Man-made Surface Structures from Triangulated Point Clouds

Photogrammetry aims at reconstructing shape and dimensions of objects captured with cameras, 3D laser scanners or other spatial acquisition systems. While many acquisition techniques deliver triangulated point clouds with millions of vertices within seconds, the interpretation is usually left to the user. Especially when reconstructing man-made objects, one is interested in the underlying surface structure, which is not inherently present in the data. This includes the geometric shape of the object, e.g. cubical or cylindrical, as well as corresponding surface parameters, e.g. width, height and radius. Applications are manifold and range from industrial production control to architectural on-site measurements to large-scale city models. The goal of this thesis is to automatically derive such surface structures from triangulated 3D point clouds of man-made objects. They are defined as a compound of planar or curved geometric primitives. Model knowledge about typical primitives and relations between adjacent pairs of them should affect the reconstruction positively. After formulating a parametrized model for man-made surface structures, we develop a reconstruction framework with three processing steps: During a fast pre-segmentation exploiting local surface properties we divide the given surface mesh into planar regions. Making use of a model selection scheme based on minimizing the description length, this surface segmentation is free of control parameters and automatically yields an optimal number of segments. A subsequent refinement introduces a set of planar or curved geometric primitives and hierarchically merges adjacent regions based on their joint description length. A global classification and constraint parameter estimation combines the data-driven segmentation with high-level model knowledge. Therefore, we represent the surface structure with a graphical model and formulate factors based on likelihood as well as prior knowledge about parameter distributions and class probabilities. We infer the most probable setting of surface and relation classes with belief propagation and estimate an optimal surface parametrization with constraints induced by inter-regional relations. The process is specifically designed to work on noisy data with outliers and a few exceptional freeform regions not describable with geometric primitives. It yields full 3D surface structures with watertightly connected surface primitives of different types. The performance of the proposed framework is experimentally evaluated on various data sets. On small synthetically generated meshes we analyze the accuracy of the estimated surface parameters, the sensitivity w.r.t. various properties of the input data and w.r.t. model assumptions as well as the computational complexity. Additionally we demonstrate the flexibility w.r.t. different acquisition techniques on real data sets. The proposed method turns out to be accurate, reasonably fast and little sensitive to defects in the data or imprecise model assumptions.Künstliche Oberflächenstrukturen aus triangulierten Punktwolken Ein Ziel der Photogrammetrie ist die Rekonstruktion der Form und Größe von Objekten, die mit Kameras, 3D-Laserscannern und anderern räumlichen Erfassungssystemen aufgenommen