Robust visual odometry using uncertainty models

In dense, urban environments, GPS by itself cannot be relied on to provide accurate positioning information. Signal reception issues (e.g. occlusion, multi-path effects) often prevent the GPS receiver from getting a positional lock, causing holes in the absolute positioning data. In order to keep assisting the driver, other sensors are required to track the vehicle motion during these periods of GPS disturbance. In this paper, we propose a novel method to use a single on-board consumer-grade camera to estimate the relative vehicle motion. The method is based on the tracking of ground plane features, taking into account the uncertainty on their backprojection as well as the uncertainty on the vehicle motion. A Hough-like parameter space vote is employed to extract motion parameters from the uncertainty models. The method is easy to calibrate and designed to be robust to outliers and bad feature quality. Preliminary testing shows good accuracy and reliability, with a positional estimate within 2 metres for a 400 metre elapsed distance. The effects of inaccurate calibration are examined using artificial datasets, suggesting a self-calibrating system may be possible in future work

Multiple View Geometry For Video Analysis And Post-production

Multiple view geometry is the foundation of an important class of computer vision techniques for simultaneous recovery of camera motion and scene structure from a set of images. There are numerous important applications in this area. Examples include video post-production, scene reconstruction, registration, surveillance, tracking, and segmentation. In video post-production, which is the topic being addressed in this dissertation, computer analysis of the motion of the camera can replace the currently used manual methods for correctly aligning an artificially inserted object in a scene. However, existing single view methods typically require multiple vanishing points, and therefore would fail when only one vanishing point is available. In addition, current multiple view techniques, making use of either epipolar geometry or trifocal tensor, do not exploit fully the properties of constant or known camera motion. Finally, there does not exist a general solution to the problem of synchronization of N video sequences of distinct general scenes captured by cameras undergoing similar ego-motions, which is the necessary step for video post-production among different input videos. This dissertation proposes several advancements that overcome these limitations. These advancements are used to develop an efficient framework for video analysis and post-production in multiple cameras. In the first part of the dissertation, the novel inter-image constraints are introduced that are particularly useful for scenes where minimal information is available. This result extends the current state-of-the-art in single view geometry techniques to situations where only one vanishing point is available. The property of constant or known camera motion is also described in this dissertation for applications such as calibration of a network of cameras in video surveillance systems, and Euclidean reconstruction from turn-table image sequences in the presence of zoom and focus. We then propose a new framework for the estimation and alignment of camera motions, including both simple (panning, tracking and zooming) and complex (e.g. hand-held) camera motions. Accuracy of these results is demonstrated by applying our approach to video post-production applications such as video cut-and-paste and shadow synthesis. As realistic image-based rendering problems, these applications require extreme accuracy in the estimation of camera geometry, the position and the orientation of the light source, and the photometric properties of the resulting cast shadows. In each case, the theoretical results are fully supported and illustrated by both numerical simulations and thorough experimentation on real data

Ground-based astrometry with wide field imagers. V. Application to near-infrared detectors: HAWK-I@VLT/ESO

High-precision astrometry requires accurate point-spread function modeling and accurate geometric-distortion corrections. This paper demonstrates that it is possible to achieve both requirements with data collected at the high acuity wide-field K-band imager (HAWK-I), a wide-field imager installed at the Nasmyth focus of UT4/VLT ESO 8m telescope. Our final astrometric precision reaches ~3 mas per coordinate for a well-exposed star in a single image with a systematic error less than 0.1 mas. We constructed calibrated astro-photometric catalogs and atlases of seven fields: the Baade's Window, NGC 6656, NGC 6121, NGC 6822, NGC 6388, NGC 104, and the James Webb Space Telescope calibration field in the Large Magellanic Cloud. We make these catalogs and images electronically available to the community. Furthermore, as a demonstration of the efficacy of our approach, we combined archival material taken with the optical wide-field imager at the MPI/ESO 2.2m with HAWK-I observations. We showed that we are able to achieve an excellent separation between cluster members and field objects for NGC 6656 and NGC 6121 with a time base-line of about 8 years. Using both HST and HAWK-I data, we also study the radial distribution of the SGB populations in NGC 6656 and conclude that the radial trend is flat within our uncertainty. We also provide membership probabilities for most of the stars in NGC 6656 and NGC 6121 catalogs and estimate membership for the published variable stars in these two fields.Comment: 36 pages (included appendix), 13 tables, 35 figures (26 in low resolution), accepted for publication in Astronomy and Astrophysics. Online materials will be soon available on CDS. Meanwhile, online materials can be requested directly to the first autho

