Error Resilient Video Coding Using Bitstream Syntax And Iterative Microscopy Image Segmentation

There has been a dramatic increase in the amount of video traffic over the Internet in past several years. For applications like real-time video streaming and video conferencing, retransmission of lost packets is often not permitted. Popular video coding standards such as H.26x and VPx make use of spatial-temporal correlations for compression, typically making compressed bitstreams vulnerable to errors. We propose several adaptive spatial-temporal error concealment approaches for subsampling-based multiple description video coding. These adaptive methods are based on motion and mode information extracted from the H.26x video bitstreams. We also present an error resilience method using data duplication in VPx video bitstreams. A recent challenge in image processing is the analysis of biomedical images acquired using optical microscopy. Due to the size and complexity of the images, automated segmentation methods are required to obtain quantitative, objective and reproducible measurements of biological entities. In this thesis, we present two techniques for microscopy image analysis. Our first method, “Jelly Filling” is intended to provide 3D segmentation of biological images that contain incompleteness in dye labeling. Intuitively, this method is based on filling disjoint regions of an image with jelly-like fluids to iteratively refine segments that represent separable biological entities. Our second method selectively uses a shape-based function optimization approach and a 2D marked point process simulation, to quantify nuclei by their locations and sizes. Experimental results exhibit that our proposed methods are effective in addressing the aforementioned challenges

Augmented Reality

Augmented Reality (AR) is a natural development from virtual reality (VR), which was developed several decades earlier. AR complements VR in many ways. Due to the advantages of the user being able to see both the real and virtual objects simultaneously, AR is far more intuitive, but it's not completely detached from human factors and other restrictions. AR doesn't consume as much time and effort in the applications because it's not required to construct the entire virtual scene and the environment. In this book, several new and emerging application areas of AR are presented and divided into three sections. The first section contains applications in outdoor and mobile AR, such as construction, restoration, security and surveillance. The second section deals with AR in medical, biological, and human bodies. The third and final section contains a number of new and useful applications in daily living and learning

Efficient implementations of machine vision algorithms using a dynamically typed programming language

Current machine vision systems (or at least their performance critical parts) are predominantly implemented using statically typed programming languages such as C, C++, or Java. Statically typed languages however are unsuitable for development and maintenance of large scale systems. When choosing a programming language, dynamically typed languages are usually not considered due to their lack of support for high-performance array operations. This thesis presents efficient implementations of machine vision algorithms with the (dynamically typed) Ruby programming language. The Ruby programming language was used, because it has the best support for meta-programming among the currently popular programming languages. Although the Ruby programming language was used, the approach presented in this thesis could be applied to any programming language which has equal or stronger support for meta-programming (e.g. Racket (former PLT Scheme)). A Ruby library for performing I/O and array operations was developed as part of this thesis. It is demonstrated how the library facilitates concise implementations of machine vision algorithms commonly used in industrial automation. I.e. this thesis is about a different way of implementing machine vision systems. The work could be applied to prototype and in some cases implement machine vision systems in industrial automation and robotics. The development of real-time machine vision software is facilitated as follows 1. A JIT compiler is used to achieve real-time performance. It is demonstrated that the Ruby syntax is sufficient to integrate the JIT compiler transparently. 2. Various I/O devices are integrated for seamless acquisition, display, and storage of video and audio data. In combination these two developments preserve the expressiveness of the Ruby programming language while providing good run-time performance of the resulting implementation. To validate this approach, the performance of different operations is compared with the performance of equivalent C/C++ programs

Mobile Robots Navigation

Mobile robots navigation includes different interrelated activities: (i) perception, as obtaining and interpreting sensory information; (ii) exploration, as the strategy that guides the robot to select the next direction to go; (iii) mapping, involving the construction of a spatial representation by using the sensory information perceived; (iv) localization, as the strategy to estimate the robot position within the spatial map; (v) path planning, as the strategy to find a path towards a goal location being optimal or not; and (vi) path execution, where motor actions are determined and adapted to environmental changes. The book addresses those activities by integrating results from the research work of several authors all over the world. Research cases are documented in 32 chapters organized within 7 categories next described

