Robust and Fast 3D Scan Alignment using Mutual Information

This paper presents a mutual information (MI) based algorithm for the estimation of full 6-degree-of-freedom (DOF) rigid body transformation between two overlapping point clouds. We first divide the scene into a 3D voxel grid and define simple to compute features for each voxel in the scan. The two scans that need to be aligned are considered as a collection of these features and the MI between these voxelized features is maximized to obtain the correct alignment of scans. We have implemented our method with various simple point cloud features (such as number of points in voxel, variance of z-height in voxel) and compared the performance of the proposed method with existing point-to-point and point-to- distribution registration methods. We show that our approach has an efficient and fast parallel implementation on GPU, and evaluate the robustness and speed of the proposed algorithm on two real-world datasets which have variety of dynamic scenes from different environments

Network vector quantization

We present an algorithm for designing locally optimal vector quantizers for general networks. We discuss the algorithm's implementation and compare the performance of the resulting "network vector quantizers" to traditional vector quantizers (VQs) and to rate-distortion (R-D) bounds where available. While some special cases of network codes (e.g., multiresolution (MR) and multiple description (MD) codes) have been studied in the literature, we here present a unifying approach that both includes these existing solutions as special cases and provides solutions to previously unsolved examples

Facial Expression Recognition Using Multiresolution Analysis

Facial expression recognition from images or videos attracts interest of research community owing to its applications in human-computer interaction and intelligent transportation systems. The expressions cause non-rigid motions of the face-muscles thereby changing the orientations of facial curves. Wavelets and Gabor wavelets have been used effectively for recognition of these oriented features. Although wavelets are the most popular multiresolution method, they have limited orientation-selectivity/directionality. Gabor wavelets are highly directional but they are not multiresolution methods in the true sense of the term. Proposed work is an effort to apply directional multiresolution representations like curvelets and contourlets to explore the multiresolution space in multiple ways for extracting effective facial features. Extensive comparisons between different multiresolution transforms and state of the art methods are provided to demonstrate the promise of the work. The problem of drowsiness detection, a special case of expression recognition, is also addressed using a proposed feature extraction method

Blind image quality assessment through anisotropy

We describe an innovative methodology for determining the quality of digital images. The method is based on measuring the variance of the expected entropy of a given image upon a set of predefined directions. Entropy can be calculated on a local basis by using a spatial/ spatial-frequency distribution as an approximation for a probability density function. The generalized Rényi entropy and the normalized pseudo-Wigner distribution (PWD) have been selected for this purpose. As a consequence, a pixel-by-pixel entropy value can be calculated, and therefore entropy histograms can be generated as well. The variance of the expected entropy is measured as a function of the directionality, and it has been taken as an anisotropy indicator. For this purpose, directional selectivity can be attained by using an oriented 1-D PWD implementation, Our main purpose is to show how such an anisotropy measure can be used as a metric to assess both the fidelity and quality of images. Experimental results show that an index such as this presents some desirable features that resemble those from an ideal image quality function, constituting a suitable quality index for natural images. Namely, in-focus, noise-free natural images have shown a maximum of this metric in comparison with other degraded, blurred, or noisy versions. This result provides a way of identifying in-focus, noise-free images from other degraded versions, allowing an automatic and nonreference classification of images according to their relative quality. It is also shown that the new measure is well correlated with classical reference metrics such as the peak signal-to-noise ratio. © 2007 Optical Society of America.This research has been supported by the following projects: TEC2004-00834, TEC2005-24739-E, TEC2005- 24046-E, and 20045OE184 from the Spanish Ministry of Education and Science and PI040765 from the Spanish Ministry of Health.Peer Reviewe

Evaluation of a Change Detection Methodology by Means of Binary Thresholding Algorithms and Informational Fusion Processes

Landcover is subject to continuous changes on a wide variety of temporal and spatial scales. Those changes produce significant effects in human and natural activities. Maintaining an updated spatial database with the occurred changes allows a better monitoring of the Earth’s resources and management of the environment. Change detection (CD) techniques using images from different sensors, such as satellite imagery, aerial photographs, etc., have proven to be suitable and secure data sources from which updated information can be extracted efficiently, so that changes can also be inventoried and monitored. In this paper, a multisource CD methodology for multiresolution datasets is applied. First, different change indices are processed, then different thresholding algorithms for change/no_change are applied to these indices in order to better estimate the statistical parameters of these categories, finally the indices are integrated into a change detection multisource fusion process, which allows generating a single CD result from several combination of indices. This methodology has been applied to datasets with different spectral and spatial resolution properties. Then, the obtained results are evaluated by means of a quality control analysis, as well as with complementary graphical representations. The suggested methodology has also been proved efficiently for identifying the change detection index with the higher contribution

Robust Localization in 3D Prior Maps for Autonomous Driving.

