1,005 research outputs found
Revisiting Complex Moments For 2D Shape Representation and Image Normalization
When comparing 2D shapes, a key issue is their normalization. Translation and
scale are easily taken care of by removing the mean and normalizing the energy.
However, defining and computing the orientation of a 2D shape is not so simple.
In fact, although for elongated shapes the principal axis can be used to define
one of two possible orientations, there is no such tool for general shapes. As
we show in the paper, previous approaches fail to compute the orientation of
even noiseless observations of simple shapes. We address this problem. In the
paper, we show how to uniquely define the orientation of an arbitrary 2D shape,
in terms of what we call its Principal Moments. We show that a small subset of
these moments suffice to represent the underlying 2D shape and propose a new
method to efficiently compute the shape orientation: Principal Moment Analysis.
Finally, we discuss how this method can further be applied to normalize
grey-level images. Besides the theoretical proof of correctness, we describe
experiments demonstrating robustness to noise and illustrating the method with
real images.Comment: 69 pages, 20 figure
Invariance of visual operations at the level of receptive fields
Receptive field profiles registered by cell recordings have shown that
mammalian vision has developed receptive fields tuned to different sizes and
orientations in the image domain as well as to different image velocities in
space-time. This article presents a theoretical model by which families of
idealized receptive field profiles can be derived mathematically from a small
set of basic assumptions that correspond to structural properties of the
environment. The article also presents a theory for how basic invariance
properties to variations in scale, viewing direction and relative motion can be
obtained from the output of such receptive fields, using complementary
selection mechanisms that operate over the output of families of receptive
fields tuned to different parameters. Thereby, the theory shows how basic
invariance properties of a visual system can be obtained already at the level
of receptive fields, and we can explain the different shapes of receptive field
profiles found in biological vision from a requirement that the visual system
should be invariant to the natural types of image transformations that occur in
its environment.Comment: 40 pages, 17 figure
Rotationally invariant 3D shape contexts using asymmetry patterns
This paper presents an approach to resolve the azimuth ambiguity of 3D Shape Contexts (3DSC) based on asymmetry patterns. We show that it is possible to provide rotational invariance to 3DSC at the expense of a marginal increase in computational load, outperforming previous algorithms dealing with the azimuth ambiguity. We build on a recently presented measure of approximate rotational symmetry in 2D defined as the overlapping area between a shape and rotated versions of itself to extract asymmetry patterns from a 3DSC in a variety of ways, depending on the spatial relationships that need to be highlighted or disabled. Thus, we define Asymmetry Patterns Shape Contexts (APSC) from a subset of the possible spatial relations present in the spherical grid of 3DSC; hence they can be thought of as a family of descriptors that depend on the subset that is selected. This provides great flexibility to derive different descriptors. We show that choosing the appropriate spatial patterns can considerably reduce the errors obtained with 3DSC when targeting specific types of points
Covariance properties under natural image transformations for the generalized Gaussian derivative model for visual receptive fields
This paper presents a theory for how geometric image transformations can be
handled by a first layer of linear receptive fields, in terms of true
covariance properties, which, in turn, enable geometric invariance properties
at higher levels in the visual hierarchy. Specifically, we develop this theory
for a generalized Gaussian derivative model for visual receptive fields, which
is derived in an axiomatic manner from first principles, that reflect symmetry
properties of the environment, complemented by structural assumptions to
guarantee internally consistent treatment of image structures over multiple
spatio-temporal scales.
It is shown how the studied generalized Gaussian derivative model for visual
receptive fields obeys true covariance properties under spatial scaling
transformations, spatial affine transformations, Galilean transformations and
temporal scaling transformations, implying that a vision system, based on image
and video measurements in terms of the receptive fields according to this
model, can to first order of approximation handle the image and video
deformations between multiple views of objects delimited by smooth surfaces, as
well as between multiple views of spatio-temporal events, under varying
relative motions between the objects and events in the world and the observer.
We conclude by describing implications of the presented theory for biological
vision, regarding connections between the variabilities of the shapes of
biological visual receptive fields and the variabilities of spatial and
spatio-temporal image structures under natural image transformations.Comment: 38 pages, 14 figure
Image based visual servoing using algebraic curves applied to shape alignment
Visual servoing schemes generally employ various image features (points, lines, moments etc.) in their control formulation. This paper presents a novel method for using boundary information in visual servoing. Object boundaries are
modeled by algebraic equations and decomposed as a unique sum of product of lines. We propose that these lines can be used to extract useful features for visual servoing purposes. In this paper, intersection of these lines are used as point features in visual servoing. Simulations are performed with a 6 DOF Puma
560 robot using Matlab Robotics Toolbox for the alignment of a free-form object. Also, experiments are realized with a 2 DOF SCARA direct drive robot. Both simulation and experimental results are quite promising and show potential of our new method
Hierarchical Graphical Models for Multigroup Shape Analysis using Expectation Maximization with Sampling in Kendall's Shape Space
This paper proposes a novel framework for multi-group shape analysis relying
on a hierarchical graphical statistical model on shapes within a population.The
framework represents individual shapes as point setsmodulo translation,
rotation, and scale, following the notion in Kendall shape space.While
individual shapes are derived from their group shape model, each group shape
model is derived from a single population shape model. The hierarchical model
follows the natural organization of population data and the top level in the
hierarchy provides a common frame of reference for multigroup shape analysis,
e.g. classification and hypothesis testing. Unlike typical shape-modeling
approaches, the proposed model is a generative model that defines a joint
distribution of object-boundary data and the shape-model variables.
Furthermore, it naturally enforces optimal correspondences during the process
of model fitting and thereby subsumes the so-called correspondence problem. The
proposed inference scheme employs an expectation maximization (EM) algorithm
that treats the individual and group shape variables as hidden random variables
and integrates them out before estimating the parameters (population mean and
variance and the group variances). The underpinning of the EM algorithm is the
sampling of pointsets, in Kendall shape space, from their posterior
distribution, for which we exploit a highly-efficient scheme based on
Hamiltonian Monte Carlo simulation. Experiments in this paper use the fitted
hierarchical model to perform (1) hypothesis testing for comparison between
pairs of groups using permutation testing and (2) classification for image
retrieval. The paper validates the proposed framework on simulated data and
demonstrates results on real data.Comment: 9 pages, 7 figures, International Conference on Machine Learning 201
Dynamic texture recognition using time-causal and time-recursive spatio-temporal receptive fields
This work presents a first evaluation of using spatio-temporal receptive
fields from a recently proposed time-causal spatio-temporal scale-space
framework as primitives for video analysis. We propose a new family of video
descriptors based on regional statistics of spatio-temporal receptive field
responses and evaluate this approach on the problem of dynamic texture
recognition. Our approach generalises a previously used method, based on joint
histograms of receptive field responses, from the spatial to the
spatio-temporal domain and from object recognition to dynamic texture
recognition. The time-recursive formulation enables computationally efficient
time-causal recognition. The experimental evaluation demonstrates competitive
performance compared to state-of-the-art. Especially, it is shown that binary
versions of our dynamic texture descriptors achieve improved performance
compared to a large range of similar methods using different primitives either
handcrafted or learned from data. Further, our qualitative and quantitative
investigation into parameter choices and the use of different sets of receptive
fields highlights the robustness and flexibility of our approach. Together,
these results support the descriptive power of this family of time-causal
spatio-temporal receptive fields, validate our approach for dynamic texture
recognition and point towards the possibility of designing a range of video
analysis methods based on these new time-causal spatio-temporal primitives.Comment: 29 pages, 16 figure
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