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检索条件"机构=Image Processing and Computer Vision Laboratory"

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Monocular visual odometry from frame to frame intensity differences for planetary exploration mobile robots

Monocular visual odometry from frame to frame intensity diff...

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IEEE Workshop on Robot vision (WORV)

作者： Geovanni Martinez Image Processing and Computer Vision Research Laboratory (IPCV-LAB) Escuela de Ingeniería Eléctrica Universidad de Costa Rica Costa Rica

ISBN: (纸本)9781467356466

Traditionally stereo visual odometry algorithms estimate the robot's motion by maximizing the conditional probability of the 3D correspondences between two sets of 3D feature point positions, which were previously obtained from two consecutive stereo image pairs captured by a stereo video camera. As an alternative, in this paper a monocular visual odometry algorithm is proposed, which estimates the robot's motion by maximizing the conditional probability of the frame to frame intensity differences at observation points between two consecutive images captured by a monocular video camera. Experimental results with synthetic and real image sequences revealed highly accurate and reliable estimates, respectively. Additionally, it seems to be an excellent candidate for mobile robot missions where space, weight and power supply are really very limited.

关键词： Visualization Three-dimensional displays Cameras Mars Robot kinematics Robot vision systems

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An Anti-interfering Reconstruction Algorithm Based on Compressed Sensing

An Anti-interfering Reconstruction Algorithm Based on Compre...

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2013 3rd International Conference on Electric and Electronics(EEIC 2013)

作者： Mei Du Huaici Zhao Chunyang Zhao Bo Li Shenyang Institute of automation Chinese Academy of Science University of Chinese Academy of Sciences Key Laboratory of Optical-Electronics Information Processing Chinese Academy of Science Key Laboratory of Image Understanding and Computer Vision

When images compressed by traditional transformation-based compression algorithms are transmitted over wireless channels, if the gaussian random interference causes the loss of the crucial transformation coefficients, the contents of the reconstructed images will be lost obviously and this will reduce the accuracy of the subsequent detection and recognition results greatly. In order to solve this problem, this paper proposed an antiinterfering image reconstruction algorithm based on compressed sensing. This algorithm first confirmed the new compressed sensing signals and the new reconstruction matrix based on the locations of the compressed sensing signal components corresponding to the gaussian-interfered bit stream, and then reconstructed the original images employing the iterative threshold algorithm. The simulation results demonstrated that the new algorithm reconstructed exact images at low bit error rates, and reconstructed inexact images whose qualities were slightly lowered without loss of local contents at high bit error rates. As a result, our algorithm is able to overcome the deficiencies of compression algorithms based on diverse transformations and the iterative threshold algorithm, thus proposes a feasible solution scheme for the anti-interfering problem that arises in wireless image transmission.

关键词： anti-interference compressed sensing image reconstruction Gaussian random interference

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The Infrared Multispectral image Simulation Research Based on 3D Scene

The Infrared Multispectral Image Simulation Research Based o...

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2013 3rd International Conference on Electric and Electronics(EEIC 2013)

作者： Bo Li Huai-ci Zhao Mei Du Jinfeng Lv Department of Optical-Electronics and Information Processing Shenyang Institute of automation Chinese Academy of Science University of Chinese Academy of Science Key Laboratory of Optical-Electronics Information Processing Chinese Academy of Science Key Laboratory of Image Understanding and Computer Vision Shenyang Institute of Engineering

A method of generating infrared multispectral simulation images by 3D scene is presented. The infrared images at any observation angle of the scene and a data cube of simulation images of specific waveband could be generated by the method. Some experiments have been done in waveband 3～5μm to generate a data cube involving 401 infrared simulation images in the wavelength step 0.005μm, and the experiments results show that the simulation method presented in this paper could generate infrared multispectral images data cube rapidly. A way to reflect the differences while the observation angle changed is mentioned in this paper.

关键词： infrared multispectral simulation the data cube self-radiation

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A 3D RECONSTRUCTION OF THE HUMAN JAW FROM A SINGLE image

A 3D RECONSTRUCTION OF THE HUMAN JAW FROM A SINGLE IMAGE

引用

IEEE International Conference on image processing

作者： Aly Abdelrahim Ahmed Shalaby Shireen Elhabian James Graham Aly Farag Computer Vision and Image Processing Laboratory ECE Dept. University of Louisville Louisville KY 40292 USA. Faculty of Computers and Information Cairo Univeristy Egypt ECE Dept. University of Louisville Louisville KY 40292 USA.

