Estimation of a 3D motion field from a multi-camera array using a multiresolution Gaussian mixture model

The problem of modelling geometry for video based rendering has been much studied in recent years, due to the growing interest in 'free viewpoint' video and similar applications. Common approaches fall into two categories: those which approximate surfaces from dense depth maps obtained by generalisations of stereopsis and those which employ an explicit geometric representation such as a mesh. While the former have generality with respect to geometry, they are limited in terms of viewpoint; the latter, on the other hand, sacrifice generality of geometry for freedom to pick an arbitary viewpoint. The purpose of the work reported here is to bridge this gap in object representation, by employing a stochastic model of object structure: a multiresolution Gaussian mixture. Estimation of the model and tracking it through time from multiple cameras is achieved by a multiresolution stochastic simulation. After a brief outline of the method, its use in modelling human motion using data from local and other sources is presented to illustrate its effectiveness compared to the current state of the art

A Multiresolution Census Algorithm for Calculating Vortex Statistics in Turbulent Flows

The fundamental equations that model turbulent flow do not provide much insight into the size and shape of observed turbulent structures. We investigate the efficient and accurate representation of structures in two-dimensional turbulence by applying statistical models directly to the simulated vorticity field. Rather than extract the coherent portion of the image from the background variation, as in the classical signal-plus-noise model, we present a model for individual vortices using the non-decimated discrete wavelet transform. A template image, supplied by the user, provides the features to be extracted from the vorticity field. By transforming the vortex template into the wavelet domain, specific characteristics present in the template, such as size and symmetry, are broken down into components associated with spatial frequencies. Multivariate multiple linear regression is used to fit the vortex template to the vorticity field in the wavelet domain. Since all levels of the template decomposition may be used to model each level in the field decomposition, the resulting model need not be identical to the template. Application to a vortex census algorithm that records quantities of interest (such as size, peak amplitude, circulation, etc.) as the vorticity field evolves is given. The multiresolution census algorithm extracts coherent structures of all shapes and sizes in simulated vorticity fields and is able to reproduce known physical scaling laws when processing a set of voriticity fields that evolve over time

Robust Localization in 3D Prior Maps for Autonomous Driving.

In order to navigate autonomously, many self-driving vehicles require precise localization within an a priori known map that is annotated with exact lane locations, traffic signs, and additional metadata that govern the rules of the road. This approach transforms the extremely difficult and unpredictable task of online perception into a more structured localization problem—where exact localization in these maps provides the autonomous agent a wealth of knowledge for safe navigation. This thesis presents several novel localization algorithms that leverage a high-fidelity three-dimensional (3D) prior map that together provide a robust and reliable framework for vehicle localization. First, we present a generic probabilistic method for localizing an autonomous vehicle equipped with a 3D light detection and ranging (LIDAR) scanner. This proposed algorithm models the world as a mixture of several Gaussians, characterizing the z-height and reflectivity distribution of the environment—which we rasterize to facilitate fast and exact multiresolution inference. Second, we propose a visual localization strategy that replaces the expensive 3D LIDAR scanners with significantly cheaper, commodity cameras. In doing so, we exploit a graphics processing unit to generate synthetic views of our belief environment, resulting in a localization solution that achieves a similar order of magnitude error rate with a sensor that is several orders of magnitude cheaper. Finally, we propose a visual obstacle detection algorithm that leverages knowledge of our high-fidelity prior maps in its obstacle prediction model. This not only provides obstacle awareness at high rates for vehicle navigation, but also improves our visual localization quality as we are cognizant of static and non-static regions of the environment. All of these proposed algorithms are demonstrated to be real-time solutions for our self-driving car.PhDComputer Science and EngineeringUniversity of Michigan, Horace H. Rackham School of Graduate Studieshttp://deepblue.lib.umich.edu/bitstream/2027.42/133410/1/rwolcott_1.pd

Image segmentation and feature extraction for recognizing strokes in tennis game videos

This paper addresses the problem of recognizing human actions from video. Particularly, the case of recognizing events in tennis game videos is analyzed. Driven by our domain knowledge, a robust player segmentation algorithm is developed real video data. Further, we introduce a number of novel features to be extracted for our particular application. Different feature combinations are investigated in order to find the optimal one. Finally, recognition results for different classes of tennis strokes using automatic learning capability of Hidden Markov Models (HMMs) are presented. The experimental results demonstrate that our method is close to realizing statistics of tennis games automatically using ordinary TV broadcast videos

Multi-scale Discriminant Saliency with Wavelet-based Hidden Markov Tree Modelling

The bottom-up saliency, an early stage of humans' visual attention, can be considered as a binary classification problem between centre and surround classes. Discriminant power of features for the classification is measured as mutual information between distributions of image features and corresponding classes . As the estimated discrepancy very much depends on considered scale level, multi-scale structure and discriminant power are integrated by employing discrete wavelet features and Hidden Markov Tree (HMT). With wavelet coefficients and Hidden Markov Tree parameters, quad-tree like label structures are constructed and utilized in maximum a posterior probability (MAP) of hidden class variables at corresponding dyadic sub-squares. Then, a saliency value for each square block at each scale level is computed with discriminant power principle. Finally, across multiple scales is integrated the final saliency map by an information maximization rule. Both standard quantitative tools such as NSS, LCC, AUC and qualitative assessments are used for evaluating the proposed multi-scale discriminant saliency (MDIS) method against the well-know information based approach AIM on its released image collection with eye-tracking data. Simulation results are presented and analysed to verify the validity of MDIS as well as point out its limitation for further research direction.Comment: arXiv admin note: substantial text overlap with arXiv:1301.396

