Optimized Packet Scheduling in Multiview Video Navigation Systems

In multiview video systems, multiple cameras generally acquire the same scene from different perspectives, such that users have the possibility to select their preferred viewpoint. This results in large amounts of highly redundant data, which needs to be properly handled during encoding and transmission over resource-constrained channels. In this work, we study coding and transmission strategies in multicamera systems, where correlated sources send data through a bottleneck channel to a central server, which eventually transmits views to different interactive users. We propose a dynamic correlation-aware packet scheduling optimization under delay, bandwidth, and interactivity constraints. The optimization relies both on a novel rate-distortion model, which captures the importance of each view in the 3D scene reconstruction, and on an objective function that optimizes resources based on a client navigation model. The latter takes into account the distortion experienced by interactive clients as well as the distortion variations that might be observed by clients during multiview navigation. We solve the scheduling problem with a novel trellis-based solution, which permits to formally decompose the multivariate optimization problem thereby significantly reducing the computation complexity. Simulation results show the gain of the proposed algorithm compared to baseline scheduling policies. More in details, we show the gain offered by our dynamic scheduling policy compared to static camera allocation strategies and to schemes with constant coding strategies. Finally, we show that the best scheduling policy consistently adapts to the most likely user navigation path and that it minimizes distortion variations that can be very disturbing for users in traditional navigation systems

Discontinuity-Aware Base-Mesh Modeling of Depth for Scalable Multiview Image Synthesis and Compression

This thesis is concerned with the challenge of deriving disparity from sparsely communicated depth for performing disparity-compensated view synthesis for compression and rendering of multiview images. The modeling of depth is essential for deducing disparity at view locations where depth is not available and is also critical for visibility reasoning and occlusion handling. This thesis first explores disparity derivation methods and disparity-compensated view synthesis approaches. Investigations reveal the merits of adopting a piece-wise continuous mesh description of depth for deriving disparity at target view locations to enable disparity-compensated backward warping of texture. Visibility information can be reasoned due to the correspondence relationship between views that a mesh model provides, while the connectivity of a mesh model assists in resolving depth occlusion. The recent JPEG 2000 Part-17 extension defines tools for scalable coding of discontinuous media using breakpoint-dependent DWT, where breakpoints describe discontinuity boundary geometry. This thesis proposes a method to efficiently reconstruct depth coded using JPEG 2000 Part-17 as a piece-wise continuous mesh, where discontinuities are driven by the encoded breakpoints. Results show that the proposed mesh can accurately represent decoded depth while its complexity scales along with decoded depth quality. The piece-wise continuous mesh model anchored at a single viewpoint or base-view can be augmented to form a multi-layered structure where the underlying layers carry depth information of regions that are occluded at the base-view. Such a consolidated mesh representation is termed a base-mesh model and can be projected to many viewpoints, to deduce complete disparity fields between any pair of views that are inherently consistent. Experimental results demonstrate the superior performance of the base-mesh model in multiview synthesis and compression compared to other state-of-the-art methods, including the JPEG Pleno light field codec. The proposed base-mesh model departs greatly from conventional pixel-wise or block-wise depth models and their forward depth mapping for deriving disparity ingrained in existing multiview processing systems. When performing disparity-compensated view synthesis, there can be regions for which reference texture is unavailable, and inpainting is required. A new depth-guided texture inpainting algorithm is proposed to restore occluded texture in regions where depth information is either available or can be inferred using the base-mesh model

Novel Motion Anchoring Strategies for Wavelet-based Highly Scalable Video Compression

This thesis investigates new motion anchoring strategies that are targeted at wavelet-based highly scalable video compression (WSVC). We depart from two practices that are deeply ingrained in existing video compression systems. Instead of the commonly used block motion, which has poor scalability attributes, we employ piecewise-smooth motion together with a highly scalable motion boundary description. The combination of this more “physical” motion description together with motion discontinuity information allows us to change the conventional strategy of anchoring motion at target frames to anchoring motion at reference frames, which improves motion inference across time. In the proposed reference-based motion anchoring strategies, motion fields are mapped from reference to target frames, where they serve as prediction references; during this mapping process, disoccluded regions are readily discovered. Observing that motion discontinuities displace with foreground objects, we propose motion-discontinuity driven motion mapping operations that handle traditionally challenging regions around moving objects. The reference-based motion anchoring exposes an intricate connection between temporal frame interpolation (TFI) and video compression. When employed in a compression system, all anchoring strategies explored in this thesis perform TFI once all residual information is quantized to zero at a given temporal level. The interpolation performance is evaluated on both natural and synthetic sequences, where we show favourable comparisons with state-of-the-art TFI schemes. We explore three reference-based motion anchoring strategies. In the first one, the motion anchoring is “flipped” with respect to a hierarchical B-frame structure. We develop an analytical model to determine the weights of the different spatio-temporal subbands, and assess the suitability and benefits of this reference-based WSVC for (highly scalable) video compression. Reduced motion coding cost and improved frame prediction, especially around moving objects, result in improved rate-distortion performance compared to a target-based WSVC. As the thesis evolves, the motion anchoring is progressively simplified to one where all motion is anchored at one base frame; this central motion organization facilitates the incorporation of higher-order motion models, which improve the prediction performance in regions following motion with non-constant velocity

