972 research outputs found

    Introduction to Facial Micro Expressions Analysis Using Color and Depth Images: A Matlab Coding Approach (Second Edition, 2023)

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    The book attempts to introduce a gentle introduction to the field of Facial Micro Expressions Recognition (FMER) using Color and Depth images, with the aid of MATLAB programming environment. FMER is a subset of image processing and it is a multidisciplinary topic to analysis. So, it requires familiarity with other topics of Artifactual Intelligence (AI) such as machine learning, digital image processing, psychology and more. So, it is a great opportunity to write a book which covers all of these topics for beginner to professional readers in the field of AI and even without having background of AI. Our goal is to provide a standalone introduction in the field of MFER analysis in the form of theorical descriptions for readers with no background in image processing with reproducible Matlab practical examples. Also, we describe any basic definitions for FMER analysis and MATLAB library which is used in the text, that helps final reader to apply the experiments in the real-world applications. We believe that this book is suitable for students, researchers, and professionals alike, who need to develop practical skills, along with a basic understanding of the field. We expect that, after reading this book, the reader feels comfortable with different key stages such as color and depth image processing, color and depth image representation, classification, machine learning, facial micro-expressions recognition, feature extraction and dimensionality reduction. The book attempts to introduce a gentle introduction to the field of Facial Micro Expressions Recognition (FMER) using Color and Depth images, with the aid of MATLAB programming environment.Comment: This is the second edition of the boo

    Contributions to improve the technologies supporting unmanned aircraft operations

