WEIGHTED ICP POINT CLOUDS REGISTRATION BY SEGMENTATION BASED ON EIGENFEATURES CLUSTERING

Abstract. Dense point clouds can be nowadays considered the main product of UAV (Unmanned Aerial Vehicle) photogrammetric processing and clouds registration is still a key aspect in case of blocks acquired apart. In the paper some overlapping datasets, acquired with a multispectral Parrot Sequoia camera above some rice fields, are analysed in a single block approach. Since the sensors is equipped with a navigation-grade sensor, the georeferencing information is affected by large errors and the so obtained dense point clouds are significantly far apart: to register them the Iterative Closes Point (ICP) technique is applied. ICP convergence is fundamentally based on the correct selection of the points to be coupled, and the paper proposes an innovative procedure in which a double density points subset is selected in relation to terrain characteristics. This approach reduces the complexity of the calculation and avoids that flat terrain parts, where most of the original points, are de-facto overweighed. Starting from the original dense cloud, eigenfeatures are extracted for each point and clustering is then performed to group them in two classes connected to terrain geometry, flat terrain or not; two metrics are adopted and compared for k-means clustering, Euclidean and City Block. Segmentation results are evaluated visually and by comparison with manually performed classification; ICP are then performed and the quality of registration is assessed too. The presented results show how the proposed procedure seem capable to register clouds even far apart with a good overall accuracy

Removal of Spectro-Polarimetric Fringes by 2D Pattern Recognition

We present a pattern-recognition based approach to the problem of removal of polarized fringes from spectro-polarimetric data. We demonstrate that 2D Principal Component Analysis can be trained on a given spectro-polarimetric map in order to identify and isolate fringe structures from the spectra. This allows us in principle to reconstruct the data without the fringe component, providing an effective and clean solution to the problem. The results presented in this paper point in the direction of revising the way that science and calibration data should be planned for a typical spectro-polarimetric observing run.Comment: ApJ, in pres

Human action recognition using spatial-temporal analysis.

Masters Degree. University of KwaZulu-Natal, Durban.In the past few decades’ human action recognition (HAR) from video has gained a lot of attention in the computer vision domain. The analysis of human activities in videos span a variety of applications including security and surveillance, entertainment, and the monitoring of the elderly. The task of recognizing human actions in any scenario is a difficult and complex one which is characterized by challenges such as self-occlusion, noisy backgrounds and variations in illumination. However, literature provides various techniques and approaches for action recognition which deal with these challenges. This dissertation focuses on a holistic approach to the human action recognition problem with specific emphasis on spatial-temporal analysis. Spatial-temporal analysis is achieved by using the Motion History Image (MHI) approach to solve the human action recognition problem. Three variants of MHI are investigated, these are: Original MHI, Modified MHI and Timed MHI. An MHI is a single image describing a silhouettes motion over a period of time. Brighter pixels in the resultant MHI show the most recent movement/motion. One of the key problems of MHI is that it is not easy to know the conditions needed to obtain an MHI silhouette that will result in a high recognition rate for action recognition. These conditions are often neglected and thus pose a problem for human action recognition systems as they could affect their overall performance. Two methods are proposed to solve the human action recognition problem and to show the conditions needed to obtain high recognition rates using the MHI approach. The first uses the concept of MHI with the Bag of Visual Words (BOVW) approach to recognize human actions. The second approach combines MHI with Local Binary Patterns (LBP). The Weizmann and KTH datasets are then used to validate the proposed methods. Results from experiments show promising recognition rates when compared to some existing methods. The BOVW approach used in combination with the three variants of MHI achieved the highest recognition rates compared to the LBP method. The original MHI method resulted in the highest recognition rate of 87% on the Weizmann dataset and an 81.6% recognition rate is achieved on the KTH dataset using the Modified MHI approach

A Robust Face Recognition Algorithm for Real-World Applications

The proposed face recognition algorithm utilizes representation of local facial regions with the DCT. The local representation provides robustness against appearance variations in local regions caused by partial face occlusion or facial expression, whereas utilizing the frequency information provides robustness against changes in illumination. The algorithm also bypasses the facial feature localization step and formulates face alignment as an optimization problem in the classification stage

Advances in Spectral Learning with Applications to Text Analysis and Brain Imaging

