Graph matching with a dual-step EM algorithm

This paper describes a new approach to matching geometric structure in 2D point-sets. The novel feature is to unify the tasks of estimating transformation geometry and identifying point-correspondence matches. Unification is realized by constructing a mixture model over the bipartite graph representing the correspondence match and by affecting optimization using the EM algorithm. According to our EM framework, the probabilities of structural correspondence gate contributions to the expected likelihood function used to estimate maximum likelihood transformation parameters. These gating probabilities measure the consistency of the matched neighborhoods in the graphs. The recovery of transformational geometry and hard correspondence matches are interleaved and are realized by applying coupled update operations to the expected log-likelihood function. In this way, the two processes bootstrap one another. This provides a means of rejecting structural outliers. We evaluate the technique on two real-world problems. The first involves the matching of different perspective views of 3.5-inch floppy discs. The second example is furnished by the matching of a digital map against aerial images that are subject to severe barrel distortion due to a line-scan sampling process. We complement these experiments with a sensitivity study based on synthetic data

Data Fusion of Objects Using Techniques Such as Laser Scanning, Structured Light and Photogrammetry for Cultural Heritage Applications

In this paper we present a semi-automatic 2D-3D local registration pipeline capable of coloring 3D models obtained from 3D scanners by using uncalibrated images. The proposed pipeline exploits the Structure from Motion (SfM) technique in order to reconstruct a sparse representation of the 3D object and obtain the camera parameters from image feature matches. We then coarsely register the reconstructed 3D model to the scanned one through the Scale Iterative Closest Point (SICP) algorithm. SICP provides the global scale, rotation and translation parameters, using minimal manual user intervention. In the final processing stage, a local registration refinement algorithm optimizes the color projection of the aligned photos on the 3D object removing the blurring/ghosting artefacts introduced due to small inaccuracies during the registration. The proposed pipeline is capable of handling real world cases with a range of characteristics from objects with low level geometric features to complex ones

Precision Navigation Using Pre-Georegistered Map Data

Navigation performance in small unmanned aerial vehicles (UAVs) is adversely affected by limitations in current sensor technology for small, lightweight sensors. Because most UAVs are equipped with cameras for mission-related purposes, it is advantageous to utilize the camera to improve the navigation solution. This research improves navigation by matching camera images to a priori georegistered image data and combining this update with existing image-aided navigation technology. The georegistration matching is done by projecting the images into the same plane, extracting features using the techniques Scale Invariant Feature Transform (SIFT) [5] and Speeded-Up Robust Features (SURF) [3]. The features are matched using the Random Scale and Consensus (RANSAC) [4] algorithm, which generates a model to transform feature locations from one image to another. In addition to matching the image taken by the UAV to the stored images, the effect of matching the images after transforming one to the perspective of the other is investigated. One of the chief advantages of this method is the ability to provide both an absolute position and attitude update. Test results using 15 minutes of aerial video footage at altitudes ranging from 1000m to 1500m demonstrated that transforming the image data from one perspective to the other yields an improvement in performance. The best system configuration uses SIFT on an image that was transformed into the satellite perspective and matched to satellite map data. This process is able to achieve attitude errors on the order of milliradians, and position errors on the order of a few meters vertically. The along track, cross track, and heading errors are higher than expected. Further work is needed on reliability. Once this is accomplished, it should improve the navigation solution of an aircraft, or even provide navigation grade position and attitude estimates in a GPS denied environment