Context-awareness for mobile sensing: a survey and future directions

The evolution of smartphones together with increasing computational power have empowered developers to create innovative context-aware applications for recognizing user related social and cognitive activities in any situation and at any location. The existence and awareness of the context provides the capability of being conscious of physical environments or situations around mobile device users. This allows network services to respond proactively and intelligently based on such awareness. The key idea behind context-aware applications is to encourage users to collect, analyze and share local sensory knowledge in the purpose for a large scale community use by creating a smart network. The desired network is capable of making autonomous logical decisions to actuate environmental objects, and also assist individuals. However, many open challenges remain, which are mostly arisen due to the middleware services provided in mobile devices have limited resources in terms of power, memory and bandwidth. Thus, it becomes critically important to study how the drawbacks can be elaborated and resolved, and at the same time better understand the opportunities for the research community to contribute to the context-awareness. To this end, this paper surveys the literature over the period of 1991-2014 from the emerging concepts to applications of context-awareness in mobile platforms by providing up-to-date research and future research directions. Moreover, it points out the challenges faced in this regard and enlighten them by proposing possible solutions

Transmission of 3D Scenes over Lossy Channels

This paper introduces a novel error correction scheme for the transmission of three-dimensional scenes over unreliable networks. We propose a novel Unequal Error Protection scheme for the transmission of depth and texture information that distributes a prefixed amount of redundancy among the various elements of the scene description in order to maximize the quality of the rendered views. This target is achieved exploiting also a new model for the estimation of the impact on the rendered views of the various geometry and texture packets which takes into account their relevance in the coded bitstream and the viewpoint required by the user. Experimental results show how the proposed scheme effectively enhances the quality of the rendered images in a typical depth-image-based rendering scenario as packets are progressively decoded/recovered by the receiver

Code as Policies: Language Model Programs for Embodied Control

Large language models (LLMs) trained on code completion have been shown to be capable of synthesizing simple Python programs from docstrings [1]. We find that these code-writing LLMs can be re-purposed to write robot policy code, given natural language commands. Specifically, policy code can express functions or feedback loops that process perception outputs (e.g.,from object detectors [2], [3]) and parameterize control primitive APIs. When provided as input several example language commands (formatted as comments) followed by corresponding policy code (via few-shot prompting), LLMs can take in new commands and autonomously re-compose API calls to generate new policy code respectively. By chaining classic logic structures and referencing third-party libraries (e.g., NumPy, Shapely) to perform arithmetic, LLMs used in this way can write robot policies that (i) exhibit spatial-geometric reasoning, (ii) generalize to new instructions, and (iii) prescribe precise values (e.g., velocities) to ambiguous descriptions ("faster") depending on context (i.e., behavioral commonsense). This paper presents code as policies: a robot-centric formalization of language model generated programs (LMPs) that can represent reactive policies (e.g., impedance controllers), as well as waypoint-based policies (vision-based pick and place, trajectory-based control), demonstrated across multiple real robot platforms. Central to our approach is prompting hierarchical code-gen (recursively defining undefined functions), which can write more complex code and also improves state-of-the-art to solve 39.8% of problems on the HumanEval [1] benchmark. Code and videos are available at https://code-as-policies.github.i

World model learning and inference

Understanding information processing in the brain-and creating general-purpose artificial intelligence-are long-standing aspirations of scientists and engineers worldwide. The distinctive features of human intelligence are high-level cognition and control in various interactions with the world including the self, which are not defined in advance and are vary over time. The challenge of building human-like intelligent machines, as well as progress in brain science and behavioural analyses, robotics, and their associated theoretical formalisations, speaks to the importance of the world-model learning and inference. In this article, after briefly surveying the history and challenges of internal model learning and probabilistic learning, we introduce the free energy principle, which provides a useful framework within which to consider neuronal computation and probabilistic world models. Next, we showcase examples of human behaviour and cognition explained under that principle. We then describe symbol emergence in the context of probabilistic modelling, as a topic at the frontiers of cognitive robotics. Lastly, we review recent progress in creating human-like intelligence by using novel probabilistic programming languages. The striking consensus that emerges from these studies is that probabilistic descriptions of learning and inference are powerful and effective ways to create human-like artificial intelligent machines and to understand intelligence in the context of how humans interact with their world