Spectral learning algorithms are becoming increasingly popular in data-rich domains, driven in part by recent advances in large scale randomized SVD, and in spectral estimation of Hidden Markov Models. Extensions of these methods lead to statistical estimation algorithms which are not only fast, scalable, and useful on real data sets, but are also provably correct. Following this line of research, we make two contributions. First, we propose a set of spectral algorithms for text analysis and natural language processing. In particular, we propose fast and scalable spectral algorithms for learning word embeddings -- low dimensional real vectors (called Eigenwords) that capture the “meaning” of words from their context. Second, we show how similar spectral methods can be applied to analyzing brain images. State-of-the-art approaches to learning word embeddings are slow to train or lack theoretical grounding; We propose three spectral algorithms that overcome these limitations. All three algorithms harness the multi-view nature of text data i.e. the left and right context of each word, and share three characteristics: 1). They are fast to train and are scalable. 2). They have strong theoretical properties. 3). They can induce context-specific embeddings i.e. different embedding for “river bank” or “Bank of America”. \end{enumerate} They also have lower sample complexity and hence higher statistical power for rare words. We provide theory which establishes relationships between these algorithms and optimality criteria for the estimates they provide. We also perform thorough qualitative and quantitative evaluation of Eigenwords and demonstrate their superior performance over state-of-the-art approaches. Next, we turn to the task of using spectral learning methods for brain imaging data. Methods like Sparse Principal Component Analysis (SPCA), Non-negative Matrix Factorization (NMF) and Independent Component Analysis (ICA) have been used to obtain state-of-the-art accuracies in a variety of problems in machine learning. However, their usage in brain imaging, though increasing, is limited by the fact that they are used as out-of-the-box techniques and are seldom tailored to the domain specific constraints and knowledge pertaining to medical imaging, which leads to difficulties in interpretation of results. In order to address the above shortcomings, we propose Eigenanatomy (EANAT), a general framework for sparse matrix factorization. Its goal is to statistically learn the boundaries of and connections between brain regions by weighing both the data and prior neuroanatomical knowledge. Although EANAT incorporates some neuroanatomical prior knowledge in the form of connectedness and smoothness constraints, it can still be difficult for clinicians to interpret the results in specific domains where network-specific hypotheses exist. We thus extend EANAT and present a novel framework for prior-constrained sparse decomposition of matrices derived from brain imaging data, called Prior Based Eigenanatomy (p-Eigen). We formulate our solution in terms of a prior-constrained l1 penalized (sparse) principal component analysis. Experimental evaluation confirms that p-Eigen extracts biologically-relevant, patient-specific functional parcels and that it significantly aids classification of Mild Cognitive Impairment when compared to state-of-the-art competing approaches

Robust Face Recognition based on Color and Depth Information

One of the most important advantages of automatic human face recognition is its nonintrusiveness property. Face images can sometime be acquired without user's knowledge or explicit cooperation. However, face images acquired in an uncontrolled environment can appear with varying imaging conditions. Traditionally, researchers focus on tackling this problem using 2D gray-scale images due to the wide availability of 2D cameras and the low processing and storage cost of gray-scale data. Nevertheless, face recognition can not be performed reliably with 2D gray-scale data due to insu_cient information and its high sensitivity to pose, expression and illumination variations. Recent rapid development in hardware makes acquisition and processing of color and 3D data feasible. This thesis aims to improve face recognition accuracy and robustness using color and 3D information.In terms of color information usage, this thesis proposes several improvements over existing approaches. Firstly, the Block-wise Discriminant Color Space is proposed, which learns the discriminative color space based on local patches of a human face image instead of the holistic image, as human faces display different colors in different parts. Secondly, observing that most of the existing color spaces consist of at most three color components, while complementary information can be found in multiple color components across multiple color spaces and therefore the Multiple Color Fusion model is proposed to search and utilize multiple color components effectively. Lastly, two robust color face recognition algorithms are proposed. The Color Sparse Coding method can deal with face images with noise and occlusion. The Multi-linear Color Tensor Discriminant method harnesses multi-linear technique to handle non-linear data. Experiments show that all the proposed methods outperform their existing competitors.In terms of 3D information utilization, this thesis investigates the feasibility of face recognition using Kinect. Unlike traditional 3D scanners which are too slow in speed and too expensive in cost for broad face recognition applications, Kinect trades data quality for high speed and low cost. An algorithm is proposed to show that Kinect data can be used for face recognition despite its noisy nature. In order to fully utilize Kinect data, a more sophisticated RGB-D face recognition algorithm is developed which harnesses theColor Sparse Coding framework and 3D information to perform accurate face recognition robustly even under simultaneous varying conditions of poses, illuminations, expressionsand disguises

QUEST Hierarchy for Hyperspectral Face Recognition

Face recognition is an attractive biometric due to the ease in which photographs of the human face can be acquired and processed. The non-intrusive ability of many surveillance systems permits face recognition applications to be used in a myriad of environments. Despite decades of impressive research in this area, face recognition still struggles with variations in illumination, pose and expression not to mention the larger challenge of willful circumvention. The integration of supporting contextual information in a fusion hierarchy known as QUalia Exploitation of Sensor Technology (QUEST) is a novel approach for hyperspectral face recognition that results in performance advantages and a robustness not seen in leading face recognition methodologies. This research demonstrates a method for the exploitation of hyperspectral imagery and the intelligent processing of contextual layers of spatial, spectral, and temporal information. This approach illustrates the benefit of integrating spatial and spectral domains of imagery for the automatic extraction and integration of novel soft features (biometric). The establishment of the QUEST methodology for face recognition results in an engineering advantage in both performance and efficiency compared to leading and classical face recognition techniques. An interactive environment for the testing and expansion of this recognition framework is also provided

Active Testing for Face Detection and Localization

We provide a novel search technique which uses a hierarchical model and a mutual information gain heuristic to efficiently prune the search space when localizing faces in images. We show exponential gains in computation over traditional sliding window approaches, while keeping similar performance levels

DRUBIS : a distributed face-identification experimentation framework - design, implementation and performance issues

We report on the design, implementation and performance issues of the DRUBIS (Distributed Rhodes University Biometric Identification System) experimentation framework. The Principal Component Analysis (PCA) face-recognition approach is used as a case study. DRUBIS is a flexible experimentation framework, distributed over a number of modules that are easily pluggable and swappable, allowing for the easy construction of prototype systems. Web services are the logical means of distributing DRUBIS components and a number of prototype applications have been implemented from this framework. Different popular PCA face-recognition related experiments were used to evaluate our experimentation framework. We extract recognition performance measures from these experiments. In particular, we use the framework for a more indepth study of the suitability of the DFFS (Difference From Face Space) metric as a means for image classification in the area of race and gender determination