Representations for Cognitive Vision : a Review of Appearance-Based, Spatio-Temporal, and Graph-Based Approaches

The emerging discipline of cognitive vision requires a proper representation of visual information including spatial and temporal relationships, scenes, events, semantics and context. This review article summarizes existing representational schemes in computer vision which might be useful for cognitive vision, a and discusses promising future research directions. The various approaches are categorized according to appearance-based, spatio-temporal, and graph-based representations for cognitive vision. While the representation of objects has been covered extensively in computer vision research, both from a reconstruction as well as from a recognition point of view, cognitive vision will also require new ideas how to represent scenes. We introduce new concepts for scene representations and discuss how these might be efficiently implemented in future cognitive vision systems

Multitemporal dendrogeomorphological analysis of slope instability in Upper Orcia Valley (Southern Tuscany, Italy)

The Upper Orcia Valley (Southern Tuscany, Italy) is a key site for the comprehension of denudation processes typically acting in Mediterranean badlands (calanchi) areas, thanks to the availability of long-lasting erosion monitoring datasets and the rapidity of erosion processes development. These features make the area suitable as an open air laboratory for the study of badlands dynamic and changes in geoheritage due to erosion (i.e. active geomorphosites). Decadal multitemporal investigations on the erosion rates and the geomorphological dynamics of the study area allowed to highlight a decrease in the average water erosion rates during the last 60 years. More in detail, a reduction of bare land and, consequently, of erosion processes effectiveness and a contemporary increasing frequency of mass wasting events were recorded. These trends can be partly related to the land cover changes occurred in the study area from the 1950s onwards, which consist of the significant increase of reforestation practices and important other forms of human impacts on slopes, mainly land levelling for agricultural exploitation. In order to better identify the most significant phases of geomorphological instability occurred in this area during the last decades, an integrated approach based on multitemporal geomorphological mapping and dendrogeomorphology analysis on specimen of Pinus nigra Arn. was used. In detail, trees colonizing a denudation slope located in the surrounding of the Radicofani town (Tuscany, Italy) and characterized by calanchi and shallow mass movements deposits, were analyzed for the 1985-2012 time period. The analysis of the growth anomaly indexes and of compression wood allowed to determine a spatio-temporal differentiation along the slope and respect to an undisturbed reference site. The negative anomaly index results to be more pronounced in the trees located on the investigated slope with respect to the ones sampled in a non-disturbed area. Compression wood characterizes trees on slope sectors mainly affected by runoff and/or mass movements with a different persistence. Erosion rates were finally calculated through dendrogeomorphological analysis on tree roots exposure (0.31-3 cm/y runoff prevailing; 5.86-27.5 cm/y, mass movements prevailing). Dendrogeomorphological results are in accordance with those obtained in the investigated areas with multitemporal photogrammetric and geomorphologic analyses

Computer vision in the space of light rays: plenoptic videogeometry and polydioptric camera design

Most of the cameras used in computer vision, computer graphics, and image processing applications are designed to capture images that are similar to the images we see with our eyes. This enables an easy interpretation of the visual information by a human observer. Nowadays though, more and more processing of visual information is done by computers. Thus, it is worth questioning if these human inspired ``eyes'' are the optimal choice for processing visual information using a machine. In this thesis I will describe how one can study problems in computer vision without reference to a specific camera model by studying the geometry and statistics of the space of light rays that surrounds us. The study of the geometry will allow us to determine all the possible constraints that exist in the visual input and could be utilized if we had a perfect sensor. Since no perfect sensor exists we use signal processing techniques to examine how well the constraints between different sets of light rays can be exploited given a specific camera model. A camera is modeled as a spatio-temporal filter in the space of light rays which lets us express the image formation process in a function approximation framework. This framework then allows us to relate the geometry of the imaging camera to the performance of the vision system with regard to the given task. In this thesis I apply this framework to problem of camera motion estimation. I show how by choosing the right camera design we can solve for the camera motion using linear, scene-independent constraints that allow for robust solutions. This is compared to motion estimation using conventional cameras. In addition we show how we can extract spatio-temporal models from multiple video sequences using multi-resolution subdivison surfaces

