Morphological operators for very low bit rate video coding

This paper deals with the use of some morphological tools for video coding at very low bit rates. Rather than describing a complete coding algorithm, the purpose of this paper is to focus on morphological connected operators and segmentation tools that have proved to be attractive for compression.Peer ReviewedPostprint (published version

Segmentation-based mesh design for motion estimation

Dans la plupart des codec vidéo standard, l'estimation des mouvements entre deux images se fait généralement par l'algorithme de concordance des blocs ou encore BMA pour « Block Matching Algorithm ». BMA permet de représenter l'évolution du contenu des images en décomposant normalement une image par blocs 2D en mouvement translationnel. Cette technique de prédiction conduit habituellement à de sévères distorsions de 1'artefact de bloc lorsque Ie mouvement est important. De plus, la décomposition systématique en blocs réguliers ne dent pas compte nullement du contenu de l'image. Certains paramètres associes aux blocs, mais inutiles, doivent être transmis; ce qui résulte d'une augmentation de débit de transmission. Pour paillier a ces défauts de BMA, on considère les deux objectifs importants dans Ie codage vidéo, qui sont de recevoir une bonne qualité d'une part et de réduire la transmission a très bas débit d'autre part. Dans Ie but de combiner les deux exigences quasi contradictoires, il est nécessaire d'utiliser une technique de compensation de mouvement qui donne, comme transformation, de bonnes caractéristiques subjectives et requiert uniquement, pour la transmission, l'information de mouvement. Ce mémoire propose une technique de compensation de mouvement en concevant des mailles 2D triangulaires a partir d'une segmentation de l'image. La décomposition des mailles est construite a partir des nœuds repartis irrégulièrement Ie long des contours dans l'image. La décomposition résultant est ainsi basée sur Ie contenu de l'image. De plus, étant donné la même méthode de sélection des nœuds appliquée à l'encodage et au décodage, la seule information requise est leurs vecteurs de mouvement et un très bas débit de transmission peut ainsi être réalise. Notre approche, comparée avec BMA, améliore à la fois la qualité subjective et objective avec beaucoup moins d'informations de mouvement. Dans la premier chapitre, une introduction au projet sera présentée. Dans Ie deuxième chapitre, on analysera quelques techniques de compression dans les codec standard et, surtout, la populaire BMA et ses défauts. Dans Ie troisième chapitre, notre algorithme propose et appelé la conception active des mailles a base de segmentation, sera discute en détail. Ensuite, les estimation et compensation de mouvement seront décrites dans Ie chapitre 4. Finalement, au chapitre 5, les résultats de simulation et la conclusion seront présentés.Abstract: In most video compression standards today, the generally accepted method for temporal prediction is motion compensation using block matching algorithm (BMA). BMA represents the scene content evolution with 2-D rigid translational moving blocks. This kind of predictive scheme usually leads to distortions such as block artefacts especially when the motion is important. The two most important aims in video coding are to receive a good quality on one hand and a low bit-rate on the other. This thesis proposes a motion compensation scheme using segmentation-based 2-D triangular mesh design method. The mesh is constructed by irregularly spread nodal points selected along image contour. Based on this, the generated mesh is, to a great extent, image content based. Moreover, the nodes are selected with the same method on the encoder and decoder sides, so that the only information that has to be transmitted are their motion vectors, and thus very low bit-rate can be achieved. Compared with BMA, our approach could improve subjective and objective quality with much less motion information."--Résumé abrégé par UM

Mesh-based 3D Textured Urban Mapping

In the era of autonomous driving, urban mapping represents a core step to let vehicles interact with the urban context. Successful mapping algorithms have been proposed in the last decade building the map leveraging on data from a single sensor. The focus of the system presented in this paper is twofold: the joint estimation of a 3D map from lidar data and images, based on a 3D mesh, and its texturing. Indeed, even if most surveying vehicles for mapping are endowed by cameras and lidar, existing mapping algorithms usually rely on either images or lidar data; moreover both image-based and lidar-based systems often represent the map as a point cloud, while a continuous textured mesh representation would be useful for visualization and navigation purposes. In the proposed framework, we join the accuracy of the 3D lidar data, and the dense information and appearance carried by the images, in estimating a visibility consistent map upon the lidar measurements, and refining it photometrically through the acquired images. We evaluate the proposed framework against the KITTI dataset and we show the performance improvement with respect to two state of the art urban mapping algorithms, and two widely used surface reconstruction algorithms in Computer Graphics.Comment: accepted at iros 201