Seismic Ray Impedance Inversion

This thesis investigates a prestack seismic inversion scheme implemented in the ray parameter domain. Conventionally, most prestack seismic inversion methods are performed in the incidence angle domain. However, inversion using the concept of ray impedance, as it honours ray path variation following the elastic parameter variation according to Snell’s law, shows the capacity to discriminate different lithologies if compared to conventional elastic impedance inversion. The procedure starts with data transformation into the ray-parameter domain and then implements the ray impedance inversion along constant ray-parameter profiles. With different constant-ray-parameter profiles, mixed-phase wavelets are initially estimated based on the high-order statistics of the data and further refined after a proper well-to-seismic tie. With the estimated wavelets ready, a Cauchy inversion method is used to invert for seismic reflectivity sequences, aiming at recovering seismic reflectivity sequences for blocky impedance inversion. The impedance inversion from reflectivity sequences adopts a standard generalised linear inversion scheme, whose results are utilised to identify rock properties and facilitate quantitative interpretation. It has also been demonstrated that we can further invert elastic parameters from ray impedance values, without eliminating an extra density term or introducing a Gardner’s relation to absorb this term. Ray impedance inversion is extended to P-S converted waves by introducing the definition of converted-wave ray impedance. This quantity shows some advantages in connecting prestack converted wave data with well logs, if compared with the shearwave elastic impedance derived from the Aki and Richards approximation to the Zoeppritz equations. An analysis of P-P and P-S wave data under the framework of ray impedance is conducted through a real multicomponent dataset, which can reduce the uncertainty in lithology identification.Inversion is the key method in generating those examples throughout the entire thesis as we believe it can render robust solutions to geophysical problems. Apart from the reflectivity sequence, ray impedance and elastic parameter inversion mentioned above, inversion methods are also adopted in transforming the prestack data from the offset domain to the ray-parameter domain, mixed-phase wavelet estimation, as well as the registration of P-P and P-S waves for the joint analysis. The ray impedance inversion methods are successfully applied to different types of datasets. In each individual step to achieving the ray impedance inversion, advantages, disadvantages as well as limitations of the algorithms adopted are detailed. As a conclusion, the ray impedance related analyses demonstrated in this thesis are highly competent compared with the classical elastic impedance methods and the author would like to recommend it for a wider application

Time Resolved Spectroscopy Of Cataclysmic Variables - SS Cygni

NSF AST76-23882, AST 79-06340McDonald Observator

Monte Carlo-based Noise Compensation in Coil Intensity Corrected Endorectal MRI

Background: Prostate cancer is one of the most common forms of cancer found in males making early diagnosis important. Magnetic resonance imaging (MRI) has been useful in visualizing and localizing tumor candidates and with the use of endorectal coils (ERC), the signal-to-noise ratio (SNR) can be improved. The coils introduce intensity inhomogeneities and the surface coil intensity correction built into MRI scanners is used to reduce these inhomogeneities. However, the correction typically performed at the MRI scanner level leads to noise amplification and noise level variations. Methods: In this study, we introduce a new Monte Carlo-based noise compensation approach for coil intensity corrected endorectal MRI which allows for effective noise compensation and preservation of details within the prostate. The approach accounts for the ERC SNR profile via a spatially-adaptive noise model for correcting non-stationary noise variations. Such a method is useful particularly for improving the image quality of coil intensity corrected endorectal MRI data performed at the MRI scanner level and when the original raw data is not available. Results: SNR and contrast-to-noise ratio (CNR) analysis in patient experiments demonstrate an average improvement of 11.7 dB and 11.2 dB respectively over uncorrected endorectal MRI, and provides strong performance when compared to existing approaches. Conclusions: A new noise compensation method was developed for the purpose of improving the quality of coil intensity corrected endorectal MRI data performed at the MRI scanner level. We illustrate that promising noise compensation performance can be achieved for the proposed approach, which is particularly important for processing coil intensity corrected endorectal MRI data performed at the MRI scanner level and when the original raw data is not available.Comment: 23 page

Three-dimensional morphanalysis of the face.

The aim of the work reported in this thesis was to determine the extent to which orthogonal two-dimensional morphanalytic (universally relatable) craniofacial imaging methods can be extended into the realm of computer-based three-dimensional imaging. New methods are presented for capturing universally relatable laser-video surface data, for inter-relating facial surface scans and for constructing probabilistic facial averages. Universally relatable surface scans are captured using the fixed relations principle com- bined with a new laser-video scanner calibration method. Inter- subject comparison of facial surface scans is achieved using inter- active feature labelling and warping methods. These methods have been extended to groups of subjects to allow the construction of three-dimensional probabilistic facial averages. The potential of universally relatable facial surface data for applications such as growth studies and patient assessment is demonstrated. In addition, new methods for scattered data interpolation, for controlling overlap in image warping and a fast, high-resolution method for simulating craniofacial surgery are described. The results demonstrate that it is not only possible to extend universally relatable imaging into three dimensions, but that the extension also enhances the established methods, providing a wide range of new applications