Efficient Methods for Computational Light Transport

En esta tesis presentamos contribuciones sobre distintos retos computacionales relacionados con transporte de luz. Los algoritmos que utilizan información sobre el transporte de luz están presentes en muchas aplicaciones de hoy en día, desde la generación de efectos visuales, a la detección de objetos en tiempo real. La luz es una valiosa fuente de información que nos permite entender y representar nuestro entorno, pero obtener y procesar esta información presenta muchos desafíos debido a la complejidad de las interacciones entre la luz y la materia. Esta tesis aporta contribuciones en este tema desde dos puntos de vista diferentes: algoritmos en estado estacionario, en los que se asume que la velocidad de la luz es infinita; y algoritmos en estado transitorio, que tratan la luz no solo en el dominio espacial, sino también en el temporal. Nuestras contribuciones en algoritmos estacionarios abordan problemas tanto en renderizado offline como en tiempo real. Nos enfocamos en la reducción de varianza para métodos offline,proponiendo un nuevo método para renderizado eficiente de medios participativos. En renderizado en tiempo real, abordamos las limitacionesde consumo de batería en dispositivos móviles proponiendo un sistema de renderizado que incrementa la eficiencia energética en aplicaciones gráficas en tiempo real. En el transporte de luz transitorio, formalizamos la simulación de este tipo transporte en este nuevo dominio, y presentamos nuevos algoritmos y métodos para muestreo eficiente para render transitorio. Finalmente, demostramos la utilidad de generar datos en este dominio, presentando un nuevo método para corregir interferencia multi-caminos en camaras Timeof- Flight, un problema patológico en el procesamiento de imágenes transitorias.n this thesis we present contributions to different challenges of computational light transport. Light transport algorithms are present in many modern applications, from image generation for visual effects to real-time object detection. Light is a rich source of information that allows us to understand and represent our surroundings, but obtaining and processing this information presents many challenges due to its complex interactions with matter. This thesis provides advances in this subject from two different perspectives: steady-state algorithms, where the speed of light is assumed infinite, and transient-state algorithms, which deal with light as it travels not only through space but also time. Our steady-state contributions address problems in both offline and real-time rendering. We target variance reduction in offline rendering by proposing a new efficient method for participating media rendering. In real-time rendering, we target energy constraints of mobile devices by proposing a power-efficient rendering framework for real-time graphics applications. In transient-state we first formalize light transport simulation under this domain, and present new efficient sampling methods and algorithms for transient rendering. We finally demonstrate the potential of simulated data to correct multipath interference in Time-of-Flight cameras, one of the pathological problems in transient imaging.<br /

Spontaneous activity patterns in human motor cortex replay evoked activity patterns for hand movements

Spontaneous brain activity, measured with resting state fMRI (R-fMRI), is correlated among regions that are co-activated by behavioral tasks. It is unclear, however, whether spatial patterns of spontaneous activity within a cortical region correspond to spatial patterns of activity evoked by specific stimuli, actions, or mental states. The current study investigated the hypothesis that spontaneous activity in motor cortex represents motor patterns commonly occurring in daily life. To test this hypothesis 15 healthy participants were scanned while performing four different hand movements. Three movements (Grip, Extend, Pinch) were ecological involving grip and grasp hand movements; one control movement involving the rotation of the wrist was not ecological and infrequent (Shake). They were also scanned at rest before and after the execution of the motor tasks (resting-state scans). Using the task data, we identified movement-specific patterns in the primary motor cortex. These task-defined patterns were compared to resting-state patterns in the same motor region. We also performed a control analysis within the primary visual cortex. We found that spontaneous activity patterns in the primary motor cortex were more like task patterns for ecological than control movements. In contrast, there was no difference between ecological and control hand movements in the primary visual area. These findings provide evidence that spontaneous activity in human motor cortex forms fine-scale, patterned representations associated with behaviors that frequently occur in daily life

Model-Based Environmental Visual Perception for Humanoid Robots

The visual perception of a robot should answer two fundamental questions: What? and Where? In order to properly and efficiently reply to these questions, it is essential to establish a bidirectional coupling between the external stimuli and the internal representations. This coupling links the physical world with the inner abstraction models by sensor transformation, recognition, matching and optimization algorithms. The objective of this PhD is to establish this sensor-model coupling