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Automated feature-based range registration of urban scenes of large scale

Automated feature-based range registration of urban scenes o...

引用

conference on computer Vision and pattern recognition (CVPR)

作者： I. Stamos M. Leordeanu Department of Computer Science Hunter CollegeCity College and Graduate Center City University of New York NY USA Department of Computer Science City University of New York NY NY

We are building a system that can automatically acquire 3D range scans and 2D images to build geometrically and photometrically correct 3D models of urban environments. A major bottleneck in the process is the automated registration of a large number of geometrically complex 3D range scans in a common frame of reference. In this paper we provide a method for the accurate and efficient registration of a large number of complex range scans. The method utilizes range segmentation and feature extraction algorithms. Our algorithm automatically computes pairwise registrations between individual scans, builds a topological graph, and places the scans in the same frame of reference. We present results for building large scale 3D models of historic sites and urban structures.

关键词： Layout Large-scale systems Solid modeling Photometry image reconstruction Laser modes Data mining computer science Educational institutions Feature extraction

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Segmentation of faces in video footage using HSV color for face detection and image retrieval

Segmentation of faces in video footage using HSV color for f...

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ieee International conference on image processing

作者： O. Ikeda Faculty of Engineering Takushoku University Hachioji Tokyo Japan

Previous studies on face detection in video footages show that segmenting faces accurately and reliably is often hard to succeed, leading instead to laborious and tedious interactive manipulation. This paper presents a segmentation method using controlled weights on the three HSV components and constructs a face detection and image retrieval system. First, it is shown that HSV color has advantages over RGB or YCbCr one when segmenting a face and generating a binary pattern that retains as many features of the face as possible in the original color picture. Then, a face detection and image retrieval system is constructed using HSV color, where each time a significant scene change is detected segmentation is carried out for the beginning frame using a few sets of the weights on the HSV components, and resulting patterns are checked in some requirements and correlated with a typical face pattern. computer experiments show that the successful detection rate is more than 95 percent and that images can be retrieved from an input face image in a short time.

关键词： Face detection image segmentation image retrieval Layout computer vision Face recognition image recognition Reliability engineering Weight control Control systems

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3D model retrieval with morphing-based geometric and topological feature maps

3D model retrieval with morphing-based geometric and topolog...

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conference on computer Vision and pattern recognition (CVPR)

作者： Meng Yu I. Atmosukarto Wee Kheng Leow Zhiyong Huang Rong Xu Department of Computer Science National University of Singapore Singapore

Recent advancement in 3D digitization techniques have prompted the need for 3D object retrieval. Our method of comparing 3D objects for retrieval is based on 3D morphing. It computes, for each 3D object, two spatial feature maps that describe the geometry and topology of the surface patches on the object, while preserving the spatial information of the patches in the maps. The feature maps capture the amount of effort required to morph a 3D object into a canonical sphere, without performing explicit 3D morphing. Fourier transforms of the feature maps are used for object comparison so as to achieve invariant retrieval under arbitrary rotation, reflection, and non-uniform scaling o the objects. Experimental results show that our method of retrieving 3D models is very accurate, achieving a precision of above .086 even at a recall rate of 1.0.

关键词： Solid modeling Topology Shape Delta modulation image retrieval computer science Drives Computational geometry Information geometry Fourier transforms

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Fusing online and offline information for stable 3D tracking in real-time

Fusing online and offline information for stable 3D tracking...

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conference on computer Vision and pattern recognition (CVPR)

作者： L. Vacchetti V. Lepetit P. Fua Computer Vision Laboratory Swiss Federal Institute of Technology Lausanne Switzerland

We propose an efficient online real-time solution for single-camera 3D tracking of rigid objects that can handle large camera displacements, drastic aspect changes, and partial occlusions. While the offline camera registration problem can be considered as essentially solved, robust online tracking remains an open issue because many real-time algorithms described in the literature still lack robustness and are prone to drift and jitter. To solve these problems, we have developed a robust approach to 3D feature matching that can handle wide-baseline matching: our method merges the information from preceding frames in traditional recursive tracking fashion with that provided by a very limited number of keyframes created during an offline stage. This combination results in a system that does not suffer from the above difficulties and can deal with drastic aspect changes. We use augmented reality applications to demonstrate its behavior because they are particularly demanding in terms of tracking performance.