Automated Synthetic Scene Generation

First principles, physics-based models help organizations developing new remote sensing instruments anticipate sensor performance by enabling the ability to create synthetic imagery for proposed sensor before a sensor is built. One of the largest challenges in modeling realistic synthetic imagery, however, is generating the spectrally attributed, three-dimensional scenes on which the models are based in a timely and affordable fashion. Additionally, manual and semi-automated approaches to synthetic scene construction which rely on spectral libraries may not adequately capture the spectral variability of real-world sites especially when the libraries consist of measurements made in other locations or in a lab. This dissertation presents a method to fully automate the generation of synthetic scenes when coincident lidar, Hyperspectral Imagery (HSI), and high-resolution imagery of a real-world site are available. The method, called the Lidar/HSI Direct (LHD) method, greatly reduces the time and manpower needed to generate a synthetic scene while also matching the modeled scene as closely as possible to a real-world site both spatially and spectrally. Furthermore, the LHD method enables the generation of synthetic scenes over sites in which ground access is not available providing the potential for improved military mission planning and increased ability to fuse information from multiple modalities and look angles. The LHD method quickly and accurately generates three-dimensional scenes providing the community with a tool to expand the library of synthetic scenes and therefore expand the potential applications of physics-based synthetic imagery modeling

Extracting 3D parametric curves from 2D images of Helical objects

Helical objects occur in medicine, biology, cosmetics, nanotechnology, and engineering. Extracting a 3D parametric curve from a 2D image of a helical object has many practical applications, in particular being able to extract metrics such as tortuosity, frequency, and pitch. We present a method that is able to straighten the image object and derive a robust 3D helical curve from peaks in the object boundary. The algorithm has a small number of stable parameters that require little tuning, and the curve is validated against both synthetic and real-world data. The results show that the extracted 3D curve comes within close Hausdorff distance to the ground truth, and has near identical tortuosity for helical objects with a circular profile. Parameter insensitivity and robustness against high levels of image noise are demonstrated thoroughly and quantitatively

Large-Scale Textured 3D Scene Reconstruction

Die Erstellung dreidimensionaler Umgebungsmodelle ist eine fundamentale Aufgabe im Bereich des maschinellen Sehens. Rekonstruktionen sind für eine Reihe von Anwendungen von Nutzen, wie bei der Vermessung, dem Erhalt von Kulturgütern oder der Erstellung virtueller Welten in der Unterhaltungsindustrie. Im Bereich des automatischen Fahrens helfen sie bei der Bewältigung einer Vielzahl an Herausforderungen. Dazu gehören Lokalisierung, das Annotieren großer Datensätze oder die vollautomatische Erstellung von Simulationsszenarien. Die Herausforderung bei der 3D Rekonstruktion ist die gemeinsame Schätzung von Sensorposen und einem Umgebunsmodell. Redundante und potenziell fehlerbehaftete Messungen verschiedener Sensoren müssen in eine gemeinsame Repräsentation der Welt integriert werden, um ein metrisch und photometrisch korrektes Modell zu erhalten. Gleichzeitig muss die Methode effizient Ressourcen nutzen, um Laufzeiten zu erreichen, welche die praktische Nutzung ermöglichen. In dieser Arbeit stellen wir ein Verfahren zur Rekonstruktion vor, das fähig ist, photorealistische 3D Rekonstruktionen großer Areale zu erstellen, die sich über mehrere Kilometer erstrecken. Entfernungsmessungen aus Laserscannern und Stereokamerasystemen werden zusammen mit Hilfe eines volumetrischen Rekonstruktionsverfahrens fusioniert. Ringschlüsse werden erkannt und als zusätzliche Bedingungen eingebracht, um eine global konsistente Karte zu erhalten. Das resultierende Gitternetz wird aus Kamerabildern texturiert, wobei die einzelnen Beobachtungen mit ihrer Güte gewichtet werden. Für eine nahtlose Erscheinung werden die unbekannten Belichtungszeiten und Parameter des optischen Systems mitgeschätzt und die Bilder entsprechend korrigiert. Wir evaluieren unsere Methode auf synthetischen Daten, realen Sensordaten unseres Versuchsfahrzeugs und öffentlich verfügbaren Datensätzen. Wir zeigen qualitative Ergebnisse großer innerstädtischer Bereiche, sowie quantitative Auswertungen der Fahrzeugtrajektorie und der Rekonstruktionsqualität. Zuletzt präsentieren wir mehrere Anwendungen und zeigen somit den Nutzen unserer Methode für Anwendungen im Bereich des automatischen Fahrens