Accurate Stereo Visual Odometry with Gamma Distributions

Point-based stereo visual odometry systems typically estimate the camera motion by minimizing a cost function of the projection residuals between consecutive frames. Under some mild assumptions, such minimization is equivalent to maximizing the probability of the measured residuals given a certain pose change, for which a suitable model of the error distribution (sensor model) becomes of capital importance in order to obtain accurate results. This paper proposes a robust probabilistic model for projection errors, based on real world data. For that, we argue that projection distances follow Gamma distributions, and hence, the introduction of these models in a probabilistic formulation of the motion estimation process increases both precision and accuracy. Our approach has been validated through a series of experiments with both synthetic and real data, revealing an improvement in accuracy while not increasing the computational burden.Universidad de Málaga. Campus de Excelencia Internacional Andalucía Tech. Project "PROMOVE: Advances in mobile robotics for promoting independent life of elders", funded by the Spanish Government and the "European Regional Development Fund ERDF" under contract DPI2014-55826-R

Video enhancement using adaptive spatio-temporal connective filter and piecewise mapping

This paper presents a novel video enhancement system based on an adaptive spatio-temporal connective (ASTC) noise filter and an adaptive piecewise mapping function (APMF). For ill-exposed videos or those with much noise, we first introduce a novel local image statistic to identify impulse noise pixels, and then incorporate it into the classical bilateral filter to form ASTC, aiming to reduce the mixture of the most two common types of noises - Gaussian and impulse noises in spatial and temporal directions. After noise removal, we enhance the video contrast with APMF based on the statistical information of frame segmentation results. The experiment results demonstrate that, for diverse low-quality videos corrupted by mixed noise, underexposure, overexposure, or any mixture of the above, the proposed system can automatically produce satisfactory results

Robust Gravitational Wave Burst Detection and Source Localization in a Network of Interferometers Using Cross Wigner Spectra

We discuss a fast cross-Wigner transform based technique for detecting gravitational wave bursts, and estimating the direction of arrival, using a network of (three) non co-located interferometric detectors. The performances of the detector as a function of signal strength and source location, and the accuracy of the direction of arrival estimation are investigated by numerical simulations.Comment: accepted in Class. Quantum Gravit

Optimal Calibration of PET Crystal Position Maps Using Gaussian Mixture Models

A method is developed for estimating optimal PET gamma-ray detector crystal position maps, for arbitrary crystal configurations, based on a binomial distribution model for scintillation photon arrival. The approach is based on maximum likelihood estimation of Gaussian mixture model parameters using crystal position histogram data, with determination of the position map taken from the posterior probability boundaries between mixtures. This leads to minimum probability of error crystal identification under the assumed model