Real-Time Salient Closed Boundary Tracking via Line Segments Perceptual Grouping

This paper presents a novel real-time method for tracking salient closed boundaries from video image sequences. This method operates on a set of straight line segments that are produced by line detection. The tracking scheme is coherently integrated into a perceptual grouping framework in which the visual tracking problem is tackled by identifying a subset of these line segments and connecting them sequentially to form a closed boundary with the largest saliency and a certain similarity to the previous one. Specifically, we define a new tracking criterion which combines a grouping cost and an area similarity constraint. The proposed criterion makes the resulting boundary tracking more robust to local minima. To achieve real-time tracking performance, we use Delaunay Triangulation to build a graph model with the detected line segments and then reduce the tracking problem to finding the optimal cycle in this graph. This is solved by our newly proposed closed boundary candidates searching algorithm called "Bidirectional Shortest Path (BDSP)". The efficiency and robustness of the proposed method are tested on real video sequences as well as during a robot arm pouring experiment.Comment: 7 pages, 8 figures, The 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2017) submission ID 103

A Framework for Symmetric Part Detection in Cluttered Scenes

The role of symmetry in computer vision has waxed and waned in importance during the evolution of the field from its earliest days. At first figuring prominently in support of bottom-up indexing, it fell out of favor as shape gave way to appearance and recognition gave way to detection. With a strong prior in the form of a target object, the role of the weaker priors offered by perceptual grouping was greatly diminished. However, as the field returns to the problem of recognition from a large database, the bottom-up recovery of the parts that make up the objects in a cluttered scene is critical for their recognition. The medial axis community has long exploited the ubiquitous regularity of symmetry as a basis for the decomposition of a closed contour into medial parts. However, today's recognition systems are faced with cluttered scenes, and the assumption that a closed contour exists, i.e. that figure-ground segmentation has been solved, renders much of the medial axis community's work inapplicable. In this article, we review a computational framework, previously reported in Lee et al. (2013), Levinshtein et al. (2009, 2013), that bridges the representation power of the medial axis and the need to recover and group an object's parts in a cluttered scene. Our framework is rooted in the idea that a maximally inscribed disc, the building block of a medial axis, can be modeled as a compact superpixel in the image. We evaluate the method on images of cluttered scenes.Comment: 10 pages, 8 figure

Multiscale Fields of Patterns

We describe a framework for defining high-order image models that can be used in a variety of applications. The approach involves modeling local patterns in a multiscale representation of an image. Local properties of a coarsened image reflect non-local properties of the original image. In the case of binary images local properties are defined by the binary patterns observed over small neighborhoods around each pixel. With the multiscale representation we capture the frequency of patterns observed at different scales of resolution. This framework leads to expressive priors that depend on a relatively small number of parameters. For inference and learning we use an MCMC method for block sampling with very large blocks. We evaluate the approach with two example applications. One involves contour detection. The other involves binary segmentation.Comment: In NIPS 201

Shape-driven segmentation of the arterial wall in intravascular ultrasound images

Segmentation of arterial wall boundaries from intravascular images is an important problem for many applications in the study of plaque characteristics, mechanical properties of the arterial wall, its 3D reconstruction, and its measurements such as lumen size, lumen radius, and wall radius. We present a shape-driven approach to segmentation of the arterial wall from intravascular ultrasound images in the rectangular domain. In a properly built shape space using training data, we constrain the lumen and media-adventitia contours to a smooth, closed geometry, which increases the segmentation quality without any tradeoff with a regularizer term. In addition to a shape prior, we utilize an intensity prior through a non-parametric probability density based image energy, with global image measurements rather than pointwise measurements used in previous methods. Furthermore, a detection step is included to address the challenges introduced to the segmentation process by side branches and calcifications. All these features greatly enhance our segmentation method. The tests of our algorithm on a large dataset demonstrate the effectiveness of our approach