关键词： Robustness Cameras Jitter Augmented reality Target tracking computer vision Laboratories Shape image sequences computer society

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Statistically Robust Approach to Lens Distortion Calibration with Model Selection

Statistically Robust Approach to Lens Distortion Calibration...

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ieee computer society conference on computer Vision and pattern recognition Workshops (CVPRW)

作者： Moumen Taha El-Melegy Aly A. Farag Computer Vision and Image Processing Laboratory University of Louisville Louisville KY USA Electrical Engineering Dept. Assiut University Assiut Egypt Computer Vision and Image Processing Lab. University of Louisville Louisville KY

This paper addresses the problem of calibrating camera lens distortion, which can be significant in medium to wide angle lenses. While almost all existing nonmetric distortion calibration methods need user involvement in one form or another,we present an approach to distortion calibration based on the robust the-least-median-of-squares (LMedS) estimator. Our approach is thus able to proceed in a ful ly-automatic manner while being less sensitive to erroneous input data such as image curves that are mistakenly considered as projections of 3D linear segments. Our approach uniquely uses fast, closed-form solutions to the distortion coefficients, which serve as an initial point for a non-linear optimization algorithm to straighten imaged lines. Moreover we propose a method for distortion model selection based on geometrical *** experiments to evaluate the performance of this approach on synthetic and real data are reported.

关键词： Nonlinear distortion Calibration Robustness Lenses Cameras image edge detection Distortion measurement

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Transforming camera geometry to a virtual downward-looking camera: robust ego-motion estimation and ground-layer detection

Transforming camera geometry to a virtual downward-looking c...

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conference on computer Vision and pattern recognition (CVPR)

作者： Qifa Ke T. Kanade Computer Science Department Carnegie Mellon University USA

This paper presents a robust method to solve two coupled problems, ground-layer detection and vehicle ego-motion estimation, which appear in visual navigation. We virtually rotate the camera to the downward-looking pose in order to exploit the fact that the vehicle motion is roughly constrained to be planar motion on the ground. This camera geometry transformation together with the planar motion constraint will: 1) eliminate the ambiguity between rotational and translation ego-motion parameters, and 2) improve the Hessian matrix condition in the direct motion estimation process. The virtual downward-looking camera enables us to estimate the planar ego-motions even for small image patches. Such local measurements are then combined together, by a robust weighting scheme based on both ground plane geometry and motion compensated intensity residuals, for a global ego-motion estimation and ground plane detection. We demonstrate the effectiveness of our method by experiments on both synthetic and real data.

关键词： Cameras Geometry Robustness Vehicle detection Land vehicles Motion estimation Navigation Road vehicles Transmission line matrix methods Motion measurement

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Biosignal laboratory: a software tool for biomedical signal processing.and analysis

Biosignal laboratory: a software tool for biomedical signal ...

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Annual International conference of the ieee Engineering in Medicine and Biology society (EMBC)

作者： D. Cuesta P. Mico M. Aboy D. Novak R. Brezny L. Samblas D. Pastor S. Sancho Department of Computer Science Polytechnic University of Valencia Alcoy Spain Biomedical Signal Processing Laboratory Electrical and Computer Engineering Portland State University Portland OR USA Department of Cybernetics Technical University of Prague Prague Czech Republic Department of Neurology The Motol University Hospital Prague Czech Republic

Biosignal processing.and analysis is a field of great importance in current medical practice. In recent years, biomedical engineers have developed many algorithms and processing.techniques in order to help doctors in the examination of many different biosignals, and to find new information embedded in them and not easily observable in the raw data. Since the number and variety of these techniques grows every day, it is becoming more and more difficult to be up to date in biosignal processing. Other aspects such as signals format, algorithms implementation and comparison, artifacts, etc, make the learning process in this field longer and longer, and in many occasions a lot of different software tools are needed to visualize or process biosignals. In this paper we present a program that consists of many of the current typical biosignal processing.algorithms: filtering, domain transforms, basic operators, wave detection, and unlike other similar applications, it includes a pattern recognition block. The program can also be used just to exchange signals formats. The objective of this program is to become a usual tool both for medical practice and for biomedical educational purposes.