ISBN: (纸本)9781479923427

Accurate 3D modeling of the human teeth/jaw helps patients avoid the discomfort of the mold process, and improves the data accuracy for oral orthodontists and dental care personnel. Since the surface of the human tooth is almost textureless, Shape from Shading (SFS) has been successfully adopted in solving this problem. In this paper, we attempt to improve the limitations of previous 3D tooth reconstruction algorithms by developing a new approach for shape reconstruction from single image shading with Two-Dimensional Principle Component Analysis (2D-PCA) shape priors. The surface reflectance is modeled using Oren-Nayar-Wolff model which accounts for the retro-reflection case and we experimentally prove that the teeth surface follows the microfacet theory. Our formulation exploits the shape priors as extracted from a set of training CT scans of real human jaws. Our experiments provide promising quantitative metric results for the proposed approach. This work is fundamental for establishing an optical-based approach for reconstructing the human jaw that is inexpensive and does not use ionizing radiation.

关键词： jaw modeling Oren-Nayar-Wolff reflectance model 2D-PCA SFS shape priors Jaw three-dimensional displays surface reflectance Data Accuracy images shape reconfiguration Tooth tooth flank HUMAN TOOTH retro-reflection artificial shade IONIZING RADIATIONS

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Dynamic weighting of facial features for automatic pose-invariant face recognition

Dynamic weighting of facial features for automatic pose-inva...

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2012 9th Conference on computer and Robot vision, CRV 2012

作者： Mostafa, Eslam A. Farag, Aly A. Computer Vision and Image Processing Laboratory University of Louisville Louisville KY United States

ISBN: (纸本)9780769546834

This paper proposes an automatic pose-invariant face recognition system. In our approach, we consider the texture information around the facial features to compute the similarity measure between the probe and gallery images. The weight of each facial feature is dynamically estimated based on its robustness to the pose of the captured image. An approach to extract the 9 facial features used to initialize the Active shape model is proposed. The approach is not dependent on the texture around the facial feature only but incorporates the information obtained about the facial feature relations. Our face recognition system is tested on common datasets in pose evaluation CMU-PIE and FERET. The results show out-performance of the state of the art automatic face recognition systems. © 2012 IEEE.

关键词： Face recognition

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Clinical crowns shape reconstruction - An image-based approach

Clinical crowns shape reconstruction - An image-based approa...

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IEEE International Symposium on Biomedical Imaging

作者： Shireen Elhabian Aly Abdelrahim Aly Farag David Tasman Wael Aboelmaaty Allan Farman Computer Vision and Image Processing Laboratory ECE Department University of Louisville Louisville KY USA School of Dentistry University of Louisville Louisville KY USA Faculty of Dentistry Mansoura University Egypt Visiting Researcher Dental school University of Louisville KY USA

ISBN: (纸本)9781467364560

Precise knowledge of the 3D shape of clinical crowns is crucial for the treatment of malocclusion problems as well as several endodontic procedures. While Computed Tomography (CT) would present such information, it is believed that there is no threshold radiation dose below which it is considered safe. In this paper, we propose an image-based approach which allows for the construction of plausible human jaw models in vivo, without ionizing radiation, using fewer sample points in order to reduce the cost and intrusiveness of acquiring models of patients teeth/jaws over time. We assume that human teeth reflectance obeys Wolff-Oren-Nayar model where we experimentally prove that teeth surface obeys the microfacet theory. The inherent relation between the photometric information and the underlying 3D shape is formulated as a statistical model where the coupled effect of illumination and reflectance is modeled using the Helmhotlz Hemispherical Harmonics (HSH)-based irradiance harmonics whereas the Principle Component Regression (PCR) approach is deployed to carry out the estimation of dense 3D shapes. Vis-`a-vis dental applications, the results demonstrate a significant increase in accuracy in favor of the proposed approach where our system is evaluated on a database of 16 jaws.

关键词： Shape image reconstruction Teeth Lighting Surface reconstruction Harmonic analysis Computational modeling

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NOVEL VARIATIONAL APPROACH FOR THE PERSPECTIVE SHAPE FROM SHADING PROBLEM USING CALIBRATED imageS

NOVEL VARIATIONAL APPROACH FOR THE PERSPECTIVE SHAPE FROM SH...

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IEEE International Conference on image processing

作者： Aly Abdelrahim Hossam Abdelmunim James Graham Aly Farag Computer Vision and Image Processing Laboratory ECE Dept. University of Louisville Louisville KY 40292 USA. Computer and Systems Engineering Department Faculty of Engineering Ain Shams University Cairo 11517 Egypt. ECE Dept. University of Louisville Louisville KY 40292 USA.