Image Segmentation Using Active Contours Driven by the Bhattacharyya Gradient Flow

©2007 IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or distribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE. This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. In most cases, these works may not be reposted without the explicit permission of the copyright holder.DOI: 10.1109/TIP.2007.908073This paper addresses the problem of image segmentation by means of active contours, whose evolution is driven by the gradient flow derived froman energy functional that is based on the Bhattacharyya distance. In particular, given the values of a photometric variable (or of a set thereof), which is to be used for classifying the image pixels, the active contours are designed to converge to the shape that results in maximal discrepancy between the empirical distributions of the photometric variable inside and outside of the contours. The above discrepancy is measured by means of the Bhattacharyya distance that proves to be an extremely useful tool for solving the problem at hand. The proposed methodology can be viewed as a generalization of the segmentation methods, in which active contours maximize the difference between a finite number of empirical moments of the "inside" and "outside" distributions. Furthermore, it is shown that the proposed methodology is very versatile and flexible in the sense that it allows one to easily accommodate a diversity of the image features based on which the segmentation should be performed. As an additional contribution, a method for automatically adjusting the smoothness properties of the empirical distributions is proposed. Such a procedure is crucial in situations when the number of data samples (supporting a certain segmentation class) varies considerably in the course of the evolution of the active contour. In this case, the smoothness properties of the empirical distributions have to be properly adjusted to avoid either over- or underestimation artifacts. Finally, a number of relevant segmentation results are demonstrated and some further research directions are discussed

Audio-visual football video analysis, from structure detection to attention analysis

Sport video is an important video genre. Content-based sports video analysis attracts great interest from both industry and academic fields. A sports video is characterised by repetitive temporal structures, relatively plain contents, and strong spatio-temporal variations, such as quick camera switches and swift local motions. It is necessary to develop specific techniques for content-based sports video analysis to utilise these characteristics. For an efficient and effective sports video analysis system, there are three fundamental questions: (1) what are key stories for sports videos; (2) what incurs viewer’s interest; and (3) how to identify game highlights. This thesis is developed around these questions. We approached these questions from two different perspectives and in turn three research contributions are presented, namely, replay detection, attack temporal structure decomposition, and attention-based highlight identification. Replay segments convey the most important contents in sports videos. It is an efficient approach to collect game highlights by detecting replay segments. However, replay is an artefact of editing, which improves with advances in video editing tools. The composition of replay is complex, which includes logo transitions, slow motions, viewpoint switches and normal speed video clips. Since logo transition clips are pervasive in game collections of FIFA World Cup 2002, FIFA World Cup 2006 and UEFA Championship 2006, we take logo transition detection as an effective replacement of replay detection. A two-pass system was developed, including a five-layer adaboost classifier and a logo template matching throughout an entire video. The five-layer adaboost utilises shot duration, average game pitch ratio, average motion, sequential colour histogram and shot frequency between two neighbouring logo transitions, to filter out logo transition candidates. Subsequently, a logo template is constructed and employed to find all transition logo sequences. The precision and recall of this system in replay detection is 100% in a five-game evaluation collection. An attack structure is a team competition for a score. Hence, this structure is a conceptually fundamental unit of a football video as well as other sports videos. We review the literature of content-based temporal structures, such as play-break structure, and develop a three-step system for automatic attack structure decomposition. Four content-based shot classes, namely, play, focus, replay and break were identified by low level visual features. A four-state hidden Markov model was trained to simulate transition processes among these shot classes. Since attack structures are the longest repetitive temporal unit in a sports video, a suffix tree is proposed to find the longest repetitive substring in the label sequence of shot class transitions. These occurrences of this substring are regarded as a kernel of an attack hidden Markov process. Therefore, the decomposition of attack structure becomes a boundary likelihood comparison between two Markov chains. Highlights are what attract notice. Attention is a psychological measurement of “notice ”. A brief survey of attention psychological background, attention estimation from vision and auditory, and multiple modality attention fusion is presented. We propose two attention models for sports video analysis, namely, the role-based attention model and the multiresolution autoregressive framework. The role-based attention model is based on the perception structure during watching video. This model removes reflection bias among modality salient signals and combines these signals by reflectors. The multiresolution autoregressive framework (MAR) treats salient signals as a group of smooth random processes, which follow a similar trend but are filled with noise. This framework tries to estimate a noise-less signal from these coarse noisy observations by a multiple resolution analysis. Related algorithms are developed, such as event segmentation on a MAR tree and real time event detection. The experiment shows that these attention-based approach can find goal events at a high precision. Moreover, results of MAR-based highlight detection on the final game of FIFA 2002 and 2006 are highly similar to professionally labelled highlights by BBC and FIFA