Three-bit representation of three-dimensional range data

Our previous research has shown that 3D range data sizes can be substantially reduced if they are converted into regular 2D images using the Holoimage technique. Yet, this technique requires all 24 bits of a standard image to represent one 3D point, making it impossible for a regular 2D image to carry 2D texture information as well. This paper proposes an approach to represent 3D range data with 3 bits, further reducing the data size. We demonstrate that more than an 8.2∶1compression ratio can be achieved with compression root-mean-square error of only 0.34%. Moreover, we can use another bit to represent a black-and-white 2D texture, and thus both 3D data and 2D texture images can be stored into an 8 bit grayscale image. Both simulation and experiments are presented to verify the performance of the proposed technique

Portal-s: High-resolution real-time 3D video telepresence

The goal of telepresence is to allow a person to feel as if they are present in a location other than their true location; a common application of telepresence is video conferencing in which live video of a user is transmitted to a remote location for viewing. In conventional two-dimensional (2D) video conferencing, loss of correct eye gaze commonly occurs, due to a disparity between the capture and display optical axes. Newer systems are being developed which allow for three-dimensional (3D) video conferencing, circumventing issues with this disparity, but new challenges are arising in the capture, delivery, and redisplay of 3D contents across existing infrastructure. To address these challenges, a novel system is proposed which allows for 3D video conferencing across existing networks while delivering full resolution 3D video and establishing correct eye gaze. During the development of Portal-s, many innovations to the field of 3D scanning and its applications were made; specifically, this dissertation research has achieved the following innovations: a technique to realize 3D video processing entirely on a graphics processing unit (GPU), methods to compress 3D videos on a GPU, and combination of the aforementioned innovations with a special holographic display hardware system to enable the novel 3D telepresence system entitled Portal-s. The first challenge this dissertation addresses is the cost of real-time 3D scanning technology, both from a monetary and computing power perspective. New advancements in 3D scanning and computation technology are continuing to increase, simplifying the acquisition and display of 3D data. These advancements are allowing users new methods of interaction and analysis of the 3D world around them. Although the acquisition of static 3D geometry is becoming easy, the same cannot be said of dynamic geometry, since all aspects of the 3D processing pipeline, capture, processing, and display, must be realized in real-time simultaneously. Conventional approaches to solve these problems utilize workstation computers with powerful central processing units (CPUs) and GPUs to accomplish the large amounts of processing power required for a single 3D frame. A challenge arises when trying to realize real-time 3D scanning on commodity hardware such as a laptop computer. To address the cost of a real-time 3D scanning system, an entirely parallel 3D data processing pipeline that makes use of a multi-frequency phase-shifting technique is presented. This novel processing pipeline can achieve simultaneous 3D data capturing, processing, and display at 30 frames per second (fps) on a laptop computer. By implementing the pipeline within the OpenGL Shading Language (GLSL), nearly any modern computer with a dedicated graphics device can run the pipeline. Making use of multiple threads sharing GPU resources and direct memory access transfers, high frame rates on low compute power devices can be achieved. Although these advancements allow for low compute power devices such as a laptop to achieve real-time 3D scanning, this technique is not without challenges. The main challenge being selecting frequencies that allow for high quality phase, yet do not include phase jumps in equivalent frequencies. To address this issue, a new modified multi-frequency phase shifting technique was developed that allows phase jumps to be introduced in equivalent frequencies yet unwrapped in parallel, increasing phase quality and reducing reconstruction error. Utilizing these techniques, a