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Dynamic depth recovery from multiple synchronized video streams

Dynamic depth recovery from multiple synchronized video stre...

引用

conference on computer Vision and pattern recognition (CVPR)

作者： Hai Tao H.S. Sawhney R. Kumar Department of Computer Engineering University of California Santa Cruz Santa Cruz CA USA Sarnoff Corporation Princeton NJ USA

ISBN: (纸本)0769512720

This paper addresses the problem of extracting depth information of non-rigid dynamic 3D scenes from multiple synchronized video streams. Three main issues are discussed in this context. (i) temporally consistent depth estimation, (ii) sharp depth discontinuity estimation around object boundaries, and (iii) enforcement of the global visibility constraint. We present a framework in which the scene is modeled as a collection of 3D piecewise planar surface patches induced by color based image segmentation. This representation is continuously estimated using an incremental formulation in which the 3D geometric, motion, and global visibility constraints are enforced over space and time. The proposed algorithm optimizes a cost function that incorporates the spatial color consistency constraint and a smooth scene motion model.

关键词： Streaming media Layout Motion estimation image motion analysis image segmentation Data mining Constraint optimization Cost function Optical imaging image sequences

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Efficient spatiotemporal grouping using the Nystrom method

Efficient spatiotemporal grouping using the Nystrom method

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conference on computer Vision and pattern recognition (CVPR)

作者： C. Fowlkes S. Belongie J. Malik University of California Berkeley CA USA University of California La Jolla CA USA

ISBN: (纸本)0769512720

Spectral graph theoretic methods have recently shown great promise for the problem of image segmentation, but due to the computational demands, applications of such methods to spatiotemporal data have been slow to appear For even a short video sequence, the set of all pairwise voxel similarities is a huge quantity of data: one second of a 256/spl times/384 sequence captured at 30 Hz entails on the order of 10/sup 13/ pairwise similarities. The contribution of this paper is a method that substantially reduces the computational requirements of grouping algorithms based on spectral partitioning, making it feasible to apply them to very large spatiotemporal grouping problems. Our approach is based on a technique for the numerical solution of eigenfunction problems known as the Nystrom method This method allows extrapolation of the complete grouping solution using only a small number of "typical" samples. In doing so, we successfully exploit the fact that there are far fewer coherent groups in an image sequence than pixels.

关键词： Spatiotemporal phenomena image sequences image segmentation Eigenvalues and eigenfunctions computer applications Video sequences Extrapolation Pixel Educational institutions Psychology

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Structure and motion from uncalibrated catadioptric views

Structure and motion from uncalibrated catadioptric views

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conference on computer Vision and pattern recognition (CVPR)

作者： C. Geyer K. Daniilidis GRASP Laboratory University of Pennsylvania Philadelphia PA USA

ISBN: (纸本)0769512720

In this paper we present a new algorithm for structure from motion from point correspondences in images taken from uncalibrated catadioptric cameras with parabolic mirrors. We assume that the unknown intrinsic parameters are three: the combined focal length of the mirror and lens and the intersection of the optical axis with the image. We introduce a new representation for images of points and lines in catadioptric images which we call the circle space. This circle space includes imaginary circles, one of which is the image of the absolute conic. We formulate the epipolar constraint in this space and establish a new 4/spl times/4 catadioptric fundamental matrix. We show that the image of the absolute conic belongs to the kernel of this matrix. This enables us to prove that Euclidean reconstruction is feasible from two views with constant parameters and from three views with varying parameters. In both cases, it is one less than the number of views necessary with perspective cameras.

关键词： Cameras Mirrors Lenses image reconstruction Layout Books Calibration Laboratories Kernel Rendering (computer graphics)

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An efficient depalletizing system based on 2D range imagery

An efficient depalletizing system based on 2D range imagery

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ieee International conference on Robotics and Automation (ICRA)

作者： D.K. Katsoulas D.I. Kosmopoulos Institute for Pattern Recognition and Image Processing University of Freiburg Freiburg im Breisgau Germany Department of electrical engineering division of Computer Science National and Technical University of Athens Athens Greece

ISBN: (纸本)0780365763

We propose an efficient approach towards the solution of the de-palletizing problem, based on active vision. We describe a system comprising an industrial robot and a time of flight laser sensor, which performs the depalletizing task in real time, and independently of lighting conditions. In our case, the target objects are solid boxes of known identical dimensions, neatly layered but with arbitrary orientation within a layer, which are all placed on a platform. The layered structure of the target platform allows for 2D imagery. The system locates the position of the boxes by tracking one of the corners they expose to the laser source. The system locates the desired corners by applying the scan line approximation technique, adapted to fit the needs of our application, to the 2D input data. The advantages of our system over existing applications are its simplicity, robustness, speed and ease of installation.