wurden. Während viele Aufnahmetechniken innerhalb von Sekunden triangulierte Punktwolken mit Millionen von Punkten liefern, ist deren Interpretation gewöhnlicherweise dem Nutzer überlassen. Besonders bei der Rekonstruktion künstlicher Objekte (i.S.v. engl. man-made = „von Menschenhand gemacht“ ist man an der zugrunde liegenden Oberflächenstruktur interessiert, welche nicht inhärent in den Daten enthalten ist. Diese umfasst die geometrische Form des Objekts, z.B. quaderförmig oder zylindrisch, als auch die zugehörigen Oberflächenparameter, z.B. Breite, Höhe oder Radius. Die Anwendungen sind vielfältig und reichen von industriellen Fertigungskontrollen über architektonische Raumaufmaße bis hin zu großmaßstäbigen Stadtmodellen. Das Ziel dieser Arbeit ist es, solche Oberflächenstrukturen automatisch aus triangulierten Punktwolken von künstlichen Objekten abzuleiten. Sie sind definiert als ein Verbund ebener und gekrümmter geometrischer Primitive. Modellwissen über typische Primitive und Relationen zwischen Paaren von ihnen soll die Rekonstruktion positiv beeinflussen. Nachdem wir ein parametrisiertes Modell für künstliche Oberflächenstrukturen formuliert haben, entwickeln wir ein Rekonstruktionsverfahren mit drei Verarbeitungsschritten: Im Rahmen einer schnellen Vorsegmentierung, die lokale Oberflächeneigenschaften berücksichtigt, teilen wir die gegebene vermaschte Oberfläche in ebene Regionen. Unter Verwendung eines Schemas zur Modellauswahl, das auf der Minimierung der Beschreibungslänge beruht, ist diese Oberflächensegmentierung unabhängig von Kontrollparametern und liefert automatisch eine optimale Anzahl an Regionen. Eine anschließende Verbesserung führt eine Menge von ebenen und gekrümmten geometrischen Primitiven ein und fusioniert benachbarte Regionen hierarchisch basierend auf ihrer gemeinsamen Beschreibungslänge. Eine globale Klassifikation und bedingte Parameterschätzung verbindet die datengetriebene Segmentierung mit hochrangigem Modellwissen. Dazu stellen wir die Oberflächenstruktur in Form eines graphischen Modells dar und formulieren Faktoren basierend auf der Likelihood sowie auf apriori Wissen über die Parameterverteilungen und Klassenwahrscheinlichkeiten. Wir leiten die wahrscheinlichste Konfiguration von Flächen- und Relationsklassen mit Hilfe von Belief-Propagation ab und schätzen eine optimale Oberflächenparametrisierung mit Bedingungen, die durch die Relationen zwischen benachbarten Primitiven induziert werden. Der Prozess ist eigens für verrauschte Daten mit Ausreißern und wenigen Ausnahmeregionen konzipiert, die nicht durch geometrische Primitive beschreibbar sind. Er liefert wasserdichte 3D-Oberflächenstrukturen mit Oberflächenprimitiven verschiedener Art. Die Leistungsfähigkeit des vorgestellten Verfahrens wird an verschiedenen Datensätzen experimentell evaluiert. Auf kleinen, synthetisch generierten Oberflächen untersuchen wir die Genauigkeit der geschätzten Oberflächenparameter, die Sensitivität bzgl. verschiedener Eigenschaften der Eingangsdaten und bzgl. Modellannahmen sowie die Rechenkomplexität. Außerdem demonstrieren wir die Flexibilität bzgl. verschiedener Aufnahmetechniken anhand realer Datensätze. Das vorgestellte Rekonstruktionsverfahren erweist sich als genau, hinreichend schnell und wenig anfällig für Defekte in den Daten oder falsche Modellannahmen

