A fruit recognition method for automatic harvesting

Automation of harvesting is always one of the hottest topics in greenhouse operation. But before this, a reliable method of identifying mature fruit clusters on plants is required. This thesis presents a method to detect and recognize mature tomato fruit clusters on a complex-structured tomato plant containing clutter and occlusion in a tomato greenhouse. A color stereo vision camera is applied as the vision sensor. The proposed method performs a 3D reconstruction with the data collected by the stereo camera to create a 3D environment for further processing. The Color Layer Growing (CLG) method is introduced to segment the mature fruits from the leaves, stalks, background and noise. Target fruit clusters can then be located by depth segmentation. The experimental data was collected from a tomato greenhouse and the method is justified by the experimental results

CHARACTERIZATION OF ENGINEERED SURFACES

In the recent years there has been an increasing interest in manufacturing products where surface topography plays a functional role. These surfaces are called engineered surfaces and are used in a variety of industries like semi conductor, data storage, micro- optics, MEMS etc. Engineered products are designed, manufactured and inspected to meet a variety of specifications such as size, position, geometry and surface finish to control the physical, chemical, optical and electrical properties of the surface. As the manufacturing industry strive towards shrinking form factor resulting in miniaturization of surface features, measurement of such micro and nanometer scale surfaces is becoming more challenging. Great strides have been made in the area of instrumentation to capture surface data, but the area of algorithms and procedures to determine form, size and orientation information of surface features still lacks the advancement needed to support the characterization requirements of R&D and high volume manufacturing. This dissertation addresses the development of fast and intelligent surface scanning algorithms and methodologies for engineered surfaces to determine form, size and orientation of significant surface features. Object recognition techniques are used to identify the surface features and CMM type fitting algorithms are applied to calculate the dimensions of the features. Recipes can be created to automate the characterization and process multiple features simultaneously. The developed methodologies are integrated into a surface analysis toolbox developed in MATLAB environment. The deployment of the developed application on the web is demonstrated

Bio-Inspired Computer Vision: Towards a Synergistic Approach of Artificial and Biological Vision

To appear in CVIUStudies in biological vision have always been a great source of inspiration for design of computer vision algorithms. In the past, several successful methods were designed with varying degrees of correspondence with biological vision studies, ranging from purely functional inspiration to methods that utilise models that were primarily developed for explaining biological observations. Even though it seems well recognised that computational models of biological vision can help in design of computer vision algorithms, it is a non-trivial exercise for a computer vision researcher to mine relevant information from biological vision literature as very few studies in biology are organised at a task level. In this paper we aim to bridge this gap by providing a computer vision task centric presentation of models primarily originating in biological vision studies. Not only do we revisit some of the main features of biological vision and discuss the foundations of existing computational studies modelling biological vision, but also we consider three classical computer vision tasks from a biological perspective: image sensing, segmentation and optical flow. Using this task-centric approach, we discuss well-known biological functional principles and compare them with approaches taken by computer vision. Based on this comparative analysis of computer and biological vision, we present some recent models in biological vision and highlight a few models that we think are promising for future investigations in computer vision. To this extent, this paper provides new insights and a starting point for investigators interested in the design of biology-based computer vision algorithms and pave a way for much needed interaction between the two communities leading to the development of synergistic models of artificial and biological vision

Information Extraction and Modeling from Remote Sensing Images: Application to the Enhancement of Digital Elevation Models

To deal with high complexity data such as remote sensing images presenting metric resolution over large areas, an innovative, fast and robust image processing system is presented. The modeling of increasing level of information is used to extract, represent and link image features to semantic content. The potential of the proposed techniques is demonstrated with an application to enhance and regularize digital elevation models based on information collected from RS images

Brain-Inspired Computing

This open access book constitutes revised selected papers from the 4th International Workshop on Brain-Inspired Computing, BrainComp 2019, held in Cetraro, Italy, in July 2019. The 11 papers presented in this volume were carefully reviewed and selected for inclusion in this book. They deal with research on brain atlasing, multi-scale models and simulation, HPC and data infra-structures for neuroscience as well as artificial and natural neural architectures

Optical flow estimation via steered-L1 norm

Global variational methods for estimating optical flow are among the best performing methods due to the subpixel accuracy and the ‘fill-in’ effect they provide. The fill-in effect allows optical flow displacements to be estimated even in low and untextured areas of the image. The estimation of such displacements are induced by the smoothness term. The L1 norm provides a robust regularisation term for the optical flow energy function with a very good performance for edge-preserving. However this norm suffers from several issues, among these is the isotropic nature of this norm which reduces the fill-in effect and eventually the accuracy of estimation in areas near motion boundaries. In this paper we propose an enhancement to the L1 norm that improves the fill-in effect for this smoothness term. In order to do this we analyse the structure tensor matrix and use its eigenvectors to steer the smoothness term into components that are ‘orthogonal to’ and ‘aligned with’ image structures. This is done in primal-dual formulation. Results show a reduced end-point error and improved accuracy compared to the conventional L1 norm

Optical flow estimation via steered-L1 norm

Global variational methods for estimating optical flow are among the best performing methods due to the subpixel accuracy and the ‘fill-in’ effect they provide. The fill-in effect allows optical flow displacements to be estimated even in low and untextured areas of the image. The estimation of such displacements are induced by the smoothness term. The L1 norm provides a robust regularisation term for the optical flow energy function with a very good performance for edge-preserving. However this norm suffers from several issues, among these is the isotropic nature of this norm which reduces the fill-in effect and eventually the accuracy of estimation in areas near motion boundaries. In this paper we propose an enhancement to the L1 norm that improves the fill-in effect for this smoothness term. In order to do this we analyse the structure tensor matrix and use its eigenvectors to steer the smoothness term into components that are ‘orthogonal to’ and ‘aligned with’ image structures. This is done in primal-dual formulation. Results show a reduced end-point error and improved accuracy compared to the conventional L1 norm