关键词： Robustness Service robots Humans pattern recognition image processing computer science Robot sensing systems Sensor phenomena and characterization Solids Target tracking

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A new 3-D volume processing.method for polyp detection

A new 3-D volume processing method for polyp detection

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

作者： S.B. Gokturk C. Tomasi B. Acar D. Paik C. Beaulieu S. Napel Robotics Lab Computer Science Department University of Stanford USA Department of Radiology University of Stanford USA

Early diagnosis and removal of colonic polyps is effective in the elimination of subsequent carcinoma. This paper presents a new approach for computer-aided detection of polyps. The approach mimics the way the radiologists view CT abdomen images and utilizes several geometric attributes obtained from many triples of mutually orthogonal planes. The histogram of the attributes obtained from a sufficiently large number of perpendicular random images serves as a robust signature to represent the shape. We combine the new 3-D pattern recognition with a support vector machine classifier, and show that the number or the false positive detections in the initial polyp detection studies can be substantially reduced. One of the main contributions of this study is the thorough analysis of planar geometrical attributes. When an appropriate combination of planar attributes is used, the false positive rate is reduced by 87 percent beyond that of the initial stage detector, while maintaining a sensitivity level of 95 percent. Using such methods, radiologists should be able to view CTC data much more efficiently and accurately than without CAD.

关键词： Colonic polyps Computed tomography Abdomen Histograms Robustness Shape pattern recognition Support vector machines Support vector machine classification Detectors

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Equivalence and efficiency of image alignment algorithms

Equivalence and efficiency of image alignment algorithms

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conference on computer Vision and pattern recognition (CVPR)

作者： S. Baker I. Matthews The Robotics Institute Carnegie Mellon University Pittsburgh PA USA

ISBN: (纸本)0769512720

There are two major formulations of image alignment using gradient descent. The first estimates an additive increment to the parameters (the additive approach), the second an incremental warp (the compositional approach). We first prove that these two formulations are equivalent. A very efficient algorithm was proposed by Hager and Belhumeur (1998) using the additive approach that unfortunately can only be applied to a very restricted class of warps. We show that using the compositional approach an equally efficient algorithm (the inverse compositional algorithm) can be derived that can be applied to any set of warps which form a group. While most warps used in computer vision form groups, there are a certain warps that do not. Perhaps most notable is the set of piecewise affine warps used in flexible appearance models (FAMs). We end this paper by extending the inverse compositional algorithm to apply to FAMs.

关键词： Approximation algorithms computer vision Jacobian matrices Active appearance model Robots Nonlinear optics Optical sensors image motion analysis Tracking Motion estimation

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image-based modeling and rendering of surfaces with arbitrary BRDFs

Image-based modeling and rendering of surfaces with arbitrar...

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conference on computer Vision and pattern recognition (CVPR)

作者： M.L. Koudelka P.N. Belhumeur S. Magda D.J. Kriegman Center for Computer Vision & Control EE and CS Yale University New Heaven CT USA Beckman Institute Computer Science University of Illinois Urbana IL USA

ISBN: (纸本)0769512720

A goal of image-based rendering is to synthesize as realistically as possible man made and natural objects. The paper presents a method for image-based modeling and rendering of objects with arbitrary (possibly anisotropic and spatially varying) BRDFs. An object is modeled by sampling the surface's incident light field to reconstruct a non-parametric apparent BRDF at each visible point on the surface, This can be used to render the object from the same viewpoint but under arbitrarily specified illumination. We demonstrate how these object models can be embedded in synthetic scenes and rendered under global illumination which captures the interreflections between real and synthetic objects. We also show how these image-based models can be automatically composited onto video footage with dynamic illumination so that the effects (shadows and shading) of the lighting on the composited object match those of the scene.

