Robust Visual Tracking Based on L1 Expanded Template

Most video tracking algorithms including L1 tracker often fail to track correctly under adverse conditions such as object occlusion, disappearance, etc. To address this issue, we propose an improved L1 tracker algorithm called Tracker-2, based on what we call the expanded template which includes the reference template and trail template. The reference template keeps the original features of the target and prevents errors from being introduced by false tracking results with the template update, which leads to the deviation of the target. The trail template records the trail tracking results to avoid massive use of trivial templates which may result in the false detection of occlusion. The experimental results on a number of standard data sets have proved that our Tracker-2 approach is able to deal with the occlusion problem effectively while maintaining the advantages of L1 tracker

Online Metric-Weighted Linear Representations for Robust Visual Tracking

In this paper, we propose a visual tracker based on a metric-weighted linear representation of appearance. In order to capture the interdependence of different feature dimensions, we develop two online distance metric learning methods using proximity comparison information and structured output learning. The learned metric is then incorporated into a linear representation of appearance. We show that online distance metric learning significantly improves the robustness of the tracker, especially on those sequences exhibiting drastic appearance changes. In order to bound growth in the number of training samples, we design a time-weighted reservoir sampling method. Moreover, we enable our tracker to automatically perform object identification during the process of object tracking, by introducing a collection of static template samples belonging to several object classes of interest. Object identification results for an entire video sequence are achieved by systematically combining the tracking information and visual recognition at each frame. Experimental results on challenging video sequences demonstrate the effectiveness of the method for both inter-frame tracking and object identification.Comment: 51 pages. Appearing in IEEE Transactions on Pattern Analysis and Machine Intelligenc

Salient point region covariance descriptor for target tracking

Cataloged from PDF version of article.Features extracted at salient points are used to construct a region covariance descriptor (RCD) for target tracking. In the classical approach, the RCD is computed by using the features at each pixel location, which increases the computational cost in many cases. This approach is redundant because image statistics do not change significantly between neighboring image pixels. Furthermore, this redundancy may decrease tracking accuracy while tracking large targets because statistics of flat regions dominate region covariance matrix. In the proposed approach, salient points are extracted via the Shi and Tomasi’s minimum eigenvalue method over a Hessian matrix, and the RCD features extracted only at these salient points are used in target tracking. Experimental results indicate that the salient point RCD scheme provides comparable and even better tracking results compared to a classical RCD-based approach, scale-invariant feature transform, and speeded-up robust features-based trackers while providing a computationally more efficient structure. © 2013 Society of Photo-Optical Instrumentation Engineers (SPIE) [DOI: 10 .1117/1.OE.52.2.027207

Optical techniques for 3D surface reconstruction in computer-assisted laparoscopic surgery

One of the main challenges for computer-assisted surgery (CAS) is to determine the intra-opera- tive morphology and motion of soft-tissues. This information is prerequisite to the registration of multi-modal patient-specific data for enhancing the surgeon’s navigation capabilites by observ- ing beyond exposed tissue surfaces and for providing intelligent control of robotic-assisted in- struments. In minimally invasive surgery (MIS), optical techniques are an increasingly attractive approach for in vivo 3D reconstruction of the soft-tissue surface geometry. This paper reviews the state-of-the-art methods for optical intra-operative 3D reconstruction in laparoscopic surgery and discusses the technical challenges and future perspectives towards clinical translation. With the recent paradigm shift of surgical practice towards MIS and new developments in 3D opti- cal imaging, this is a timely discussion about technologies that could facilitate complex CAS procedures in dynamic and deformable anatomical regions

Characterizing pre-transplant and post-transplant kidney rejection risk by B cell immune repertoire sequencing.

Studying immune repertoire in the context of organ transplant provides important information on how adaptive immunity may contribute and modulate graft rejection. Here we characterize the peripheral blood immune repertoire of individuals before and after kidney transplant using B cell receptor sequencing in a longitudinal clinical study. Individuals who develop rejection after transplantation have a more diverse immune repertoire before transplant, suggesting a predisposition for post-transplant rejection risk. Additionally, over 2 years of follow-up, patients who develop rejection demonstrate a specific set of expanded clones that persist after the rejection. While there is an overall reduction of peripheral B cell diversity, likely due to increased general immunosuppression exposure in this cohort, the detection of specific IGHV gene usage across all rejecting patients supports that a common pool of immunogenic antigens may drive post-transplant rejection. Our findings may have clinical implications for the prediction and clinical management of kidney transplant rejection

Vision-Aided Navigation for GPS-Denied Environments Using Landmark Feature Identification

In recent years, unmanned autonomous vehicles have been used in diverse applications because of their multifaceted capabilities. In most cases, the navigation systems for these vehicles are dependent on Global Positioning System (GPS) technology. Many applications of interest, however, entail operations in environments in which GPS is intermittent or completely denied. These applications include operations in complex urban or indoor environments as well as missions in adversarial environments where GPS might be denied using jamming technology. This thesis investigate the development of vision-aided navigation algorithms that utilize processed images from a monocular camera as an alternative to GPS. The vision-aided navigation approach explored in this thesis entails defining a set of inertial landmarks, the locations of which are known within the environment, and employing image processing algorithms to detect these landmarks in image frames collected from an onboard monocular camera. These vision-based landmark measurements effectively serve as surrogate GPS measurements that can be incorporated into a navigation filter. Several image processing algorithms were considered for landmark detection and this thesis focuses in particular on two approaches: the continuous adaptive mean shift (CAMSHIFT) algorithm and the adaptable compressive (ADCOM) tracking algorithm. These algorithms are discussed in detail and applied for the detection and tracking of landmarks in monocular camera images. Navigation filters are then designed that employ sensor fusion of accelerometer and rate gyro data from an inertial measurement unit (IMU) with vision-based measurements of the centroids of one or more landmarks in the scene. These filters are tested in simulated navigation scenarios subject to varying levels of sensor and measurement noise and varying number of landmarks. Finally, conclusions and recommendations are provided regarding the implementation of this vision-aided navigation approach for autonomous vehicle navigation systems