Geometric data understanding : deriving case specific features

There exists a tradition using precise geometric modeling, where uncertainties in data can be considered noise. Another tradition relies on statistical nature of vast quantity of data, where geometric regularity is intrinsic to data and statistical models usually grasp this level only indirectly. This work focuses on point cloud data of natural resources and the silhouette recognition from video input as two real world examples of problems having geometric content which is intangible at the raw data presentation. This content could be discovered and modeled to some degree by such machine learning (ML) approaches like deep learning, but either a direct coverage of geometry in samples or addition of special geometry invariant layer is necessary. Geometric content is central when there is a need for direct observations of spatial variables, or one needs to gain a mapping to a geometrically consistent data representation, where e.g. outliers or noise can be easily discerned. In this thesis we consider transformation of original input data to a geometric feature space in two example problems. The first example is curvature of surfaces, which has met renewed interest since the introduction of ubiquitous point cloud data and the maturation of the discrete differential geometry. Curvature spectra can characterize a spatial sample rather well, and provide useful features for ML purposes. The second example involves projective methods used to video stereo-signal analysis in swimming analytics. The aim is to find meaningful local geometric representations for feature generation, which also facilitate additional analysis based on geometric understanding of the model. The features are associated directly to some geometric quantity, and this makes it easier to express the geometric constraints in a natural way, as shown in the thesis. Also, the visualization and further feature generation is much easier. Third, the approach provides sound baseline methods to more traditional ML approaches, e.g. neural network methods. Fourth, most of the ML methods can utilize the geometric features presented in this work as additional features.Geometriassa käytetään perinteisesti tarkkoja malleja, jolloin datassa esiintyvät epätarkkuudet edustavat melua. Toisessa perinteessä nojataan suuren datamäärän tilastolliseen luonteeseen, jolloin geometrinen säännönmukaisuus on datan sisäsyntyinen ominaisuus, joka hahmotetaan tilastollisilla malleilla ainoastaan epäsuorasti. Tämä työ keskittyy kahteen esimerkkiin: luonnonvaroja kuvaaviin pistepilviin ja videohahmontunnistukseen. Nämä ovat todellisia ongelmia, joissa geometrinen sisältö on tavoittamattomissa raakadatan tasolla. Tämä sisältö voitaisiin jossain määrin löytää ja mallintaa koneoppimisen keinoin, esim. syväoppimisen avulla, mutta joko geometria pitää kattaa suoraan näytteistämällä tai tarvitaan neuronien lisäkerros geometrisia invariansseja varten. Geometrinen sisältö on keskeinen, kun tarvitaan suoraa avaruudellisten suureiden havainnointia, tai kun tarvitaan kuvaus geometrisesti yhtenäiseen dataesitykseen, jossa poikkeavat näytteet tai melu voidaan helposti erottaa. Tässä työssä tarkastellaan datan muuntamista geometriseen piirreavaruuteen kahden esimerkkiohjelman suhteen. Ensimmäinen esimerkki on pintakaarevuus, joka on uudelleen virinneen kiinnostuksen kohde kaikkialle saatavissa olevan datan ja diskreetin geometrian kypsymisen takia. Kaarevuusspektrit voivat luonnehtia avaruudellista kohdetta melko hyvin ja tarjota koneoppimisessa hyödyllisiä piirteitä. Toinen esimerkki koskee projektiivisia menetelmiä käytettäessä stereovideosignaalia uinnin analytiikkaan. Tavoite on löytää merkityksellisiä paikallisen geometrian esityksiä, jotka samalla mahdollistavat muun geometrian ymmärrykseen perustuvan analyysin. Piirteet liittyvät suoraan johonkin geometriseen suureeseen, ja tämä helpottaa luonnollisella tavalla geometristen rajoitteiden käsittelyä, kuten väitöstyössä osoitetaan. Myös visualisointi ja lisäpiirteiden luonti muuttuu helpommaksi. Kolmanneksi, lähestymistapa suo selkeän vertailumenetelmän perinteisemmille koneoppimisen lähestymistavoille, esim. hermoverkkomenetelmille. Neljänneksi, useimmat koneoppimismenetelmät voivat hyödyntää tässä työssä esitettyjä geometrisia piirteitä lisäämällä ne muiden piirteiden joukkoon

Patch-based methods for variational image processing problems

Image Processing problems are notoriously difficult. To name a few of these difficulties, they are usually ill-posed, involve a huge number of unknowns (from one to several per pixel!), and images cannot be considered as the linear superposition of a few physical sources as they contain many different scales and non-linearities. However, if one considers instead of images as a whole small blocks (or patches) inside the pictures, many of these hurdles vanish and problems become much easier to solve, at the cost of increasing again the dimensionality of the data to process. Following the seminal NL-means algorithm in 2005-2006, methods that consider only the visual correlation between patches and ignore their spatial relationship are called non-local methods. While powerful, it is an arduous task to define non-local methods without using heuristic formulations or complex mathematical frameworks. On the other hand, another powerful property has brought global image processing algorithms one step further: it is the sparsity of images in well chosen representation basis. However, this property is difficult to embed naturally in non-local methods, yielding algorithms that are usually inefficient or circonvoluted. In this thesis, we explore alternative approaches to non-locality, with the goals of i) developing universal approaches that can handle local and non-local constraints and ii) leveraging the qualities of both non-locality and sparsity. For the first point, we will see that embedding the patches of an image into a graph-based framework can yield a simple algorithm that can switch from local to non-local diffusion, which we will apply to the problem of large area image inpainting. For the second point, we will first study a fast patch preselection process that is able to group patches according to their visual content. This preselection operator will then serve as input to a social sparsity enforcing operator that will create sparse groups of jointly sparse patches, thus exploiting all the redundancies present in the data, in a simple mathematical framework. Finally, we will study the problem of reconstructing plausible patches from a few binarized measurements. We will show that this task can be achieved in the case of popular binarized image keypoints descriptors, thus demonstrating a potential privacy issue in mobile visual recognition applications, but also opening a promising way to the design and the construction of a new generation of smart cameras