real-time 3D scanner was developed that captures 3D geometry at 30 fps with a root mean square error (RMSE) of 0:00081 mm for a measurement area of 100 mm X 75 mm at a resolution of 800 X 600 on a laptop computer. With the above mentioned pipeline the CPU is nearly idle, freeing it to perform additional tasks such as image processing and analysis. The second challenge this dissertation addresses is associated with delivering huge amounts of 3D video data in real-time across existing network infrastructure. As the speed of 3D scanning continues to increase, and real-time scanning is achieved on low compute power devices, a way of compressing the massive amounts of 3D data being generated is needed. At a scan resolution of 800 X 600, streaming a 3D point cloud at 30 frames per second (FPS) would require a throughput of over 1.3 Gbps. This amount of throughput is large for a PCIe bus, and too much for most commodity network cards. Conventional approaches involve serializing the data into a compressible state such as a polygon file format (PLY) or Wavefront object (OBJ) file. While this technique works well for structured 3D geometry, such as that created with computer aided drafting (CAD) or 3D modeling software, this does not hold true for 3D scanned data as it is inherently unstructured. A challenge arises when trying to compress this unstructured 3D information in such a way that it can be easily utilized with existing infrastructure. To address the need for real-time 3D video compression, new techniques entitled Holoimage and Holovideo are presented, which have the ability to compress, respectively, 3D geometry and 3D video into 2D counterparts and apply both lossless and lossy encoding. Similar to the aforementioned 3D scanning pipeline, these techniques make use of a completely parallel pipeline for encoding and decoding; this affords high speed processing on the GPU, as well as compression before streaming the data over the PCIe bus. Once in the compressed 2D state, the information can be streamed and saved until the 3D information is needed, at which point 3D geometry can be reconstructed while maintaining a low amount of reconstruction error. Further enhancements of the technique have allowed additional information, such as texture information, to be encoded by reducing the bit rate of the data through image dithering. This allows both the 3D video and associated 2D texture information to be interlaced and compressed into 2D video, synchronizing the streams automatically. The third challenge this dissertation addresses is achieving correct eye gaze in video conferencing. In 2D video conferencing, loss of correct eye gaze commonly occurs, due to a disparity between the capture and display optical axes. Conventional approaches to mitigate this issue involve either reducing the angle of disparity between the axes by increasing the distance of the user to the system, or merging the axes through the use of beam splitters. Newer approaches to this issue make use of 3D capture and display technology, as the angle of disparity can be corrected through transforms of the 3D data. Challenges arise when trying to create such novel systems, as all aspects of the pipeline, capture, transmission, and redisplay must be simultaneously achieved in real-time with the massive amounts of 3D data. Finally, the Portal-s system is presented, which is an integration of all the aforementioned technologies into a holistic software and hardware system that enables real-time 3D video conferencing with correct mutual eye gaze. To overcome the loss of eye contact in conventional video conferencing, Portal-s makes use of dual structured-light scanners that capture through the same optical axis as the display. The real-time 3D video frames generated on the GPU are then compressed using the Holovideo technique. This allows the 3D video to be streamed across a conventional network or the Internet, and redisplayed at a remote node for another user on the Holographic display glass. Utilizing two connected Portal-s nodes, users of the systems can engage in 3D video conferencing with natural eye gaze established. In conclusion, this dissertation research substantially advances the field of real-time 3D scanning and its applications. Contributions of this research span into both academic and industrial practices, where the use of this information has allowed users new methods of interaction and analysis of the 3D world around them

