Adaptive Methods for Point Cloud and Mesh Processing

Point clouds and 3D meshes are widely used in numerous applications ranging from games to virtual reality to autonomous vehicles. This dissertation proposes several approaches for noise removal and calibration of noisy point cloud data and 3D mesh sharpening methods. Order statistic filters have been proven to be very successful in image processing and other domains as well. Different variations of order statistics filters originally proposed for image processing are extended to point cloud filtering in this dissertation. A brand-new adaptive vector median is proposed in this dissertation for removing noise and outliers from noisy point cloud data. The major contributions of this research lie in four aspects: 1) Four order statistic algorithms are extended, and one adaptive filtering method is proposed for the noisy point cloud with improved results such as preserving significant features. These methods are applied to standard models as well as synthetic models, and real scenes, 2) A hardware acceleration of the proposed method using Microsoft parallel pattern library for filtering point clouds is implemented using multicore processors, 3) A new method for aerial LIDAR data filtering is proposed. The objective is to develop a method to enable automatic extraction of ground points from aerial LIDAR data with minimal human intervention, and 4) A novel method for mesh color sharpening using the discrete Laplace-Beltrami operator is proposed. Median and order statistics-based filters are widely used in signal processing and image processing because they can easily remove outlier noise and preserve important features. This dissertation demonstrates a wide range of results with median filter, vector median filter, fuzzy vector median filter, adaptive mean, adaptive median, and adaptive vector median filter on point cloud data. The experiments show that large-scale noise is removed while preserving important features of the point cloud with reasonable computation time. Quantitative criteria (e.g., complexity, Hausdorff distance, and the root mean squared error (RMSE)), as well as qualitative criteria (e.g., the perceived visual quality of the processed point cloud), are employed to assess the performance of the filters in various cases corrupted by different noisy models. The adaptive vector median is further optimized for denoising or ground filtering aerial LIDAR data point cloud. The adaptive vector median is also accelerated on multi-core CPUs using Microsoft Parallel Patterns Library. In addition, this dissertation presents a new method for mesh color sharpening using the discrete Laplace-Beltrami operator, which is an approximation of second order derivatives on irregular 3D meshes. The one-ring neighborhood is utilized to compute the Laplace-Beltrami operator. The color for each vertex is updated by adding the Laplace-Beltrami operator of the vertex color weighted by a factor to its original value. Different discretizations of the Laplace-Beltrami operator have been proposed for geometrical processing of 3D meshes. This work utilizes several discretizations of the Laplace-Beltrami operator for sharpening 3D mesh colors and compares their performance. Experimental results demonstrated the effectiveness of the proposed algorithms

Robust Object-Based Watermarking Using SURF Feature Matching and DFT Domain

In this paper we propose a robust object-based watermarking method, in which the watermark is embedded into the middle frequencies band of the Discrete Fourier Transform (DFT) magnitude of the selected object region, altogether with the Speeded Up Robust Feature (SURF) algorithm to allow the correct watermark detection, even if the watermarked image has been distorted. To recognize the selected object region after geometric distortions, during the embedding process the SURF features are estimated and stored in advance to be used during the detection process. In the detection stage, the SURF features of the distorted image are estimated and match them with the stored ones. From the matching result, SURF features are used to compute the Affine-transformation parameters and the object region is recovered. The quality of the watermarked image is measured using the Peak Signal to Noise Ratio (PSNR), Structural Similarity Index (SSIM) and the Visual Information Fidelity (VIF). The experimental results show the proposed method provides robustness against several geometric distortions, signal processing operations and combined distortions. The receiver operating characteristics (ROC) curves also show the desirable detection performance of the proposed method. The comparison with a previously reported methods based on different techniques is also provided

Adaptive Nonlocal Filtering: A Fast Alternative to Anisotropic Diffusion for Image Enhancement