关键词： Laboratories Software tools Biomedical signal processing Signal analysis Signal processing.algorithms Biomedical engineering Data engineering Signal processing Software algorithms Visualization

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A perspective on distortions

A perspective on distortions

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conference on computer Vision and pattern recognition (CVPR)

作者： R. Swaninathan M.D. Grossberg S.K. Nayar Dept. of Comput. Sci. Columbia Univ. New York NY USA Department of Computer Science Columbia University New York New York USA

A framework for analyzing distortions in non-single viewpoint imaging systems is presented. Such systems possess loci of viewpoints called caustics. In general, perspective (or undistorted) views cannot be computed from images acquired with such systems without knowing scene structure. Views computed without scene structure will exhibit distortions, which we call caustic distortions. We first introduce a taxonomy of distortions based on the geometry of imaging systems. Then, we derive a metric to quantify caustic distortions. We present an algorithm to compute minimally distorted views using simple priors on scene structure. These priors are defined as parameterized primitives such as spheres, planes and cylinders with simple uncertainty models for the parameters. To validate our method, we conducted extensive experiments on rendered and real images. In all cases our method produces nearly undistorted views even though the acquired images were strongly distorted. We also provide an approximation of the above method that warps the entire captured image into a quasi single viewpoint representation that can be used by any "viewer" to compute near-perspective views in real-time.

关键词： Cameras Optical imaging Layout Optical distortion Solid modeling Taxonomy Geometry Lenses computer science image analysis

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Local appearance-based models using high-order statistics of image features

Local appearance-based models using high-order statistics of...

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conference on computer Vision and pattern recognition (CVPR)

作者： B. Moghaddam D. Guillamet J. Vitria Research Laboratories Mitsubishi Electric Corporation Limited Cambridge MA USA Computer Vision Center Department Informàtica Universitat Autònoma Barcelona Barcelona Spain

We propose a novel local appearance modeling method for object detection and recognition in cluttered scenes. The approach is based on the joint distribution of local feature vectors at multiple salient points and factorization with the independent component analysis (ICA). The resulting densities are simple multiplicative distributions modeled through adaptive Gaussian mixture models. This leads to computationally tractable joint probability densities, which can model high-order dependencies. Furthermore, different models are compared based on appearance, color and geometry information. Also, the combination of all of them results in a hybrid model, which obtains the best results using the COIL-100 object database. Our technique has been tested under different natural and cluttered scenes with different degrees of occlusions with promising results. Finally, a large statistical test with the MNIST digit database is used to demonstrate the improved performance obtained by explicit modeling of high-order dependencies.

关键词： Statistics Testing Object detection Independent component analysis Solid modeling computer vision Layout Spatial databases Information geometry Data mining

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Bayesian tangent shape model: estimating shape and pose parameters via Bayesian inference

Bayesian tangent shape model: estimating shape and pose para...

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conference on computer Vision and pattern recognition (CVPR)

作者： Yi Zhou Lie Gu Hong-Jiang Zhang Microsoft Research Asia SMS Peking University China CSD Carnegie Mellon University USA Microsoft Research Asia China

ISBN: (纸本)0769519008

In this paper we study the problem of shape analysis and its application in locating facial feature points on frontal faces. We propose a Bayesian inference solution based on tangent shape approximation called Bayesian tangent shape model (BTSM). Similarity transform coefficients and the shape parameters in BTSM are determined through MAP estimation. Tangent shape vector is treated as the hidden state of the model, and accordingly, an EM based searching algorithm is proposed to implement the MAP procedure. The major results of our algorithm are: 1) tangent shape is updated by a weighted average of two shape vectors, the projection of the observed shape onto tangent space, and the reconstruction of shape parameters. 2) Shape parameters are regularized by multiplying a ratio of the noise variations, which is a continuous function instead of a truncated function. We discussed the advantages conveyed by these results, and demonstrate the accuracy and the stability of the algorithm by extensive experiments.

关键词： Bayesian methods Shape Asia Deformable models Facial features Inference algorithms image reconstruction Multi-stage noise shaping Signal to noise ratio Stability

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