59,251 research outputs found
Multi-Frame Quality Enhancement for Compressed Video
The past few years have witnessed great success in applying deep learning to
enhance the quality of compressed image/video. The existing approaches mainly
focus on enhancing the quality of a single frame, ignoring the similarity
between consecutive frames. In this paper, we investigate that heavy quality
fluctuation exists across compressed video frames, and thus low quality frames
can be enhanced using the neighboring high quality frames, seen as Multi-Frame
Quality Enhancement (MFQE). Accordingly, this paper proposes an MFQE approach
for compressed video, as a first attempt in this direction. In our approach, we
firstly develop a Support Vector Machine (SVM) based detector to locate Peak
Quality Frames (PQFs) in compressed video. Then, a novel Multi-Frame
Convolutional Neural Network (MF-CNN) is designed to enhance the quality of
compressed video, in which the non-PQF and its nearest two PQFs are as the
input. The MF-CNN compensates motion between the non-PQF and PQFs through the
Motion Compensation subnet (MC-subnet). Subsequently, the Quality Enhancement
subnet (QE-subnet) reduces compression artifacts of the non-PQF with the help
of its nearest PQFs. Finally, the experiments validate the effectiveness and
generality of our MFQE approach in advancing the state-of-the-art quality
enhancement of compressed video. The code of our MFQE approach is available at
https://github.com/ryangBUAA/MFQE.gitComment: to appear in CVPR 201
User evaluation of an interactive learning framework for single-arm and dual-arm robots
The final publication is available at link.springer.comSocial robots are expected to adapt to their users and, like their human counterparts, learn from the interaction. In our previous work, we proposed an interactive learning framework that enables a user to intervene and modify a segment of the robot arm trajectory. The framework uses gesture teleoperation and reinforcement learning to learn new motions. In the current work, we compared the user experience with the proposed framework implemented on the single-arm and dual-arm Barrett’s 7-DOF WAM robots equipped with a Microsoft Kinect camera for user tracking and gesture recognition. User performance and workload were measured in a series of trials with two groups of 6 participants using two robot settings in different order for counterbalancing. The experimental results showed that, for the same task, users required less time and produced shorter robot trajectories with the single-arm robot than with the dual-arm robot. The results also showed that the users who performed the task with the single-arm robot first experienced considerably less workload in performing the task with the dual-arm robot while achieving a higher task success rate in a shorter time.Peer ReviewedPostprint (author's final draft
Nutation Damper System
The Nutation Damper System is a three function mechanism designed for the Galileo Spacecraft, a spin stabilized deep-space probe to Jupiter. By damping the movement of a large deployable science boom acting as an outboard pendulum, the nutation damper rapidly stabilizes the spacecraft from dynamic irregularities. The system includes the boom deployment device and the ultra-low friction boom hinge. This paper describes the mechanism, the degree to which friction, stiction and lost motion have been eliminated, and the unique test methods that allow its performance to be measured
Micro Fourier Transform Profilometry (FTP): 3D shape measurement at 10,000 frames per second
Recent advances in imaging sensors and digital light projection technology
have facilitated a rapid progress in 3D optical sensing, enabling 3D surfaces
of complex-shaped objects to be captured with improved resolution and accuracy.
However, due to the large number of projection patterns required for phase
recovery and disambiguation, the maximum fame rates of current 3D shape
measurement techniques are still limited to the range of hundreds of frames per
second (fps). Here, we demonstrate a new 3D dynamic imaging technique, Micro
Fourier Transform Profilometry (FTP), which can capture 3D surfaces of
transient events at up to 10,000 fps based on our newly developed high-speed
fringe projection system. Compared with existing techniques, FTP has the
prominent advantage of recovering an accurate, unambiguous, and dense 3D point
cloud with only two projected patterns. Furthermore, the phase information is
encoded within a single high-frequency fringe image, thereby allowing
motion-artifact-free reconstruction of transient events with temporal
resolution of 50 microseconds. To show FTP's broad utility, we use it to
reconstruct 3D videos of 4 transient scenes: vibrating cantilevers, rotating
fan blades, bullet fired from a toy gun, and balloon's explosion triggered by a
flying dart, which were previously difficult or even unable to be captured with
conventional approaches.Comment: This manuscript was originally submitted on 30th January 1
Coding of details in very low bit-rate video systems
In this paper, the importance of including small image features at the initial levels of a progressive second generation video coding scheme is presented. It is shown that a number of meaningful small features called details should be coded, even at very low data bit-rates, in order to match their perceptual significance to the human visual system. We propose a method for extracting, perceptually selecting and coding of visual details in a video sequence using morphological techniques. Its application in the framework of a multiresolution segmentation-based coding algorithm yields better results than pure segmentation techniques at higher compression ratios, if the selection step fits some main subjective requirements. Details are extracted and coded separately from the region structure and included in the reconstructed images in a later stage. The bet of considering the local background of a given detail for its perceptual selection breaks the concept ofPeer ReviewedPostprint (published version
- …