771 research outputs found
Structured Light-Based 3D Reconstruction System for Plants.
Camera-based 3D reconstruction of physical objects is one of the most popular computer vision trends in recent years. Many systems have been built to model different real-world subjects, but there is lack of a completely robust system for plants. This paper presents a full 3D reconstruction system that incorporates both hardware structures (including the proposed structured light system to enhance textures on object surfaces) and software algorithms (including the proposed 3D point cloud registration and plant feature measurement). This paper demonstrates the ability to produce 3D models of whole plants created from multiple pairs of stereo images taken at different viewing angles, without the need to destructively cut away any parts of a plant. The ability to accurately predict phenotyping features, such as the number of leaves, plant height, leaf size and internode distances, is also demonstrated. Experimental results show that, for plants having a range of leaf sizes and a distance between leaves appropriate for the hardware design, the algorithms successfully predict phenotyping features in the target crops, with a recall of 0.97 and a precision of 0.89 for leaf detection and less than a 13-mm error for plant size, leaf size and internode distance
Depth from Monocular Images using a Semi-Parallel Deep Neural Network (SPDNN) Hybrid Architecture
Deep neural networks are applied to a wide range of problems in recent years.
In this work, Convolutional Neural Network (CNN) is applied to the problem of
determining the depth from a single camera image (monocular depth). Eight
different networks are designed to perform depth estimation, each of them
suitable for a feature level. Networks with different pooling sizes determine
different feature levels. After designing a set of networks, these models may
be combined into a single network topology using graph optimization techniques.
This "Semi Parallel Deep Neural Network (SPDNN)" eliminates duplicated common
network layers, and can be further optimized by retraining to achieve an
improved model compared to the individual topologies. In this study, four SPDNN
models are trained and have been evaluated at 2 stages on the KITTI dataset.
The ground truth images in the first part of the experiment are provided by the
benchmark, and for the second part, the ground truth images are the depth map
results from applying a state-of-the-art stereo matching method. The results of
this evaluation demonstrate that using post-processing techniques to refine the
target of the network increases the accuracy of depth estimation on individual
mono images. The second evaluation shows that using segmentation data alongside
the original data as the input can improve the depth estimation results to a
point where performance is comparable with stereo depth estimation. The
computational time is also discussed in this study.Comment: 44 pages, 25 figure
NOVEL DENSE STEREO ALGORITHMS FOR HIGH-QUALITY DEPTH ESTIMATION FROM IMAGES
This dissertation addresses the problem of inferring scene depth information from a collection of calibrated images taken from different viewpoints via stereo matching. Although it has been heavily investigated for decades, depth from stereo remains a long-standing challenge and popular research topic for several reasons. First of all, in order to be of practical use for many real-time applications such as autonomous driving, accurate depth estimation in real-time is of great importance and one of the core challenges in stereo. Second, for applications such as 3D reconstruction and view synthesis, high-quality depth estimation is crucial to achieve photo realistic results. However, due to the matching ambiguities, accurate dense depth estimates are difficult to achieve. Last but not least, most stereo algorithms rely on identification of corresponding points among images and only work effectively when scenes are Lambertian. For non-Lambertian surfaces, the brightness constancy assumption is no longer valid. This dissertation contributes three novel stereo algorithms that are motivated by the specific requirements and limitations imposed by different applications.
In addressing high speed depth estimation from images, we present a stereo algorithm that achieves high quality results while maintaining real-time performance. We introduce an adaptive aggregation step in a dynamic-programming framework. Matching costs are aggregated in the vertical direction using a computationally expensive weighting scheme based on color and distance proximity. We utilize the vector processing capability and parallelism in commodity graphics hardware to speed up this process over two orders of magnitude.
In addressing high accuracy depth estimation, we present a stereo model that makes use of constraints from points with known depths - the Ground Control Points (GCPs) as referred to in stereo literature. Our formulation explicitly models the influences of GCPs in a Markov Random Field. A novel regularization prior is naturally integrated into a global inference framework in a principled way using the Bayes rule. Our probabilistic framework allows GCPs to be obtained from various modalities and provides a natural way to integrate information from various sensors.
