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3d City Modeling Using Cognitive Loops

3D City Modeling Using Cognitive Loops

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international symposium on 3d data processing visualization and transmission

作者： Nico Cornelis Bastian Leibe Kurt Cornelis Luc Van Gool KU Leuven Leuven Belgium ETH Zurich Zurich Switzerland

3d city modeling using computer vision is very challenging. A typical city contains objects which are a nightmare for some vision algorithms, while other algorithms have been designed to identify exactly these parts but, in their turn, suffer from other weaknesses which limit their application. For instance, moving cars with metallic surfaces can degrade the results of a 3d city reconstruction algorithm which is primarily based on the assumption of a static scene with diffuse reflection properties. On the other hand, a specialized object recognition algorithm could be able to detect cars, but also yields too many false positives without the availability of additional scene knowledge. In this paper, the design of a cognitive loop which intertwines both aforementioned algorithms is demonstrated for 3d city modeling, proving that the whole can be much more than the simple sum of its parts. A cognitive loop is the mutual transfer of higher knowledge between algorithms, which enables the combination of algorithms to overcome the weaknesses of any single algorithm. We demonstrate the promise of this approach on a real-world city modeling task using video data recorded by a survey vehicle. Our results show that the cognitive combination of algorithms delivers convincing city models which improve upon the degree of realism that is possible from a purely reconstruction-based approach.

关键词： Cities and towns Algorithm design and analysis Object recognition Layout Computer vision Application software Surface reconstruction degradation Reconstruction algorithms Reflection

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EKF-Based Recursive dual Estimation of Structure & Motion from Stereo data

EKF-Based Recursive Dual Estimation of Structure & Motion fr...

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international symposium on 3d data processing visualization and transmission

作者： Hongsheng Zhang Shahriar Negahdaripour Underwater Vision and Imaging Laboratory Electrical and Computer Engineering Department University of Miami Coral Gables FL USA

Extended Kalman filters (EKF) have been proposed to estimate ego-motion and to recursively update scene structure in the form of 3-d positions of selected prominent features from motion and stereo sequences. Previous methods typically accommodate no more than a few dozen features for real-time processing. To maintain motion estimation accuracy, this calls for high contrast images to compute image feature locations with precision. Within manmade environments, various prominent corner points exist that can be extracted and tracked with required accuracy. However, prominent features are more difficult to localize precisely in natural scenes. Statistically, more feature points become necessary to maintain the same level of motion estimation accuracy and robustness. However, this imposes a computational burden beyond the capability of EKF-based techniques for real-time processing. A sequential dual EKF estimator utilizing stereo data is proposed for improved computation efficiency. Two important issues, unbiased estimation and stochastic stability are addressed. Furthermore, the dynamic feature set is handled in a more effective, efficient and robust way. Experimental results to demonstrate the merits of the new theoretical and algorithmic developments are presented.

关键词： Motion estimation Recursive estimation Layout Robustness State estimation Computational efficiency Noise measurement Parameter estimation Laboratories Computer vision

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Perturbation Estimation of the Subspaces for Structure from Motion with Noisy and Missing data

Perturbation Estimation of the Subspaces for Structure from ...

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international symposium on 3d data processing visualization and transmission

作者： Hongjun Jia Jeff Fortuna Aleix M. Martinez Department of Electrical and Computer Engineering Ohio State Uinversity Columbus OH USA

It is common when analyzing experimental data to encounter matrices that have been contaminated by noise and have missing elements. Missing data can be recovered with imputation methods if the measurement data matrix is of low rank and the data is noise-free. However, iterative imputation can produce poor results for cases of large noise or a large proportion of missing data. Non-imputing methods rely on the use of existent data and require a selection of complete submatrices. Jacobs introduced a non-imputing method which can produce good results, but the randomness in selecting the submatrices cannot guarantee a consistently accurate recovery of missing data. Chen and Suter's method chooses the most reliable submatrix based on the number of missing data elements only, which fails to consider the effect of noise on the selected data. Herein, a new criterion based on an estimate of the sensitivity of submatrices to perturbation is introduced which takes into consideration that in some cases a column with more missing data could provide more useful information than one with less missing data. Experimental results for the problem of structure from motion with noisy point correspondences and missing data show that our criterion can sort submatrices properly in terms of their possible perturbation and recover the 3d structure of the scene more accurately than other non-imputing methods.

关键词： Motion estimation Jacobian matrices Pollution measurement Matrix decomposition Layout Coordinate measuring machines Shape State estimation Motion analysis data analysis

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A Structured Light Range Imaging System Using a Moving Correlation Code

A Structured Light Range Imaging System Using a Moving Corre...

