Video inpainting for non-repetitive motion

Master'sMASTER OF SCIENC

Adherent raindrop detection and removal in video

Abstract Raindrops adhered to a windscreen or window glass can significantly degrade the visibility of a scene. Detecting and removing raindrops will, therefore, benefit many computer vision applications, particularly outdoor surveillance systems and intelligent vehicle systems. In this paper, a method that automatically detects and removes adherent raindrops is introduced. The core idea is to exploit the local spatiotemporal derivatives of raindrops. First, it detects raindrops based on the motion and the intensity temporal derivatives of the input video. Second, relying on an analysis that some areas of a raindrop completely occludes the scene, yet the remaining areas occludes only partially, the method removes the two types of areas separately. For partially occluding areas, it restores them by retrieving as much as possible information of the scene, namely, by solving a blending function on the detected partially occluding areas using the temporal intensity change. For completely occluding areas, it recovers them by using a video completion technique. Experimental results using various real videos show the effectiveness of the proposed method

How Not to Be Seen -- Inpainting Dynamic Objects in Crowded Scenes

Removing dynamic objects from videos is an extremely challenging problem that even visual effects professionals often solve with time-consuming manual frame-by-frame editing. We propose a new approach to video completion that can deal with complex scenes containing dynamic background and non-periodical moving objects. We build upon the idea that the spatio-temporal hole left by a removed object can be filled with data available on other regions of the video where the occluded objects were visible. Video completion is performed by solving a large combinatorial problem that searches for an optimal pattern of pixel offsets from occluded to unoccluded regions. Our contribution includes an energy functional that generalizes well over different scenes with stable parameters, and that has the desirable convergence properties for a graph-cut-based optimization. We provide an interface to guide the completion process that both reduces computation time and allows for efficient correction of small errors in the result. We demonstrate that our approach can effectively complete complex, high-resolution occlusions that are greater in difficulty than what existing methods have shown

Ono: an open platform for social robotics

In recent times, the focal point of research in robotics has shifted from industrial ro- bots toward robots that interact with humans in an intuitive and safe manner. This evolution has resulted in the subfield of social robotics, which pertains to robots that function in a human environment and that can communicate with humans in an int- uitive way, e.g. with facial expressions. Social robots have the potential to impact many different aspects of our lives, but one particularly promising application is the use of robots in therapy, such as the treatment of children with autism. Unfortunately, many of the existing social robots are neither suited for practical use in therapy nor for large scale studies, mainly because they are expensive, one-of-a-kind robots that are hard to modify to suit a specific need. We created Ono, a social robotics platform, to tackle these issues. Ono is composed entirely from off-the-shelf components and cheap materials, and can be built at a local FabLab at the fraction of the cost of other robots. Ono is also entirely open source and the modular design further encourages modification and reuse of parts of the platform