In addressing non-Lambertian reflectance, we introduce a new invariant for stereo correspondence which allows completely arbitrary scene reflectance (bidirectional reflectance distribution functions - BRDFs). This invariant can be used to formulate a rank constraint on stereo matching when the scene is observed by several lighting configurations in which only the lighting intensity varies
3D SEM Surface Reconstruction from Multi-View Images
The scanning electron microscope (SEM), a promising imaging equipment has been used to determine the surface properties such as compositions or geometries of specimens by achieving increased magnification, contrast, and resolution. SEM micro-graphs, however, remain two-dimensional (2D). The knowledge and information about their three-dimensional (3D) surface structures are critical in many real-world applications. Having 3D surfaces from SEM images provides true anatomic shapes of micro-scale samples which allow for quantitative measurements and informative visualization of the systems being investigated. A novel multi-view approach for reconstruction of SEM images is demonstrated in this research project. This thesis focuses on the 3D SEM surface reconstruction from multi-view images. We investigate an approach to reconstruction of 3D surfaces from stereo SEM image pairs and then discuss how 3D point clouds may be registered to generate more complete 3D shapes from multi-views of the microscopic specimen. Then we introduce a method that uses an algorithm called KAZE, which reconstructs 3D surfaces from multiple views of objects. Then Numerous results are presented to show the effectiveness of the presented approaches
A Multispectral Light Field Dataset and Framework for Light Field Deep Learning
Deep learning undoubtedly has had a huge impact on the computer vision community in recent years. In light field imaging, machine learning-based applications have significantly outperformed their conventional counterparts. Furthermore, multi- and hyperspectral light fields have shown promising results in light field-related applications such as disparity or shape estimation. Yet, a multispectral light field dataset, enabling data-driven approaches, is missing. Therefore, we propose a new synthetic multispectral light field dataset with depth and disparity ground truth. The dataset consists of a training, validation and test dataset, containing light fields of randomly generated scenes, as well as a challenge dataset rendered from hand-crafted scenes enabling detailed performance assessment. Additionally, we present a Python framework for light field deep learning. The goal of this framework is to ensure reproducibility of light field deep learning research and to provide a unified platform to accelerate the development of new architectures. The dataset is made available under dx.doi.org/10.21227/y90t-xk47 . The framework is maintained at gitlab.com/iiit-public/lfcnn
FVV Live: A real-time free-viewpoint video system with consumer electronics hardware
FVV Live is a novel end-to-end free-viewpoint video system, designed for low
cost and real-time operation, based on off-the-shelf components. The system has
been designed to yield high-quality free-viewpoint video using consumer-grade
cameras and hardware, which enables low deployment costs and easy installation
for immersive event-broadcasting or videoconferencing.
The paper describes the architecture of the system, including acquisition and
encoding of multiview plus depth data in several capture servers and virtual
view synthesis on an edge server. All the blocks of the system have been
designed to overcome the limitations imposed by hardware and network, which
impact directly on the accuracy of depth data and thus on the quality of
virtual view synthesis. The design of FVV Live allows for an arbitrary number
of cameras and capture servers, and the results presented in this paper
correspond to an implementation with nine stereo-based depth cameras.
FVV Live presents low motion-to-photon and end-to-end delays, which enables
seamless free-viewpoint navigation and bilateral immersive communications.
Moreover, the visual quality of FVV Live has been assessed through subjective
assessment with satisfactory results, and additional comparative tests show
that it is preferred over state-of-the-art DIBR alternatives
Semantic Mapping of Road Scenes
The problem of understanding road scenes has been on the fore-front in the computer vision community
for the last couple of years. This enables autonomous systems to navigate and understand
the surroundings in which it operates. It involves reconstructing the scene and estimating the objects
present in it, such as ‘vehicles’, ‘road’, ‘pavements’ and ‘buildings’. This thesis focusses on these
aspects and proposes solutions to address them.
First, we propose a solution to generate a dense semantic map from multiple street-level images.
This map can be imagined as the bird’s eye view of the region with associated semantic labels for
ten’s of kilometres of street level data. We generate the overhead semantic view from street level
images. This is in contrast to existing approaches using satellite/overhead imagery for classification
of urban region, allowing us to produce a detailed semantic map for a large scale urban area. Then
we describe a method to perform large scale dense 3D reconstruction of road scenes with associated
semantic labels. Our method fuses the depth-maps in an online fashion, generated from the
stereo pairs across time into a global 3D volume, in order to accommodate arbitrarily long image
sequences. The object class labels estimated from the street level stereo image sequence are used to
annotate the reconstructed volume. Then we exploit the scene structure in object class labelling by
performing inference over the meshed representation of the scene. By performing labelling over the
mesh we solve two issues: Firstly, images often have redundant information with multiple images
describing the same scene. Solving these images separately is slow, where our method is approximately
a magnitude faster in the inference stage compared to normal inference in the image domain.
Secondly, often multiple images, even though they describe the same scene result in inconsistent
labelling. By solving a single mesh, we remove the inconsistency of labelling across the images.
Also our mesh based labelling takes into account of the object layout in the scene, which is often
ambiguous in the image domain, thereby increasing the accuracy of object labelling. Finally, we perform
labelling and structure computation through a hierarchical robust PN Markov Random Field
defined on voxels and super-voxels given by an octree. This allows us to infer the 3D structure and
the object-class labels in a principled manner, through bounded approximate minimisation of a well
defined and studied energy functional. In this thesis, we also introduce two object labelled datasets
created from real world data. The 15 kilometre Yotta Labelled dataset consists of 8,000 images per
camera view of the roadways of the United Kingdom with a subset of them annotated with object
class labels and the second dataset is comprised of ground truth object labels for the publicly available
KITTI dataset. Both the datasets are available publicly and we hope will be helpful to the vision
research community
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