Foveated object recognition by corner search

textHere we describe a gray scale object recognition system based on foveated corner finding, the computation of sequential fixation points, and elements of Lowe’s SIFT transform. The system achieves rotational, transformational, and limited scale invariant object recognition that produces recognition decisions using data extracted from sequential fixation points. It is broken into two logical steps. The first is to develop principles of foveated visual search and automated fixation selection to accomplish corner search. The result is a new algorithm for finding corners which is also a corner-based algorithm for aiming computed foveated visual fixations. In the algorithm, long saccades move the fovea to previously unexplored areas of the image, while short saccades improve the accuracy of putative corner locations. The system is tested on two natural scenes. As an interesting comparison study we compare fixations generated by the algorithm with those of subjects viewing the same images, whose eye movements are being recorded by an eyetracker. The comparison of fixation patterns is made using an information-theoretic measure. Results show that the algorithm is a good locator of corners, but does not correlate particularly well with human visual fixations. The second step is to use the corners located, which meet certain goodness criteria, as keypoints in a modified version of the SIFT algorithm. Two scales are implemented. This implementation creates a database of SIFT features of known objects. To recognize an unknown object, a corner is located and a feature vector created. The feature vector is compared with those in the database of known objects. The process is continued for each corner in the unknown object until enough information has been accumulated to reach a decision. The system was tested on 78 gray scale objects, hand tools and airplanes, and shown to perform well.Electrical and Computer Engineerin

A hierarchical active binocular robot vision architecture for scene exploration and object appearance learning

This thesis presents an investigation of a computational model of hierarchical visual behaviours within an active binocular robot vision architecture. The robot vision system is able to localise multiple instances of the same object class, while simultaneously maintaining vergence and directing its gaze to attend and recognise objects within cluttered, complex scenes. This is achieved by implementing all image analysis in an egocentric symbolic space without creating explicit pixel-space maps and without the need for calibration or other knowledge of the camera geometry. One of the important aspects of the active binocular vision paradigm requires that visual features in both camera eyes must be bound together in order to drive visual search to saccade, locate and recognise putative objects or salient locations in the robot's field of view. The system structure is based on the “attentional spotlight” metaphor of biological systems and a collection of abstract and reactive visual behaviours arranged in a hierarchical structure. Several studies have shown that the human brain represents and learns objects for recognition by snapshots of 2-dimensional views of the imaged scene that happens to contain the object of interest during active interaction (exploration) of the environment. Likewise, psychophysical findings specify that the primate’s visual cortex represents common everyday objects by a hierarchical structure of their parts or sub-features and, consequently, recognise by simple but imperfect 2D view object part approximations. This thesis incorporates the above observations into an active visual learning behaviour in the hierarchical active binocular robot vision architecture. By actively exploring the object viewing sphere (as higher mammals do), the robot vision system automatically synthesises and creates its own part-based object representation from multiple observations while a human teacher indicates the object and supplies a classification name. Its is proposed to adopt the computational concepts of a visual learning exploration mechanism that controls the accumulation of visual evidence and directs attention towards the spatial salient object parts. The behavioural structure of the binocular robot vision architecture is loosely modelled by a WHAT and WHERE visual streams. The WHERE stream maintains and binds spatial attention on the object part coordinates that egocentrically characterises the location of the object of interest and extracts spatio-temporal properties of feature coordinates and descriptors. The WHAT stream either determines the identity of an object or triggers a learning behaviour that stores view-invariant feature descriptions of the object part. Therefore, the robot vision is capable to perform a collection of different specific visual tasks such as vergence, detection, discrimination, recognition localisation and multiple same-instance identification. This classification of tasks enables the robot vision system to execute and fulfil specified high-level tasks, e.g. autonomous scene exploration and active object appearance learning

Long Range Automated Persistent Surveillance

This dissertation addresses long range automated persistent surveillance with focus on three topics: sensor planning, size preserving tracking, and high magnification imaging. field of view should be reserved so that camera handoff can be executed successfully before the object of interest becomes unidentifiable or untraceable. We design a sensor planning algorithm that not only maximizes coverage but also ensures uniform and sufficient overlapped camera’s field of view for an optimal handoff success rate. This algorithm works for environments with multiple dynamic targets using different types of cameras. Significantly improved handoff success rates are illustrated via experiments using floor plans of various scales. Size preserving tracking automatically adjusts the camera’s zoom for a consistent view of the object of interest. Target scale estimation is carried out based on the paraperspective projection model which compensates for the center offset and considers system latency and tracking errors. A computationally efficient foreground segmentation strategy, 3D affine shapes, is proposed. The 3D affine shapes feature direct and real-time implementation and improved flexibility in accommodating the target’s 3D motion, including off-plane rotations. The effectiveness of the scale estimation and foreground segmentation algorithms is validated via both offline and real-time tracking of pedestrians at various resolution levels. Face image quality assessment and enhancement compensate for the performance degradations in face recognition rates caused by high system magnifications and long observation distances. A class of adaptive sharpness measures is proposed to evaluate and predict this degradation. A wavelet based enhancement algorithm with automated frame selection is developed and proves efficient by a considerably elevated face recognition rate for severely blurred long range face images