Adaptation in Deep Learning Models: Algorithms and Applications

Artificial intelligence has been successful to match or even surpass human abilities e.g., recognizing images, playing games, and understanding languages. At the current state, powerful machine learning models learn from data under a stationary environment while humans are capable of learning in dynamic, changing, and sequential conditions. In pursuing the idea of open-ended learning for machine intelligence, we contribute to provide algorithms and analyses for generally capable models via adaptation. In this thesis, the model adaptation problem is defined as the impediment of intelligent machines to learn to modify their behaviors for new purposes or new uses. The ultimate goal is to develop machine intelligence that has the ability to adapt itself by not only following at our behest but also understanding the environment. Our works populate in the area of deep neural networks and transfer learning. Throughout our works, developing adaptive models is divided into four major problems: (1) few-shot learning, (2) fast model adaptation, (3) continual learning, and (4) architecture search. In few-shot learning, a model is expected to change its behavior when facing a new context or an unseen task with limited data. Another important problem within few-shot learning is to adapt quickly from a few data. In the problem of continual learning, the model needs to adapt sequentially depending on the given task. In architecture search, we look for a high-performing configuration for connecting among nodes in a model. To approach the problem of few-shot learning, we opt to use the strategy in transfer learning with a pretrained Convolutional Neural Network (CNN) for novel tasks with limited-data annotations. Inspired by the success of subspace methods for visual recognition, we develop a classifier using subspaces to improve the generalization capability to novel concepts. We also investigate few-shot learning in multi-label classification, and propose a multi-label propagation technique by constructing a graph from the representations of support samples. In pursuing fast model adaptation, we use the idea of preconditioners in optimization. Specifically, the problem revolves in \textit{meta-learning}, where the agent needs to learn a family of tasks and adapt quickly to a new task. Our algorithm uses a non-linear function to generate the preconditioner for modulating the gradient when updating the model. Our experiments show that the model converges more quickly than other types of preconditioners in the same problem. In the problem of continual learning, the model needs to sequentially learn and adapt the network parameters for new tasks without forgetting the previously learned tasks. To this end, we investigate the knowledge distillation approach, where the old model guides the current model to find the balance between the current task and the prior tasks. Our approach models the smoothness between two tasks using the geodesic flow, and the objective is to maximize similarity of the projected responses along the geodesic flow. In neural architecture search, the optimal architecture depends on the task objectives. We observe that searching for an optimal architecture is not trivial while the data annotations is noisy. The study investigates the impact of label noise in obtaining the best performance when optimizing a neural architecture, while also reducing the performance deterioration because of overfitting to noisy labels. We use the mutual information bottleneck to design a noise injection module that can alleviate the impact of learning under label noise. In summary, our works in this thesis address some major problems in model adaptation e.g., few-shot learning, meta-learning, continual learning, and neural architecture search. The solutions are expected to contribute to the arsenal of model adaptation algorithms and the analyses shed light on the essential aspects in adaptation strategies

