42,623 research outputs found

    SceneFlowFields: Dense Interpolation of Sparse Scene Flow Correspondences

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    While most scene flow methods use either variational optimization or a strong rigid motion assumption, we show for the first time that scene flow can also be estimated by dense interpolation of sparse matches. To this end, we find sparse matches across two stereo image pairs that are detected without any prior regularization and perform dense interpolation preserving geometric and motion boundaries by using edge information. A few iterations of variational energy minimization are performed to refine our results, which are thoroughly evaluated on the KITTI benchmark and additionally compared to state-of-the-art on MPI Sintel. For application in an automotive context, we further show that an optional ego-motion model helps to boost performance and blends smoothly into our approach to produce a segmentation of the scene into static and dynamic parts.Comment: IEEE Winter Conference on Applications of Computer Vision (WACV), 201

    Online Mutual Foreground Segmentation for Multispectral Stereo Videos

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    The segmentation of video sequences into foreground and background regions is a low-level process commonly used in video content analysis and smart surveillance applications. Using a multispectral camera setup can improve this process by providing more diverse data to help identify objects despite adverse imaging conditions. The registration of several data sources is however not trivial if the appearance of objects produced by each sensor differs substantially. This problem is further complicated when parallax effects cannot be ignored when using close-range stereo pairs. In this work, we present a new method to simultaneously tackle multispectral segmentation and stereo registration. Using an iterative procedure, we estimate the labeling result for one problem using the provisional result of the other. Our approach is based on the alternating minimization of two energy functions that are linked through the use of dynamic priors. We rely on the integration of shape and appearance cues to find proper multispectral correspondences, and to properly segment objects in low contrast regions. We also formulate our model as a frame processing pipeline using higher order terms to improve the temporal coherence of our results. Our method is evaluated under different configurations on multiple multispectral datasets, and our implementation is available online.Comment: Preprint accepted for publication in IJCV (December 2018

    Methods for Analysing Endothelial Cell Shape and Behaviour in Relation to the Focal Nature of Atherosclerosis

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    The aim of this thesis is to develop automated methods for the analysis of the spatial patterns, and the functional behaviour of endothelial cells, viewed under microscopy, with applications to the understanding of atherosclerosis. Initially, a radial search approach to segmentation was attempted in order to trace the cell and nuclei boundaries using a maximum likelihood algorithm; it was found inadequate to detect the weak cell boundaries present in the available data. A parametric cell shape model was then introduced to fit an equivalent ellipse to the cell boundary by matching phase-invariant orientation fields of the image and a candidate cell shape. This approach succeeded on good quality images, but failed on images with weak cell boundaries. Finally, a support vector machines based method, relying on a rich set of visual features, and a small but high quality training dataset, was found to work well on large numbers of cells even in the presence of strong intensity variations and imaging noise. Using the segmentation results, several standard shear-stress dependent parameters of cell morphology were studied, and evidence for similar behaviour in some cell shape parameters was obtained in in-vivo cells and their nuclei. Nuclear and cell orientations around immature and mature aortas were broadly similar, suggesting that the pattern of flow direction near the wall stayed approximately constant with age. The relation was less strong for the cell and nuclear length-to-width ratios. Two novel shape analysis approaches were attempted to find other properties of cell shape which could be used to annotate or characterise patterns, since a wide variability in cell and nuclear shapes was observed which did not appear to fit the standard parameterisations. Although no firm conclusions can yet be drawn, the work lays the foundation for future studies of cell morphology. To draw inferences about patterns in the functional response of cells to flow, which may play a role in the progression of disease, single-cell analysis was performed using calcium sensitive florescence probes. Calcium transient rates were found to change with flow, but more importantly, local patterns of synchronisation in multi-cellular groups were discernable and appear to change with flow. The patterns suggest a new functional mechanism in flow-mediation of cell-cell calcium signalling

    Fast Multi-frame Stereo Scene Flow with Motion Segmentation

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    We propose a new multi-frame method for efficiently computing scene flow (dense depth and optical flow) and camera ego-motion for a dynamic scene observed from a moving stereo camera rig. Our technique also segments out moving objects from the rigid scene. In our method, we first estimate the disparity map and the 6-DOF camera motion using stereo matching and visual odometry. We then identify regions inconsistent with the estimated camera motion and compute per-pixel optical flow only at these regions. This flow proposal is fused with the camera motion-based flow proposal using fusion moves to obtain the final optical flow and motion segmentation. This unified framework benefits all four tasks - stereo, optical flow, visual odometry and motion segmentation leading to overall higher accuracy and efficiency. Our method is currently ranked third on the KITTI 2015 scene flow benchmark. Furthermore, our CPU implementation runs in 2-3 seconds per frame which is 1-3 orders of magnitude faster than the top six methods. We also report a thorough evaluation on challenging Sintel sequences with fast camera and object motion, where our method consistently outperforms OSF [Menze and Geiger, 2015], which is currently ranked second on the KITTI benchmark.Comment: 15 pages. To appear at IEEE Conference on Computer Vision and Pattern Recognition (CVPR 2017). Our results were submitted to KITTI 2015 Stereo Scene Flow Benchmark in November 201

    Combining Stereo Disparity and Optical Flow for Basic Scene Flow

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    Scene flow is a description of real world motion in 3D that contains more information than optical flow. Because of its complexity there exists no applicable variant for real-time scene flow estimation in an automotive or commercial vehicle context that is sufficiently robust and accurate. Therefore, many applications estimate the 2D optical flow instead. In this paper, we examine the combination of top-performing state-of-the-art optical flow and stereo disparity algorithms in order to achieve a basic scene flow. On the public KITTI Scene Flow Benchmark we demonstrate the reasonable accuracy of the combination approach and show its speed in computation.Comment: Commercial Vehicle Technology Symposium (CVTS), 201

    Temporally coherent 4D reconstruction of complex dynamic scenes

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    This paper presents an approach for reconstruction of 4D temporally coherent models of complex dynamic scenes. No prior knowledge is required of scene structure or camera calibration allowing reconstruction from multiple moving cameras. Sparse-to-dense temporal correspondence is integrated with joint multi-view segmentation and reconstruction to obtain a complete 4D representation of static and dynamic objects. Temporal coherence is exploited to overcome visual ambiguities resulting in improved reconstruction of complex scenes. Robust joint segmentation and reconstruction of dynamic objects is achieved by introducing a geodesic star convexity constraint. Comparative evaluation is performed on a variety of unstructured indoor and outdoor dynamic scenes with hand-held cameras and multiple people. This demonstrates reconstruction of complete temporally coherent 4D scene models with improved nonrigid object segmentation and shape reconstruction.Comment: To appear in The IEEE Conference on Computer Vision and Pattern Recognition (CVPR) 2016 . Video available at: https://www.youtube.com/watch?v=bm_P13_-Ds
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