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international symposium on 3d data processing visualization and transmission

作者： Frank Pipitone Ralph Hartley Navy Center for Applied Research in Artificial Intelligence Naval Research Laboratory Inc. Washington D.C. USA

We describe a system which produces a dense accurate range image using 8 consecutive frames of camera data in conjunction with a special projector. A prototype has been built and tested, and yields a typical range error of about 0.2 mm at 2 meters range with a baseline just over one meter. The camera is directed at a scene, along with a stripe projector consisting of a thin light source (xenon tube and slit) on the axis of a turntable, and a binary mask conforming to a cylinder coaxial with this. The mask has alternate opaque and transparent stripes parallel to the axis. It forms a sequence in which each subsequence of given length n (8 here) is different. No lens is used in the projector, deliberately smoothing the resulting illumination in a shadowing process. In operation, the turntable rotates, and images are taken at uniform angular intervals for several consecutive frames. In the consecutive frames, a given pixel records samples of the brightness of a fixed surface point. The vector consisting of those samples, when normalized, is unique to the place in the sequence from which it came, thus enabling the computation, via a fast indexing process, of the 3d position of the surface point. The code is similar to a deBruijn sequence, but modified to reduce range error. Several types of calibration and error compensation were used to produce an accurate range image.

关键词： Cameras Prototypes Testing Layout Light sources Xenon Coaxial components Lenses Smoothing methods Lighting

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A Bayesian Approach to Building Footprint Extraction from Aerial LIdAR data

A Bayesian Approach to Building Footprint Extraction from Ae...

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international symposium on 3d data processing visualization and transmission

作者： Oliver Wang Suresh K. Lodha david P. Helmbold University of California Santa Cruz CA USA

Building footprints have been shown to be extremely useful in urban planning, infrastructure development, and roof modeling. Current methods for creating these footprints are often highly manual and rely largely on architectural blueprints or skilled modelers. In this work we use aerial LIdAR data to generate building footprints automatically. Existing automatic methods have been mostly unsuccessful due to large amounts of noise around building edges. We present a novel Bayesian technique for automatically constructing building footprints from a pre-classified LIdAR point cloud. Our algorithm first computes a bounded- error approximate building footprint using an application of the shortest path algorithm. We then determine the most probable building footprint by maximizing the posterior probability using linear optimization and simulated annealing techniques. We have applied our algorithm to more than 300 buildings in our data set and observe that we obtain accurate building footprints compared to the ground truth. Our algorithm is automatic and can be applied to other man-made shapes such as roads and telecommunication lines with minor modifications.

关键词： Bayesian methods data mining Laser radar Buildings Urban planning Clouds Computational modeling Simulated annealing Shape Roads

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Silhouette fusion of vascular and anatomical volume data

Silhouette fusion of vascular and anatomical volume data

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IEEE international symposium on Biomedical Imaging

作者： d. Ruijters d. Babic B.M. ter Haar Romeny P. Suetens X-Ray Predevelopment Philips Medical Systems Best Netherlands Medical Image Computing ESAT/ Radiologie Katholieke Universiteit Leuven Universitair Ziekenhuis Leuven Belgium Biomedical Engineering Image Analysis and Interpretation Technische Universiteit Eindhoven Eindhoven Netherlands

In this paper we present a novel method for the combined hybrid visualization of the cerebral blood vessels, segmented from a 3d rotational angiography dataset, and datasets containing the soft tissue anatomy, such as CT or MR. This visualization method is targeted at the use in interventional treatment of vascular pathologies and endovascular treatment of the neoplastic tissue. Our method distinguishes itself since it offers the possibility to provide the clinician with a maximum amount of contextual information about the spatial relationship and topology of both datasets, without compromising the ease of use and interpretation. Further it is discussed how an interactive visualization can be implemented on off-the-shelf graphics hardware, and it is indicated which clinical benefits can be achieved.

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Fast Level Set Multi-View Stereo on Graphics Hardware

Fast Level Set Multi-View Stereo on Graphics Hardware

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international symposium on 3d data processing visualization and transmission

作者： Patrick Labatut Renaud Keriven Jean-Philippe Pons Département dInformatique École normale supérieure Paris France École Nationale des Ponts et Chaussées Marne la vallee France

In this paper, we show the importance and feasibility of much faster multi-view stereo reconstruction algorithms relying almost exclusively on graphics hardware. Reconstruction algorithms have been steadily improving in the last few years and several state-of-the-art methods are nowadays reaching a very impressive level of quality. However all these modern techniques share a very lengthy computational time that completely forbids their more widespread use in practical setups: the typical running time of such algorithms range from one to several hours. One possible solution to this problem seems to lie in the use of graphics hardware: more and more computer vision techniques are taking advantage of the availability of cheap computational horsepower and divert graphics hardware from its original purpose to accelerate the early stages of some algorithms. We present here an almost full implementation on graphics hardware of a multi-view stereo algorithm based on surface deformation by a PdE: this algorithm tries to minimize the error between input images and predicted ones by re- projection via the surface. As it mainly works on whole images, it is well suited for graphics hardware. We show how we succeeded to bring the whole reconstruction time within minutes. Results for synthetic and real data sets are presented with computational times and compared with those of other state-of-the-art algorithms.

