Automatic Alignment of 3D Multi-Sensor Point Clouds

Automatic 3D point cloud alignment is a major research topic in photogrammetry, computer vision and computer graphics. In this research, two keypoint feature matching approaches have been developed and proposed for the automatic alignment of 3D point clouds, which have been acquired from different sensor platforms and are in different 3D conformal coordinate systems. The first proposed approach is based on 3D keypoint feature matching. First, surface curvature information is utilized for scale-invariant 3D keypoint extraction. Adaptive non-maxima suppression (ANMS) is then applied to retain the most distinct and well-distributed set of keypoints. Afterwards, every keypoint is characterized by a scale, rotation and translation invariant 3D surface descriptor, called the radial geodesic distance-slope histogram. Similar keypoints descriptors on the source and target datasets are then matched using bipartite graph matching, followed by a modified-RANSAC for outlier removal. The second proposed method is based on 2D keypoint matching performed on height map images of the 3D point clouds. Height map images are generated by projecting the 3D point clouds onto a planimetric plane. Afterwards, a multi-scale wavelet 2D keypoint detector with ANMS is proposed to extract keypoints on the height maps. Then, a scale, rotation and translation-invariant 2D descriptor referred to as the Gabor, Log-Polar-Rapid Transform descriptor is computed for all keypoints. Finally, source and target height map keypoint correspondences are determined using a bi-directional nearest neighbour matching, together with the modified-RANSAC for outlier removal. Each method is assessed on multi-sensor, urban and non-urban 3D point cloud datasets. Results show that unlike the 3D-based method, the height map-based approach is able to align source and target datasets with differences in point density, point distribution and missing point data. Findings also show that the 3D-based method obtained lower transformation errors and a greater number of correspondences when the source and target have similar point characteristics. The 3D-based approach attained absolute mean alignment differences in the range of 0.23m to 2.81m, whereas the height map approach had a range from 0.17m to 1.21m. These differences meet the proximity requirements of the data characteristics and the further application of fine co-registration approaches

Three-Dimensional Shape Measurements of Specular Objects Using Phase-Measuring Deflectometry

The fast development in the fields of integrated circuits, photovoltaics, the automobile industry, advanced manufacturing, and astronomy have led to the importance and necessity of quickly and accurately obtaining three-dimensional (3D) shape data of specular surfaces for quality control and function evaluation. Owing to the advantages of a large dynamic range, non-contact operation, full-field and fast acquisition, high accuracy, and automatic data processing, phase-measuring deflectometry (PMD, also called fringe reflection profilometry) has been widely studied and applied in many fields. Phase information coded in the reflected fringe patterns relates to the local slope and height of the measured specular objects. The 3D shape is obtained by integrating the local gradient data or directly calculating the depth data from the phase information. We present a review of the relevant techniques regarding classical PMD. The improved PMD technique is then used to measure specular objects having discontinuous and/or isolated surfaces. Some influential factors on the measured results are presented. The challenges and future research directions are discussed to further advance PMD techniques. Finally, the application fields of PMD are briefly introduce

Light field image processing: an overview

Light field imaging has emerged as a technology allowing to capture richer visual information from our world. As opposed to traditional photography, which captures a 2D projection of the light in the scene integrating the angular domain, light fields collect radiance from rays in all directions, demultiplexing the angular information lost in conventional photography. On the one hand, this higher dimensional representation of visual data offers powerful capabilities for scene understanding, and substantially improves the performance of traditional computer vision problems such as depth sensing, post-capture refocusing, segmentation, video stabilization, material classification, etc. On the other hand, the high-dimensionality of light fields also brings up new challenges in terms of data capture, data compression, content editing, and display. Taking these two elements together, research in light field image processing has become increasingly popular in the computer vision, computer graphics, and signal processing communities. In this paper, we present a comprehensive overview and discussion of research in this field over the past 20 years. We focus on all aspects of light field image processing, including basic light field representation and theory, acquisition, super-resolution, depth estimation, compression, editing, processing algorithms for light field display, and computer vision applications of light field data

