Markerless deformation capture of hoverfly wings using multiple calibrated cameras

This thesis introduces an algorithm for the automated deformation capture of hoverfly wings from multiple camera image sequences. The algorithm is capable of extracting dense surface measurements, without the aid of fiducial markers, over an arbitrary number of wingbeats of hovering flight and requires limited manual initialisation. A novel motion prediction method, called the ‘normalised stroke model’, makes use of the similarity of adjacent wing strokes to predict wing keypoint locations, which are then iteratively refined in a stereo image registration procedure. Outlier removal, wing fitting and further refinement using independently reconstructed boundary points complete the algorithm. It was tested on two hovering data sets, as well as a challenging flight manoeuvre. By comparing the 3-d positions of keypoints extracted from these surfaces with those resulting from manual identification, the accuracy of the algorithm is shown to approach that of a fully manual approach. In particular, half of the algorithm-extracted keypoints were within 0.17mm of manually identified keypoints, approximately equal to the error of the manual identification process. This algorithm is unique among purely image based flapping flight studies in the level of automation it achieves, and its generality would make it applicable to wing tracking of other insects

Automatic visual recognition using parallel machines

Invariant features and quick matching algorithms are two major concerns in the area of automatic visual recognition. The former reduces the size of an established model database, and the latter shortens the computation time. This dissertation, will discussed both line invariants under perspective projection and parallel implementation of a dynamic programming technique for shape recognition. The feasibility of using parallel machines can be demonstrated through the dramatically reduced time complexity. In this dissertation, our algorithms are implemented on the AP1000 MIMD parallel machines. For processing an object with a features, the time complexity of the proposed parallel algorithm is O(n), while that of a uniprocessor is O(n2). The two applications, one for shape matching and the other for chain-code extraction, are used in order to demonstrate the usefulness of our methods. Invariants from four general lines under perspective projection are also discussed in here. In contrast to the approach which uses the epipolar geometry, we investigate the invariants under isotropy subgroups. Theoretically speaking, two independent invariants can be found for four general lines in 3D space. In practice, we show how to obtain these two invariants from the projective images of four general lines without the need of camera calibration. A projective invariant recognition system based on a hypothesis-generation-testing scheme is run on the hypercube parallel architecture. Object recognition is achieved by matching the scene projective invariants to the model projective invariants, called transfer. Then a hypothesis-generation-testing scheme is implemented on the hypercube parallel architecture

3D/2D Registration of Mapping Catheter Images for Arrhythmia Interventional Assistance

Radiofrequency (RF) catheter ablation has transformed treatment for tachyarrhythmias and has become first-line therapy for some tachycardias. The precise localization of the arrhythmogenic site and the positioning of the RF catheter over that site are problematic: they can impair the efficiency of the procedure and are time consuming (several hours). Electroanatomic mapping technologies are available that enable the display of the cardiac chambers and the relative position of ablation lesions. However, these are expensive and use custom-made catheters. The proposed methodology makes use of standard catheters and inexpensive technology in order to create a 3D volume of the heart chamber affected by the arrhythmia. Further, we propose a novel method that uses a priori 3D information of the mapping catheter in order to estimate the 3D locations of multiple electrodes across single view C-arm images. The monoplane algorithm is tested for feasibility on computer simulations and initial canine data.Comment: International Journal of Computer Science Issues, IJCSI, Volume 4, Issue 2, pp10-19, September 200

