2,022 research outputs found
GASP : Geometric Association with Surface Patches
A fundamental challenge to sensory processing tasks in perception and
robotics is the problem of obtaining data associations across views. We present
a robust solution for ascertaining potentially dense surface patch (superpixel)
associations, requiring just range information. Our approach involves
decomposition of a view into regularized surface patches. We represent them as
sequences expressing geometry invariantly over their superpixel neighborhoods,
as uniquely consistent partial orderings. We match these representations
through an optimal sequence comparison metric based on the Damerau-Levenshtein
distance - enabling robust association with quadratic complexity (in contrast
to hitherto employed joint matching formulations which are NP-complete). The
approach is able to perform under wide baselines, heavy rotations, partial
overlaps, significant occlusions and sensor noise.
The technique does not require any priors -- motion or otherwise, and does
not make restrictive assumptions on scene structure and sensor movement. It
does not require appearance -- is hence more widely applicable than appearance
reliant methods, and invulnerable to related ambiguities such as textureless or
aliased content. We present promising qualitative and quantitative results
under diverse settings, along with comparatives with popular approaches based
on range as well as RGB-D data.Comment: International Conference on 3D Vision, 201
Beyond standard benchmarks: Parameterizing performance evaluation in visual object tracking
Object-to-camera motion produces a variety of apparent motion patterns that
significantly affect performance of short-term visual trackers. Despite being
crucial for designing robust trackers, their influence is poorly explored in
standard benchmarks due to weakly defined, biased and overlapping attribute
annotations. In this paper we propose to go beyond pre-recorded benchmarks with
post-hoc annotations by presenting an approach that utilizes omnidirectional
videos to generate realistic, consistently annotated, short-term tracking
scenarios with exactly parameterized motion patterns. We have created an
evaluation system, constructed a fully annotated dataset of omnidirectional
videos and the generators for typical motion patterns. We provide an in-depth
analysis of major tracking paradigms which is complementary to the standard
benchmarks and confirms the expressiveness of our evaluation approach
Shape Interaction Matrix Revisited and Robustified: Efficient Subspace Clustering with Corrupted and Incomplete Data
The Shape Interaction Matrix (SIM) is one of the earliest approaches to
performing subspace clustering (i.e., separating points drawn from a union of
subspaces). In this paper, we revisit the SIM and reveal its connections to
several recent subspace clustering methods. Our analysis lets us derive a
simple, yet effective algorithm to robustify the SIM and make it applicable to
realistic scenarios where the data is corrupted by noise. We justify our method
by intuitive examples and the matrix perturbation theory. We then show how this
approach can be extended to handle missing data, thus yielding an efficient and
general subspace clustering algorithm. We demonstrate the benefits of our
approach over state-of-the-art subspace clustering methods on several
challenging motion segmentation and face clustering problems, where the data
includes corrupted and missing measurements.Comment: This is an extended version of our iccv15 pape
Video Acceleration Magnification
The ability to amplify or reduce subtle image changes over time is useful in
contexts such as video editing, medical video analysis, product quality control
and sports. In these contexts there is often large motion present which
severely distorts current video amplification methods that magnify change
linearly. In this work we propose a method to cope with large motions while
still magnifying small changes. We make the following two observations: i)
large motions are linear on the temporal scale of the small changes; ii) small
changes deviate from this linearity. We ignore linear motion and propose to
magnify acceleration. Our method is pure Eulerian and does not require any
optical flow, temporal alignment or region annotations. We link temporal
second-order derivative filtering to spatial acceleration magnification. We
apply our method to moving objects where we show motion magnification and color
magnification. We provide quantitative as well as qualitative evidence for our
method while comparing to the state-of-the-art.Comment: Accepted paper at CVPR 2017. Project webpage:
http://acceleration-magnification.github.io
HALOGAS: HI Observations and Modeling of the Nearby Edge-on Spiral Galaxy NGC 4565
We present 21-cm observations and models of the neutral hydrogen in NGC 4565,
a nearby, edge-on spiral galaxy, as part of the Westerbork Hydrogen Accretion
in LOcal GAlaxieS (HALOGAS) survey. These models provide insight concerning
both the morphology and kinematics of HI above, as well as within, the disk.
NGC 4565 exhibits a distinctly warped and asymmetric disk with a flaring layer.
Our modeling provides no evidence for a massive, extended HI halo. We see
evidence for a bar and associated radial motions. Additionally, there are
indications of radial motions within the disk, possibly associated with a ring
of higher density. We see a substantial decrease in rotational velocity with
height above the plane of the disk (a lag) of -40 +5/-20 km/s/kpc and -30
+5/-30 km s/kpc in the approaching and receding halves, respectively. This lag
is only seen within the inner ~4.75' (14.9 kpc) on the approaching half and
~4.25' (13.4 kpc) on the receding, making this a radially shallowing lag, which
is now seen in the HI layers of several galaxies. When comparing results for
NGC 4565 and those for other galaxies, there are tentative indications of high
star formation rate per unit area being associated with the presence of a halo.
Finally, HI is found in two companion galaxies, one of which is clearly
interacting with NGC 4565.Comment: 17 pages, 16 figures, accepted for publication in the Astrophysical
Journal, modified affiliatio
Camera motion estimation through planar deformation determination
In this paper, we propose a global method for estimating the motion of a
camera which films a static scene. Our approach is direct, fast and robust, and
deals with adjacent frames of a sequence. It is based on a quadratic
approximation of the deformation between two images, in the case of a scene
with constant depth in the camera coordinate system. This condition is very
restrictive but we show that provided translation and depth inverse variations
are small enough, the error on optical flow involved by the approximation of
depths by a constant is small. In this context, we propose a new model of
camera motion, that allows to separate the image deformation in a similarity
and a ``purely'' projective application, due to change of optical axis
direction. This model leads to a quadratic approximation of image deformation
that we estimate with an M-estimator; we can immediatly deduce camera motion
parameters.Comment: 21 pages, version modifi\'ee accept\'e le 20 mars 200
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