the 3D points, further
accelerating the computation. We perform an extensive evaluation of our
monocular \VIO pipeline on real and simulated datasets. The results confirm
that our modelling effort leads to accurate state estimation in real-time,
outperforming state-of-the-art approaches.Comment: 20 pages, 24 figures, accepted for publication in IEEE Transactions
on Robotics (TRO) 201
Alignment of cryo-EM movies of individual particles by optimization of image translations
Direct detector device (DDD) cameras have revolutionized single particle
electron cryomicroscopy (cryo-EM). In addition to an improved camera detective
quantum efficiency, acquisition of DDD movies allows for correction of movement
of the specimen, due both to instabilities in the microscope specimen stage and
electron beam-induced movement. Unlike specimen stage drift, beam-induced
movement is not always homogeneous within an image. Local correlation in the
trajectories of nearby particles suggests that beam-induced motion is due to
deformation of the ice layer. Algorithms have already been described that can
correct movement for large regions of frames and for > 1 MDa protein particles.
Another algorithm allows individual < 1 MDa protein particle trajectories to be
estimated, but requires rolling averages to be calculated from frames and fits
linear trajectories for particles. Here we describe an algorithm that allows
for individual < 1 MDa particle images to be aligned without frame averaging or
linear trajectories. The algorithm maximizes the overall correlation of the
shifted frames with the sum of the shifted frames. The optimum in this single
objective function is found efficiently by making use of analytically
calculated derivatives of the function. To smooth estimates of particle
trajectories, rapid changes in particle positions between frames are penalized
in the objective function and weighted averaging of nearby trajectories ensures
local correlation in trajectories. This individual particle motion correction,
in combination with weighting of Fourier components to account for increasing
radiation damage in later frames, can be used to improve 3-D maps from single
particle cryo-EM.Comment: 11 pages, 4 figure
Testing quantum mechanics: a statistical approach
As experiments continue to push the quantum-classical boundary using
increasingly complex dynamical systems, the interpretation of experimental data
becomes more and more challenging: when the observations are noisy, indirect,
and limited, how can we be sure that we are observing quantum behavior? This
tutorial highlights some of the difficulties in such experimental tests of
quantum mechanics, using optomechanics as the central example, and discusses
how the issues can be resolved using techniques from statistics and insights
from quantum information theory.Comment: v1: 2 pages; v2: invited tutorial for Quantum Measurements and
Quantum Metrology, substantial expansion of v1, 19 pages; v3: accepted; v4:
corrected some errors, publishe
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A novel filter for block-based motion estimation
Noises, in the form of false motion vectors, cannot be avoided while capturing block motion vectors using block based motion estimation techniques. Similar noises are further introduced when the technique of global motion compensation is applied to obtain 'true' object motion from video sequences, where both the camera and object motions are present. We observe that the performance of the mean and the median filters in removing false motion vectors, for estimating 'true' object motion, is not satisfactory, especially when the size of the object is significantly smaller than the scene. In this paper we introduce a novel filter, named as the Mean-Accumulated-Thresholded (MAT) filter, in order to capture 'true' object motion vectors from video sequences with or without the camera motion (zoom and/or pan). Experimental results on representative standard video sequences are included to establish the superiority of our filter compared with the traditional median and mean filters
Compatibility check of measured aircraft responses using kinematic equations and extended Kalman filter
An extended Kalman filter smoother and a fixed point smoother were used for estimation of the state variables in the six degree of freedom kinematic equations relating measured aircraft responses and for estimation of unknown constant bias and scale factor errors in measured data. The computing algorithm includes an analysis of residuals which can improve the filter performance and provide estimates of measurement noise characteristics for some aircraft output variables. The technique developed was demonstrated using simulated and real flight test data. Improved accuracy of measured data was obtained when the data were corrected for estimated bias errors
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