An Image Understanding System for Detecting Indoor Features

The capability of identifying physical structures of an unknown environment is very important for vision based robot navigation and scene understanding. Among physical structures in indoor environments, corridor lines and doors are important visual landmarks for robot navigation since they show the topological structure in an indoor environment and establish connections among the different places or regions in the indoor environment. Furthermore, they provide clues for understanding the image. In this thesis, I present two algorithms to detect the vanishing point, corridor lines, and doors respectively using a single digital video camera. In both algorithms, we utilize a hypothesis generation and verification method to detect corridor and door structures using low level linear features. The proposed method consists of low, intermediate, and high level processing stages which correspond to the extraction of low level features, the formation of hypotheses, and verification of the hypotheses via seeking evidence actively. In particular, we extend this single-pass framework by employing a feedback strategy for more robust hypothesis generation and verification. We demonstrate the robustness of the proposed methods on a large number of real video images in a variety of corridor environments, with image acquisitions under different illumination and reflection conditions, with different moving speeds, and with different viewpoints of the camera. Experimental results performed on the corridor line detection algorithm validate that the method can detect corridor line locations in the presence of many spurious line features about one second. Experimental results carried on the door detection algorithm show that the system can detect visually important doors in an image with a very high accuracy rate when a robot navigates along a corridor environment

High-performance computing for vision

Vision is a challenging application for high-performance computing (HPC). Many vision tasks have stringent latency and throughput requirements. Further, the vision process has a heterogeneous computational profile. Low-level vision consists of structured computations, with regular data dependencies. The subsequent, higher level operations consist of symbolic computations with irregular data dependencies. Over the years, many approaches to high-speed vision have been pursued. VLSI hardware solutions such as ASIC's and digital signal processors (DSP's) have provided good processing speeds on structured low-level vision tasks. Special purpose systems for vision have also been designed. Currently, there is growing interest in using general purpose parallel systems for vision problems. These systems offer advantages of higher performance, sofavare programmability, generality, and architectural flexibility over the earlier approaches. The choice of low-cost commercial-off-theshelf (COTS) components as building blocks for these systems leads to easy upgradability and increased system life. The main focus of the paper is on effectively using the COTSbased general purpose parallel computing platforms to realize high-speed implementations of vision tasks. Due to the successful use of the COTS-based systems in a variety of high performance applications, it is attractive to consider their use for vision applications as well. However, the irregular data dependencies in vision tasks lead to large communication overheads in the HPC systems. At the University of Southern California, our research efforts have been directed toward designing scalable parallel algorithms for vision tasks on the HPC systems. In our approach, we use the message passing programming model to develop portable code. Our algorithms are specified using C and MPI. In this paper, we summarize our efforts, and illustrate our approach using several example vision tasks. To facilitate the analysis and development of scalable algorithms, a realistic computational model of the parallel system must be used. Several such models have been proposed in the literature. We use the General-purpose Distributed Memory (GDM) model which is a simple but realistic model of state-of-theart parallel machines. Using the GDM model, generic algorithmic techniques such as data remapping, overlapping of communication with computation, message packing, asynchronous execution, and communication scheduling are developed. Using these techniques, we have developed scalable algorithms for many vision tasks. For instance, a scalable algorithm for linear approximation has been developed using the asynchronous execution technique. Using this algorithm, linear feature extraction can be performed in 0.065 s on a 64 node SP-2 for a 512 × 512 image. A serial implementation takes 3.45 s for the same task. Similarly, the communication scheduling and decomposition techniques lead to a scalable algorithm for the line grouping task. We believe that such an algorithmic approach can result in the development of scalable and portable solutions for vision tasks. © 1996 IEEE Publisher Item Identifier S 0018-9219(96)04992-4.published_or_final_versio

Towards automatic modeling of buildings in informal settlements from aerial photographs using deformable active contour models (snakes)

Bibliography: leaves 177-187.This dissertation presents a novel system for semi-automatic modeling of buildings in informal settlement areas from aerial photographs. The building extraction strategy is developed and implememed with the aim of generatinga a desk top Informal Settlement Geographic lnformation System (ISGIS) using felf developed and available PC-based GIS tools to serve novice users informal settlement areas

Text detection in street level images

International audienceText detection system for natural images is a very challenging task in Computer Vision. Image acquisition introduces distortion in terms of perspective, blurring, illumination, and characters may have very diff erent shape, size, and color. We introduce in this article a full text detection scheme. Our architecture is based on a new process to combine a hypothesis generation step to get potential boxes of text and a hypothesis validation step to filter false detections. The hypothesis generation process relies on a new efficient segmentation method based on a morphological operator. Regions are then filtered and classi ed using shape descriptors based on Fourier, Pseudo Zernike moments and an original polar descriptor, which is invariant to rotation. Classi cation process relies on three SVM classi ers combined in a late fusion scheme. Detected characters are finally grouped to generate our text box hypotheses. Validation step is based on a global SVM classi cation of the box content using dedicated descriptors adapted from the HOG approach. Results on the well-known ICDAR database are reported showing that our method is competitive . Evaluation protocol and metrics are deeply discussed and results on a very challenging street-level database are also proposed

Feature-based methodology for supporting architecture refactoring and maintenance of long-life software systems