High-performance hardware accelerators for image processing in space applications

Mars is a hard place to reach. While there have been many notable success stories in getting probes to the Red Planet, the historical record is full of bad news. The success rate for actually landing on the Martian surface is even worse, roughly 30%. This low success rate must be mainly credited to the Mars environment characteristics. In the Mars atmosphere strong winds frequently breath. This phenomena usually modifies the lander descending trajectory diverging it from the target one. Moreover, the Mars surface is not the best place where performing a safe land. It is pitched by many and close craters and huge stones, and characterized by huge mountains and hills (e.g., Olympus Mons is 648 km in diameter and 27 km tall). For these reasons a mission failure due to a landing in huge craters, on big stones or on part of the surface characterized by a high slope is highly probable. In the last years, all space agencies have increased their research efforts in order to enhance the success rate of Mars missions. In particular, the two hottest research topics are: the active debris removal and the guided landing on Mars. The former aims at finding new methods to remove space debris exploiting unmanned spacecrafts. These must be able to autonomously: detect a debris, analyses it, in order to extract its characteristics in terms of weight, speed and dimension, and, eventually, rendezvous with it. In order to perform these tasks, the spacecraft must have high vision capabilities. In other words, it must be able to take pictures and process them with very complex image processing algorithms in order to detect, track and analyse the debris. The latter aims at increasing the landing point precision (i.e., landing ellipse) on Mars. Future space-missions will increasingly adopt Video Based Navigation systems to assist the entry, descent and landing (EDL) phase of space modules (e.g., spacecrafts), enhancing the precision of automatic EDL navigation systems. For instance, recent space exploration missions, e.g., Spirity, Oppurtunity, and Curiosity, made use of an EDL procedure aiming at following a fixed and precomputed descending trajectory to reach a precise landing point. This approach guarantees a maximum landing point precision of 20 km. By comparing this data with the Mars environment characteristics, it is possible to understand how the mission failure probability still remains really high. A very challenging problem is to design an autonomous-guided EDL system able to even more reduce the landing ellipse, guaranteeing to avoid the landing in dangerous area of Mars surface (e.g., huge craters or big stones) that could lead to the mission failure. The autonomous behaviour of the system is mandatory since a manual driven approach is not feasible due to the distance between Earth and Mars. Since this distance varies from 56 to 100 million of km approximately due to the orbit eccentricity, even if a signal transmission at the light speed could be possible, in the best case the transmission time would be around 31 minutes, exceeding so the overall duration of the EDL phase. In both applications, algorithms must guarantee self-adaptability to the environmental conditions. Since the Mars (and in general the space) harsh conditions are difficult to be predicted at design time, these algorithms must be able to automatically tune the internal parameters depending on the current conditions. Moreover, real-time performances are another key factor. Since a software implementation of these computational intensive tasks cannot reach the required performances, these algorithms must be accelerated via hardware. For this reasons, this thesis presents my research work done on advanced image processing algorithms for space applications and the associated hardware accelerators. My research activity has been focused on both the algorithm and their hardware implementations. Concerning the first aspect, I mainly focused my research effort to integrate self-adaptability features in the existing algorithms. While concerning the second, I studied and validated a methodology to efficiently develop, verify and validate hardware components aimed at accelerating video-based applications. This approach allowed me to develop and test high performance hardware accelerators that strongly overcome the performances of the actual state-of-the-art implementations. The thesis is organized in four main chapters. Chapter 2 starts with a brief introduction about the story of digital image processing. The main content of this chapter is the description of space missions in which digital image processing has a key role. A major effort has been spent on the missions in which my research activity has a substantial impact. In particular, for these missions, this chapter deeply analizes and evaluates the state-of-the-art approaches and algorithms. Chapter 3 analyzes and compares the two technologies used to implement high performances hardware accelerators, i.e., Application Specific Integrated Circuits (ASICs) and Field Programmable Gate Arrays (FPGAs). Thanks to this information the reader may understand the main reasons behind the decision of space agencies to exploit FPGAs instead of ASICs for high-performance hardware accelerators in space missions, even if FPGAs are more sensible to Single Event Upsets (i.e., transient error induced on hardware component by alpha particles and solar radiation in space). Moreover, this chapter deeply describes the three available space-grade FPGA technologies (i.e., One-time Programmable, Flash-based, and SRAM-based), and the main fault-mitigation techniques against SEUs that are mandatory for employing space-grade FPGAs in actual missions. Chapter 4 describes one of the main contribution of my research work: a library of high-performance hardware accelerators for image processing in space applications. The basic idea behind this library is to offer to designers a set of validated hardware components able to strongly speed up the basic image processing operations commonly used in an image processing chain. In other words, these components can be directly used as elementary building blocks to easily create a complex image processing system, without wasting time in the debug and validation phase. This library groups the proposed hardware accelerators in IP-core families. The components contained in a same family share the same provided functionality and input/output interface. This harmonization in the I/O interface enables to substitute, inside a complex image processing system, components of the same family without requiring modifications to the system communication infrastructure. In addition to the analysis of the internal architecture of the proposed components, another important aspect of this chapter is the methodology used to develop, verify and validate the proposed high performance image processing hardware accelerators. This methodology involves the usage of different programming and hardware description languages in order to support the designer from the algorithm modelling up to the hardware implementation and validation. Chapter 5 presents the proposed complex image processing systems. In particular, it exploits a set of actual case studies, associated with the most recent space agency needs, to show how the hardware accelerator components can be assembled to build a complex image processing system. In addition to the hardware accelerators contained in the library, the described complex system embeds innovative ad-hoc hardware components and software routines able to provide high performance and self-adaptable image processing functionalities. To prove the benefits of the proposed methodology, each case study is concluded with a comparison with the current state-of-the-art implementations, highlighting the benefits in terms of performances and self-adaptability to the environmental conditions

