Information Extraction and Modeling from Remote Sensing Images: Application to the Enhancement of Digital Elevation Models

To deal with high complexity data such as remote sensing images presenting metric resolution over large areas, an innovative, fast and robust image processing system is presented. The modeling of increasing level of information is used to extract, represent and link image features to semantic content. The potential of the proposed techniques is demonstrated with an application to enhance and regularize digital elevation models based on information collected from RS images

Low-rank Based Algorithms for Rectification, Repetition Detection and De-noising in Urban Images

In this thesis, we aim to solve the problem of automatic image rectification and repeated patterns detection on 2D urban images, using novel low-rank based techniques. Repeated patterns (such as windows, tiles, balconies and doors) are prominent and significant features in urban scenes. Detection of the periodic structures is useful in many applications such as photorealistic 3D reconstruction, 2D-to-3D alignment, facade parsing, city modeling, classification, navigation, visualization in 3D map environments, shape completion, cinematography and 3D games. However both of the image rectification and repeated patterns detection problems are challenging due to scene occlusions, varying illumination, pose variation and sensor noise. Therefore, detection of these repeated patterns becomes very important for city scene analysis. Given a 2D image of urban scene, we automatically rectify a facade image and extract facade textures first. Based on the rectified facade texture, we exploit novel algorithms that extract repeated patterns by using Kronecker product based modeling that is based on a solid theoretical foundation. We have tested our algorithms in a large set of images, which includes building facades from Paris, Hong Kong and New York

Semi-automatic video object segmentation for multimedia applications

A semi-automatic video object segmentation tool is presented for segmenting both still pictures and image sequences. The approach comprises both automatic segmentation algorithms and manual user interaction. The still image segmentation component is comprised of a conventional spatial segmentation algorithm (Recursive Shortest Spanning Tree (RSST)), a hierarchical segmentation representation method (Binary Partition Tree (BPT)), and user interaction. An initial segmentation partition of homogeneous regions is created using RSST. The BPT technique is then used to merge these regions and hierarchically represent the segmentation in a binary tree. The semantic objects are then manually built by selectively clicking on image regions. A video object-tracking component enables image sequence segmentation, and this subsystem is based on motion estimation, spatial segmentation, object projection, region classification, and user interaction. The motion between the previous frame and the current frame is estimated, and the previous object is then projected onto the current partition. A region classification technique is used to determine which regions in the current partition belong to the projected object. User interaction is allowed for object re-initialisation when the segmentation results become inaccurate. The combination of all these components enables offline video sequence segmentation. The results presented on standard test sequences illustrate the potential use of this system for object-based coding and representation of multimedia

Hyperspectral image representation and processing with binary partition trees

The optimal exploitation of the information provided by hyperspectral images requires the development of advanced image processing tools. Therefore, under the title Hyperspectral image representation and Processing with Binary Partition Trees, this PhD thesis proposes the construction and the processing of a new region-based hierarchical hyperspectral image representation: the Binary Partition Tree (BPT). This hierarchical region-based representation can be interpreted as a set of hierarchical regions stored in a tree structure. Hence, the Binary Partition Tree succeeds in presenting: (i) the decomposition of the image in terms of coherent regions and (ii) the inclusion relations of the regions in the scene. Based on region-merging techniques, the construction of BPT is investigated in this work by studying hyperspectral region models and the associated similarity metrics. As a matter of fact, the very high dimensionality and the complexity of the data require the definition of specific region models and similarity measures. Once the BPT is constructed, the fixed tree structure allows implementing efficient and advanced application-dependent techniques on it. The application-dependent processing of BPT is generally implemented through a specific pruning of the tree. Accordingly, some pruning techniques are proposed and discussed according to different applications. This Ph.D is focused in particular on segmentation, object detection and classification of hyperspectral imagery. Experimental results on various hyperspectral data sets demonstrate the interest and the good performances of the BPT representatio

A Robotic System for Learning Visually-Driven Grasp Planning (Dissertation Proposal)

We use findings in machine learning, developmental psychology, and neurophysiology to guide a robotic learning system\u27s level of representation both for actions and for percepts. Visually-driven grasping is chosen as the experimental task since it has general applicability and it has been extensively researched from several perspectives. An implementation of a robotic system with a gripper, compliant instrumented wrist, arm and vision is used to test these ideas. Several sensorimotor primitives (vision segmentation and manipulatory reflexes) are implemented in this system and may be thought of as the innate perceptual and motor abilities of the system. Applying empirical learning techniques to real situations brings up such important issues as observation sparsity in high-dimensional spaces, arbitrary underlying functional forms of the reinforcement distribution and robustness to noise in exemplars. The well-established technique of non-parametric projection pursuit regression (PPR) is used to accomplish reinforcement learning by searching for projections of high-dimensional data sets that capture task invariants. We also pursue the following problem: how can we use human expertise and insight into grasping to train a system to select both appropriate hand preshapes and approaches for a wide variety of objects, and then have it verify and refine its skills through trial and error. To accomplish this learning we propose a new class of Density Adaptive reinforcement learning algorithms. These algorithms use statistical tests to identify possibly interesting regions of the attribute space in which the dynamics of the task change. They automatically concentrate the building of high resolution descriptions of the reinforcement in those areas, and build low resolution representations in regions that are either not populated in the given task or are highly uniform in outcome. Additionally, the use of any learning process generally implies failures along the way. Therefore, the mechanics of the untrained robotic system must be able to tolerate mistakes during learning and not damage itself. We address this by the use of an instrumented, compliant robot wrist that controls impact forces