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    Mención Internacional en el título de doctorUnmanned Aerial Vehicles (UAVs), in their smaller versions known as drones, are becoming increasingly important in today's societies. The systems that make them up present a multitude of challenges, of which error can be considered the common denominator. The perception of the environment is measured by sensors that have errors, the models that interpret the information and/or define behaviors are approximations of the world and therefore also have errors. Explaining error allows extending the limits of deterministic models to address real-world problems. The performance of the technologies embedded in drones depends on our ability to understand, model, and control the error of the systems that integrate them, as well as new technologies that may emerge. Flight controllers integrate various subsystems that are generally dependent on other systems. One example is the guidance systems. These systems provide the engine's propulsion controller with the necessary information to accomplish a desired mission. For this purpose, the flight controller is made up of a control law for the guidance system that reacts to the information perceived by the perception and navigation systems. The error of any of the subsystems propagates through the ecosystem of the controller, so the study of each of them is essential. On the other hand, among the strategies for error control are state-space estimators, where the Kalman filter has been a great ally of engineers since its appearance in the 1960s. Kalman filters are at the heart of information fusion systems, minimizing the error covariance of the system and allowing the measured states to be filtered and estimated in the absence of observations. State Space Models (SSM) are developed based on a set of hypotheses for modeling the world. Among the assumptions are that the models of the world must be linear, Markovian, and that the error of their models must be Gaussian. In general, systems are not linear, so linearization are performed on models that are already approximations of the world. In other cases, the noise to be controlled is not Gaussian, but it is approximated to that distribution in order to be able to deal with it. On the other hand, many systems are not Markovian, i.e., their states do not depend only on the previous state, but there are other dependencies that state space models cannot handle. This thesis deals a collection of studies in which error is formulated and reduced. First, the error in a computer vision-based precision landing system is studied, then estimation and filtering problems from the deep learning approach are addressed. Finally, classification concepts with deep learning over trajectories are studied. The first case of the collection xviiistudies the consequences of error propagation in a machine vision-based precision landing system. This paper proposes a set of strategies to reduce the impact on the guidance system, and ultimately reduce the error. The next two studies approach the estimation and filtering problem from the deep learning approach, where error is a function to be minimized by learning. The last case of the collection deals with a trajectory classification problem with real data. This work completes the two main fields in deep learning, regression and classification, where the error is considered as a probability function of class membership.Los vehículos aéreos no tripulados (UAV) en sus versiones de pequeño tamaño conocidos como drones, van tomando protagonismo en las sociedades actuales. Los sistemas que los componen presentan multitud de retos entre los cuales el error se puede considerar como el denominador común. La percepción del entorno se mide mediante sensores que tienen error, los modelos que interpretan la información y/o definen comportamientos son aproximaciones del mundo y por consiguiente también presentan error. Explicar el error permite extender los límites de los modelos deterministas para abordar problemas del mundo real. El rendimiento de las tecnologías embarcadas en los drones, dependen de nuestra capacidad de comprender, modelar y controlar el error de los sistemas que los integran, así como de las nuevas tecnologías que puedan surgir. Los controladores de vuelo integran diferentes subsistemas los cuales generalmente son dependientes de otros sistemas. Un caso de esta situación son los sistemas de guiado. Estos sistemas son los encargados de proporcionar al controlador de los motores información necesaria para cumplir con una misión deseada. Para ello se componen de una ley de control de guiado que reacciona a la información percibida por los sistemas de percepción y navegación. El error de cualquiera de estos sistemas se propaga por el ecosistema del controlador siendo vital su estudio. Por otro lado, entre las estrategias para abordar el control del error se encuentran los estimadores en espacios de estados, donde el filtro de Kalman desde su aparición en los años 60, ha sido y continúa siendo un gran aliado para los ingenieros. Los filtros de Kalman son el corazón de los sistemas de fusión de información, los cuales minimizan la covarianza del error del sistema, permitiendo filtrar los estados medidos y estimarlos cuando no se tienen observaciones. Los modelos de espacios de estados se desarrollan en base a un conjunto de hipótesis para modelar el mundo. Entre las hipótesis se encuentra que los modelos del mundo han de ser lineales, markovianos y que el error de sus modelos ha de ser gaussiano. Generalmente los sistemas no son lineales por lo que se realizan linealizaciones sobre modelos que a su vez ya son aproximaciones del mundo. En otros casos el ruido que se desea controlar no es gaussiano, pero se aproxima a esta distribución para poder abordarlo. Por otro lado, multitud de sistemas no son markovianos, es decir, sus estados no solo dependen del estado anterior, sino que existen otras dependencias que los modelos de espacio de estados no son capaces de abordar. Esta tesis aborda un compendio de estudios sobre los que se formula y reduce el error. En primer lugar, se estudia el error en un sistema de aterrizaje de precisión basado en visión por computador. Después se plantean problemas de estimación y filtrado desde la aproximación del aprendizaje profundo. Por último, se estudian los conceptos de clasificación con aprendizaje profundo sobre trayectorias. El primer caso del compendio estudia las consecuencias de la propagación del error de un sistema de aterrizaje de precisión basado en visión artificial. En este trabajo se propone un conjunto de estrategias para reducir el impacto sobre el sistema de guiado, y en última instancia reducir el error. Los siguientes dos estudios abordan el problema de estimación y filtrado desde la perspectiva del aprendizaje profundo, donde el error es una función que minimizar mediante aprendizaje. El último caso del compendio aborda un problema de clasificación de trayectorias con datos reales. Con este trabajo se completan los dos campos principales en aprendizaje profundo, regresión y clasificación, donde se plantea el error como una función de probabilidad de pertenencia a una clase.I would like to thank the Ministry of Science and Innovation for granting me the funding with reference PRE2018-086793, associated to the project TEC2017-88048-C2-2-R, which provide me the opportunity to carry out all my PhD. activities, including completing an international research internship.Programa de Doctorado en Ciencia y Tecnología Informática por la Universidad Carlos III de MadridPresidente: Antonio Berlanga de Jesús.- Secretario: Daniel Arias Medina.- Vocal: Alejandro Martínez Cav

    Development of Quantitative Bone SPECT Analysis Methods for Metastatic Bone Disease

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    Prostate cancer is one of the most prevalent types of cancer in males in the United States. Bone is a common site of metastases for metastatic prostate cancer. However, bone metastases are often considered “unmeasurable” using standard anatomic imaging and the RECIST 1.1 criteria. As a result, response to therapy is often suboptimally evaluated by visual interpretation of planar bone scintigraphy with response criteria related to the presence or absence of new lesions. With the commercial availability of quantitative single-photon emission computed tomography (SPECT) methods, it is now feasible to establish quantitative metrics of therapy response by skeletal metastases. Quantitative bone SPECT (QBSPECT) may provide the ability to estimate bone lesion uptake, volume, and the number of lesions more accurately than planar imaging. However, the accuracy of activity quantification in QBSPECT relies heavily on the precision with which bone metastases and bone structures are delineated. In this research, we aim at developing automated image segmentation methods for fast and accurate delineation of bone and bone metastases in QBSPECT. To begin, we developed registration methods to generate a dataset of realistic and anatomically-varying computerized phantoms for use in QBSPECT simulations. Using these simulations, we develop supervised computer-automated segmentation methods to minimize intra- and inter-observer variations in delineating bone metastases. This project provides accurate segmentation techniques for QBSPECT and paves the way for the development of QBSPECT methods for assessing bone metastases’ therapy response