Contributions in image and video coding

Orientador: Max Henrique Machado CostaTese (doutorado) - Universidade Estadual de Campinas, Faculdade de Engenharia Elétrica e de ComputaçãoResumo: A comunidade de codificação de imagens e vídeo vem também trabalhando em inovações que vão além das tradicionais técnicas de codificação de imagens e vídeo. Este trabalho é um conjunto de contribuições a vários tópicos que têm recebido crescente interesse de pesquisadores na comunidade, nominalmente, codificação escalável, codificação de baixa complexidade para dispositivos móveis, codificação de vídeo de múltiplas vistas e codificação adaptativa em tempo real. A primeira contribuição estuda o desempenho de três transformadas 3-D rápidas por blocos em um codificador de vídeo de baixa complexidade. O codificador recebeu o nome de Fast Embedded Video Codec (FEVC). Novos métodos de implementação e ordens de varredura são propostos para as transformadas. Os coeficiente 3-D são codificados por planos de bits pelos codificadores de entropia, produzindo um fluxo de bits (bitstream) de saída totalmente embutida. Todas as implementações são feitas usando arquitetura com aritmética inteira de 16 bits. Somente adições e deslocamentos de bits são necessários, o que reduz a complexidade computacional. Mesmo com essas restrições, um bom desempenho em termos de taxa de bits versus distorção pôde ser obtido e os tempos de codificação são significativamente menores (em torno de 160 vezes) quando comparados ao padrão H.264/AVC. A segunda contribuição é a otimização de uma recente abordagem proposta para codificação de vídeo de múltiplas vistas em aplicações de video-conferência e outras aplicações do tipo "unicast" similares. O cenário alvo nessa abordagem é fornecer vídeo com percepção real em 3-D e ponto de vista livre a boas taxas de compressão. Para atingir tal objetivo, pesos são atribuídos a cada vista e mapeados em parâmetros de quantização. Neste trabalho, o mapeamento ad-hoc anteriormente proposto entre pesos e parâmetros de quantização é mostrado ser quase-ótimo para uma fonte Gaussiana e um mapeamento ótimo é derivado para fonte típicas de vídeo. A terceira contribuição explora várias estratégias para varredura adaptativa dos coeficientes da transformada no padrão JPEG XR. A ordem de varredura original, global e adaptativa do JPEG XR é comparada com os métodos de varredura localizados e híbridos propostos neste trabalho. Essas novas ordens não requerem mudanças nem nos outros estágios de codificação e decodificação, nem na definição da bitstream A quarta e última contribuição propõe uma transformada por blocos dependente do sinal. As transformadas hierárquicas usualmente exploram a informação residual entre os níveis no estágio da codificação de entropia, mas não no estágio da transformada. A transformada proposta neste trabalho é uma técnica de compactação de energia que também explora as similaridades estruturais entre os níveis de resolução. A idéia central da técnica é incluir na transformada hierárquica um número de funções de base adaptativas derivadas da resolução menor do sinal. Um codificador de imagens completo foi desenvolvido para medir o desempenho da nova transformada e os resultados obtidos são discutidos neste trabalhoAbstract: The image and video coding community has often been working on new advances that go beyond traditional image and video architectures. This work is a set of contributions to various topics that have received increasing attention from researchers in the community, namely, scalable coding, low-complexity coding for portable devices, multiview video coding and run-time adaptive coding. The first contribution studies the performance of three fast block-based 3-D transforms in a low complexity video codec. The codec has received the name Fast Embedded Video Codec (FEVC). New implementation methods and scanning orders are proposed for the transforms. The 3-D coefficients are encoded bit-plane by bit-plane by entropy coders, producing a fully embedded output bitstream. All implementation is performed using 16-bit integer arithmetic. Only additions and bit shifts are necessary, thus lowering computational complexity. Even with these constraints, reasonable rate versus distortion performance can be achieved and the encoding time is significantly smaller (around 160 times) when compared to the H.264/AVC standard. The second contribution is the optimization of a recent approach proposed for multiview video coding in videoconferencing applications or other similar unicast-like applications. The target scenario in this approach is providing realistic 3-D video with free viewpoint video at good compression rates. To achieve such an objective, weights are computed for each view and mapped into quantization parameters. In this work, the previously proposed ad-hoc mapping between weights and quantization parameters is shown to be quasi-optimum for a Gaussian source and an optimum mapping is derived for a typical video source. The third contribution exploits several strategies for adaptive scanning of transform coefficients in the JPEG XR standard. The original global adaptive scanning order applied in JPEG XR is compared with the localized and hybrid scanning methods proposed in this work. These new orders do not require changes in either the other coding and decoding stages or in the bitstream definition. The fourth and last contribution proposes an hierarchical signal dependent block-based transform. Hierarchical transforms usually exploit the residual cross-level information at the entropy coding step, but not at the transform step. The transform proposed in this work is an energy compaction technique that can also exploit these cross-resolution-level structural similarities. The core idea of the technique is to include in the hierarchical transform a number of adaptive basis functions derived from the lower resolution of the signal. A full image codec is developed in order to measure the performance of the new transform and the obtained results are discussed in this workDoutoradoTelecomunicações e TelemáticaDoutor em Engenharia Elétric

