MLPnP - A Real-Time Maximum Likelihood Solution to the Perspective-n-Point Problem

In this paper, a statistically optimal solution to the Perspective-n-Point (PnP) problem is presented. Many solutions to the PnP problem are geometrically optimal, but do not consider the uncertainties of the observations. In addition, it would be desirable to have an internal estimation of the accuracy of the estimated rotation and translation parameters of the camera pose. Thus, we propose a novel maximum likelihood solution to the PnP problem, that incorporates image observation uncertainties and remains real-time capable at the same time. Further, the presented method is general, as is works with 3D direction vectors instead of 2D image points and is thus able to cope with arbitrary central camera models. This is achieved by projecting (and thus reducing) the covariance matrices of the observations to the corresponding vector tangent space.Comment: Submitted to the ISPRS congress (2016) in Prague. Oral Presentation. Published in ISPRS Ann. Photogramm. Remote Sens. Spatial Inf. Sci., III-3, 131-13

Real Time Airborne Monitoring for Disaster and Traffic Applications

Remote sensing applications like disaster or mass event monitoring need the acquired data and extracted information within a very short time span. Airborne sensors can acquire the data quickly and on-board processing combined with data downlink is the fastest possibility to achieve this requirement. For this purpose, a new low-cost airborne frame camera system has been developed at the German Aerospace Center (DLR) named 3K-camera. The pixel size and swath width range between 15 cm to 50 cm and 2.5 km to 8 km respectively. Within two minutes an area of approximately 10 km x 8 km can be monitored. Image data are processed onboard on five computers using data from a real time GPS/IMU system including direct georeferencing. Due to high frequency image acquisition (3 images/second) the monitoring of moving objects like vehicles and people is performed allowing wide area detailed traffic monitoring

Urban Material Classification Using Spectral and Textural Features Retrieved from Autoencoders

Classification of urban materials using remote sensing data, in particular hyperspectral data, is common practice. Spectral libraries can be utilized to train a classifier since they provide spectral features about selected urban materials. However, urban materials can have similar spectral characteristic features due to high inter-class correlation which can lead to misclassification. Spectral libraries rarely provide imagery of their samples, which disables the possibility of classifying urban materials with additional textural information. Thus, this paper conducts material classification comparing the benefits of using close-range acquired spectral and textural features. The spectral features consist of either the original spectra, a PCA-based encoding or the compressed spectral representation of the original spectra retrieved using a deep autoencoder. The textural features are generated using a deep denoising convolutional autoencoder. The spectral and textural features are gathered from the recently published spectral library KLUM. Three classifiers are used, the two well-established Random Forest and Support Vector Machine classifiers in addition to a Histogram-based Gradient Boosting Classification Tree. The achieved overall accuracy was within the range of 70–80% with a standard deviation between 2–10% across all classification approaches. This indicates that the amount of samples still is insufficient for some of the material classes for this classification task. Nonetheless, the classification results indicate that the spectral features are more important for assigning material labels than the textural features

3D classification of crossroads from multiple aerial images using markov random fields

The precise classification and reconstruction of crossroads from multiple aerial images is a challenging problem in remote sensing. We apply the Markov Random Fields (MRF) approach to this problem, a probabilistic model that can be used to consider context in classification. A simple appearance-based model is combined with a probabilistic model of the co-occurrence of class label at neighbouring image sites to distinguish up to 14 different classes that are relevant for scenes containing crossroads. The parameters of these models are learnt from training data. We use multiple overlap aerial images to derive a digital surface model (DSM) and a true orthophoto without moving cars. From the DSM and the orthophoto we derive feature vectors that are used in the classification. One of the features is a car confidence value that is supposed to support the classification when the road surface is occluded by static cars. Our approach is evaluated on a dataset of airborne photos of an urban area by a comparison of the results to reference data. Whereas the method has problems in distinguishing classes having a similar appearance, it is shown to produce promising results if a reduced set of classes is considered, yielding an overall classification accuracy of 74.8%

Interkulturelle Germanistik Reloades – Pilotprojekt für NachwuchswissenschaftlerInnen

Bericht zum 1. Forum junger WissenschaftlerInnen der Gesellschaft für interkulturelle Germanistik (GiG) vom 10. bis 11. April 2019 an der Universität Zadar (Kroatien)

SELF-LOCALIZATION OF A MULTI-FISHEYE CAMERA BASED AUGMENTED REALITY SYSTEM IN TEXTURELESS 3D BUILDING MODELS

Georeferenced images help planners to compare and document the progress of underground construction sites. As underground positioning can not rely on GPS/GNSS, we introduce a solely vision based localization method, that makes use of a textureless 3D CAD model of the construction site. In our analysis-by-synthesis approach, depth and normal fisheye images are rendered from presampled positions and gradient orientations are extracted to build a high dimensional synthetic feature space. Acquired camera images are then matched to those features by using a robust distance metric and fast nearest neighbor search. In this manner, initial poses can be obtained on a laptop in real-time using concurrent processing and the graphics processing unit

A Scheme for the Detection and Tracking of People Tuned for Aerial Image Sequences

Abstract. This paper addresses the problem of detecting and tracking a large number of individuals in aerial image sequences that have been taken from high altitude. We propose a method which can handle the numerous challenges that are associated with this task and demonstrate its quality on several test sequences. Moreover this paper contains several contributions to improve object detection and tracking in other domains, too. We show how to build an effective object detector in a flexible way which incorporates the shadow of an object and enhanced features for shape and color. Furthermore the performance of the detector is boosted by an improved way to collect background samples for the classifier train-ing. At last we describe a tracking-by-detection method that can handle frequent misses and a very large number of similar objects