Cross-calibration of Time-of-flight and Colour Cameras

Time-of-flight cameras provide depth information, which is complementary to the photometric appearance of the scene in ordinary images. It is desirable to merge the depth and colour information, in order to obtain a coherent scene representation. However, the individual cameras will have different viewpoints, resolutions and fields of view, which means that they must be mutually calibrated. This paper presents a geometric framework for this multi-view and multi-modal calibration problem. It is shown that three-dimensional projective transformations can be used to align depth and parallax-based representations of the scene, with or without Euclidean reconstruction. A new evaluation procedure is also developed; this allows the reprojection error to be decomposed into calibration and sensor-dependent components. The complete approach is demonstrated on a network of three time-of-flight and six colour cameras. The applications of such a system, to a range of automatic scene-interpretation problems, are discussed.Comment: 18 pages, 12 figures, 3 table

A robust nonlinear scale space change detection approach for SAR images

In this paper, we propose a change detection approach based on nonlinear scale space analysis of change images for robust detection of various changes incurred by natural phenomena and/or human activities in Synthetic Aperture Radar (SAR) images using Maximally Stable Extremal Regions (MSERs). To achieve this, a variant of the log-ratio image of multitemporal images is calculated which is followed by Feature Preserving Despeckling (FPD) to generate nonlinear scale space images exhibiting different trade-offs in terms of speckle reduction and shape detail preservation. MSERs of each scale space image are found and then combined through a decision level fusion strategy, namely "selective scale fusion" (SSF), where contrast and boundary curvature of each MSER are considered. The performance of the proposed method is evaluated using real multitemporal high resolution TerraSAR-X images and synthetically generated multitemporal images composed of shapes with several orientations, sizes, and backscatter amplitude levels representing a variety of possible signatures of change. One of the main outcomes of this approach is that different objects having different sizes and levels of contrast with their surroundings appear as stable regions at different scale space images thus the fusion of results from scale space images yields a good overall performance

SurfelWarp: Efficient Non-Volumetric Single View Dynamic Reconstruction

We contribute a dense SLAM system that takes a live stream of depth images as input and reconstructs non-rigid deforming scenes in real time, without templates or prior models. In contrast to existing approaches, we do not maintain any volumetric data structures, such as truncated signed distance function (TSDF) fields or deformation fields, which are performance and memory intensive. Our system works with a flat point (surfel) based representation of geometry, which can be directly acquired from commodity depth sensors. Standard graphics pipelines and general purpose GPU (GPGPU) computing are leveraged for all central operations: i.e., nearest neighbor maintenance, non-rigid deformation field estimation and fusion of depth measurements. Our pipeline inherently avoids expensive volumetric operations such as marching cubes, volumetric fusion and dense deformation field update, leading to significantly improved performance. Furthermore, the explicit and flexible surfel based geometry representation enables efficient tackling of topology changes and tracking failures, which makes our reconstructions consistent with updated depth observations. Our system allows robots to maintain a scene description with non-rigidly deformed objects that potentially enables interactions with dynamic working environments.Comment: RSS 2018. The video and source code are available on https://sites.google.com/view/surfelwarp/hom