A computational model of space-variant vision based on a self-organised artificial retina tessellation

Abstract available: p.i-iii

Peripheral Representations: from Perception to Visual Search

The human visual field is composed of a high acuity region at the center of gaze called the fovea, andits complement, the visual periphery. Not much is known about the computations and representationsof the visual periphery, as most of the focus in the field of human (and machine) vision is geared towardsfoveal vision. Thus, the focus of this thesis will be on understanding the computations performed bythe human visual system in the visual periphery. In doing so, I will begin by modelling the perceptionof clutter and how it changes as a function of the behavioural task and point of fixation, developinga collection of foveated clutter models that enhance non-foveated models. I will then propose a newmetamer model that renders how the information is distorted in the visual field, and what this tells usabout the computations done in the visual periphery. Finally, I will conclude with the design of twohybrid man-machine collaborative visual search systems that try to overcome the limitations in humanvisual search imposed by the visual periphery and observer inefficiencies in terminating exploration

The application of range imaging for improved local feature representations

This thesis presents an investigation into the integration of information extracted from co-aligned range and intensity images to achieve pose invariant object recognition. Local feature matching is a fundamental technique in image analysis that underpins many computer vision-based applications; the approach comprises identifying a collection of interest points in an image, characterising the local image region surrounding the interest point by means of a descriptor, and matching these descriptors between example images. Such local feature descriptors are formed from a measure of the local image statistics in the region surrounding the interest point. The interest point locations and the means of measuring local image statistics should be chosen such that resultant descriptor remains stable across a range of common image transformations. Recently the availability of low cost, high quality range imaging devices has motivated an interest in local feature extraction from range images. It has been widely assumed in the vision community that the range imaging domain has properties which remain quasi-invariant through a wide range of changes in illumination and pose. Accordingly, it has been suggested that local feature extraction in the range domain should allow the calculation of local feature descriptors that are potentially more robust than those calculated from the intensity imaging domain alone. However, range images represent differing characteristics from those represented within intensity images which are frequently used, independently from range images, to create robust local features. Therefore, this work attempts to establish the best means of combining information from these two imaging modalities to further increase the reliability of matching local features. Local feature extraction comprises a series of processes applied to an image location such that a collection of repeatable descriptors can be established. By using co-aligned range and intensity images this work investigates the choice of modality and method for each step in the extraction process as an approach to optimising the resulting descriptor. Additionally, multimodal features are formed by combining information from both domains in a single stage in the extraction process. To further improve the quality of feature descriptors, a calculation of the surface normals and a use of the 3D structure from the range image are applied to correct the 3D appearance of a local sample patch, thereby increasing the similarity between observations. The matching performance of local features is evaluated using an experimental setup comprising a turntable and stereo pair of cameras. This experimental setup is used to create a database of intensity and range images for 5 objects imaged at 72 calibrated viewpoints, creating a database of 360 object observations. The use of a calibrated turntable in combination with the 3D object surface coordiantes, supplied by the range image allow location correspondences between object observations to be established; and therefore descriptor matches to be labelled as either true positive or false positive. Applying this methodology to the formulated local features show that two approaches demonstrate state-of-the-art performance, with a ~40% increase in area under ROC curve at a False Positive Rate of 10% when compared with standard SIFT. These approaches are range affine corrected intensity SIFT and element corrected surface gradients SIFT. Furthermore,this work uses the 3D structure encoded in the range image to organise collections of interest points from a series of observations into a collection of canonical views in a new model local feature. The canonical views for a interest point are stored in a view compartmentalised structure which allows the appearance of a local interest point to be characterised across the view sphere. Each canonical view is assigned a confidence measure based on the 3D pose of the interest point at observation, this confidence measure is then used to match similar canonical views of model and query interest points thereby achieving a pose invariant interest point description. This approach does not produce a statistically significant performance increase. However, does contribute a validated methodology for combining multiple descriptors with differing confidence weightings into a single keypoint