关键词： Rendering (computer graphics) Reflectivity Surface reconstruction Lighting Light sources Anisotropic magnetoresistance Layout image reconstruction Solid modeling Bidirectional control

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Piecewise planar segmentation for automatic scene modeling

Piecewise planar segmentation for automatic scene modeling

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conference on computer Vision and pattern recognition (CVPR)

作者： A. Bartoli INRIA Rhône-Alpes Saint Ismier France

ISBN: (纸本)0769512720

In this paper, we investigate the problem of the automatic creation of 3D models of man-made environments that we represent as collections of textured planes. A typical approach is to automatically compute a sparse feature reconstruction and to manually give their plane-memberships as well as the delineation of the planes. Textures are then extracted from the images while optimizing the model, typically the disparity between marked and predicted edges. We propose a means to automatically estimate the model of the scene, in terms of the number of planes and their parameters from a point feature reconstruction. The method is based on random sampling of reconstructed points to generate plane hypotheses. Each of these is then evaluated using a measure of approximate photoconsistency while recovering the corresponding plane delineation. We then compute the maximum likelihood estimate of all scene parameters, i.e. the set of planes and reconstructed points as well as relative camera pose, with respect to actual images. The approach is validated on simulated data and real images.

关键词： Layout image reconstruction Semiconductor device modeling Maximum likelihood estimation Cameras Computational modeling Rendering (computer graphics) image sampling computer vision image segmentation

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On 3D scene flow and structure estimation

On 3D scene flow and structure estimation

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conference on computer Vision and pattern recognition (CVPR)

作者： Ye Zhang C. Kambhamettu Video Image Modeling and Synthesis VIMS Laboratory Department of Computer & Information Sciences University of Delaware Newark DE USA

ISBN: (纸本)0769512720

In this paper, novel algorithms computing dense 3D scene flow from multiview image sequences are described. A new hierarchical rule-based stereo matching algorithm is presented to estimate the initial disparity map. Different available constraints under a multiview camera setup are investigated and then utilized in the proposed motion estimation algorithms. We show two different formulations for 3D scene flow computation. One formulation assumes that initial disparity map is accurate while the other does not make this assumption. image segmentation information is used to maintain the motion and depth discontinuities. Iterative implementations are used to successfully compute 3D scene flow and structure at every point in the reference image. Novel hard constraints are introduced in this paper to make the algorithms more accurate and robust. Promising experimental results are seen by applying our algorithms to real imagery.

关键词： Layout image motion analysis Optical sensors Optical computing Motion estimation image sequences Optical noise Iterative algorithms Cameras image segmentation

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A representation of image structure and its application to object selection using freehand sketches

A representation of image structure and its application to o...

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conference on computer Vision and pattern recognition (CVPR)

作者： Kar-Han Tan N. Ahuja Department of Computer Science and Beckman Institute University of Illinois Urbana-Champaign USA Department of Electrical and Computer Engineering and Beckman Institute University of Illinois Urbana-Champaign USA

ISBN: (纸本)0769512720

We present an algorithm for computing a representation of image structure, or image segmentation, and use it for selecting objects in the image with freehand sketches drawn by the user over the image. The sketches are mapped onto image segments whose union forms the intended object. The mapping operation is performed with the aid of a simplicial decomposition of the image segmentation-a triangulation formed with vertices chosen to lie along the medial axes of the segments. Each edge of a triangle lies entirely inside the two segments that contains its vertices. This decomposition captures the adjacency information about the segments as well as the shape of the segment boundaries. Any object boundary is completely contained in a set of triangles. The triangles are also used to formulate the problem of estimating gradual photometric transition across an object boundary, called alpha channel estimation, as a set of local, intratriangle alpha channel estimation problems that can then be solved more accurately, independently, and in parallel. Experimental results are included to show how the algorithm allows selection of image objects with complex boundaries using roughly drawn simple sketches.

关键词： image segmentation Application software image edge detection computer science Shape Photometry Channel estimation Digital images Broadcasting Handheld computers

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