Parametric Feature Detection

We propose an algorithm to automatically construct feature detectors for arbitrary parametric features. To obtain a high level of robustness we advocate the use of realistic multi-parameter feature models and incorporate optical and sensing effects. Each feature is represented as a densely sampled parametric manifold in a low dimensional subspace of a Hilbert space. During detection, the brightness distribution around each image pixel is projected into the subspace. If the projection lies sufficiently close to the feature manifold, the feature is detected and the location of the closest manifold point yields the feature parameters. The concepts of parameter reduction by normalization, dimension reduction, pattern rejection, and heuristic search are all employed to achieve the required efficiency. By applying the algorithm to appropriate parametric feature models, detectors have been constructed for five features, namely, step edge, roof edge, line, corner, and circular disc. Detailed experiments are reported on the robustness of detection and the accuracy of parameter estimation. In the case of the step edge, our results are compared with those obtained using popular detectors. We conclude with a brief discussion on the use of relaxation to rene outputs from multiple feature detectors, and sketch a hardware architecture for a general feature detection machine

Robust Geometry Estimation using the Generalized Voronoi Covariance Measure

The Voronoi Covariance Measure of a compact set K of R^d is a tensor-valued measure that encodes geometric information on K and which is known to be resilient to Hausdorff noise but sensitive to outliers. In this article, we generalize this notion to any distance-like function delta and define the delta-VCM. We show that the delta-VCM is resilient to Hausdorff noise and to outliers, thus providing a tool to estimate robustly normals from a point cloud approximation. We present experiments showing the robustness of our approach for normal and curvature estimation and sharp feature detection

Feature extraction and selection for defect classification of pulsed eddy current NDT

Pulsed eddy current (PEC) is a new emerging nondestructive testing (NDT) technique using a broadband pulse excitation with rich frequency information and has wide application potentials. This technique mainly uses feature points and response signal shapes for defect detection and characterization, including peak point, frequency analysis, and statistical methods such as principal component analysis (PCA). This paper introduces the application of Hilbert transform to extract a new descending feature point and use the point as a cutoff point of sampling data for detection and feature estimation. The response signal is then divided by the conventional rising, peak, and the new descending points. Some shape features of the rising part and descending part are extracted. The characters of shape features are also discussed and compared. Various feature selection and integrations are proposed for defect classification. Experimental studies, including blind tests, show the validation of the new features and combination of selected features in defect classification. The robustness of the features and further work are also discussed

A delay estimation approach to change-point detection

The change-point detection problem is cast into a delay estimation. Using a local piecewise polynomial representation and some elementary algebraic manipulations, we give an explicit characterization of a change-point as a solution of a given polynomial equation. A key feature of this polynomial equation is its coefficients being composed by short time window iterated integrals of the noisy signal. The so designed change-point detector shows good robustness to various type of noises

LDSO: Direct Sparse Odometry with Loop Closure

In this paper we present an extension of Direct Sparse Odometry (DSO) to a monocular visual SLAM system with loop closure detection and pose-graph optimization (LDSO). As a direct technique, DSO can utilize any image pixel with sufficient intensity gradient, which makes it robust even in featureless areas. LDSO retains this robustness, while at the same time ensuring repeatability of some of these points by favoring corner features in the tracking frontend. This repeatability allows to reliably detect loop closure candidates with a conventional feature-based bag-of-words (BoW) approach. Loop closure candidates are verified geometrically and Sim(3) relative pose constraints are estimated by jointly minimizing 2D and 3D geometric error terms. These constraints are fused with a co-visibility graph of relative poses extracted from DSO's sliding window optimization. Our evaluation on publicly available datasets demonstrates that the modified point selection strategy retains the tracking accuracy and robustness, and the integrated pose-graph optimization significantly reduces the accumulated rotation-, translation- and scale-drift, resulting in an overall performance comparable to state-of-the-art feature-based systems, even without global bundle adjustment

A Generalized Multi-Modal Fusion Detection Framework

LiDAR point clouds have become the most common data source in autonomous driving. However, due to the sparsity of point clouds, accurate and reliable detection cannot be achieved in specific scenarios. Because of their complementarity with point clouds, images are getting increasing attention. Although with some success, existing fusion methods either perform hard fusion or do not fuse in a direct manner. In this paper, we propose a generic 3D detection framework called MMFusion, using multi-modal features. The framework aims to achieve accurate fusion between LiDAR and images to improve 3D detection in complex scenes. Our framework consists of two separate streams: the LiDAR stream and the camera stream, which can be compatible with any single-modal feature extraction network. The Voxel Local Perception Module in the LiDAR stream enhances local feature representation, and then the Multi-modal Feature Fusion Module selectively combines feature output from different streams to achieve better fusion. Extensive experiments have shown that our framework not only outperforms existing benchmarks but also improves their detection, especially for detecting cyclists and pedestrians on KITTI benchmarks, with strong robustness and generalization capabilities. Hopefully, our work will stimulate more research into multi-modal fusion for autonomous driving tasks

Robust Outlier Detection Method Based on Local Entropy and Global Density

By now, most outlier-detection algorithms struggle to accurately detect both point anomalies and cluster anomalies simultaneously. Furthermore, a few K-nearest-neighbor-based anomaly-detection methods exhibit excellent performance on many datasets, but their sensitivity to the value of K is a critical issue that needs to be addressed. To address these challenges, we propose a novel robust anomaly detection method, called Entropy Density Ratio Outlier Detection (EDROD). This method incorporates the probability density of each sample as the global feature, and the local entropy around each sample as the local feature, to obtain a comprehensive indicator of abnormality for each sample, which is called Entropy Density Ratio (EDR) for short in this paper. By comparing several competing anomaly detection methods on both synthetic and real-world datasets, it is found that the EDROD method can detect both point anomalies and cluster anomalies simultaneously with accurate performance. In addition, it is also found that the EDROD method exhibits strong robustness to the number of selected neighboring samples, the dimension of samples in the dataset, and the size of the dataset. Therefore, the proposed EDROD method can be applied to a variety of real-world datasets to detect anomalies with accurate and robust performances

A robust and efficient video representation for action recognition

This paper introduces a state-of-the-art video representation and applies it to efficient action recognition and detection. We first propose to improve the popular dense trajectory features by explicit camera motion estimation. More specifically, we extract feature point matches between frames using SURF descriptors and dense optical flow. The matches are used to estimate a homography with RANSAC. To improve the robustness of homography estimation, a human detector is employed to remove outlier matches from the human body as human motion is not constrained by the camera. Trajectories consistent with the homography are considered as due to camera motion, and thus removed. We also use the homography to cancel out camera motion from the optical flow. This results in significant improvement on motion-based HOF and MBH descriptors. We further explore the recent Fisher vector as an alternative feature encoding approach to the standard bag-of-words histogram, and consider different ways to include spatial layout information in these encodings. We present a large and varied set of evaluations, considering (i) classification of short basic actions on six datasets, (ii) localization of such actions in feature-length movies, and (iii) large-scale recognition of complex events. We find that our improved trajectory features significantly outperform previous dense trajectories, and that Fisher vectors are superior to bag-of-words encodings for video recognition tasks. In all three tasks, we show substantial improvements over the state-of-the-art results