3D Motion Analysis via Energy Minimization

This work deals with 3D motion analysis from stereo image sequences for driver assistance systems. It consists of two parts: the estimation of motion from the image data and the segmentation of moving objects in the input images. The content can be summarized with the technical term machine visual kinesthesia, the sensation or perception and cognition of motion. In the first three chapters, the importance of motion information is discussed for driver assistance systems, for machine vision in general, and for the estimation of ego motion. The next two chapters delineate on motion perception, analyzing the apparent movement of pixels in image sequences for both a monocular and binocular camera setup. Then, the obtained motion information is used to segment moving objects in the input video. Thus, one can clearly identify the thread from analyzing the input images to describing the input images by means of stationary and moving objects. Finally, I present possibilities for future applications based on the contents of this thesis. Previous work in each case is presented in the respective chapters. Although the overarching issue of motion estimation from image sequences is related to practice, there is nothing as practical as a good theory (Kurt Lewin). Several problems in computer vision are formulated as intricate energy minimization problems. In this thesis, motion analysis in image sequences is thoroughly investigated, showing that splitting an original complex problem into simplified sub-problems yields improved accuracy, increased robustness, and a clear and accessible approach to state-of-the-art motion estimation techniques. In Chapter 4, optical flow is considered. Optical flow is commonly estimated by minimizing the combined energy, consisting of a data term and a smoothness term. These two parts are decoupled, yielding a novel and iterative approach to optical flow. The derived Refinement Optical Flow framework is a clear and straight-forward approach to computing the apparent image motion vector field. Furthermore this results currently in the most accurate motion estimation techniques in literature. Much as this is an engineering approach of fine-tuning precision to the last detail, it helps to get a better insight into the problem of motion estimation. This profoundly contributes to state-of-the-art research in motion analysis, in particular facilitating the use of motion estimation in a wide range of applications. In Chapter 5, scene flow is rethought. Scene flow stands for the three-dimensional motion vector field for every image pixel, computed from a stereo image sequence. Again, decoupling of the commonly coupled approach of estimating three-dimensional position and three dimensional motion yields an approach to scene ow estimation with more accurate results and a considerably lower computational load. It results in a dense scene flow field and enables additional applications based on the dense three-dimensional motion vector field, which are to be investigated in the future. One such application is the segmentation of moving objects in an image sequence. Detecting moving objects within the scene is one of the most important features to extract in image sequences from a dynamic environment. This is presented in Chapter 6. Scene flow and the segmentation of independently moving objects are only first steps towards machine visual kinesthesia. Throughout this work, I present possible future work to improve the estimation of optical flow and scene flow. Chapter 7 additionally presents an outlook on future research for driver assistance applications. But there is much more to the full understanding of the three-dimensional dynamic scene. This work is meant to inspire the reader to think outside the box and contribute to the vision of building perceiving machines.</em

On Deep Machine Learning for Multi-view Object Detection and Neural Scene Rendering

This thesis addresses two contemporary computer vision tasks using a set of multiple-view imagery, namely the joint use of multi-view images to improve object detection and neural scene rendering via a novel volumetric input encoding for Neural Radiance Fields (NeRF). While the former focuses on improving the accuracy of object detection, the latter contribution allows for better scene reconstruction, which ultimately can be exploited to generate novel views and perform multi-view object detection. Notwithstanding the significant advances in automatic object detection in the last decade, multi-view object detection has received little attention. For this reason, two contributions regarding multi-view object detection in the absence of explicit camera pose information are presented in this thesis. First, a multi-view epipolar filtering technique is introduced, using the distance of the detected object centre to a corresponding epipolar line as an additional probabilistic confidence. This technique removes false positives without a corresponding detection in other views, giving greater confidence to consistent detections across the views. The second contribution adds an attention-based layer, called Multi-view Vision Transformer, to the backbone of a deep machine learning object detector, effectively aggregating features from different views and creating a multi-view aware representation. The final contribution explores another application for multi-view imagery, namely novel volumetric input encoding of NeRF. The proposed method derives an analytical solution for the average value of a sinusoidal (inducing a high-frequency component) within a pyramidal frustum region, whereas previous state-of-the-art NeRF methods approximate this with a Gaussian distribution. This parameterisation obtains a better representation of regions where the Gaussian approximation is poor, allowing more accurate synthesis of distant areas and depth map estimation. Experimental evaluation is carried out across multiple established benchmark datasets to compare the proposed methods against contemporary state-of-the-art architectures such that the efficacy of the proposed methods can be both quantitively and qualitatively illustrated

