Depth from Monocular Images using a Semi-Parallel Deep Neural Network (SPDNN) Hybrid Architecture

Deep neural networks are applied to a wide range of problems in recent years. In this work, Convolutional Neural Network (CNN) is applied to the problem of determining the depth from a single camera image (monocular depth). Eight different networks are designed to perform depth estimation, each of them suitable for a feature level. Networks with different pooling sizes determine different feature levels. After designing a set of networks, these models may be combined into a single network topology using graph optimization techniques. This "Semi Parallel Deep Neural Network (SPDNN)" eliminates duplicated common network layers, and can be further optimized by retraining to achieve an improved model compared to the individual topologies. In this study, four SPDNN models are trained and have been evaluated at 2 stages on the KITTI dataset. The ground truth images in the first part of the experiment are provided by the benchmark, and for the second part, the ground truth images are the depth map results from applying a state-of-the-art stereo matching method. The results of this evaluation demonstrate that using post-processing techniques to refine the target of the network increases the accuracy of depth estimation on individual mono images. The second evaluation shows that using segmentation data alongside the original data as the input can improve the depth estimation results to a point where performance is comparable with stereo depth estimation. The computational time is also discussed in this study.Comment: 44 pages, 25 figure

Advanced MIMO Techniques: Polarization Diversity and Antenna Selection

International audienceThis chapter is attempted to provide a survey of the advanced concepts and related issues involved in Multiple Input Multiple Output (MIMO) systems. MIMO system technology has been considered as a really significant foundation on which to build the next and future generations of wireless networks. The chapter addresses advanced MIMO techniques such as polarization diversity and antenna selection. We gradually provide an overview of the MIMO features from basic to more advanced topics. The first sections of this chapter start by introducing the key aspects of theMIMO theory. TheMIMO systemmodel is first presented in a genericway. Then, we proceed to describe diversity schemes used in MIMO systems. MIMO technology could exploit several diversity techniques beyond the spatial diversity. These techniques essentially cover frequency diversity, time diversity and polarization diversity. We further provide the reader with a geometrically based models for MIMO systems. The virtue of this channel modeling is to adopt realisticmethods for modeling the spatio-temporal channel statistics from a physical wave-propagation viewpoint. Two classes for MIMO channel modeling will be described. These models involve the Geometry-based Stochastic ChannelModels (GSCM) and the Stochastic channel models. Besides the listedMIMO channel models already described, we derive and discuss capacity formulas for transmission over MIMO systems. The achieved MIMO capacities highlight the potential of spatial diversity for improving the spectral efficiency of MIMO channels. When Channel State Information (CSI) is available at both ends of the transmission link, the MIMO system capacity is optimally derived by using adaptive power allocation based on water-filling technique. The chapter continues by examining the combining techniques for multiple antenna systems. Combining techniques are motivated for MIMO systems since they enable the signal to noise ratio (SNR) maximization at the combiner output. The fundamental combing techniques are the Maximal Ratio Combining (MRC), the Selection Combining (SC) and the Equal Gain Combining(EGC). Once the combining techniques are analyzed, the reader is introduced to the beamforming processing as an optimal strategy for combining. The use of multiple antennas significantly improves the channel spectral efficiency. Nevertheless, this induces higher system complexity of the communication system and the communication system performance is effected due to correlation between antennas that need to be deployed at the same terminal. As such, the antenna selection algorithm for MIMO systems is presented. To elaborate on this point, we introduce Space time coding techniques for MIMO systems and we evaluate by simulation the performance of the communication system. Next, we emphasis on multi polarization techniques for MIMO systems. As a background, we presume that the reader has a thorough understanding of antenna theory. We recall the basic antenna theory and concepts that are used throughout the rest of the chapter. We rigorously introduce the 3D channel model over the Non-Line of Sight (NLOS) propagation channel for MIMO system with polarized antennas. We treat the depolarization phenomena and we study its effect on MIMO system capacity. The last section of the chapter provides a scenario for collaborative sensor nodes performing distributed MIMO system model which is devoted to sensor node localization in Wireless Sensor Networks. The localization algorithm is based on beamforming processing and was tested by simulation. Our chapter provides the reader by simulation examples for almost all the topics that have been treated for MIMO system development and key issues affecting achieved performance

Vid2Curve: Simultaneous Camera Motion Estimation and Thin Structure Reconstruction from an RGB Video

Thin structures, such as wire-frame sculptures, fences, cables, power lines, and tree branches, are common in the real world. It is extremely challenging to acquire their 3D digital models using traditional image-based or depth-based reconstruction methods because thin structures often lack distinct point features and have severe self-occlusion. We propose the first approach that simultaneously estimates camera motion and reconstructs the geometry of complex 3D thin structures in high quality from a color video captured by a handheld camera. Specifically, we present a new curve-based approach to estimate accurate camera poses by establishing correspondences between featureless thin objects in the foreground in consecutive video frames, without requiring visual texture in the background scene to lock on. Enabled by this effective curve-based camera pose estimation strategy, we develop an iterative optimization method with tailored measures on geometry, topology as well as self-occlusion handling for reconstructing 3D thin structures. Extensive validations on a variety of thin structures show that our method achieves accurate camera pose estimation and faithful reconstruction of 3D thin structures with complex shape and topology at a level that has not been attained by other existing reconstruction methods.Comment: Accepted by SIGGRAPH 202