关键词： Level set Hardware Stereo vision Computer graphics Reconstruction algorithms Computer vision Surface reconstruction Stereo image processing Time sharing computer systems Acceleration

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Evaluation of global versus piecewise registration using a ground truth canine model

Evaluation of global versus piecewise registration using a g...

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IEEE international symposium on Biomedical Imaging

作者： M.E. Rettmann d.R.I.I.I. Holmes Y. Su M.W. Kolasa S.B. Johnson d.L. Packer R.A. Robb Biomedical Imaging Resource Mayo Clinic College of Medicine Rochester MN USA Division of Cardiology/Electrophysiology Mayo Clinic College of Medicine Rochester MN USA

Minimally invasive cardiac catheter ablation procedures for treatment of myocardial arrhythmias require effective visualization of the relevant heart anatomy and electrophysiology. In a typical ablation procedure, the visualization tools available to the cardiologist include fluoroscopy, ultrasound, and a coarse 3d model of cardiac anatomy and electrical activity. Recent advances in visualization techniques for cardiac ablation procedures have provided the capability to incorporate detailed, patient specific anatomical image data into the procedure. One of the main challenges, however, lies in registering tracked catheter points collected during the procedure to preoperative, patient specific data. While cardiac gating can help to compensate for motion throughout the cardiac cycle, respiratory motion still remains an issue. In a previous simulation study, we showed that piecewise linear registration performs better than global registration for this application. There are two main goals of the current work. First, we generate a ground truth dataset that can be used to evaluate the performance of registration techniques in the application of cardiac ablation procedures. Second, we use this dataset to compare the performance of global versus piecewise registration

关键词： Catheters Veins Medical treatment data visualization Minimally invasive surgery Biomedical imaging Cardiology Heart Anatomy Ultrasonic imaging

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3d strain estimation of soft biological tissues based on a constrained minimization strategy

3D strain estimation of soft biological tissues based on a c...

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IEEE international symposium on Biomedical Imaging

作者： J.-F. deprez E. Brusseau C. Gehin A. dittmar O. Basset INSA de Lyon CREATIS UMR CNRS 5515 INSERM U630 UniversitéLyon 1 France LPM MMB UMR CNRS 5511 Lyon France

The aim of this study is the estimation of the three dimensional strain occurring in soft biological tissues under compressive forces, through the processing of radiofrequency ultrasound volumes. This work is one of the first attempts to deal with the 3d problem of tissue motion under load. In this article, we propose a new adaptive and iterative numerical model, allowing full-resolved strain parameters estimation. This model is based on an objective function minimization with linear inequalities constraints. An original technique of adaptive displacement of the region of study is also considered. Preliminary tests are performed on a volume of ultrasound data obtained from a 3d numerical phantom. Axial, lateral, and elevational displacements and axial strain fields are estimated, and compared with the theory

关键词： Capacitive sensors Biological tissues Ultrasonic imaging Radio frequency Numerical models Parameter estimation Biological system modeling Testing Performance evaluation Imaging phantoms

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A shape analysis method to detect dendritic spine in 3d optical microscopy image

A shape analysis method to detect dendritic spine in 3D opti...

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IEEE international symposium on Biomedical Imaging

作者： Xiaoyin Xu Jie Cheng R.M. Witt B.L. Sabatini S.T.C. Wong Harvard Center for Neurodegeneration and Repair Harvard Medical School Boston MA USA Department of Radiology Brigham and Women's Hospital Boston MA USA Department of Electrical and Computer Engineering Northeastern University Boston MA USA Department of Neurobiology Harvard Medical School Boston MA USA

ISBN: (纸本)078039576x

dendritic spines play an important role in synaptic transmission. Spines are small protrusions formed on the shafts of dendrites and they are manifest of many neurological conditions. Three dimensional images of dendrites and spines are obtained by confocal and two-photon laser scanning microscopy. We present an image processing method based on shape analysis to detect spines and separate spines from the dendrites for quantitative study. The method applies two grassfire procedures to first find the tips of spines and then reversely locate the boundary between spines and dendrites. The boundary is determined as the propagation front that undergoes the maximum change in plane area of the grassfire procedure. We use real data to demonstrate the performance of the method

关键词： Optical microscopy Shape Image analysis Image segmentation Shafts deconvolution Biomedical imaging Neurotransmitters Image processing Image restoration

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