GANVO: Unsupervised Deep Monocular Visual Odometry and Depth Estimation with Generative Adversarial Networks

In the last decade, supervised deep learning approaches have been extensively employed in visual odometry (VO) applications, which is not feasible in environments where labelled data is not abundant. On the other hand, unsupervised deep learning approaches for localization and mapping in unknown environments from unlabelled data have received comparatively less attention in VO research. In this study, we propose a generative unsupervised learning framework that predicts 6-DoF pose camera motion and monocular depth map of the scene from unlabelled RGB image sequences, using deep convolutional Generative Adversarial Networks (GANs). We create a supervisory signal by warping view sequences and assigning the re-projection minimization to the objective loss function that is adopted in multi-view pose estimation and single-view depth generation network. Detailed quantitative and qualitative evaluations of the proposed framework on the KITTI and Cityscapes datasets show that the proposed method outperforms both existing traditional and unsupervised deep VO methods providing better results for both pose estimation and depth recovery.Comment: ICRA 2019 - accepte

Convolutional Deblurring for Natural Imaging

In this paper, we propose a novel design of image deblurring in the form of one-shot convolution filtering that can directly convolve with naturally blurred images for restoration. The problem of optical blurring is a common disadvantage to many imaging applications that suffer from optical imperfections. Despite numerous deconvolution methods that blindly estimate blurring in either inclusive or exclusive forms, they are practically challenging due to high computational cost and low image reconstruction quality. Both conditions of high accuracy and high speed are prerequisites for high-throughput imaging platforms in digital archiving. In such platforms, deblurring is required after image acquisition before being stored, previewed, or processed for high-level interpretation. Therefore, on-the-fly correction of such images is important to avoid possible time delays, mitigate computational expenses, and increase image perception quality. We bridge this gap by synthesizing a deconvolution kernel as a linear combination of Finite Impulse Response (FIR) even-derivative filters that can be directly convolved with blurry input images to boost the frequency fall-off of the Point Spread Function (PSF) associated with the optical blur. We employ a Gaussian low-pass filter to decouple the image denoising problem for image edge deblurring. Furthermore, we propose a blind approach to estimate the PSF statistics for two Gaussian and Laplacian models that are common in many imaging pipelines. Thorough experiments are designed to test and validate the efficiency of the proposed method using 2054 naturally blurred images across six imaging applications and seven state-of-the-art deconvolution methods.Comment: 15 pages, for publication in IEEE Transaction Image Processin

Depth Estimation Through a Generative Model of Light Field Synthesis

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

A Comparative Analysis of Phytovolume Estimation Methods Based on UAV-Photogrammetry and Multispectral Imagery in a Mediterranean Forest

Management and control operations are crucial for preventing forest fires, especially in Mediterranean forest areas with dry climatic periods. One of them is prescribed fires, in which the biomass fuel present in the controlled plot area must be accurately estimated. The most used methods for estimating biomass are time-consuming and demand too much manpower. Unmanned aerial vehicles (UAVs) carrying multispectral sensors can be used to carry out accurate indirect measurements of terrain and vegetation morphology and their radiometric characteristics. Based on the UAV-photogrammetric project products, four estimators of phytovolume were compared in a Mediterranean forest area, all obtained using the difference between a digital surface model (DSM) and a digital terrain model (DTM). The DSM was derived from a UAV-photogrammetric project based on the structure from a motion algorithm. Four different methods for obtaining a DTM were used based on an unclassified dense point cloud produced through a UAV-photogrammetric project (FFU), an unsupervised classified dense point cloud (FFC), a multispectral vegetation index (FMI), and a cloth simulation filter (FCS). Qualitative and quantitative comparisons determined the ability of the phytovolume estimators for vegetation detection and occupied volume. The results show that there are no significant differences in surface vegetation detection between all the pairwise possible comparisons of the four estimators at a 95% confidence level, but FMI presented the best kappa value (0.678) in an error matrix analysis with reference data obtained from photointerpretation and supervised classification. Concerning the accuracy of phytovolume estimation, only FFU and FFC presented differences higher than two standard deviations in a pairwise comparison, and FMI presented the best RMSE (12.3 m) when the estimators were compared to 768 observed data points grouped in four 500 m2 sample plots. The FMI was the best phytovolume estimator of the four compared for low vegetation height in a Mediterranean forest. The use of FMI based on UAV data provides accurate phytovolume estimations that can be applied on several environment management activities, including wildfire prevention. Multitemporal phytovolume estimations based on FMI could help to model the forest resources evolution in a very realistic way

Benchmarking and Comparing Popular Visual SLAM Algorithms

This paper contains the performance analysis and benchmarking of two popular visual SLAM Algorithms: RGBD-SLAM and RTABMap. The dataset used for the analysis is the TUM RGBD Dataset from the Computer Vision Group at TUM. The dataset selected has a large set of image sequences from a Microsoft Kinect RGB-D sensor with highly accurate and time-synchronized ground truth poses from a motion capture system. The test sequences selected depict a variety of problems and camera motions faced by Simultaneous Localization and Mapping (SLAM) algorithms for the purpose of testing the robustness of the algorithms in different situations. The evaluation metrics used for the comparison are Absolute Trajectory Error (ATE) and Relative Pose Error (RPE). The analysis involves comparing the Root Mean Square Error (RMSE) of the two metrics and the processing time for each algorithm. This paper serves as an important aid in the selection of SLAM algorithm for different scenes and camera motions. The analysis helps to realize the limitations of both SLAM methods. This paper also points out some underlying flaws in the used evaluation metrics.Comment: 7 pages, 4 figure