ISBN: (纸本)9781479923427

In this paper, We propose a new approach for solving the Lamber-tian shape from shading (SFS) problem. The proposed technique employs image information as well as camera calibration parameters. We claim that the incorporation of camera parameters results in a better surface reconstruction. In this work, we slightly modify this more realistic model in order to take into account the attenuation of the illumination due to distance. We propose a new variational formulation that relates an evolving surface model with image information, taking into consideration that the image is taken by a perspective camera with known parameters. A new energy functional is formulated to incorporate brightness, smoothness, and integrability constraints. All of these terms assume a hyper surface that evolves in time to meet their criteria. Gradient descent optimization with Euler-Lagrange is used for optimization. We constructed a database of real surfaces as a ground-truth for the experiments. The proposed approach shows superior performance when compared with other approaches in the literature.

关键词： camera calibration perspective SFS variational approach camera calibration artificial shade images Perspective image information ground truth surface modeling Surface reconstruction

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What can an image of a smooth Lambertian surface tell about camera nonlinearity?

What can an image of a smooth Lambertian surface tell about ...

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2012 9th Conference on computer and Robot vision, CRV 2012

作者： El-Melegy, Moumen T. Farag, Aly A. Computer Vision and Image Processing Laboratory University of Louisville Louisville KY 40292 United States Electrical Engineering Department Assiut University Assiut 71516 Egypt

ISBN: (纸本)9780769546834

This paper investigates the use of a single image of a smooth Lambertian surface to calibrate and remove some image nonlinearities due to the imaging device. To the best of our knowledge, this has not been addressed before in the literature. We show that this is possible, both theoretically and practically, taking advantage of some local shading measures that vary nonlinearly as a function of luminance and geometric nonlinearities (e.g., gamma correction and lens distortion). This can work as a basis for developing a simple method to estimate these nonlinearities from a single image. Several experiments are reported to validate the proposed method. © 2012 IEEE.

关键词： Cameras

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Heat kernels for non-rigid shape retrieval: Sparse representation and efficient classification

Heat kernels for non-rigid shape retrieval: Sparse represent...

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2012 9th Conference on computer and Robot vision, CRV 2012

作者： Abdelrahman, Mostafa El-Melegy, Moumen Farag, Aly Computer Vision and Image Processing Laboratory University of Louisville Louisville KY 40292 United States Electrical Engineering Department Assiut University Assiut 71516 Egypt

ISBN: (纸本)9780769546834

One of the major goals of computer vision and machine intelligence is the development of flexible and efficient methods for shape representation. This paper presents an approach for shape retrieval based on sparse representation of scale-invariant heat kernel. We use the Lap lace-Beltrami eigen functions to detect a small number of critical points on the shape surface. Then a shape descriptor is formed based on the heat kernels at the detected critical points for different scales, combined with the normalized eigen values of the Lap lace-Beltrami operator. Sparse representation is used to reduce the dimensionality of the calculated descriptor. The proposed descriptor is used for classification via the collaborative representation-based classification with regularized least square algorithm. We compare our approach to two well-known approaches on two different data sets: the nonrigid world data set and the SHREC 2011. The results have indeed confirmed the improved performance of the proposed approach, yet reducing the time and space complicity of the shape retrieval problem. © 2012 IEEE.

关键词： computer vision

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MODELING image IRRADIANCE UNDER NATURAL ILLUMINATION AND ISOTROPIC SURFACE REFLECTANCE

MODELING IMAGE IRRADIANCE UNDER NATURAL ILLUMINATION AND ISO...

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IEEE International Conference on image processing

作者： Shireen Y. Elhabian Aly A. Farag Computer Vision and Image Processing Laboratory University of Louisville Louisville KY USA

Discounting subsurface scattering and surface emittance, this work seeks to address the question;how to accurately represent image irradiance under unknown general illumination and reflectance, given that a surface point sees its surrounding world through the local upper hemisphere oriented by the surface normal at this point. In this paper, we formulate the image formation process of isotropic surfaces under arbitrary distant illumination in the frequency space while addressing the physical compliance of hemispherical basis for representing surface reflectance, e.g. Helmholtz reciprocity and isotropy. This representation is further reduced in dimensionality through analytically deriving the principal components of the image irradiance. A database of natural illumination and real world surface materials are used to compute a general-purpose basis which captures the full behavior of illumination and reflectance in a lower-dimensional subspace for image irradiance representation. Compared to similar basis in literature, our proposed basis achieves higher accuracy levels at lower illumination orders.

关键词： Lighting Surface treatment Materials Harmonic analysis Eigenvalues and eigenfunctions Rendering (computer graphics) Databases

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