Real Time Turbulent Video Perfecting by Image Stabilization and Super-Resolution

Image and video quality in Long Range Observation Systems (LOROS) suffer from atmospheric turbulence that causes small neighbourhoods in image frames to chaotically move in different directions and substantially hampers visual analysis of such image and video sequences. The paper presents a real-time algorithm for perfecting turbulence degraded videos by means of stabilization and resolution enhancement. The latter is achieved by exploiting the turbulent motion. The algorithm involves generation of a reference frame and estimation, for each incoming video frame, of a local image displacement map with respect to the reference frame; segmentation of the displacement map into two classes: stationary and moving objects and resolution enhancement of stationary objects, while preserving real motion. Experiments with synthetic and real-life sequences have shown that the enhanced videos, generated in real time, exhibit substantially better resolution and complete stabilization for stationary objects while retaining real motion.Comment: Submitted to The Seventh IASTED International Conference on Visualization, Imaging, and Image Processing (VIIP 2007) August, 2007 Palma de Mallorca, Spai

Reducing “Structure from Motion”: a general framework for dynamic vision. 1. Modeling

The literature on recursive estimation of structure and motion from monocular image sequences comprises a large number of apparently unrelated models and estimation techniques. We propose a framework that allows us to derive and compare all models by following the idea of dynamical system reduction. The “natural” dynamic model, derived from the rigidity constraint and the projection model, is first reduced by explicitly decoupling structure (depth) from motion. Then, implicit decoupling techniques are explored, which consist of imposing that some function of the unknown parameters is held constant. By appropriately choosing such a function, not only can we account for models seen so far in the literature, but we can also derive novel ones

An Efficient Algorithm for Video Super-Resolution Based On a Sequential Model

In this work, we propose a novel procedure for video super-resolution, that is the recovery of a sequence of high-resolution images from its low-resolution counterpart. Our approach is based on a "sequential" model (i.e., each high-resolution frame is supposed to be a displaced version of the preceding one) and considers the use of sparsity-enforcing priors. Both the recovery of the high-resolution images and the motion fields relating them is tackled. This leads to a large-dimensional, non-convex and non-smooth problem. We propose an algorithmic framework to address the latter. Our approach relies on fast gradient evaluation methods and modern optimization techniques for non-differentiable/non-convex problems. Unlike some other previous works, we show that there exists a provably-convergent method with a complexity linear in the problem dimensions. We assess the proposed optimization method on {several video benchmarks and emphasize its good performance with respect to the state of the art.}Comment: 37 pages, SIAM Journal on Imaging Sciences, 201

Towards Visual Ego-motion Learning in Robots

Many model-based Visual Odometry (VO) algorithms have been proposed in the past decade, often restricted to the type of camera optics, or the underlying motion manifold observed. We envision robots to be able to learn and perform these tasks, in a minimally supervised setting, as they gain more experience. To this end, we propose a fully trainable solution to visual ego-motion estimation for varied camera optics. We propose a visual ego-motion learning architecture that maps observed optical flow vectors to an ego-motion density estimate via a Mixture Density Network (MDN). By modeling the architecture as a Conditional Variational Autoencoder (C-VAE), our model is able to provide introspective reasoning and prediction for ego-motion induced scene-flow. Additionally, our proposed model is especially amenable to bootstrapped ego-motion learning in robots where the supervision in ego-motion estimation for a particular camera sensor can be obtained from standard navigation-based sensor fusion strategies (GPS/INS and wheel-odometry fusion). Through experiments, we show the utility of our proposed approach in enabling the concept of self-supervised learning for visual ego-motion estimation in autonomous robots.Comment: Conference paper; Submitted to IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2017, Vancouver CA; 8 pages, 8 figures, 2 table