Image Segmentation by Energy and Related Functional Minimization Methods

Effective and efficient methods for partitioning a digital image into image segments, called ¿image segmentation,¿ have a wide range of applications that include pattern recognition, classification, editing, rendering, and compressed data for image search. In general, image segments are described by their geometry and similarity measures that identify them. For example, the well-known optimization model proposed and studied in depth by David Mumford and Jayant Shah is based on an L2 total energy functional that consists of three terms that govern the geometry of the image segments, the image fidelity (or closeness to the observed image), and the prior (or image smoothness). Recent work in the field of image restoration suggests that a more suitable choice for the fidelity measure is, perhaps, the l1 norm. This thesis explores that idea applied to the study of image segmentation along the line of the Mumford and Shah optimization model, but eliminating the need of variational calculus and regularization schemes to derive the approximating Euler-Lagrange equations. The main contribution of this thesis is a formulation of the problem that avoids the need for the calculus of variation. The energy functional represents a global property of an image. It turns out to be possible, however, to predict how localized changes to the segmentation will affect its value. This has been shown previously in the case of the l2 norm, but no similar method is available for other norms. The method described here solves the problem for the l1 norm, and suggests how it would apply to other forms of the fidelity measure. Existing methods rely on a fixed initial condition. This can lead to an algorithm finding local instead of global optimizations. The solution given here shows how to specify the initial condition based on the content of the image and avoid finding local minima

Learning with Single View Co-training and Marginalized Dropout

The generalization properties of most existing machine learning techniques are predicated on the assumptions that 1) a sufficiently large quantity of training data is available; 2) the training and testing data come from some common distribution. Although these assumptions are often met in practice, there are also many scenarios in which training data from the relevant distribution is insufficient. We focus on making use of additional data, which is readily available or can be obtained easily but comes from a different distribution than the testing data, to aid learning. We present five learning scenarios, depending on how the distribution we used to sample the additional training data differs from the testing distribution: 1) learning with weak supervision; 2) domain adaptation; 3) learning from multiple domains; 4) learning from corrupted data; 5) learning with partial supervision. We introduce two strategies and manifest them in five ways to cope with the difference between the training and testing distribution. The first strategy, which gives rise to Pseudo Multi-view Co-training: PMC) and Co-training for Domain Adaptation: CODA), is inspired by the co-training algorithm for multi-view data. PMC generalizes co-training to the more common single view data and allows us to learn from weakly labeled data retrieved free from the web. CODA integrates PMC with an another feature selection component to address the feature incompatibility between domains for domain adaptation. PMC and CODA are evaluated on a variety of real datasets, and both yield record performance. The second strategy marginalized dropout leads to marginalized Stacked Denoising Autoencoders: mSDA), Marginalized Corrupted Features: MCF) and FastTag: FastTag). mSDA diminishes the difference between distributions associated with different domains by learning a new representation through marginalized corruption and reconstruciton. MCF learns from a known distribution which is created by corrupting a small set of training data, and improves robustness of learned classifiers by training on ``infinitely\u27\u27 many data sampled from the distribution. FastTag applies marginalized dropout to the output of partially labeled data to recover missing labels for multi-label tasks. These three algorithms not only achieve the state-of-art performance in various tasks, but also deliver orders of magnitude speed up at training and testing comparing to competing algorithms

Pattern Recognition

Pattern recognition is a very wide research field. It involves factors as diverse as sensors, feature extraction, pattern classification, decision fusion, applications and others. The signals processed are commonly one, two or three dimensional, the processing is done in real- time or takes hours and days, some systems look for one narrow object class, others search huge databases for entries with at least a small amount of similarity. No single person can claim expertise across the whole field, which develops rapidly, updates its paradigms and comprehends several philosophical approaches. This book reflects this diversity by presenting a selection of recent developments within the area of pattern recognition and related fields. It covers theoretical advances in classification and feature extraction as well as application-oriented works. Authors of these 25 works present and advocate recent achievements of their research related to the field of pattern recognition