5,313 research outputs found
Disparity Map Estimation from Stereo Image
Diplomová práca sa zameriava na výpočet mapy disparity s použitím konvolučnej neurónovej siete. Preberá problematiku použitia konvolučných neurónových sietí pre porovnanie obrazov a výpočet disparity zo stereo obrazu ako aj existujúce prístupy pre riešenie zvoleného problému. Navrhuje a implementuje systém pozostávajúci z konvolučnej neurónovej siete pre odhad podobnosti dvoch výrezov obrazu, a metód pre filtráciu a vyhladenie výslednej mapy disparity. Experimenty a výsledky ukázali, že najkvalitnejšie disparitné mapy generuje riešenie, kde neurónová sieť porovnáva výrezy s rozmermi 9x9 pixlov v spojení s algoritmom pre agregáciu a korekciu párovacej ceny a bilaterálnym filtrom.The master thesis focuses on disparity map estimation using convolutional neural network. It discusses the problem of using convolutional neural networks for image comparison and disparity computation from stereo image as well as existing approaches of solutions for given problem. It also proposes and implements system that consists of convolutional neural network that measures the similarity between two image patches, and filtering and smoothing methods to improve the result disparity map. Experiments and results show, that the most quality disparity maps are computed using CNN on input patches with the size of 9x9 pixels combined with matching cost agregation and correction algorithm and bilateral filter.
Advanced Restoration Techniques for Images and Disparity Maps
With increasing popularity of digital cameras, the field of Computa-
tional Photography emerges as one of the most demanding areas of
research. In this thesis we study and develop novel priors and op-
timization techniques to solve inverse problems, including disparity
estimation and image restoration.
The disparity map estimation method proposed in this thesis incor-
porates multiple frames of a stereo video sequence to ensure temporal
coherency. To enforce smoothness, we use spatio-temporal connec-
tions between the pixels of the disparity map to constrain our solution.
Apart from smoothness, we enforce a consistency constraint for the
disparity assignments by using connections between the left and right
views. These constraints are then formulated in a graphical model,
which we solve using mean-field approximation. We use a filter-based
mean-field optimization that perform efficiently by updating the dis-
parity variables in parallel. The parallel updates scheme, however, is
not guaranteed to converge to a stationary point. To compare and
demonstrate the effectiveness of our approach, we developed a new
optimization technique that uses sequential updates, which runs ef-
ficiently and guarantees convergence. Our empirical results indicate
that with proper initialization, we can employ the parallel update
scheme and efficiently optimize our disparity maps without loss of
quality. Our method ranks amongst the state of the art in common
benchmarks, and significantly reduces the temporal flickering artifacts
in the disparity maps.
In the second part of this thesis, we address several image restora-
tion problems such as image deblurring, demosaicing and super-
resolution. We propose to use denoising autoencoders to learn an
approximation of the true natural image distribution. We parametrize
our denoisers using deep neural networks and show that they learn
the gradient of the smoothed density of natural images. Based on
this analysis, we propose a restoration technique that moves the so-
lution towards the local extrema of this distribution by minimizing
the difference between the input and output of our denoiser. Weii
demonstrate the effectiveness of our approach using a single trained
neural network in several restoration tasks such as deblurring and
super-resolution. In a more general framework, we define a new
Bayes formulation for the restoration problem, which leads to a more
efficient and robust estimator. The proposed framework achieves state
of the art performance in various restoration tasks such as deblurring
and demosaicing, and also for more challenging tasks such as noise-
and kernel-blind image deblurring.
Keywords. disparity map estimation, stereo matching, mean-field
optimization, graphical models, image processing, linear inverse prob-
lems, image restoration, image deblurring, image denoising, single
image super-resolution, image demosaicing, deep neural networks,
denoising autoencoder
Anytime Stereo Image Depth Estimation on Mobile Devices
Many applications of stereo depth estimation in robotics require the
generation of accurate disparity maps in real time under significant
computational constraints. Current state-of-the-art algorithms force a choice
between either generating accurate mappings at a slow pace, or quickly
generating inaccurate ones, and additionally these methods typically require
far too many parameters to be usable on power- or memory-constrained devices.
Motivated by these shortcomings, we propose a novel approach for disparity
prediction in the anytime setting. In contrast to prior work, our end-to-end
learned approach can trade off computation and accuracy at inference time.
Depth estimation is performed in stages, during which the model can be queried
at any time to output its current best estimate. Our final model can process
1242375 resolution images within a range of 10-35 FPS on an NVIDIA
Jetson TX2 module with only marginal increases in error -- using two orders of
magnitude fewer parameters than the most competitive baseline. The source code
is available at https://github.com/mileyan/AnyNet .Comment: Accepted by ICRA201
Stereo Computation for a Single Mixture Image
This paper proposes an original problem of \emph{stereo computation from a
single mixture image}-- a challenging problem that had not been researched
before. The goal is to separate (\ie, unmix) a single mixture image into two
constitute image layers, such that the two layers form a left-right stereo
image pair, from which a valid disparity map can be recovered. This is a
severely illposed problem, from one input image one effectively aims to recover
three (\ie, left image, right image and a disparity map). In this work we give
a novel deep-learning based solution, by jointly solving the two subtasks of
image layer separation as well as stereo matching. Training our deep net is a
simple task, as it does not need to have disparity maps. Extensive experiments
demonstrate the efficacy of our method.Comment: Accepted by European Conference on Computer Vision (ECCV) 201
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