Sparse Volumetric Deformation

Volume rendering is becoming increasingly popular as applications require realistic solid shape representations with seamless texture mapping and accurate filtering. However rendering sparse volumetric data is difficult because of the limited memory and processing capabilities of current hardware. To address these limitations, the volumetric information can be stored at progressive resolutions in the hierarchical branches of a tree structure, and sampled according to the region of interest. This means that only a partial region of the full dataset is processed, and therefore massive volumetric scenes can be rendered efficiently. The problem with this approach is that it currently only supports static scenes. This is because it is difficult to accurately deform massive amounts of volume elements and reconstruct the scene hierarchy in real-time. Another problem is that deformation operations distort the shape where more than one volume element tries to occupy the same location, and similarly gaps occur where deformation stretches the elements further than one discrete location. It is also challenging to efficiently support sophisticated deformations at hierarchical resolutions, such as character skinning or physically based animation. These types of deformation are expensive and require a control structure (for example a cage or skeleton) that maps to a set of features to accelerate the deformation process. The problems with this technique are that the varying volume hierarchy reflects different feature sizes, and manipulating the features at the original resolution is too expensive; therefore the control structure must also hierarchically capture features according to the varying volumetric resolution. This thesis investigates the area of deforming and rendering massive amounts of dynamic volumetric content. The proposed approach efficiently deforms hierarchical volume elements without introducing artifacts and supports both ray casting and rasterization renderers. This enables light transport to be modeled both accurately and efficiently with applications in the fields of real-time rendering and computer animation. Sophisticated volumetric deformation, including character animation, is also supported in real-time. This is achieved by automatically generating a control skeleton which is mapped to the varying feature resolution of the volume hierarchy. The output deformations are demonstrated in massive dynamic volumetric scenes

LIDAR data classification and compression

Airborne Laser Detection and Ranging (LIDAR) data has a wide range of applications in agriculture, archaeology, biology, geology, meteorology, military and transportation, etc. LIDAR data consumes hundreds of gigabytes in a typical day of acquisition, and the amount of data collected will continue to grow as sensors improve in resolution and functionality. LIDAR data classification and compression are therefore very important for managing, visualizing, analyzing and using this huge amount of data. Among the existing LIDAR data classification schemes, supervised learning has been used and can obtain up to 96% of accuracy. However some of the features used are not readily available, and the training data is also not always available in practice. In existing LIDAR data compression schemes, the compressed size can be 5%-23% of the original size, but still could be in the order of gigabyte, which is impractical for many applications. The objectives of this dissertation are (1) to develop LIDAR classification schemes that can classify airborne LIDAR data more accurately without some features or training data that existing work requires; (2) to explore lossy compression schemes that can compress LIDAR data at a much higher compression rate than is currently available. We first investigate two independent ways to classify LIDAR data depending on the availability of training data: when training data is available, we use supervised machine learning techniques such as support vector machine (SVM); when training data is not readily available, we develop an unsupervised classification method that can classify LIDAR data as good as supervised classification methods. Experimental results show that the accuracy of our classification results are over 99%. We then present two new lossy LIDAR data compression methods and compare their performance. The first one is a wavelet based compression scheme while the second one is geometry based. Our new geometry based compression is a geometry and statistics driven LIDAR point-cloud compression method which combines both application knowledge and scene content to enable fast transmission from the sensor platform while preserving the geometric properties of objects within a scene. The new algorithm is based on the idea of compression by classification. It utilizes the unique height function simplicity as well as the local spatial coherence and linearity of the aerial LIDAR data and can automatically compress the data to the desired level-of-details defined by the user. Either of the two developed classification methods can be used to automatically detect regions that are not locally linear such as vegetations or trees. In those regions, the local statistics descriptions, such as mean, variance, expectation, etc., are stored to efficiently represent the region and restore the geometry in the decompression phase. The new geometry-based compression schemes for building and ground data can compress efficiently and significantly reduce the file size, while retaining a good fit for the scalable "zoom in" requirements. Experimental results show that compared with existing LIDAR lossy compression work, our proposed approach achieves two orders of magnitude lower bit rate with the same quality, making it feasible for applications that were not practical before. The ability to store information into a database and query them efficiently becomes possible with the proposed highly efficient compression scheme.Includes bibliographical references (pages 106-116)

BUILDING A BETTER TRAINING IMAGE WITH DIGITAL OUTCROP MODELS: THESE GO TO ELEVEN

Current standard geostatistical approaches to subsurface heterogeneity studies may not capture realistic facies geometries and fluid flow paths. Multiple-point statistics (MPS) has shown promise in portraying complex geometries realistically; however, realizations are limited by the reliability of the model of heterogeneity upon which MPS relies, that is the Training Image (TI). Attempting to increase realism captured in TIs, a quantitative outcrop analog-based approach utilizing terrestrial lidar and high-resolution, calibrated digital photography is combined with lithofacies analysis to produce TIs. Terrestrial lidar scans and high-resolution digital imagery were acquired of a Westwater Canyon Member, Morrison Formation outcrop in Ojito Wilderness, New Mexico, USA. The resulting point cloud was used to develop a cm scale mesh. Digital images of the outcrop were processed through a series of photogrammetric techniques to delineate different facies and sedimentary structures. The classified images were projected onto the high-resolution mesh creating a physically plausible Digital Outcrop Model (DOM), portions of which were used to build MPS TIs. The resulting MPS realization appears to capture realistic geometries of the deposit and empirically honors facies distributions