Vision-Guided Mobile Robot Navigation

This report discusses the use of vision feedback for autonomous navigation by a mobile robot in indoor environments. In particular, we have discussed in detail the issues of camera calibration and how binocular and monocular vision may be utilized for self-location by the robot. A noteworthy feature of monocular vision is that the camera image is compared with a CAD model of the interior of the hallways using the PSEIKI reasoning system; this reasoning system allows the comparison to take place at different levels of geometric detail

Combining Features and Semantics for Low-level Computer Vision

Visual perception of depth and motion plays a significant role in understanding and navigating the environment. Reconstructing outdoor scenes in 3D and estimating the motion from video cameras are of utmost importance for applications like autonomous driving. The corresponding problems in computer vision have witnessed tremendous progress over the last decades, yet some aspects still remain challenging today. Striking examples are reflecting and textureless surfaces or large motions which cannot be easily recovered using traditional local methods. Further challenges include occlusions, large distortions and difficult lighting conditions. In this thesis, we propose to overcome these challenges by modeling non-local interactions leveraging semantics and contextual information. Firstly, for binocular stereo estimation, we propose to regularize over larger areas on the image using object-category specific disparity proposals which we sample using inverse graphics techniques based on a sparse disparity estimate and a semantic segmentation of the image. The disparity proposals encode the fact that objects of certain categories are not arbitrarily shaped but typically exhibit regular structures. We integrate them as non-local regularizer for the challenging object class 'car' into a superpixel-based graphical model and demonstrate its benefits especially in reflective regions. Secondly, for 3D reconstruction, we leverage the fact that the larger the reconstructed area, the more likely objects of similar type and shape will occur in the scene. This is particularly true for outdoor scenes where buildings and vehicles often suffer from missing texture or reflections, but share similarity in 3D shape. We take advantage of this shape similarity by localizing objects using detectors and jointly reconstructing them while learning a volumetric model of their shape. This allows to reduce noise while completing missing surfaces as objects of similar shape benefit from all observations for the respective category. Evaluations with respect to LIDAR ground-truth on a novel challenging suburban dataset show the advantages of modeling structural dependencies between objects. Finally, motivated by the success of deep learning techniques in matching problems, we present a method for learning context-aware features for solving optical flow using discrete optimization. Towards this goal, we present an efficient way of training a context network with a large receptive field size on top of a local network using dilated convolutions on patches. We perform feature matching by comparing each pixel in the reference image to every pixel in the target image, utilizing fast GPU matrix multiplication. The matching cost volume from the network's output forms the data term for discrete MAP inference in a pairwise Markov random field. Extensive evaluations reveal the importance of context for feature matching.Die visuelle Wahrnehmung von Tiefe und Bewegung spielt eine wichtige Rolle bei dem Verständnis und der Navigation in unserer Umwelt. Die 3D Rekonstruktion von Szenen im Freien und die Schätzung der Bewegung von Videokameras sind von größter Bedeutung für Anwendungen, wie das autonome Fahren. Die Erforschung der entsprechenden Probleme des maschinellen Sehens hat in den letzten Jahrzehnten enorme Fortschritte gemacht, jedoch bleiben einige Aspekte heute noch ungelöst. Beispiele hierfür sind reflektierende und texturlose Oberflächen oder große Bewegungen, bei denen herkömmliche lokale Methoden häufig scheitern. Weitere Herausforderungen sind niedrige Bildraten, Verdeckungen, große Verzerrungen und schwierige Lichtverhältnisse. In dieser Arbeit schlagen wir vor nicht-lokale Interaktionen zu modellieren, die semantische und kontextbezogene Informationen nutzen, um diese Herausforderungen zu meistern. Für die binokulare Stereo Schätzung schlagen wir zuallererst vor zusammenhängende Bereiche mit objektklassen-spezifischen Disparitäts Vorschlägen zu regularisieren, die wir mit inversen Grafik Techniken auf der Grundlage einer spärlichen Disparitätsschätzung und semantischen Segmentierung des Bildes erhalten. Die Disparitäts Vorschläge kodieren die Tatsache, dass die Gegenstände bestimmter Kategorien nicht willkürlich geformt sind, sondern typischerweise regelmäßige Strukturen aufweisen. Wir integrieren sie für die komplexe Objektklasse 'Auto' in Form eines nicht-lokalen Regularisierungsterm in ein Superpixel-basiertes grafisches Modell und zeigen die Vorteile vor allem in reflektierenden Bereichen. Zweitens nutzen wir für die 3D-Rekonstruktion die Tatsache, dass mit der Größe der rekonstruierten Fläche auch die Wahrscheinlichkeit steigt, Objekte von ähnlicher Art und Form in der Szene zu enthalten. Dies gilt besonders für Szenen im Freien, in denen Gebäude und Fahrzeuge oft vorkommen, die unter fehlender Textur oder Reflexionen leiden aber ähnlichkeit in der Form aufweisen. Wir nutzen diese ähnlichkeiten zur Lokalisierung von Objekten mit Detektoren und zur gemeinsamen Rekonstruktion indem ein volumetrisches Modell ihrer Form erlernt wird. Dies ermöglicht auftretendes Rauschen zu reduzieren, während fehlende Flächen vervollständigt werden, da Objekte ähnlicher Form von allen Beobachtungen der jeweiligen Kategorie profitieren. Die Evaluierung auf einem neuen, herausfordernden vorstädtischen Datensatz in Anbetracht von LIDAR-Entfernungsdaten zeigt die Vorteile der Modellierung von strukturellen Abhängigkeiten zwischen Objekten. Zuletzt, motiviert durch den Erfolg von Deep Learning Techniken bei der Mustererkennung, präsentieren wir eine Methode zum Erlernen von kontextbezogenen Merkmalen zur Lösung des optischen Flusses mittels diskreter Optimierung. Dazu stellen wir eine effiziente Methode vor um zusätzlich zu einem Lokalen Netzwerk ein Kontext-Netzwerk zu erlernen, das mit Hilfe von erweiterter Faltung auf Patches ein großes rezeptives Feld besitzt. Für das Feature Matching vergleichen wir mit schnellen GPU-Matrixmultiplikation jedes Pixel im Referenzbild mit jedem Pixel im Zielbild. Das aus dem Netzwerk resultierende Matching Kostenvolumen bildet den Datenterm für eine diskrete MAP Inferenz in einem paarweisen Markov Random Field. Eine umfangreiche Evaluierung zeigt die Relevanz des Kontextes für das Feature Matching

