Image Feature Information Extraction for Interest Point Detection: A Comprehensive Review

Interest point detection is one of the most fundamental and critical problems in computer vision and image processing. In this paper, we carry out a comprehensive review on image feature information (IFI) extraction techniques for interest point detection. To systematically introduce how the existing interest point detection methods extract IFI from an input image, we propose a taxonomy of the IFI extraction techniques for interest point detection. According to this taxonomy, we discuss different types of IFI extraction techniques for interest point detection. Furthermore, we identify the main unresolved issues related to the existing IFI extraction techniques for interest point detection and any interest point detection methods that have not been discussed before. The existing popular datasets and evaluation standards are provided and the performances for eighteen state-of-the-art approaches are evaluated and discussed. Moreover, future research directions on IFI extraction techniques for interest point detection are elaborated

Fast Monte-Carlo Localization on Aerial Vehicles using Approximate Continuous Belief Representations

Size, weight, and power constrained platforms impose constraints on computational resources that introduce unique challenges in implementing localization algorithms. We present a framework to perform fast localization on such platforms enabled by the compressive capabilities of Gaussian Mixture Model representations of point cloud data. Given raw structural data from a depth sensor and pitch and roll estimates from an on-board attitude reference system, a multi-hypothesis particle filter localizes the vehicle by exploiting the likelihood of the data originating from the mixture model. We demonstrate analysis of this likelihood in the vicinity of the ground truth pose and detail its utilization in a particle filter-based vehicle localization strategy, and later present results of real-time implementations on a desktop system and an off-the-shelf embedded platform that outperform localization results from running a state-of-the-art algorithm on the same environment

Recovering edges in ill-posed inverse problems: optimality of curvelet frames

We consider a model problem of recovering a function $f(x_1,x_2)$ from noisy Radon data. The function $f$ to be recovered is assumed smooth apart from a discontinuity along a $C^2$ curve, that is, an edge. We use the continuum white-noise model, with noise level $\varepsilon$. Traditional linear methods for solving such inverse problems behave poorly in the presence of edges. Qualitatively, the reconstructions are blurred near the edges; quantitatively, they give in our model mean squared errors (MSEs) that tend to zero with noise level $\varepsilon$ only as $O(\varepsilon^{1/2})$ as $\varepsilon\to 0$. A recent innovation--nonlinear shrinkage in the wavelet domain--visually improves edge sharpness and improves MSE convergence to $O(\varepsilon^{2/3})$. However, as we show here, this rate is not optimal. In fact, essentially optimal performance is obtained by deploying the recently-introduced tight frames of curvelets in this setting. Curvelets are smooth, highly anisotropic elements ideally suited for detecting and synthesizing curved edges. To deploy them in the Radon setting, we construct a curvelet-based biorthogonal decomposition of the Radon operator and build "curvelet shrinkage" estimators based on thresholding of the noisy curvelet coefficients. In effect, the estimator detects edges at certain locations and orientations in the Radon domain and automatically synthesizes edges at corresponding locations and directions in the original domain. We prove that the curvelet shrinkage can be tuned so that the estimator will attain, within logarithmic factors, the MSE $O(\varepsilon^{4/5})$ as noise level $\varepsilon\to 0$. This rate of convergence holds uniformly over a class of functions which are $C^2$ except for discontinuities along $C^2$ curves, and (except for log terms) is the minimax rate for that class. Our approach is an instance of a general strategy which should apply in other inverse problems; we sketch a deconvolution example

Interpretable Transformations with Encoder-Decoder Networks

Deep feature spaces have the capacity to encode complex transformations of their input data. However, understanding the relative feature-space relationship between two transformed encoded images is difficult. For instance, what is the relative feature space relationship between two rotated images? What is decoded when we interpolate in feature space? Ideally, we want to disentangle confounding factors, such as pose, appearance, and illumination, from object identity. Disentangling these is difficult because they interact in very nonlinear ways. We propose a simple method to construct a deep feature space, with explicitly disentangled representations of several known transformations. A person or algorithm can then manipulate the disentangled representation, for example, to re-render an image with explicit control over parameterized degrees of freedom. The feature space is constructed using a transforming encoder-decoder network with a custom feature transform layer, acting on the hidden representations. We demonstrate the advantages of explicit disentangling on a variety of datasets and transformations, and as an aid for traditional tasks, such as classification.Comment: Accepted at ICCV 201