The goal of many early visual filtering processes is to remove noise while at the same time sharpening contrast. An historical succession of approaches to this problem, starting with the use of simple derivative and smoothing operators, and the subsequent realization of the relationship between scale-space and the isotropic dfffusion equation, has recently resulted in the development of "geometry-driven" dfffusion. Nonlinear and anisotropic diffusion methods, as well as image-driven nonlinear filtering, have provided improved performance relative to the older isotropic and linear diffusion techniques. These techniques, which either explicitly or implicitly make use of kernels whose shape and center are functions of local image structure are too computationally expensive for use in real-time vision applications. In this paper, we show that results which are largely equivalent to those obtained from geometry-driven diffusion can be achieved by a process which is conceptually separated info two very different functions. The first involves the construction of a vector~field of "offsets", defined on a subset of the original image, at which to apply a filter. The offsets are used to displace filters away from boundaries to prevent edge blurring and destruction. The second is the (straightforward) application of the filter itself. The former function is a kind generalized image skeletonization; the latter is conventional image filtering. This formulation leads to results which are qualitatively similar to contemporary nonlinear diffusion methods, but at computation times that are roughly two orders of magnitude faster; allowing applications of this technique to real-time imaging. An additional advantage of this formulation is that it allows existing filter hardware and software implementations to be applied with no modification, since the offset step reduces to an image pixel permutation, or look-up table operation, after application of the filter

Adaptive two-pass rank order filter to remove impulse noise in highly corrupted images

This material is posted here with permission of the IEEE. Such permission of the IEEE does not in any way imply IEEE endorsement of any of Brunel University's products or services. Internal or personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution must be obtained from the IEEE by writing to [email protected]. © 2004 IEEE.In this paper, we present an adaptive two-pass rank order filter to remove impulse noise in highly corrupted images. When the noise ratio is high, rank order filters, such as the median filter for example, can produce unsatisfactory results. Better results can be obtained by applying the filter twice, which we call two-pass filtering. To further improve the performance, we develop an adaptive two-pass rank order filter. Between the passes of filtering, an adaptive process is used to detect irregularities in the spatial distribution of the estimated impulse noise. The adaptive process then selectively replaces some pixels changed by the first pass of filtering with their original observed pixel values. These pixels are then kept unchanged during the second filtering. In combination, the adaptive process and the sec ond filter eliminate more impulse noise and restore some pixels that are mistakenly altered by the first filtering. As a final result, the reconstructed image maintains a higher degree of fidelity and has a smaller amount of noise. The idea of adaptive two-pass processing can be applied to many rank order filters, such as a center-weighted median filter (CWMF), adaptive CWMF, lower-upper-middle filter, and soft-decision rank-order-mean filter. Results from computer simulations are used to demonstrate the performance of this type of adaptation using a number of basic rank order filters.This work was supported in part by CenSSIS, the Center for Subsurface Sensing and Imaging Systems, under the Engineering Research Centers Program of the National Science Foundation (NSF) under Award EEC-9986821, by an ARO MURI on Demining under Grant DAAG55-97-1-0013, and by the NSF under Award 0208548

Optimum non linear binary image restoration through linear grey-scale operations

Non-linear image processing operators give excellent results in a number of image processing tasks such as restoration and object recognition. However they are frequently excluded from use in solutions because the system designer does not wish to introduce additional hardware or algorithms and because their design can appear to be ad hoc. In practice the median filter is often used though it is rarely optimal. This paper explains how various non-linear image processing operators may be implemented on a basic linear image processing system using only convolution and thresholding operations. The paper is aimed at image processing system developers wishing to include some non-linear processing operators without introducing additional system capabilities such as extra hardware components or software toolboxes. It may also be of benefit to the interested reader wishing to learn more about non-linear operators and alternative methods of design and implementation. The non-linear tools include various components of mathematical morphology, median and weighted median operators and various order statistic filters. As well as describing novel algorithms for implementation within a linear system the paper also explains how the optimum filter parameters may be estimated for a given image processing task. This novel approach is based on the weight monotonic property and is a direct rather than iterated method