808,458 research outputs found
Depth Superresolution using Motion Adaptive Regularization
Spatial resolution of depth sensors is often significantly lower compared to
that of conventional optical cameras. Recent work has explored the idea of
improving the resolution of depth using higher resolution intensity as a side
information. In this paper, we demonstrate that further incorporating temporal
information in videos can significantly improve the results. In particular, we
propose a novel approach that improves depth resolution, exploiting the
space-time redundancy in the depth and intensity using motion-adaptive low-rank
regularization. Experiments confirm that the proposed approach substantially
improves the quality of the estimated high-resolution depth. Our approach can
be a first component in systems using vision techniques that rely on high
resolution depth information
Non-convex optimization for 3D point source localization using a rotating point spread function
We consider the high-resolution imaging problem of 3D point source image
recovery from 2D data using a method based on point spread function (PSF)
engineering. The method involves a new technique, recently proposed by
S.~Prasad, based on the use of a rotating PSF with a single lobe to obtain
depth from defocus. The amount of rotation of the PSF encodes the depth
position of the point source. Applications include high-resolution single
molecule localization microscopy as well as the problem addressed in this paper
on localization of space debris using a space-based telescope. The localization
problem is discretized on a cubical lattice where the coordinates of nonzero
entries represent the 3D locations and the values of these entries the fluxes
of the point sources. Finding the locations and fluxes of the point sources is
a large-scale sparse 3D inverse problem. A new nonconvex regularization method
with a data-fitting term based on Kullback-Leibler (KL) divergence is proposed
for 3D localization for the Poisson noise model. In addition, we propose a new
scheme of estimation of the source fluxes from the KL data-fitting term.
Numerical experiments illustrate the efficiency and stability of the algorithms
that are trained on a random subset of image data before being applied to other
images. Our 3D localization algorithms can be readily applied to other kinds of
depth-encoding PSFs as well.Comment: 28 page
LiDAR-assisted Large-scale Privacy Protection in Street-view Cycloramas
Recently, privacy has a growing importance in several domains, especially in
street-view images. The conventional way to achieve this is to automatically
detect and blur sensitive information from these images. However, the
processing cost of blurring increases with the ever-growing resolution of
images. We propose a system that is cost-effective even after increasing the
resolution by a factor of 2.5. The new system utilizes depth data obtained from
LiDAR to significantly reduce the search space for detection, thereby reducing
the processing cost. Besides this, we test several detectors after reducing the
detection space and provide an alternative solution based on state-of-the-art
deep learning detectors to the existing HoG-SVM-Deep system that is faster and
has a higher performance.Comment: Accepted at Electronic Imaging 201
Depth Fields: Extending Light Field Techniques to Time-of-Flight Imaging
A variety of techniques such as light field, structured illumination, and
time-of-flight (TOF) are commonly used for depth acquisition in consumer
imaging, robotics and many other applications. Unfortunately, each technique
suffers from its individual limitations preventing robust depth sensing. In
this paper, we explore the strengths and weaknesses of combining light field
and time-of-flight imaging, particularly the feasibility of an on-chip
implementation as a single hybrid depth sensor. We refer to this combination as
depth field imaging. Depth fields combine light field advantages such as
synthetic aperture refocusing with TOF imaging advantages such as high depth
resolution and coded signal processing to resolve multipath interference. We
show applications including synthesizing virtual apertures for TOF imaging,
improved depth mapping through partial and scattering occluders, and single
frequency TOF phase unwrapping. Utilizing space, angle, and temporal coding,
depth fields can improve depth sensing in the wild and generate new insights
into the dimensions of light's plenoptic function.Comment: 9 pages, 8 figures, Accepted to 3DV 201
CaloCube: a novel calorimeter for high-energy cosmic rays in space
In order to extend the direct observation of high-energy cosmic rays up to
the PeV region, highly performing calorimeters with large geometrical
acceptance and high energy resolution are required. Within the constraint of
the total mass of the apparatus, crucial for a space mission, the calorimeters
must be optimized with respect to their geometrical acceptance, granularity and
absorption depth. CaloCube is a homogeneous calorimeter with cubic geometry, to
maximise the acceptance being sensitive to particles from every direction in
space; granularity is obtained by relying on small cubic scintillating crystals
as active elements. Different scintillating materials have been studied. The
crystal sizes and spacing among them have been optimized with respect to the
energy resolution. A prototype, based on CsI(Tl) cubic crystals, has been
constructed and tested with particle beams. Some results of tests with
different beams at CERN are presented.Comment: Seven pages, seven pictures. Proceedings of INSTR17 Novosibirs
A Joint 3D-2D based Method for Free Space Detection on Roads
In this paper, we address the problem of road segmentation and free space
detection in the context of autonomous driving. Traditional methods either use
3-dimensional (3D) cues such as point clouds obtained from LIDAR, RADAR or
stereo cameras or 2-dimensional (2D) cues such as lane markings, road
boundaries and object detection. Typical 3D point clouds do not have enough
resolution to detect fine differences in heights such as between road and
pavement. Image based 2D cues fail when encountering uneven road textures such
as due to shadows, potholes, lane markings or road restoration. We propose a
novel free road space detection technique combining both 2D and 3D cues. In
particular, we use CNN based road segmentation from 2D images and plane/box
fitting on sparse depth data obtained from SLAM as priors to formulate an
energy minimization using conditional random field (CRF), for road pixels
classification. While the CNN learns the road texture and is unaffected by
depth boundaries, the 3D information helps in overcoming texture based
classification failures. Finally, we use the obtained road segmentation with
the 3D depth data from monocular SLAM to detect the free space for the
navigation purposes. Our experiments on KITTI odometry dataset, Camvid dataset,
as well as videos captured by us, validate the superiority of the proposed
approach over the state of the art.Comment: Accepted for publication at IEEE WACV 201
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