Semantic Mapping of Road Scenes

The problem of understanding road scenes has been on the fore-front in the computer vision community for the last couple of years. This enables autonomous systems to navigate and understand the surroundings in which it operates. It involves reconstructing the scene and estimating the objects present in it, such as ‘vehicles’, ‘road’, ‘pavements’ and ‘buildings’. This thesis focusses on these aspects and proposes solutions to address them. First, we propose a solution to generate a dense semantic map from multiple street-level images. This map can be imagined as the bird’s eye view of the region with associated semantic labels for ten’s of kilometres of street level data. We generate the overhead semantic view from street level images. This is in contrast to existing approaches using satellite/overhead imagery for classification of urban region, allowing us to produce a detailed semantic map for a large scale urban area. Then we describe a method to perform large scale dense 3D reconstruction of road scenes with associated semantic labels. Our method fuses the depth-maps in an online fashion, generated from the stereo pairs across time into a global 3D volume, in order to accommodate arbitrarily long image sequences. The object class labels estimated from the street level stereo image sequence are used to annotate the reconstructed volume. Then we exploit the scene structure in object class labelling by performing inference over the meshed representation of the scene. By performing labelling over the mesh we solve two issues: Firstly, images often have redundant information with multiple images describing the same scene. Solving these images separately is slow, where our method is approximately a magnitude faster in the inference stage compared to normal inference in the image domain. Secondly, often multiple images, even though they describe the same scene result in inconsistent labelling. By solving a single mesh, we remove the inconsistency of labelling across the images. Also our mesh based labelling takes into account of the object layout in the scene, which is often ambiguous in the image domain, thereby increasing the accuracy of object labelling. Finally, we perform labelling and structure computation through a hierarchical robust PN Markov Random Field defined on voxels and super-voxels given by an octree. This allows us to infer the 3D structure and the object-class labels in a principled manner, through bounded approximate minimisation of a well defined and studied energy functional. In this thesis, we also introduce two object labelled datasets created from real world data. The 15 kilometre Yotta Labelled dataset consists of 8,000 images per camera view of the roadways of the United Kingdom with a subset of them annotated with object class labels and the second dataset is comprised of ground truth object labels for the publicly available KITTI dataset. Both the datasets are available publicly and we hope will be helpful to the vision research community

INTELLIGENT ROAD MAINTENANCE: A MACHINE LEARNING APPROACH FOR SURFACE DEFECT DETECTION

The emergence of increased sources for Big Data through consumer recording devices gives rise to a new basis for the management and governance of public infrastructures and policy de-sign. Road maintenance and detection of road surface defects, such as cracks, have traditionally been a time consuming and manual process. Lately, increased automation using easily acquirable front-view digital natural scene images is seen to be an alternative for taking timely maintenance decisions; reducing accidents and operating cost and increasing public safety. In this paper, we propose a machine learning based approach to handle the challenge of crack and related defect detection on road surfaces using front-view images captured from driver’s viewpoint under diverse conditions. We use a superpixel based method to first process the road images into smaller coherent image regions. These superpixels are then classified into crack and non-crack regions. Various texture-based features are combined for the classification mod-el. Classifiers such as Gradient Boosting, Artificial Neural Network, Random Forest and Linear Support Vector Machines are evaluated for the task. Evaluations on real datasets show that the approach successfully handles different road surface conditions and crack-types, while locating the defective regions in the scene images

Multispectral Image Road Extraction Based Upon Automated Map Conflation

Road network extraction from remotely sensed imagery enables many important and diverse applications such as vehicle tracking, drone navigation, and intelligent transportation studies. There are, however, a number of challenges to road detection from an image. Road pavement material, width, direction, and topology vary across a scene. Complete or partial occlusions caused by nearby buildings, trees, and the shadows cast by them, make maintaining road connectivity difficult. The problems posed by occlusions are exacerbated with the increasing use of oblique imagery from aerial and satellite platforms. Further, common objects such as rooftops and parking lots are made of materials similar or identical to road pavements. This problem of common materials is a classic case of a single land cover material existing for different land use scenarios. This work addresses these problems in road extraction from geo-referenced imagery by leveraging the OpenStreetMap digital road map to guide image-based road extraction. The crowd-sourced cartography has the advantages of worldwide coverage that is constantly updated. The derived road vectors follow only roads and so can serve to guide image-based road extraction with minimal confusion from occlusions and changes in road material. On the other hand, the vector road map has no information on road widths and misalignments between the vector map and the geo-referenced image are small but nonsystematic. Properly correcting misalignment between two geospatial datasets, also known as map conflation, is an essential step. A generic framework requiring minimal human intervention is described for multispectral image road extraction and automatic road map conflation. The approach relies on the road feature generation of a binary mask and a corresponding curvilinear image. A method for generating the binary road mask from the image by applying a spectral measure is presented. The spectral measure, called anisotropy-tunable distance (ATD), differs from conventional measures and is created to account for both changes of spectral direction and spectral magnitude in a unified fashion. The ATD measure is particularly suitable for differentiating urban targets such as roads and building rooftops. The curvilinear image provides estimates of the width and orientation of potential road segments. Road vectors derived from OpenStreetMap are then conflated to image road features by applying junction matching and intermediate point matching, followed by refinement with mean-shift clustering and morphological processing to produce a road mask with piecewise width estimates. The proposed approach is tested on a set of challenging, large, and diverse image data sets and the performance accuracy is assessed. The method is effective for road detection and width estimation of roads, even in challenging scenarios when extensive occlusion occurs