    LiDAR-Based Place Recognition For Autonomous Driving: A Survey

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    LiDAR-based place recognition (LPR) plays a pivotal role in autonomous driving, which assists Simultaneous Localization and Mapping (SLAM) systems in reducing accumulated errors and achieving reliable localization. However, existing reviews predominantly concentrate on visual place recognition (VPR) methods. Despite the recent remarkable progress in LPR, to the best of our knowledge, there is no dedicated systematic review in this area. This paper bridges the gap by providing a comprehensive review of place recognition methods employing LiDAR sensors, thus facilitating and encouraging further research. We commence by delving into the problem formulation of place recognition, exploring existing challenges, and describing relations to previous surveys. Subsequently, we conduct an in-depth review of related research, which offers detailed classifications, strengths and weaknesses, and architectures. Finally, we summarize existing datasets, commonly used evaluation metrics, and comprehensive evaluation results from various methods on public datasets. This paper can serve as a valuable tutorial for newcomers entering the field of place recognition and for researchers interested in long-term robot localization. We pledge to maintain an up-to-date project on our website https://github.com/ShiPC-AI/LPR-Survey.Comment: 26 pages,13 figures, 5 table

    GVP: Generative Volumetric Primitives

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    Advances in 3D-aware generative models have pushed the boundary of image synthesis with explicit camera control. To achieve high-resolution image synthesis, several attempts have been made to design efficient generators, such as hybrid architectures with both 3D and 2D components. However, such a design compromises multiview consistency, and the design of a pure 3D generator with high resolution is still an open problem. In this work, we present Generative Volumetric Primitives (GVP), the first pure 3D generative model that can sample and render 512-resolution images in real-time. GVP jointly models a number of volumetric primitives and their spatial information, both of which can be efficiently generated via a 2D convolutional network. The mixture of these primitives naturally captures the sparsity and correspondence in the 3D volume. The training of such a generator with a high degree of freedom is made possible through a knowledge distillation technique. Experiments on several datasets demonstrate superior efficiency and 3D consistency of GVP over the state-of-the-art.Comment: https://vcai.mpi-inf.mpg.de/projects/GVP/index.htm

    Optical and hyperspectral image analysis for image-guided surgery

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    Neural Reflectance Decomposition