Object Association Across Multiple Moving Cameras In Planar Scenes

In this dissertation, we address the problem of object detection and object association across multiple cameras over large areas that are well modeled by planes. We present a unifying probabilistic framework that captures the underlying geometry of planar scenes, and present algorithms to estimate geometric relationships between different cameras, which are subsequently used for co-operative association of objects. We first present a local1 object detection scheme that has three fundamental innovations over existing approaches. First, the model of the intensities of image pixels as independent random variables is challenged and it is asserted that useful correlation exists in intensities of spatially proximal pixels. This correlation is exploited to sustain high levels of detection accuracy in the presence of dynamic scene behavior, nominal misalignments and motion due to parallax. By using a non-parametric density estimation method over a joint domain-range representation of image pixels, complex dependencies between the domain (location) and range (color) are directly modeled. We present a model of the background as a single probability density. Second, temporal persistence is introduced as a detection criterion. Unlike previous approaches to object detection that detect objects by building adaptive models of the background, the foreground is modeled to augment the detection of objects (without explicit tracking), since objects detected in the preceding frame contain substantial evidence for detection in the current frame. Finally, the background and foreground models are used competitively in a MAP-MRF decision framework, stressing spatial context as a condition of detecting interesting objects and the posterior function is maximized efficiently by finding the minimum cut of a capacitated graph. Experimental validation of the method is performed and presented on a diverse set of data. We then address the problem of associating objects across multiple cameras in planar scenes. Since cameras may be moving, there is a possibility of both spatial and temporal non-overlap in the fields of view of the camera. We first address the case where spatial and temporal overlap can be assumed. Since the cameras are moving and often widely separated, direct appearance-based or proximity-based constraints cannot be used. Instead, we exploit geometric constraints on the relationship between the motion of each object across cameras, to test multiple correspondence hypotheses, without assuming any prior calibration information. Here, there are three contributions. First, we present a statistically and geometrically meaningful means of evaluating a hypothesized correspondence between multiple objects in multiple cameras. Second, since multiple cameras exist, ensuring coherency in association, i.e. transitive closure is maintained between more than two cameras, is an essential requirement. To ensure such coherency we pose the problem of object associating across cameras as a k-dimensional matching and use an approximation to find the association. We show that, under appropriate conditions, re-entering objects can also be re-associated to their original labels. Third, we show that as a result of associating objects across the cameras, a concurrent visualization of multiple aerial video streams is possible. Results are shown on a number of real and controlled scenarios with multiple objects observed by multiple cameras, validating our qualitative models. Finally, we present a unifying framework for object association across multiple cameras and for estimating inter-camera homographies between (spatially and temporally) overlapping and non-overlapping cameras, whether they are moving or non-moving. By making use of explicit polynomial models for the kinematics of objects, we present algorithms to estimate inter-frame homographies. Under an appropriate measurement noise model, an EM algorithm is applied for the maximum likelihood estimation of the inter-camera homographies and kinematic parameters. Rather than fit curves locally (in each camera) and match them across views, we present an approach that simultaneously refines the estimates of inter-camera homographies and curve coefficients globally. We demonstrate the efficacy of the approach on a number of real sequences taken from aerial cameras, and report quantitative performance during simulations

Machine Learning Approaches to Center-of-mass Estimation from Noisy Human Motion Data

The focus of this research is to estimate Center Of Mass (COM) from noisy motion data. COM is a 3D point in the human body around which the mass of the whole body is equally distributed in each direction, and it plays an important role in many biomechanical studies of human motion, such as gait stability assessment. Traditionally, COM is computed using the Dempster's technique where the total COM is the sum of the weighted segmental COMs. Computation of COM normally requires expensive optical, mechanical and electro-magnetic motion capture systems (MOCAP). Instead of high precision MOCAP systems, we can use low-cost sensors such as inertial motion sensors for efficient motion acquisition to compute COM. However, sensor-based motion acquisition could be noisy due to various ambient interference conditions and may be incomplete due to a limited number of sensors used. As a result, direct computation of COM from noisy motion data could be unreliable and even unusable in practice. In this research we have proposed two machine approaches to address this problem, i.e., manifold mapping and Gaussian Process Regression (GPR). First, we have designed a torus manifold which is a low-dimensional space to represent complex motion kinematics via two variables, i.e., the gait and the pose, representing different walking styles and different stages in a walking cycle, respectively. This torus manifold is shared by motion data (MOCAP) and the corresponding COM trajectories and provides with continuous space to extrapolate unknown motion along its COM trajectory. Moreover, given a noisy motion sequence, the torus manifold can be used to play a filtering role to denoise the motion data as well as a bridge to map the filtered motion data to the corresponding COM sequence. On the other hand, GPR does not account motion kinematics explicitly, and it directly approximates a non-linear mapping function between the input space (motion data) to the output space (COM data) where the covariance structure learned from noiseless motion data plays an important role for COM prediction. Our experiment has shown that GPR works better than the torus manifold for COM estimation from noiseless motion data. However, the performance of GPR degrades as the noise level increases in the motion data, largely due to the fact that its dependence on the covariance structure learned from the noiseless training data does not match that of the noisy motion data. In other words, unlike the torus manifold-based method, there is no filtering effect from GRP which makes it less accurate to estimate COM under noisy motion data. Still, both machine learning techniques have shown significant advantage over the method of direct computation of COM from noisy motion data.School of Electrical & Computer Engineerin

