10,530 research outputs found
How to Extract the Geometry and Topology from Very Large 3D Segmentations
Segmentation is often an essential intermediate step in image analysis. A
volume segmentation characterizes the underlying volume image in terms of
geometric information--segments, faces between segments, curves in which
several faces meet--as well as a topology on these objects. Existing algorithms
encode this information in designated data structures, but require that these
data structures fit entirely in Random Access Memory (RAM). Today, 3D images
with several billion voxels are acquired, e.g. in structural neurobiology.
Since these large volumes can no longer be processed with existing methods, we
present a new algorithm which performs geometry and topology extraction with a
runtime linear in the number of voxels and log-linear in the number of faces
and curves. The parallelizable algorithm proceeds in a block-wise fashion and
constructs a consistent representation of the entire volume image on the hard
drive, making the structure of very large volume segmentations accessible to
image analysis. The parallelized C++ source code, free command line tools and
MATLAB mex files are avilable from
http://hci.iwr.uni-heidelberg.de/software.phpComment: C++ source code, free command line tools and MATLAB mex files are
avilable from http://hci.iwr.uni-heidelberg.de/software.ph
Topomap: Topological Mapping and Navigation Based on Visual SLAM Maps
Visual robot navigation within large-scale, semi-structured environments
deals with various challenges such as computation intensive path planning
algorithms or insufficient knowledge about traversable spaces. Moreover, many
state-of-the-art navigation approaches only operate locally instead of gaining
a more conceptual understanding of the planning objective. This limits the
complexity of tasks a robot can accomplish and makes it harder to deal with
uncertainties that are present in the context of real-time robotics
applications. In this work, we present Topomap, a framework which simplifies
the navigation task by providing a map to the robot which is tailored for path
planning use. This novel approach transforms a sparse feature-based map from a
visual Simultaneous Localization And Mapping (SLAM) system into a
three-dimensional topological map. This is done in two steps. First, we extract
occupancy information directly from the noisy sparse point cloud. Then, we
create a set of convex free-space clusters, which are the vertices of the
topological map. We show that this representation improves the efficiency of
global planning, and we provide a complete derivation of our algorithm.
Planning experiments on real world datasets demonstrate that we achieve similar
performance as RRT* with significantly lower computation times and storage
requirements. Finally, we test our algorithm on a mobile robotic platform to
prove its advantages.Comment: 8 page
A graph-based mathematical morphology reader
This survey paper aims at providing a "literary" anthology of mathematical
morphology on graphs. It describes in the English language many ideas stemming
from a large number of different papers, hence providing a unified view of an
active and diverse field of research
Generating Second Order (Co)homological Information within AT-Model Context
In this paper we design a new family of relations between
(co)homology classes, working with coefficients in a field and starting
from an AT-model (Algebraic Topological Model) AT(C) of a finite cell
complex C These relations are induced by elementary relations of type
“to be in the (co)boundary of” between cells. This high-order connectivity
information is embedded into a graph-based representation model,
called Second Order AT-Region-Incidence Graph (or AT-RIG) of C. This
graph, having as nodes the different homology classes of C, is in turn,
computed from two generalized abstract cell complexes, called primal
and dual AT-segmentations of C. The respective cells of these two complexes
are connected regions (set of cells) of the original cell complex C,
which are specified by the integral operator of AT(C). In this work in
progress, we successfully use this model (a) in experiments for discriminating
topologically different 3D digital objects, having the same Euler
characteristic and (b) in designing a parallel algorithm for computing
potentially significant (co)homological information of 3D digital objects.Ministerio de EconomĂa y Competitividad MTM2016-81030-PMinisterio de EconomĂa y Competitividad TEC2012-37868-C04-0
Topological descriptors for 3D surface analysis
We investigate topological descriptors for 3D surface analysis, i.e. the
classification of surfaces according to their geometric fine structure. On a
dataset of high-resolution 3D surface reconstructions we compute persistence
diagrams for a 2D cubical filtration. In the next step we investigate different
topological descriptors and measure their ability to discriminate structurally
different 3D surface patches. We evaluate their sensitivity to different
parameters and compare the performance of the resulting topological descriptors
to alternative (non-topological) descriptors. We present a comprehensive
evaluation that shows that topological descriptors are (i) robust, (ii) yield
state-of-the-art performance for the task of 3D surface analysis and (iii)
improve classification performance when combined with non-topological
descriptors.Comment: 12 pages, 3 figures, CTIC 201
Machine learning of hierarchical clustering to segment 2D and 3D images
We aim to improve segmentation through the use of machine learning tools
during region agglomeration. We propose an active learning approach for
performing hierarchical agglomerative segmentation from superpixels. Our method
combines multiple features at all scales of the agglomerative process, works
for data with an arbitrary number of dimensions, and scales to very large
datasets. We advocate the use of variation of information to measure
segmentation accuracy, particularly in 3D electron microscopy (EM) images of
neural tissue, and using this metric demonstrate an improvement over competing
algorithms in EM and natural images.Comment: 15 pages, 8 figure
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