ON THE COMPRESSION OF DIGITAL HOLOGRAMS

This thesis investigates the compression of computer-generated transmission holograms through lossless schemes such as the Burrows-Wheeler compression scheme (BWCS). Ever since Gabor’s discovery of holography, much research have been done to improve the record­ ing and viewing of holograms into more convenient uses such as video viewing. However, the compression of holograms where recording is performed from virtual scenes has not received much attention. Phase-shift digital holograms, on the other hand, have received more attention due to their practical application in object recognition, imaging, and video sequencing of phys­ ical objects. This study is performed for virtually recorded computer-generated holograms in order to understand compression factors in virtually recorded holograms. We also investigate application of lossless compression schemes to holograms with reduced precision for the in­ tensity and phase values. The overall objective is to explore the factors that affect effective compression of virtual holograms. As a result, this work can be used to assist in the design­ ing of better compression algorithms for applications such as virtual object simulations, video gaming application, and holographic video viewing

Taming Reversible Halftoning via Predictive Luminance

Traditional halftoning usually drops colors when dithering images with binary dots, which makes it difficult to recover the original color information. We proposed a novel halftoning technique that converts a color image into a binary halftone with full restorability to its original version. Our novel base halftoning technique consists of two convolutional neural networks (CNNs) to produce the reversible halftone patterns, and a noise incentive block (NIB) to mitigate the flatness degradation issue of CNNs. Furthermore, to tackle the conflicts between the blue-noise quality and restoration accuracy in our novel base method, we proposed a predictor-embedded approach to offload predictable information from the network, which in our case is the luminance information resembling from the halftone pattern. Such an approach allows the network to gain more flexibility to produce halftones with better blue-noise quality without compromising the restoration quality. Detailed studies on the multiple-stage training method and loss weightings have been conducted. We have compared our predictor-embedded method and our novel method regarding spectrum analysis on halftone, halftone accuracy, restoration accuracy, and the data embedding studies. Our entropy evaluation evidences our halftone contains less encoding information than our novel base method. The experiments show our predictor-embedded method gains more flexibility to improve the blue-noise quality of halftones and maintains a comparable restoration quality with a higher tolerance for disturbances.Comment: to be published in IEEE Transactions on Visualization and Computer Graphic

Application of Stochastic Diffusion for Hiding High Fidelity Encrypted Images

Cryptography coupled with information hiding has received increased attention in recent years and has become a major research theme because of the importance of protecting encrypted information in any Electronic Data Interchange system in a way that is both discrete and covert. One of the essential limitations in any cryptography system is that the encrypted data provides an indication on its importance which arouses suspicion and makes it vulnerable to attack. Information hiding of Steganography provides a potential solution to this issue by making the data imperceptible, the security of the hidden information being a threat only if its existence is detected through Steganalysis. This paper focuses on a study methods for hiding encrypted information, specifically, methods that encrypt data before embedding in host data where the ‘data’ is in the form of a full colour digital image. Such methods provide a greater level of data security especially when the information is to be submitted over the Internet, for example, since a potential attacker needs to first detect, then extract and then decrypt the embedded data in order to recover the original information. After providing an extensive survey of the current methods available, we present a new method of encrypting and then hiding full colour images in three full colour host images with out loss of fidelity following data extraction and decryption. The application of this technique, which is based on a technique called ‘Stochastic Diffusion’ are wide ranging and include covert image information interchange, digital image authentication, video authentication, copyright protection and digital rights management of image data in general

