2,054 research outputs found

    Image Fusion via Sparse Regularization with Non-Convex Penalties

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    The L1 norm regularized least squares method is often used for finding sparse approximate solutions and is widely used in 1-D signal restoration. Basis pursuit denoising (BPD) performs noise reduction in this way. However, the shortcoming of using L1 norm regularization is the underestimation of the true solution. Recently, a class of non-convex penalties have been proposed to improve this situation. This kind of penalty function is non-convex itself, but preserves the convexity property of the whole cost function. This approach has been confirmed to offer good performance in 1-D signal denoising. This paper demonstrates the aforementioned method to 2-D signals (images) and applies it to multisensor image fusion. The problem is posed as an inverse one and a corresponding cost function is judiciously designed to include two data attachment terms. The whole cost function is proved to be convex upon suitably choosing the non-convex penalty, so that the cost function minimization can be tackled by convex optimization approaches, which comprise simple computations. The performance of the proposed method is benchmarked against a number of state-of-the-art image fusion techniques and superior performance is demonstrated both visually and in terms of various assessment measures

    SurfelMeshing: Online Surfel-Based Mesh Reconstruction

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    We address the problem of mesh reconstruction from live RGB-D video, assuming a calibrated camera and poses provided externally (e.g., by a SLAM system). In contrast to most existing approaches, we do not fuse depth measurements in a volume but in a dense surfel cloud. We asynchronously (re)triangulate the smoothed surfels to reconstruct a surface mesh. This novel approach enables to maintain a dense surface representation of the scene during SLAM which can quickly adapt to loop closures. This is possible by deforming the surfel cloud and asynchronously remeshing the surface where necessary. The surfel-based representation also naturally supports strongly varying scan resolution. In particular, it reconstructs colors at the input camera's resolution. Moreover, in contrast to many volumetric approaches, ours can reconstruct thin objects since objects do not need to enclose a volume. We demonstrate our approach in a number of experiments, showing that it produces reconstructions that are competitive with the state-of-the-art, and we discuss its advantages and limitations. The algorithm (excluding loop closure functionality) is available as open source at https://github.com/puzzlepaint/surfelmeshing .Comment: Version accepted to IEEE Transactions on Pattern Analysis and Machine Intelligenc

    Solving Inverse Problems with Piecewise Linear Estimators: From Gaussian Mixture Models to Structured Sparsity

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    A general framework for solving image inverse problems is introduced in this paper. The approach is based on Gaussian mixture models, estimated via a computationally efficient MAP-EM algorithm. A dual mathematical interpretation of the proposed framework with structured sparse estimation is described, which shows that the resulting piecewise linear estimate stabilizes the estimation when compared to traditional sparse inverse problem techniques. This interpretation also suggests an effective dictionary motivated initialization for the MAP-EM algorithm. We demonstrate that in a number of image inverse problems, including inpainting, zooming, and deblurring, the same algorithm produces either equal, often significantly better, or very small margin worse results than the best published ones, at a lower computational cost.Comment: 30 page
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