Applications of Computer Vision Technologies of Automated Crack Detection and Quantification for the Inspection of Civil Infrastructure Systems

Many components of existing civil infrastructure systems, such as road pavement, bridges, and buildings, are suffered from rapid aging, which require enormous nation\u27s resources from federal and state agencies to inspect and maintain them. Crack is one of important material and structural defects, which must be inspected not only for good maintenance of civil infrastructure with a high quality of safety and serviceability, but also for the opportunity to provide early warning against failure. Conventional human visual inspection is still considered as the primary inspection method. However, it is well established that human visual inspection is subjective and often inaccurate. In order to improve current manual visual inspection for crack detection and evaluation of civil infrastructure, this study explores the application of computer vision techniques as a non-destructive evaluation and testing (NDE&T) method for automated crack detection and quantification for different civil infrastructures. In this study, computer vision-based algorithms were developed and evaluated to deal with different situations of field inspection that inspectors could face with in crack detection and quantification. The depth, the distance between camera and object, is a necessary extrinsic parameter that has to be measured to quantify crack size since other parameters, such as focal length, resolution, and camera sensor size are intrinsic, which are usually known by camera manufacturers. Thus, computer vision techniques were evaluated with different crack inspection applications with constant and variable depths. For the fixed-depth applications, computer vision techniques were applied to two field studies, including 1) automated crack detection and quantification for road pavement using the Laser Road Imaging System (LRIS), and 2) automated crack detection on bridge cables surfaces, using a cable inspection robot. For the various-depth applications, two field studies were conducted, including 3) automated crack recognition and width measurement of concrete bridges\u27 cracks using a high-magnification telescopic lens, and 4) automated crack quantification and depth estimation using wearable glasses with stereovision cameras. From the realistic field applications of computer vision techniques, a novel self-adaptive image-processing algorithm was developed using a series of morphological transformations to connect fragmented crack pixels in digital images. The crack-defragmentation algorithm was evaluated with road pavement images. The results showed that the accuracy of automated crack detection, associated with artificial neural network classifier, was significantly improved by reducing both false positive and false negative. Using up to six crack features, including area, length, orientation, texture, intensity, and wheel-path location, crack detection accuracy was evaluated to find the optimal sets of crack features. Lab and field test results of different inspection applications show that proposed compute vision-based crack detection and quantification algorithms can detect and quantify cracks from different structures\u27 surface and depth. Some guidelines of applying computer vision techniques are also suggested for each crack inspection application

Techniques for automatic large scale change analysis of temporal multispectral imagery

Change detection in remotely sensed imagery is a multi-faceted problem with a wide variety of desired solutions. Automatic change detection and analysis to assist in the coverage of large areas at high resolution is a popular area of research in the remote sensing community. Beyond basic change detection, the analysis of change is essential to provide results that positively impact an image analyst\u27s job when examining potentially changed areas. Present change detection algorithms are geared toward low resolution imagery, and require analyst input to provide anything more than a simple pixel level map of the magnitude of change that has occurred. One major problem with this approach is that change occurs in such large volume at small spatial scales that a simple change map is no longer useful. This research strives to create an algorithm based on a set of metrics that performs a large area search for change in high resolution multispectral image sequences and utilizes a variety of methods to identify different types of change. Rather than simply mapping the magnitude of any change in the scene, the goal of this research is to create a useful display of the different types of change in the image. The techniques presented in this dissertation are used to interpret large area images and provide useful information to an analyst about small regions that have undergone specific types of change while retaining image context to make further manual interpretation easier. This analyst cueing to reduce information overload in a large area search environment will have an impact in the areas of disaster recovery, search and rescue situations, and land use surveys among others. By utilizing a feature based approach founded on applying existing statistical methods and new and existing topological methods to high resolution temporal multispectral imagery, a novel change detection methodology is produced that can automatically provide useful information about the change occurring in large area and high resolution image sequences. The change detection and analysis algorithm developed could be adapted to many potential image change scenarios to perform automatic large scale analysis of change