DIGITAL INPAINTING ALGORITHMS AND EVALUATION

Digital inpainting is the technique of filling in the missing regions of an image or a video using information from surrounding area. This technique has found widespread use in applications such as restoration, error recovery, multimedia editing, and video privacy protection. This dissertation addresses three significant challenges associated with the existing and emerging inpainting algorithms and applications. The three key areas of impact are 1) Structure completion for image inpainting algorithms, 2) Fast and efficient object based video inpainting framework and 3) Perceptual evaluation of large area image inpainting algorithms. One of the main approach of existing image inpainting algorithms in completing the missing information is to follow a two stage process. A structure completion step, to complete the boundaries of regions in the hole area, followed by texture completion process using advanced texture synthesis methods. While the texture synthesis stage is important, it can be argued that structure completion aspect is a vital component in improving the perceptual image inpainting quality. To this end, we introduce a global structure completion algorithm for completion of missing boundaries using symmetry as the key feature. While existing methods for symmetry completion require a-priori information, our method takes a non-parametric approach by utilizing the invariant nature of curvature to complete missing boundaries. Turning our attention from image to video inpainting, we readily observe that existing video inpainting techniques have evolved as an extension of image inpainting techniques. As a result, they suffer from various shortcoming including, among others, inability to handle large missing spatio-temporal regions, significantly slow execution time making it impractical for interactive use and presence of temporal and spatial artifacts. To address these major challenges, we propose a fundamentally different method based on object based framework for improving the performance of video inpainting algorithms. We introduce a modular inpainting scheme in which we first segment the video into constituent objects by using acquired background models followed by inpainting of static background regions and dynamic foreground regions. For static background region inpainting, we use a simple background replacement and occasional image inpainting. To inpaint dynamic moving foreground regions, we introduce a novel sliding-window based dissimilarity measure in a dynamic programming framework. This technique can effectively inpaint large regions of occlusions, inpaint objects that are completely missing for several frames, change in size and pose and has minimal blurring and motion artifacts. Finally we direct our focus on experimental studies related to perceptual quality evaluation of large area image inpainting algorithms. The perceptual quality of large area inpainting technique is inherently a subjective process and yet no previous research has been carried out by taking the subjective nature of the Human Visual System (HVS). We perform subjective experiments using eye-tracking device involving 24 subjects to analyze the effect of inpainting on human gaze. We experimentally show that the presence of inpainting artifacts directly impacts the gaze of an unbiased observer and this in effect has a direct bearing on the subjective rating of the observer. Specifically, we show that the gaze energy in the hole regions of an inpainted image show marked deviations from normal behavior when the inpainting artifacts are readily apparent

Study of Computational Image Matching Techniques: Improving Our View of Biomedical Image Data

Image matching techniques are proven to be necessary in various fields of science and engineering, with many new methods and applications introduced over the years. In this PhD thesis, several computational image matching methods are introduced and investigated for improving the analysis of various biomedical image data. These improvements include the use of matching techniques for enhancing visualization of cross-sectional imaging modalities such as Computed Tomography (CT) and Magnetic Resonance Imaging (MRI), denoising of retinal Optical Coherence Tomography (OCT), and high quality 3D reconstruction of surfaces from Scanning Electron Microscope (SEM) images. This work greatly improves the process of data interpretation of image data with far reaching consequences for basic sciences research. The thesis starts with a general notion of the problem of image matching followed by an overview of the topics covered in the thesis. This is followed by introduction and investigation of several applications of image matching/registration in biomdecial image processing: a) registration-based slice interpolation, b) fast mesh-based deformable image registration and c) use of simultaneous rigid registration and Robust Principal Component Analysis (RPCA) for speckle noise reduction of retinal OCT images. Moving towards a different notion of image matching/correspondence, the problem of view synthesis and 3D reconstruction, with a focus on 3D reconstruction of microscopic samples from 2D images captured by SEM, is considered next. Starting from sparse feature-based matching techniques, an extensive analysis is provided for using several well-known feature detector/descriptor techniques, namely ORB, BRIEF, SURF and SIFT, for the problem of multi-view 3D reconstruction. This chapter contains qualitative and quantitative comparisons in order to reveal the shortcomings of the sparse feature-based techniques. This is followed by introduction of a novel framework using sparse-dense matching/correspondence for high quality 3D reconstruction of SEM images. As will be shown, the proposed framework results in better reconstructions when compared with state-of-the-art sparse-feature based techniques. Even though the proposed framework produces satisfactory results, there is room for improvements. These improvements become more necessary when dealing with higher complexity microscopic samples imaged by SEM as well as in cases with large displacements between corresponding points in micrographs. Therefore, based on the proposed framework, a new approach is proposed for high quality 3D reconstruction of microscopic samples. While in case of having simpler microscopic samples the performance of the two proposed techniques are comparable, the new technique results in more truthful reconstruction of highly complex samples. The thesis is concluded with an overview of the thesis and also pointers regarding future directions of the research using both multi-view and photometric techniques for 3D reconstruction of SEM images