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    Die Erstellung von fotorealistischen Modellen von Objekten aus Bildern oder Bildersammlungen ist eine grundlegende Herausforderung in der Computer Vision und Grafik. Dieses Problem wird auch als inverses Rendering bezeichnet. Eine der größten Herausforderungen bei dieser Aufgabe ist die vielfältige Ambiguität. Der Prozess Bilder aus 3D-Objekten zu erzeugen wird Rendering genannt. Allerdings beeinflussen sich mehrere Eigenschaften wie Form, Beleuchtung und die Reflektivität der Oberfläche gegenseitig. Zusätzlich wird eine Integration dieser Einflüsse durchgeführt, um das endgültige Bild zu erzeugen. Die Umkehrung dieser integrierten Abhängigkeiten ist eine äußerst schwierige und mehrdeutige Aufgabenstellung. Die Lösung dieser Aufgabe ist jedoch von entscheidender Bedeutung, da die automatisierte Erstellung solcher wieder beleuchtbaren Objekte verschiedene Anwendungen in den Bereichen Online-Shopping, Augmented Reality (AR), Virtual Reality (VR), Spiele oder Filme hat. In dieser Arbeit werden zwei Ansätze zur Lösung dieser Aufgabe beschrieben. Erstens wird eine Netzwerkarchitektur vorgestellt, die die Erfassung eines Objekts und dessen Materialien von zwei Aufnahmen ermöglicht. Der Grad der Blicksynthese von diesen Objekten ist jedoch begrenzt, da bei der Dekomposition nur eine einzige Perspektive verwendet wird. Daher wird eine zweite Reihe von Ansätzen vorgeschlagen, bei denen eine Sammlung von 360 Grad verteilten Bildern in die Form, Reflektanz und Beleuchtung gespalten werden. Diese Multi-View-Bilder werden pro Objekt optimiert. Das resultierende Objekt kann direkt in handelsüblicher Rendering-Software oder in Spielen verwendet werden. Wir erreichen dies, indem wir die aktuelle Forschung zu neuronalen Feldern erweitern Reflektanz zu speichern. Durch den Einsatz von Volumen-Rendering-Techniken können wir ein Reflektanzfeld aus natürlichen Bildsammlungen ohne jegliche Ground Truth (GT) Überwachung optimieren. Die von uns vorgeschlagenen Methoden erreichen eine erstklassige Qualität der Dekomposition und ermöglichen neuartige Aufnahmesituationen, in denen sich Objekte unter verschiedenen Beleuchtungsbedingungen oder an verschiedenen Orten befinden können, was üblich für Online-Bildsammlungen ist.Creating relightable objects from images or collections is a fundamental challenge in computer vision and graphics. This problem is also known as inverse rendering. One of the main challenges in this task is the high ambiguity. The creation of images from 3D objects is well defined as rendering. However, multiple properties such as shape, illumination, and surface reflectiveness influence each other. Additionally, an integration of these influences is performed to form the final image. Reversing these integrated dependencies is highly ill-posed and ambiguous. However, solving the task is essential, as automated creation of relightable objects has various applications in online shopping, augmented reality (AR), virtual reality (VR), games, or movies. In this thesis, we propose two approaches to solve this task. First, a network architecture is discussed, which generalizes the decomposition of a two-shot capture of an object from large training datasets. The degree of novel view synthesis is limited as only a singular perspective is used in the decomposition. Therefore, the second set of approaches is proposed, which decomposes a set of 360-degree images. These multi-view images are optimized per object, and the result can be directly used in standard rendering software or games. We achieve this by extending recent research on Neural Fields, which can store information in a 3D neural volume. Leveraging volume rendering techniques, we can optimize a reflectance field from in-the-wild image collections without any ground truth (GT) supervision. Our proposed methods achieve state-of-the-art decomposition quality and enable novel capture setups where objects can be under varying illumination or in different locations, which is typical for online image collections

    Re-Evaluating LiDAR Scene Flow for Autonomous Driving

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    Current methods for self-supervised LiDAR scene flow estimation work poorly on real data. A variety of flaws in common evaluation protocols have caused leading approaches to focus on problems that do not exist in real data. We analyze a suite of recent works and find that despite their focus on deep learning, the main challenges of the LiDAR scene flow problem -- removing the dominant rigid motion and robustly estimating the simple motions that remain -- can be more effectively solved with classical techniques such as ICP motion compensation and enforcing piecewise rigid assumptions. We combine these steps with a test-time optimization method to form a state-of-the-art system that does not require any training data. Because our final approach is dataless, it can be applied on different datasets with diverse LiDAR rigs without retraining. Our proposed approach outperforms all existing methods on Argoverse 2.0, halves the error rate on NuScenes, and even rivals the performance of supervised networks on Waymo and lidarKITTI

    RoSI: Recovering 3D Shape Interiors from Few Articulation Images

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    The dominant majority of 3D models that appear in gaming, VR/AR, and those we use to train geometric deep learning algorithms are incomplete, since they are modeled as surface meshes and missing their interior structures. We present a learning framework to recover the shape interiors (RoSI) of existing 3D models with only their exteriors from multi-view and multi-articulation images. Given a set of RGB images that capture a target 3D object in different articulated poses, possibly from only few views, our method infers the interior planes that are observable in the input images. Our neural architecture is trained in a category-agnostic manner and it consists of a motion-aware multi-view analysis phase including pose, depth, and motion estimations, followed by interior plane detection in images and 3D space, and finally multi-view plane fusion. In addition, our method also predicts part articulations and is able to realize and even extrapolate the captured motions on the target 3D object. We evaluate our method by quantitative and qualitative comparisons to baselines and alternative solutions, as well as testing on untrained object categories and real image inputs to assess its generalization capabilities
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