Machine learning techniques for high dimensional data

This thesis presents data processing techniques for three different but related application areas: embedding learning for classification, fusion of low bit depth images and 3D reconstruction from 2D images. For embedding learning for classification, a novel manifold embedding method is proposed for the automated processing of large, varied data sets. The method is based on binary classification, where the embeddings are constructed so as to determine one or more unique features for each class individually from a given dataset. The proposed method is applied to examples of multiclass classification that are relevant for large scale data processing for surveillance (e.g. face recognition), where the aim is to augment decision making by reducing extremely large sets of data to a manageable level before displaying the selected subset of data to a human operator. In addition, an indicator for a weighted pairwise constraint is proposed to balance the contributions from different classes to the final optimisation, in order to better control the relative positions between the important data samples from either the same class (intraclass) or different classes (interclass). The effectiveness of the proposed method is evaluated through comparison with seven existing techniques for embedding learning, using four established databases of faces, consisting of various poses, lighting conditions and facial expressions, as well as two standard text datasets. The proposed method performs better than these existing techniques, especially for cases with small sets of training data samples. For fusion of low bit depth images, using low bit depth images instead of full images offers a number of advantages for aerial imaging with UAVs, where there is a limited transmission rate/bandwidth. For example, reducing the need for data transmission, removing superfluous details, and reducing computational loading of on-board platforms (especially for small or micro-scale UAVs). The main drawback of using low bit depth imagery is discarding image details of the scene. Fortunately, this can be reconstructed by fusing a sequence of related low bit depth images, which have been properly aligned. To reduce computational complexity and obtain a less distorted result, a similarity transformation is used to approximate the geometric alignment between two images of the same scene. The transformation is estimated using a phase correlation technique. It is shown that that the phase correlation method is capable of registering low bit depth images, without any modi�cation, or any pre and/or post-processing. For 3D reconstruction from 2D images, a method is proposed to deal with the dense reconstruction after a sparse reconstruction (i.e. a sparse 3D point cloud) has been created employing the structure from motion technique. Instead of generating a dense 3D point cloud, this proposed method forms a triangle by three points in the sparse point cloud, and then maps the corresponding components in the 2D images back to the point cloud. Compared to the existing methods that use a similar approach, this method reduces the computational cost. Instated of utilising every triangle in the 3D space to do the mapping from 2D to 3D, it uses a large triangle to replace a number of small triangles for flat and almost flat areas. Compared to the reconstruction result obtained by existing techniques that aim to generate a dense point cloud, the proposed method can achieve a better result while the computational cost is comparable

Efficient implementations of machine vision algorithms using a dynamically typed programming language

Current machine vision systems (or at least their performance critical parts) are predominantly implemented using statically typed programming languages such as C, C++, or Java. Statically typed languages however are unsuitable for development and maintenance of large scale systems. When choosing a programming language, dynamically typed languages are usually not considered due to their lack of support for high-performance array operations. This thesis presents efficient implementations of machine vision algorithms with the (dynamically typed) Ruby programming language. The Ruby programming language was used, because it has the best support for meta-programming among the currently popular programming languages. Although the Ruby programming language was used, the approach presented in this thesis could be applied to any programming language which has equal or stronger support for meta-programming (e.g. Racket (former PLT Scheme)). A Ruby library for performing I/O and array operations was developed as part of this thesis. It is demonstrated how the library facilitates concise implementations of machine vision algorithms commonly used in industrial automation. I.e. this thesis is about a different way of implementing machine vision systems. The work could be applied to prototype and in some cases implement machine vision systems in industrial automation and robotics. The development of real-time machine vision software is facilitated as follows 1. A JIT compiler is used to achieve real-time performance. It is demonstrated that the Ruby syntax is sufficient to integrate the JIT compiler transparently. 2. Various I/O devices are integrated for seamless acquisition, display, and storage of video and audio data. In combination these two developments preserve the expressiveness of the Ruby programming language while providing good run-time performance of the resulting implementation. To validate this approach, the performance of different operations is compared with the performance of equivalent C/C++ programs.EThOS - Electronic Theses Online ServiceGBUnited Kingdo

