Cumulative object categorization in clutter

In this paper we present an approach based on scene- or part-graphs for geometrically categorizing touching and occluded objects. We use additive RGBD feature descriptors and hashing of graph configuration parameters for describing the spatial arrangement of constituent parts. The presented experiments quantify that this method outperforms our earlier part-voting and sliding window classification. We evaluated our approach on cluttered scenes, and by using a 3D dataset containing over 15000 Kinect scans of over 100 objects which were grouped into general geometric categories. Additionally, color, geometric, and combined features were compared for categorization tasks

Efficient Online Surface Correction for Real-time Large-Scale 3D Reconstruction

State-of-the-art methods for large-scale 3D reconstruction from RGB-D sensors usually reduce drift in camera tracking by globally optimizing the estimated camera poses in real-time without simultaneously updating the reconstructed surface on pose changes. We propose an efficient on-the-fly surface correction method for globally consistent dense 3D reconstruction of large-scale scenes. Our approach uses a dense Visual RGB-D SLAM system that estimates the camera motion in real-time on a CPU and refines it in a global pose graph optimization. Consecutive RGB-D frames are locally fused into keyframes, which are incorporated into a sparse voxel hashed Signed Distance Field (SDF) on the GPU. On pose graph updates, the SDF volume is corrected on-the-fly using a novel keyframe re-integration strategy with reduced GPU-host streaming. We demonstrate in an extensive quantitative evaluation that our method is up to 93% more runtime efficient compared to the state-of-the-art and requires significantly less memory, with only negligible loss of surface quality. Overall, our system requires only a single GPU and allows for real-time surface correction of large environments.Comment: British Machine Vision Conference (BMVC), London, September 201

Efficient Online Surface Correction for Real-time Large-Scale 3D Reconstruction

State-of-the-art methods for large-scale 3D reconstruction from RGB-D sensors usually reduce drift in camera tracking by globally optimizing the estimated camera poses in real-time without simultaneously updating the reconstructed surface on pose changes. We propose an efficient on-the-fly surface correction method for globally consistent dense 3D reconstruction of large-scale scenes. Our approach uses a dense Visual RGB-D SLAM system that estimates the camera motion in real-time on a CPU and refines it in a global pose graph optimization. Consecutive RGB-D frames are locally fused into keyframes, which are incorporated into a sparse voxel hashed Signed Distance Field (SDF) on the GPU. On pose graph updates, the SDF volume is corrected on-the-fly using a novel keyframe re-integration strategy with reduced GPU-host streaming. We demonstrate in an extensive quantitative evaluation that our method is up to 93% more runtime efficient compared to the state-of-the-art and requires significantly less memory, with only negligible loss of surface quality. Overall, our system requires only a single GPU and allows for real-time surface correction of large environments.Comment: British Machine Vision Conference (BMVC), London, September 201

Co-operative surveillance cameras for high quality face acquisition in a real-time door monitoring system

A poster session on co-operative surveillance cameras for high quality face acquisition in a real-time door monitoring syste

Perceptual Video Hashing for Content Identification and Authentication

Perceptual hashing has been broadly used in the literature to identify similar contents for video copy detection. It has also been adopted to detect malicious manipulations for video authentication. However, targeting both applications with a single system using the same hash would be highly desirable as this saves the storage space and reduces the computational complexity. This paper proposes a perceptual video hashing system for content identification and authentication. The objective is to design a hash extraction technique that can withstand signal processing operations on one hand and detect malicious attacks on the other hand. The proposed system relies on a new signal calibration technique for extracting the hash using the discrete cosine transform (DCT) and the discrete sine transform (DST). This consists of determining the number of samples, called the normalizing shift, that is required for shifting a digital signal so that the shifted version matches a certain pattern according to DCT/DST coefficients. The rationale for the calibration idea is that the normalizing shift resists signal processing operations while it exhibits sensitivity to local tampering (i.e., replacing a small portion of the signal with a different one). While the same hash serves both applications, two different similarity measures have been proposed for video identification and authentication, respectively. Through intensive experiments with various types of video distortions and manipulations, the proposed system has been shown to outperform related state-of-the art video hashing techniques in terms of identification and authentication with the advantageous ability to locate tampered regions