Variable Block Size Motion Compensation In The Redundant Wavelet Domain

Video is one of the most powerful forms of multimedia because of the extensive information it delivers. Video sequences are highly correlated both temporally and spatially, a fact which makes the compression of video possible. Modern video systems employ motion estimation and motion compensation (ME/MC) to de-correlate a video sequence temporally. ME/MC forms a prediction of the current frame using the frames which have been already encoded. Consequently, one needs to transmit the corresponding residual image instead of the original frame, as well as a set of motion vectors which describe the scene motion as observed at the encoder. The redundant wavelet transform (RDWT) provides several advantages over the conventional wavelet transform (DWT). The RDWT overcomes the shift invariant problem in DWT. Moreover, RDWT retains all the phase information of wavelet coefficients and provides multiple prediction possibilities for ME/MC in wavelet domain. The general idea of variable size block motion compensation (VSBMC) technique is to partition a frame in such a way that regions with uniform translational motions are divided into larger blocks while those containing complicated motions into smaller blocks, leading to an adaptive distribution of motion vectors (MV) across the frame. The research proposed new adaptive partitioning schemes and decision criteria in RDWT that utilize more effectively the motion content of a frame in terms of various block sizes. The research also proposed a selective subpixel accuracy algorithm for the motion vector using a multiband approach. The selective subpixel accuracy reduces the computations produced by the conventional subpixel algorithm while maintaining the same accuracy. In addition, the method of overlapped block motion compensation (OBMC) is used to reduce blocking artifacts. Finally, the research extends the applications of the proposed VSBMC to the 3D video sequences. The experimental results obtained here have shown that VSBMC in the RDWT domain can be a powerful tool for video compression