The contour tree image encoding technique and file format

The process of contourization is presented which converts a raster image into a discrete set of plateaux or contours. These contours can be grouped into a hierarchical structure, defining total spatial inclusion, called a contour tree. A contour coder has been developed which fully describes these contours in a compact and efficient manner and is the basis for an image compression method. Simplification of the contour tree has been undertaken by merging contour tree nodes thus lowering the contour tree's entropy. This can be exploited by the contour coder to increase the image compression ratio. By applying general and simple rules derived from physiological experiments on the human vision system, lossy image compression can be achieved which minimises noticeable artifacts in the simplified image. The contour merging technique offers a complementary lossy compression system to the QDCT (Quantised Discrete Cosine Transform). The artifacts introduced by the two methods are very different; QDCT produces a general blurring and adds extra highlights in the form of overshoots, whereas contour merging sharpens edges, reduces highlights and introduces a degree of false contouring. A format based on the contourization technique which caters for most image types is defined, called the contour tree image format. Image operations directly on this compressed format have been studied which for certain manipulations can offer significant operational speed increases over using a standard raster image format. A couple of examples of operations specific to the contour tree format are presented showing some of the features of the new format.Science and Engineering Research Counci

Fast Edge Preserving Fractal System

Electrical Engineerin

Entropy in Image Analysis II

Image analysis is a fundamental task for any application where extracting information from images is required. The analysis requires highly sophisticated numerical and analytical methods, particularly for those applications in medicine, security, and other fields where the results of the processing consist of data of vital importance. This fact is evident from all the articles composing the Special Issue "Entropy in Image Analysis II", in which the authors used widely tested methods to verify their results. In the process of reading the present volume, the reader will appreciate the richness of their methods and applications, in particular for medical imaging and image security, and a remarkable cross-fertilization among the proposed research areas

MedLAN: Compact mobile computing system for wireless information access in emergency hospital wards

This thesis was submitted for the degree of Doctor of Philosophy and awarded by Brunel University.As the need for faster, safer and more efficient healthcare delivery increases, medical consultants seek new ways of implementing a high quality telemedical system, using innovative technology. Until today, teleconsultation (the most common application of Telemedicine) was performed by transferring the patient from the Accidents and Emergency ward, to a specially equipped room, or by moving large and heavy machinery to the place where the patient resided. Both these solutions were unpractical, uneconomical and potentially dangerous. At the same time wireless networks became increasingly useful in point-of-care areas such as hospitals, because of their ease of use, low cost of installation and increased flexibility. This thesis presents an integrated system called MedLAN dedicated for use inside the A&E hospital wards. Its purpose is to wirelessly support high-quality live video, audio, high-resolution still images and networks support from anywhere there is WLAN coverage. It is capable of transmitting all of the above to a consultant residing either inside or outside the hospital, or even to an external place, thorough the use of the Internet. To implement that, it makes use of the existing IEEE 802.11b wireless technology. Initially, this thesis demonstrates that for specific scenarios (such as when using WLANs), DICOM specifications should be adjusted to accommodate for the reduced WLAN bandwidth. Near lossless compression has been used to send still images through the WLANs and the results have been evaluated by a number of consultants to decide whether they retain their diagnostic value. The thesis further suggests improvements on the existing 802.11b protocol. In particular, as the typical hospital environment suffers from heavy RF reflections, it suggests that an alternative method of modulation (OFDM) can be embedded in the 802.11b hardware to reduce the multipath effect, increase the throughput and thus the video quality sent by the MedLAN system. Finally, realising that the trust between a patient and a doctor is fundamental this thesis proposes a series of simple actions aiming at securing the MedLAN system. Additionally, a concrete security system is suggested, that encapsulates the existing WEP security protocol, over IPSec