Multi-Level Shape Representation Using Global Deformations and Locally Adaptive Finite Elements

We present a model-based method for the multi-level shape, pose estimation and abstraction of an object’s surface from range data. The surface shape is estimated based on the parameters of a superquadric that is subjected to global deformations (tapering and bending) and a varying number of levels of local deformations. Local deformations are implemented using locally adaptive finite elements whose shape functions are piecewise cubic functions with C1 continuity. The surface pose is estimated based on the model\u27s translational and rotational degrees of freedom. The algorithm first does a coarse fit, solving for a first approximation to the translation, rotation and global deformation parameters and then does several passes of mesh refinement, by locally subdividing triangles based on the distance between the given datapoints and the model. The adaptive finite element algorithm ensures that during subdivision the desirable finite element mesh generation properties of conformity, non-degeneracy and smoothness are maintained. Each pass of the algorithm uses physics-based modeling techniques to iteratively adjust the global and local parameters of the model in response to forces that are computed from approximation errors between the model and the data. We present results demonstrating the multi-level shape representation for both sparse and dense range data

PHYSICS-AWARE MODEL SIMPLIFICATION FOR INTERACTIVE VIRTUAL ENVIRONMENTS

Rigid body simulation is an integral part of Virtual Environments (VE) for autonomous planning, training, and design tasks. The underlying physics-based simulation of VE must be accurate and computationally fast enough for the intended application, which unfortunately are conflicting requirements. Two ways to perform fast and high fidelity physics-based simulation are: (1) model simplification, and (2) parallel computation. Model simplification can be used to allow simulation at an interactive rate while introducing an acceptable level of error. Currently, manual model simplification is the most common way of performing simulation speedup but it is time consuming. Hence, in order to reduce the development time of VEs, automated model simplification is needed. The dissertation presents an automated model simplification approach based on geometric reasoning, spatial decomposition, and temporal coherence. Geometric reasoning is used to develop an accessibility based algorithm for removing portions of geometric models that do not play any role in rigid body to rigid body interaction simulation. Removing such inaccessible portions of the interacting rigid body models has no influence on the simulation accuracy but reduces computation time significantly. Spatial decomposition is used to develop a clustering algorithm that reduces the number of fluid pressure computations resulting in significant speedup of rigid body and fluid interaction simulation. Temporal coherence algorithm reuses the computed force values from rigid body to fluid interaction based on the coherence of fluid surrounding the rigid body. The simulations are further sped up by performing computing on graphics processing unit (GPU). The dissertation also presents the issues pertaining to the development of parallel algorithms for rigid body simulations both on multi-core processors and GPU. The developed algorithms have enabled real-time, high fidelity, six degrees of freedom, and time domain simulation of unmanned sea surface vehicles (USSV) and can be used for autonomous motion planning, tele-operation, and learning from demonstration applications

Deformable meshes for shape recovery: models and applications

With the advance of scanning and imaging technology, more and more 3D objects become available. Among them, deformable objects have gained increasing interests. They include medical instances such as organs, a sequence of objects in motion, and objects of similar shapes where a meaningful correspondence can be established between each other. Thus, it requires tools to store, compare, and retrieve them. Many of these operations depend on successful shape recovery. Shape recovery is the task to retrieve an object from the environment where its geometry is hidden or implicitly known. As a simple and versatile tool, mesh is widely used in computer graphics for modelling and visualization. In particular, deformable meshes are meshes which can take the deformation of deformable objects. They extend the modelling ability of meshes. This dissertation focuses on using deformable meshes to approach the 3D shape recovery problem. Several models are presented to solve the challenges for shape recovery under different circumstances. When the object is hidden in an image, a PDE deformable model is designed to extract its surface shape. The algorithm uses a mesh representation so that it can model any non-smooth surface with an arbitrary precision compared to a parametric model. It is more computational efficient than a level-set approach. When the explicit geometry of the object is known but is hidden in a bank of shapes, we simplify the deformation of the model to a graph matching procedure through a hierarchical surface abstraction approach. The framework is used for shape matching and retrieval. This idea is further extended to retain the explicit geometry during the abstraction. A novel motion abstraction framework for deformable meshes is devised based on clustering of local transformations and is successfully applied to 3D motion compression