In order to navigate autonomously, many self-driving vehicles require precise localization within an a priori known map that is annotated with exact lane locations, traffic signs, and additional metadata that govern the rules of the road. This approach transforms the extremely difficult and unpredictable task of online perception into a more structured localization problem—where exact localization in these maps provides the autonomous agent a wealth of knowledge for safe navigation. This thesis presents several novel localization algorithms that leverage a high-fidelity three-dimensional (3D) prior map that together provide a robust and reliable framework for vehicle localization. First, we present a generic probabilistic method for localizing an autonomous vehicle equipped with a 3D light detection and ranging (LIDAR) scanner. This proposed algorithm models the world as a mixture of several Gaussians, characterizing the z-height and reflectivity distribution of the environment—which we rasterize to facilitate fast and exact multiresolution inference. Second, we propose a visual localization strategy that replaces the expensive 3D LIDAR scanners with significantly cheaper, commodity cameras. In doing so, we exploit a graphics processing unit to generate synthetic views of our belief environment, resulting in a localization solution that achieves a similar order of magnitude error rate with a sensor that is several orders of magnitude cheaper. Finally, we propose a visual obstacle detection algorithm that leverages knowledge of our high-fidelity prior maps in its obstacle prediction model. This not only provides obstacle awareness at high rates for vehicle navigation, but also improves our visual localization quality as we are cognizant of static and non-static regions of the environment. All of these proposed algorithms are demonstrated to be real-time solutions for our self-driving car.PhDComputer Science and EngineeringUniversity of Michigan, Horace H. Rackham School of Graduate Studieshttp://deepblue.lib.umich.edu/bitstream/2027.42/133410/1/rwolcott_1.pd

A non-rigid registration approach for quantifying myocardial contraction in tagged MRI using generalized information measures.

International audienceWe address the problem of quantitatively assessing myocardial function from tagged MRI sequences. We develop a two-step method comprising (i) a motion estimation step using a novel variational non-rigid registration technique based on generalized information measures, and (ii) a measurement step, yielding local and segmental deformation parameters over the whole myocardium. Experiments on healthy and pathological data demonstrate that this method delivers, within a reasonable computation time and in a fully unsupervised way, reliable measurements for normal subjects and quantitative pathology-specific information. Beyond cardiac MRI, this work redefines the foundations of variational non-rigid registration for information-theoretic similarity criteria with potential interest in multimodal medical imaging

Comparison of single distance phase retrieval algorithms by considering different object composition and the effect of statistical and structural noise

Phase retrieval is a technique for extracting quantitative phase information from X-ray propagation-based phase-contrast tomography (PPCT). In this paper, the performance of different single distance phase retrieval algorithms will be investigated. The algorithms are herein called phase-attenuation duality Born Algorithm (PAD-BA), phase-attenuation duality Rytov Algorithm (PAD-RA), phase-attenuation duality Modified Bronnikov Algorithm (PAD-MBA), phase-attenuation duality Paganin algorithm (PAD-PA) and phase-attenuation duality Wu Algorithm (PAD-WA), respectively. They are all based on phase-attenuation duality property and on weak absorption of the sample and they employ only a single distance PPCT data. In this paper, they are investigated via simulated noise-free PPCT data considering the fulfillment of PAD property and weakly absorbing conditions, and with experimental PPCT data of a mixture sample containing absorbing and weakly absorbing materials, and of a polymer sample considering different degrees of statistical and structural noise. The simulation shows all algorithms can quantitatively reconstruct the 3D refractive index of a quasi-homogeneous weakly absorbing object from noise-free PPCT data. When the weakly absorbing condition is violated, the PAD-RA and PAD-PA/WA obtain better result than PAD-BA and PAD-MBA that are shown in both simulation and mixture sample results. When considering the statistical noise, the contrast-to-noise ratio values decreases as the photon number is reduced. The structural noise study shows that the result is progressively corrupted by ring-like artifacts with the increase of structural noise (i.e. phantom thickness). The PAD-RA and PAD-PA/WA gain better density resolution than the PAD-BA and PAD-MBA in both statistical and structural noise study

Evaluation of a Change Detection Methodology by Means of Binary Thresholding Algorithms and Informational Fusion Processes

Landcover is subject to continuous changes on a wide variety of temporal and spatial scales. Those changes produce significant effects in human and natural activities. Maintaining an updated spatial database with the occurred changes allows a better monitoring of the Earth’s resources and management of the environment. Change detection (CD) techniques using images from different sensors, such as satellite imagery, aerial photographs, etc., have proven to be suitable and secure data sources from which updated information can be extracted efficiently, so that changes can also be inventoried and monitored. In this paper, a multisource CD methodology for multiresolution datasets is applied. First, different change indices are processed, then different thresholding algorithms for change/no_change are applied to these indices in order to better estimate the statistical parameters of these categories, finally the indices are integrated into a change detection multisource fusion process, which allows generating a single CD result from several combination of indices. This methodology has been applied to datasets with different spectral and spatial resolution properties. Then, the obtained results are evaluated by means of a quality control analysis, as well as with complementary graphical representations. The suggested methodology has also been proved efficiently for identifying the change detection index with the higher contribution