Color Image Analysis by Quaternion-Type Moments

International audienceIn this paper, by using the quaternion algebra, the conventional complex-type moments (CTMs) for gray-scale images are generalized to color images as quaternion-type moments (QTMs) in a holistic manner. We first provide a general formula of QTMs from which we derive a set of quaternion-valued QTM invariants (QTMIs) to image rotation, scale and translation transformations by eliminating the influence of transformation parameters. An efficient computation algorithm is also proposed so as to reduce computational complexity. The performance of the proposed QTMs and QTMIs are evaluated considering several application frameworks ranging from color image reconstruction, face recognition to image registration. We show they achieve better performance than CTMs and CTM invariants (CTMIs). We also discuss the choice of the unit pure quaternion influence with the help of experiments. appears to be an optimal choice

Robust face recognition using convolutional neural networks combined with Krawtchouk moments

Face recognition is a challenging task due to the complexity of pose variations, occlusion and the variety of face expressions performed by distinct subjects. Thus, many features have been proposed, however each feature has its own drawbacks. Therefore, in this paper, we propose a robust model called Krawtchouk moments convolutional neural networks (KMCNN) for face recognition. Our model is divided into two main steps. Firstly, we use 2D discrete orthogonal Krawtchouk moments to represent features. Then, we fed it into convolutional neural networks (CNN) for classification. The main goal of the proposed approach is to improve the classification accuracy of noisy grayscale face images. In fact, Krawtchouk moments are less sensitive to noisy effects. Moreover, they can extract pertinent features from an image using only low orders. To investigate the robustness of the proposed approach, two types of noise (salt and pepper and speckle) are added to three datasets (YaleB extended, our database of faces (ORL), and a subset of labeled faces in the wild (LFW)). Experimental results show that KMCNN is flexible and performs significantly better than using just CNN or when we combine it with other discrete moments such as Tchebichef, Hahn, Racah moments in most densities of noises

Automatic age and gender classification using supervised appearance model

YesAge and gender classification are two important problems that recently gained popularity in the research community, due to their wide range of applications. Research has shown that both age and gender information are encoded in the face shape and texture, hence the active appearance model (AAM), a statistical model that captures shape and texture variations, has been one of the most widely used feature extraction techniques for the aforementioned problems. However, AAM suffers from some drawbacks, especially when used for classification. This is primarily because principal component analysis (PCA), which is at the core of the model, works in an unsupervised manner, i.e., PCA dimensionality reduction does not take into account how the predictor variables relate to the response (class labels). Rather, it explores only the underlying structure of the predictor variables, thus, it is no surprise if PCA discards valuable parts of the data that represent discriminatory features. Toward this end, we propose a supervised appearance model (sAM) that improves on AAM by replacing PCA with partial least-squares regression. This feature extraction technique is then used for the problems of age and gender classification. Our experiments show that sAM has better predictive power than the conventional AAM

A multisensor SLAM for dense maps of large scale environments under poor lighting conditions

This thesis describes the development and implementation of a multisensor large scale autonomous mapping system for surveying tasks in underground mines. The hazardous nature of the underground mining industry has resulted in a push towards autonomous solutions to the most dangerous operations, including surveying tasks. Many existing autonomous mapping techniques rely on approaches to the Simultaneous Localization and Mapping (SLAM) problem which are not suited to the extreme characteristics of active underground mining environments. Our proposed multisensor system has been designed from the outset to address the unique challenges associated with underground SLAM. The robustness, self-containment and portability of the system maximize the potential applications.The multisensor mapping solution proposed as a result of this work is based on a fusion of omnidirectional bearing-only vision-based localization and 3D laser point cloud registration. By combining these two SLAM techniques it is possible to achieve some of the advantages of both approaches – the real-time attributes of vision-based SLAM and the dense, high precision maps obtained through 3D lasers. The result is a viable autonomous mapping solution suitable for application in challenging underground mining environments.A further improvement to the robustness of the proposed multisensor SLAM system is a consequence of incorporating colour information into vision-based localization. Underground mining environments are often dominated by dynamic sources of illumination which can cause inconsistent feature motion during localization. Colour information is utilized to identify and remove features resulting from illumination artefacts and to improve the monochrome based feature matching between frames.Finally, the proposed multisensor mapping system is implemented and evaluated in both above ground and underground scenarios. The resulting large scale maps contained a maximum offset error of ±30mm for mapping tasks with lengths over 100m

Single and multiple stereo view navigation for planetary rovers

© Cranfield UniversityThis thesis deals with the challenge of autonomous navigation of the ExoMars rover. The absence of global positioning systems (GPS) in space, added to the limitations of wheel odometry makes autonomous navigation based on these two techniques - as done in the literature - an inviable solution and necessitates the use of other approaches. That, among other reasons, motivates this work to use solely visual data to solve the robot’s Egomotion problem. The homogeneity of Mars’ terrain makes the robustness of the low level image processing technique a critical requirement. In the first part of the thesis, novel solutions are presented to tackle this specific problem. Detection of robust features against illumination changes and unique matching and association of features is a sought after capability. A solution for robustness of features against illumination variation is proposed combining Harris corner detection together with moment image representation. Whereas the first provides a technique for efficient feature detection, the moment images add the necessary brightness invariance. Moreover, a bucketing strategy is used to guarantee that features are homogeneously distributed within the images. Then, the addition of local feature descriptors guarantees the unique identification of image cues. In the second part, reliable and precise motion estimation for the Mars’s robot is studied. A number of successful approaches are thoroughly analysed. Visual Simultaneous Localisation And Mapping (VSLAM) is investigated, proposing enhancements and integrating it with the robust feature methodology. Then, linear and nonlinear optimisation techniques are explored. Alternative photogrammetry reprojection concepts are tested. Lastly, data fusion techniques are proposed to deal with the integration of multiple stereo view data. Our robust visual scheme allows good feature repeatability. Because of this, dimensionality reduction of the feature data can be used without compromising the overall performance of the proposed solutions for motion estimation. Also, the developed Egomotion techniques have been extensively validated using both simulated and real data collected at ESA-ESTEC facilities. Multiple stereo view solutions for robot motion estimation are introduced, presenting interesting benefits. The obtained results prove the innovative methods presented here to be accurate and reliable approaches capable to solve the Egomotion problem in a Mars environment