Image-based 3-D reconstruction of constrained environments

Nuclear power plays a important role to the United Kingdom electricity generation infrastructure, providing a reliable baseload of low carbon electricity. The Advanced Gas-cooled Reactor (AGR) design makes up approximately 50% of the existing fleet, however, many of the operating reactors have exceeding their original design lifetimes.To ensure safe reactor operation, engineers perform periodic in-core visual inspections of reactor components to monitor the structural health of the core as it ages. However, current inspection mechanisms deployed provide limited structural information about the fuel channel or defects.;This thesis investigates the suitability of image-based 3-D reconstruction techniques to acquire 3-D structural geometry to enable improved diagnostic and prognostic abilities for inspection engineers. The application of image-based 3-D reconstruction to in-core inspection footage highlights significant challenges, most predominantly that the image saliency proves insuffcient for general reconstruction frameworks. The contribution of the thesis is threefold. Firstly, a novel semi-dense matching scheme which exploits sparse and dense image correspondence in combination with a novel intra-image region strength approach to improve the stability of the correspondence between images.;This results in a percentage increase of 138.53% of correct feature matches over similar state-of-the-art image matching paradigms. Secondly, a bespoke incremental Structure-from-Motion (SfM) framework called the Constrained Homogeneous SfM (CH-SfM) which is able to derive structure from deficient feature spaces and constrained environments. Thirdly, the application of the CH-SfM framework to remote visual inspection footage gathered within AGR fuel channels, outperforming other state-of-the-art reconstruction approaches and extracting representative 3-D structural geometry of orientational scans and fully circumferential reconstructions.;This is demonstrated on in-core and laboratory footage, achieving an approximate 3-D point density of 2.785 - 23.8025NX/cm² for real in-core inspection footage and high quality laboratory footage respectively. The demonstrated novelties have applicability to other constrained or feature-poor environments, with future work looking to producing fully dense, photo-realistic 3-D reconstructions.Nuclear power plays a important role to the United Kingdom electricity generation infrastructure, providing a reliable baseload of low carbon electricity. The Advanced Gas-cooled Reactor (AGR) design makes up approximately 50% of the existing fleet, however, many of the operating reactors have exceeding their original design lifetimes.To ensure safe reactor operation, engineers perform periodic in-core visual inspections of reactor components to monitor the structural health of the core as it ages. However, current inspection mechanisms deployed provide limited structural information about the fuel channel or defects.;This thesis investigates the suitability of image-based 3-D reconstruction techniques to acquire 3-D structural geometry to enable improved diagnostic and prognostic abilities for inspection engineers. The application of image-based 3-D reconstruction to in-core inspection footage highlights significant challenges, most predominantly that the image saliency proves insuffcient for general reconstruction frameworks. The contribution of the thesis is threefold. Firstly, a novel semi-dense matching scheme which exploits sparse and dense image correspondence in combination with a novel intra-image region strength approach to improve the stability of the correspondence between images.;This results in a percentage increase of 138.53% of correct feature matches over similar state-of-the-art image matching paradigms. Secondly, a bespoke incremental Structure-from-Motion (SfM) framework called the Constrained Homogeneous SfM (CH-SfM) which is able to derive structure from deficient feature spaces and constrained environments. Thirdly, the application of the CH-SfM framework to remote visual inspection footage gathered within AGR fuel channels, outperforming other state-of-the-art reconstruction approaches and extracting representative 3-D structural geometry of orientational scans and fully circumferential reconstructions.;This is demonstrated on in-core and laboratory footage, achieving an approximate 3-D point density of 2.785 - 23.8025NX/cm² for real in-core inspection footage and high quality laboratory footage respectively. The demonstrated novelties have applicability to other constrained or feature-poor environments, with future work looking to producing fully dense, photo-realistic 3-D reconstructions

Underwater Vehicles

For the latest twenty to thirty years, a significant number of AUVs has been created for the solving of wide spectrum of scientific and applied tasks of ocean development and research. For the short time period the AUVs have shown the efficiency at performance of complex search and inspection works and opened a number of new important applications. Initially the information about AUVs had mainly review-advertising character but now more attention is paid to practical achievements, problems and systems technologies. AUVs are losing their prototype status and have become a fully operational, reliable and effective tool and modern multi-purpose AUVs represent the new class of underwater robotic objects with inherent tasks and practical applications, particular features of technology, systems structure and functional properties