A Novel Rate Control Algorithm for Onboard Predictive Coding of Multispectral and Hyperspectral Images

Predictive coding is attractive for compression onboard of spacecrafts thanks to its low computational complexity, modest memory requirements and the ability to accurately control quality on a pixel-by-pixel basis. Traditionally, predictive compression focused on the lossless and near-lossless modes of operation where the maximum error can be bounded but the rate of the compressed image is variable. Rate control is considered a challenging problem for predictive encoders due to the dependencies between quantization and prediction in the feedback loop, and the lack of a signal representation that packs the signal's energy into few coefficients. In this paper, we show that it is possible to design a rate control scheme intended for onboard implementation. In particular, we propose a general framework to select quantizers in each spatial and spectral region of an image so as to achieve the desired target rate while minimizing distortion. The rate control algorithm allows to achieve lossy, near-lossless compression, and any in-between type of compression, e.g., lossy compression with a near-lossless constraint. While this framework is independent of the specific predictor used, in order to show its performance, in this paper we tailor it to the predictor adopted by the CCSDS-123 lossless compression standard, obtaining an extension that allows to perform lossless, near-lossless and lossy compression in a single package. We show that the rate controller has excellent performance in terms of accuracy in the output rate, rate-distortion characteristics and is extremely competitive with respect to state-of-the-art transform coding

Coding local and global binary visual features extracted from video sequences

Binary local features represent an effective alternative to real-valued descriptors, leading to comparable results for many visual analysis tasks, while being characterized by significantly lower computational complexity and memory requirements. When dealing with large collections, a more compact representation based on global features is often preferred, which can be obtained from local features by means of, e.g., the Bag-of-Visual-Word (BoVW) model. Several applications, including for example visual sensor networks and mobile augmented reality, require visual features to be transmitted over a bandwidth-limited network, thus calling for coding techniques that aim at reducing the required bit budget, while attaining a target level of efficiency. In this paper we investigate a coding scheme tailored to both local and global binary features, which aims at exploiting both spatial and temporal redundancy by means of intra- and inter-frame coding. In this respect, the proposed coding scheme can be conveniently adopted to support the Analyze-Then-Compress (ATC) paradigm. That is, visual features are extracted from the acquired content, encoded at remote nodes, and finally transmitted to a central controller that performs visual analysis. This is in contrast with the traditional approach, in which visual content is acquired at a node, compressed and then sent to a central unit for further processing, according to the Compress-Then-Analyze (CTA) paradigm. In this paper we experimentally compare ATC and CTA by means of rate-efficiency curves in the context of two different visual analysis tasks: homography estimation and content-based retrieval. Our results show that the novel ATC paradigm based on the proposed coding primitives can be competitive with CTA, especially in bandwidth limited scenarios.Comment: submitted to IEEE Transactions on Image Processin

Reduced Memory Region Based Deep Convolutional Neural Network Detection

Accurate pedestrian detection has a primary role in automotive safety: for example, by issuing warnings to the driver or acting actively on car's brakes, it helps decreasing the probability of injuries and human fatalities. In order to achieve very high accuracy, recent pedestrian detectors have been based on Convolutional Neural Networks (CNN). Unfortunately, such approaches require vast amounts of computational power and memory, preventing efficient implementations on embedded systems. This work proposes a CNN-based detector, adapting a general-purpose convolutional network to the task at hand. By thoroughly analyzing and optimizing each step of the detection pipeline, we develop an architecture that outperforms methods based on traditional image features and achieves an accuracy close to the state-of-the-art while having low computational complexity. Furthermore, the model is compressed in order to fit the tight constrains of low power devices with a limited amount of embedded memory available. This paper makes two main contributions: (1) it proves that a region based deep neural network can be finely tuned to achieve adequate accuracy for pedestrian detection (2) it achieves a very low memory usage without reducing detection accuracy on the Caltech Pedestrian dataset.Comment: IEEE 2016 ICCE-Berli

Tracking-Optimized Quantization for H.264 Compression in Transportation Video Surveillance Applications

We propose a tracking-aware system that removes video components of low tracking interest and optimizes the quantization during compression of frequency coefficients, particularly those that most influence trackers, significantly reducing bitrate while maintaining comparable tracking accuracy. We utilize tracking accuracy as our compression criterion in lieu of mean squared error metrics. The process of optimizing quantization tables suitable for automated tracking can be executed online or offline. The online implementation initializes the encoding procedure for a specific scene, but introduces delay. On the other hand, the offline procedure produces globally optimum quantization tables where the optimization occurs for a collection of video sequences. Our proposed system is designed with low processing power and memory requirements in mind, and as such can be deployed on remote nodes. Using H.264/AVC video coding and a commonly used state-of-the-art tracker we show that while maintaining comparable tracking accuracy our system allows for over 50% bitrate savings on top of existing savings from previous work

Extrinisic Calibration of a Camera-Arm System Through Rotation Identification

Determining extrinsic calibration parameters is a necessity in any robotic system composed of actuators and cameras. Once a system is outside the lab environment, parameters must be determined without relying on outside artifacts such as calibration targets. We propose a method that relies on structured motion of an observed arm to recover extrinsic calibration parameters. Our method combines known arm kinematics with observations of conics in the image plane to calculate maximum-likelihood estimates for calibration extrinsics. This method is validated in simulation and tested against a real-world model, yielding results consistent with ruler-based estimates. Our method shows promise for estimating the pose of a camera relative to an articulated arm's end effector without requiring tedious measurements or external artifacts. Index Terms: robotics, hand-eye problem, self-calibration, structure from motio