Correlation Flow: Robust Optical Flow Using Kernel Cross-Correlators

Robust velocity and position estimation is crucial for autonomous robot navigation. The optical flow based methods for autonomous navigation have been receiving increasing attentions in tandem with the development of micro unmanned aerial vehicles. This paper proposes a kernel cross-correlator (KCC) based algorithm to determine optical flow using a monocular camera, which is named as correlation flow (CF). Correlation flow is able to provide reliable and accurate velocity estimation and is robust to motion blur. In addition, it can also estimate the altitude velocity and yaw rate, which are not available by traditional methods. Autonomous flight tests on a quadcopter show that correlation flow can provide robust trajectory estimation with very low processing power. The source codes are released based on the ROS framework.Comment: 2018 International Conference on Robotics and Automation (ICRA 2018

Image Restoration Using Joint Statistical Modeling in Space-Transform Domain

This paper presents a novel strategy for high-fidelity image restoration by characterizing both local smoothness and nonlocal self-similarity of natural images in a unified statistical manner. The main contributions are three-folds. First, from the perspective of image statistics, a joint statistical modeling (JSM) in an adaptive hybrid space-transform domain is established, which offers a powerful mechanism of combining local smoothness and nonlocal self-similarity simultaneously to ensure a more reliable and robust estimation. Second, a new form of minimization functional for solving image inverse problem is formulated using JSM under regularization-based framework. Finally, in order to make JSM tractable and robust, a new Split-Bregman based algorithm is developed to efficiently solve the above severely underdetermined inverse problem associated with theoretical proof of convergence. Extensive experiments on image inpainting, image deblurring and mixed Gaussian plus salt-and-pepper noise removal applications verify the effectiveness of the proposed algorithm.Comment: 14 pages, 18 figures, 7 Tables, to be published in IEEE Transactions on Circuits System and Video Technology (TCSVT). High resolution pdf version and Code can be found at: http://idm.pku.edu.cn/staff/zhangjian/IRJSM

Wavelet Lifting over Information-Based EEG Graphs for Motor Imagery Data Classification

The imagination of limb movements offers an intuitive paradigm for the control of electronic devices via brain computer interfacing (BCI). The analysis of electroencephalographic (EEG) data related to motor imagery potentials has proved to be a difficult task. EEG readings are noisy, and the elicited patterns occur in different parts of the scalp, at different instants and at different frequencies. Wavelet transform has been widely used in the BCI field as it offers temporal and spectral capabilities, although it lacks spatial information. In this study we propose a tailored second generation wavelet to extract features from these three domains. This transform is applied over a graph representation of motor imaginary trials, which encodes temporal and spatial information. This graph is enhanced using per-subject knowledge in order to optimise the spatial relationships among the electrodes, and to improve the filter design. This method improves the performance of classifying different imaginary limb movements maintaining the low computational resources required by the lifting transform over graphs. By using an online dataset we were able to positively assess the feasibility of using the novel method in an online BCI context