Development Of A High Performance Mosaicing And Super-Resolution Algorithm

In this dissertation, a high-performance mosaicing and super-resolution algorithm is described. The scale invariant feature transform (SIFT)-based mosaicing algorithm builds an initial mosaic which is iteratively updated by the robust super resolution algorithm to achieve the final high-resolution mosaic. Two different types of datasets are used for testing: high altitude balloon data and unmanned aerial vehicle data. To evaluate our algorithm, five performance metrics are employed: mean square error, peak signal to noise ratio, singular value decomposition, slope of reciprocal singular value curve, and cumulative probability of blur detection. Extensive testing shows that the proposed algorithm is effective in improving the captured aerial data and the performance metrics are accurate in quantifying the evaluation of the algorithm

Terrain Classification from Body-mounted Cameras during Human Locomotion

Abstract—This paper presents a novel algorithm for terrain type classification based on monocular video captured from the viewpoint of human locomotion. A texture-based algorithm is developed to classify the path ahead into multiple groups that can be used to support terrain classification. Gait is taken into account in two ways. Firstly, for key frame selection, when regions with homogeneous texture characteristics are updated, the fre-quency variations of the textured surface are analysed and used to adaptively define filter coefficients. Secondly, it is incorporated in the parameter estimation process where probabilities of path consistency are employed to improve terrain-type estimation. When tested with multiple classes that directly affect mobility a hard surface, a soft surface and an unwalkable area- our proposed method outperforms existing methods by up to 16%, and also provides improved robustness. Index Terms—texture, classification, recursive filter, terrain classification I

Image Feature Information Extraction for Interest Point Detection: A Comprehensive Review

Interest point detection is one of the most fundamental and critical problems in computer vision and image processing. In this paper, we carry out a comprehensive review on image feature information (IFI) extraction techniques for interest point detection. To systematically introduce how the existing interest point detection methods extract IFI from an input image, we propose a taxonomy of the IFI extraction techniques for interest point detection. According to this taxonomy, we discuss different types of IFI extraction techniques for interest point detection. Furthermore, we identify the main unresolved issues related to the existing IFI extraction techniques for interest point detection and any interest point detection methods that have not been discussed before. The existing popular datasets and evaluation standards are provided and the performances for eighteen state-of-the-art approaches are evaluated and discussed. Moreover, future research directions on IFI extraction techniques for interest point detection are elaborated