Zusammenfassung Langlebige Software-Systeme durchlaufen viele bedeutende Veraenderungen im Laufe ihres Lebenszyklus, um der Weiterentwicklung der Problemdomaenen zu folgen. Normalerweise ist es schwierig eine Software-Systemarchitektur den schnellen Weiterentwicklungen einer Problemdomaene anzupassen und mit der Zeit wird der Unterschied zwischen der Problemdomaene und der Software-Systemarchitektur zu groß, um weitere Softwareentwicklung sinnvoll fortzufuehren. Fristgerechte Refactorings der Systemarchitektur sind notwendig, um dieses Problem zu vermeiden. Aufgrund des verhaeltnismaeßig hohen Gefahrenpotenzials und des zeitlich stark verzoegerten Nutzens von Refactorings, werden diese Maßnahmen normalerweise bis zum letztmoeglichen Zeitpunkt hinausgeschoben. In der Regel ist das Management abgeneigt Architektur-Refactorings zu akzeptieren, außer diese sind absolut notwendig. Die bevorzugte Vorgehensweise ist, neue Systemmerkmale ad hoc hinzuzufuegen und nach dem Motto ”Aendere nie etwas an einem funktionierenden System!” vorzugehen. Letztlich ist das Ergebnis ein Architekturzerfall (Architekturdrift). Die Notwendigkeit kleiner Refactoring-Schritte fuehrt zur Notwendigkeit des Architektur-Reengineerings. Im Gegensatz zum Refactoring, das eine normale Entwicklungstaetigkeit darstellt, ist Reengineering eine Form der Software- ”Revolution”. Reengineeringprojekte sind sehr riskant und kostspielig. Der Nutzen des Reengineerings ist normalerweise nicht so hoch wie erwartet. Wenn nach dem Reengineering schließlich die erforderlichen Architekturaenderungen statt.nden, kann dies zu spaet sein. Trotz der enormen in das Projekt gesteckten Bemuehungen erfuellen die Resultate des Reengineerings normalerweise nicht die Erwartungen. Es kann passieren, dass sehr bald ein neues, kostspieliges Reengineering erforderlich wird. In dieser Arbeit werden das Problem der Softwareevolution und der Zerfall von Softwarearchitekturen behandelt. Eine Methode wird vorgestellt, welche die Softwareentwicklung in ihrer entscheidenden Phase, dem Architekturrefactoring, unterstuetzt. Die Softwareentwicklung wird sowohl in technischer als auch organisatorischer Hinsicht unterstuetzt. Diese Arbeit hat neue Techniken entwickelt, welche die Reverse-Engineering-, Architecture-Recovery- und Architecture-Redesign-Taetigkeiten unterst uetzen. Sie schlaegt auch Aenderungen des Softwareentwicklungsprozesses vor, die fristgerechte Architekturrefactorings erzwingen koennen und damit die Notwendigkeit der Durchfuehrung eines Architektur- Reengineerings vermeiden. In dieser Arbeit wird die Merkmalmodellierung als Hauptinstrument verwendet. Merkmale werden genutzt, um die Abstraktionsluecke zwischen den Anforderungen der Problemdomaene und der Systemarchitektur zu fuellen. Merkmalmodelle werden auch als erster Grundriss fr die Wiederherstellung der verlorenen Systemarchitektur genutzt. Merkmalbasierte Analysen fuehren zu diversen, nuetzlichen Hinweisen fuer den erneuten Entwurf (das Re-Design) einer Architektur. Schließlich wird die Merkmalmodellierung als Kommunikationsmittel zwischen unterschiedlichen Projektbeteiligten (Stakeholdern) im Verlauf des Softwareengineering-Prozesses verwendet und auf dieser Grundlage wird ein neuer Anforderungsde.nitionsprozess vorgeschlagen, der die erforderlichen Architekturrefactorings erzwingt.The long-life software systems withstand many significant changes throughout their life-cycle in order to follow the evolution of the problem domains. Usually, the software system architecture can not follow the rapid evolution of a problem domain and with time, the diversion of the architecture in respect to the domain features becomes prohibiting for software evolution. For avoiding this problem, periodical refactorings of the system architecture are required. Usually, architecture refactorings are postponed until the very last moment, because of the relatively high risk involved and the lack of short-term profit. As a rule, the management is unwilling to accept architecture refactorings unless they become absolutely necessary. The preferred way of working is to add new system features in an ad-hoc manner and to keep the rule ”Never touch a running system!”. The final result is an architecture decay. The need of performing small refactoring activities turns into need for architecture reengineering. In contrast to refactoring, which is a normal evolutionary activity, reengineering is a kind of software ”revolution”. Reengineering projects are risky and expensive. The effectiveness of reengineering is also usually not as high as expected. When finally after reengineering the required architecture changes take place, it can be too late. Despite the enormous invested efforts, the results of the reengineering usually do not satisfy the expectations. It might happen that very soon a new expensive reengineering is required. This thesis deals with the problem of software evolution and the decay of software architectures. It presents a method, which assists software evolution in its crucial part, the architecture refactoring. The assistance is performed for both technical and organizational aspects of the software evolution. The thesis provides new techniques for supporting reverse engineering, architecture recovery and redesigning activities. It also proposes changes to the software engineering process, which can force timely architecture refactorings and thus avoid the need of performing architecture reengineering. For the work in this thesis feature modeling is utilized as a main asset. Features are used to fill the abstraction gap between domain requirements and system architecture. Feature models are also used as an outline for recovering of lost system architectures. Through feature-based analyses a number of useful hints and clues for architecture redesign are produced. Finally, feature modeling is used as a communication between different stakeholders of the software engineering process and on this basis a new requirements engineering process is proposed, which forces the needed architecture refactorings