Modeling and applications of the focus cue in conventional digital cameras

El enfoque en cámaras digitales juega un papel fundamental tanto en la calidad de la imagen como en la percepción del entorno. Esta tesis estudia el enfoque en cámaras digitales convencionales, tales como cámaras de móviles, fotográficas, webcams y similares. Una revisión rigurosa de los conceptos teóricos detras del enfoque en cámaras convencionales muestra que, a pasar de su utilidad, el modelo clásico del thin lens presenta muchas limitaciones para aplicación en diferentes problemas relacionados con el foco. En esta tesis, el focus profile es propuesto como una alternativa a conceptos clásicos como la profundidad de campo. Los nuevos conceptos introducidos en esta tesis son aplicados a diferentes problemas relacionados con el foco, tales como la adquisición eficiente de imágenes, estimación de profundidad, integración de elementos perceptuales y fusión de imágenes. Los resultados experimentales muestran la aplicación exitosa de los modelos propuestos.The focus of digital cameras plays a fundamental role in both the quality of the acquired images and the perception of the imaged scene. This thesis studies the focus cue in conventional cameras with focus control, such as cellphone cameras, photography cameras, webcams and the like. A deep review of the theoretical concepts behind focus in conventional cameras reveals that, despite its usefulness, the widely known thin lens model has several limitations for solving different focus-related problems in computer vision. In order to overcome these limitations, the focus profile model is introduced as an alternative to classic concepts, such as the near and far limits of the depth-of-field. The new concepts introduced in this dissertation are exploited for solving diverse focus-related problems, such as efficient image capture, depth estimation, visual cue integration and image fusion. The results obtained through an exhaustive experimental validation demonstrate the applicability of the proposed models

Two years of INTEGRAL monitoring of GRS 1915+105 Part 1: multiwavelength coverage with INTEGRAL, RXTE, and the Ryle radio Telescope

(Abridged) We report the results of monitoring observations of the Galactic microquasar GRS 1915+105 performed simultaneously with INTEGRAL and RXTE Ryle . We present the results of the whole \integral campaign, report the sources that are detected and their fluxes and identify the classes of variability in which GRS 1915+105 is found. The accretion ejection connections are studied in a model independent manner through the source light curves, hardness ratio, and color color diagrams. During a period of steady ``hard'' X-ray state (the so-called class chi) we observe a steady radio flux. We then turn to 3 particular observations during which we observe several types of soft X-ray dips and spikes cycles, followed by radio flares. During these observations GRS 1915+105 is in the so-called nu, lambda, and beta classes of variability. The observation of ejections during class lambda are the first ever reported. We generalize the fact that a (non-major) discrete ejection always occurs, in GRS 1915+105, as a response to an X-ray sequence composed of a spectrally hard X-ray dip terminated by an X-ray spike marking the disappearance of the hard X-ray emission above 18 keV. We also identify the trigger of the ejection as this X-ray spike. A possible correlation between the amplitude of the radio flare and the duration of the X-ray dip is found in our data. In this case the X-ray dips prior to ejections could be seen as the time during which the source accumulates energy and material that is ejected later.Comment: 17 pages, 14 figures. Accepted for publication in ApJ, scheduled for the March 20, 2008, vol676 issue. Table 3 has been degrade

Low-resolution spectroscopy of main sequence stars belonging to 12 Galactic globular clusters. I. CH and CN band strength variations

Globular clusters show abundance variations for light elements that are not yet well understood. The preferred explanation involves a self-enrichment scenario, with two subsequent generations of stars. Observations of main sequence stars allow us to investigate the signature of this chemically processed material without the complicating effects of internal mixing. Our goal is to investigate the C-N anti-correlation with low-resolution spectroscopy of 20-50 stars fainter than the first dredge-up in seven globular clusters (NGC288, NGC1851, NGC5927, NGC6352, NGC6388, and Pal12) with different properties. We complemented our observations with 47~Tuc archival data, with four additional clusters from the literature (M15, M22, M55, NGC362), and with additional literature data on NGC288. In this first paper, we measured the strength of CN and CH band indices, and we investigated the anti-correlation and bimodality of these indices. We compared r_CN, the ratio of stars belonging to the CN-strong and weak groups, with 15 different cluster parameters. We clearly see bimodal anti-correlation of the CH and CN band stregths in the metal-rich clusters (Pal12, 47Tuc, NGC6352, NGC5927). Only M15 among the metal-poor clusters shows a clearly bimodal anti-correlation. We found weak correlations (sligthly above 1 sigma) of r_CN with the cluster orbital parameters, present-day total mass, cluster concentration, and age. Our findings support the self-enrichment scenario, and suggest that the occurrence of more than two major generations of stars in a GGC should be rare. Small additional generations (<10-20% of the total) would be difficult to detect with our samples. The first generation, which corresponds to the CN-weak stars, usually contains more stars than the second one (=0.82+/-0.29), as opposed to results based on the Na-O anti-correlations.Comment: 18 pages, 10 figures, 1 electronic table, accepted for publication in A&A (language edited version

3D object reconstruction using computer vision : reconstruction and characterization applications for external human anatomical structures

Tese de doutoramento. Engenharia Informática. Faculdade de Engenharia. Universidade do Porto. 201