In this paper we propose an edge-direct visual odometry algorithm that efficiently utilizes edge pixels to find the relative pose that minimizes the photometric error between images. Prior work on exploiting edge pixels instead treats edges as features and employ various techniques to match edge lines or pixels, which adds unnecessary complexity. Direct methods typically operate on all pixel intensities, which proves to be highly redundant. In contrast our method builds on direct visual odometry methods naturally with minimal added computation. It is not only more efficient than direct dense methods since we iterate with a fraction of the pixels, but also more accurate. We achieve high accuracy and efficiency by extracting edges from only one image, and utilize robust Gauss-Newton to minimize the photometric error of these edge pixels. This simultaneously finds the edge pixels in the reference image, as well as the relative camera pose that minimizes the photometric error. We test various edge detectors, including learned edges, and determine that the optimal edge detector for this method is the Canny edge detection algorithm using automatic thresholding. We highlight key differences between our edge direct method and direct dense methods, in particular how higher levels of image pyramids can lead to significant aliasing effects and result in incorrect solution convergence. We show experimentally that reducing the photometric error of edge pixels also reduces the photometric error of all pixels, and we show through an ablation study the increase in accuracy obtained by optimizing edge pixels only. We evaluate our method on the RGB-D TUM benchmark on which we achieve state-of-the-art performance.
Any system that extracts edges must choose between several edge extraction algorithms. The most prominent are Canny edges @cite_6 , followed by edges extracted from Laplacian of Gaussian (LoG) filters which are efficiently implemented using Difference of Gaussians (DoG). Another type of edge that is not as popular but is very simple are Sobel edges. More recently, there has been research involving the learning of edge features. In @cite_20 the authors utilize structured forests, and in @cite_15 the authors utilize deep learning. Instead of selecting one, we test various edge extraction algorithms with our system select the optimal edge extraction algorithm. Note that @cite_15 requires the use of a GPU and is far from real-time, so we do not consider this method.
@cite_15 @cite_20 @cite_6
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We propose to employ bilateral filters to solve the problem of edge detection. The proposed methodology presents an efficient and noise robust method for detecting edges. Classical bilateral filters smooth images without distorting edges. In this paper, we modify the bilateral filter to perform edge detection, which is the opposite of bilateral smoothing. The Gaussian domain kernel of the bilateral filter is replaced with an edge detection mask, and Gaussian range kernel is replaced with an inverted Gaussian kernel. The modified range kernel serves to emphasize dissimilar regions. The resulting approach effectively adapts the detection mask according as the pixel intensity differences. The results of the proposed algorithm are compared with those of standard edge detection masks. Comparisons of the bilateral edge detector with Canny edge detection algorithm, both after non-maximal suppression, are also provided. The results of our technique are observed to be better and noise-robust than those offered by methods employing masks alone, and are also comparable to the results from Canny edge detector, outperforming it in certain cases. In this work we present a novel algorithm for realtime visual odometry for a monocular camera. The main idea is to develop an approach between classical feature-based visual odometry systems and modern direct dense semi-dense methods, trying to benefit from the best attributes of both. Similar to feature-based systems, we extract information from the images, instead of working with raw image intensities as direct methods. In particular, the information extracted are the edges present in the image, while the rest of the algorithm is designed to take advantage of the structural information provided when pixels are treated as edges. Edge extraction is an efficient and higly parallelizable operation. The edge depth information extracted is dense enough to allow acceptable surface fitting, similar to modern semi-dense methods. This is a valuable attribute that feature-based odometry lacks. Experimental results show that the proposed method has similar drift than state of the art feature-based and direct methods, and is a simple algorithm that runs at realtime and can be parallelized. Finally, we have also developed an inertial aided version that successfully stabilizes an unmanned air vehicle in complex indoor environments using only a frontal camera, while running the complete solution in the embedded hardware on board the vehicle. We study a family of closely-related distributed graph problems, which we call degree splitting, where roughly speaking the objective is to partition (or orient) the edges such that each node's degree is split almost uniformly. Our findings lead to answers for a number of problems, a sampling of which includes: • We present a poly log n round deterministic algorithm for (2Δ−1)·(1+o(1))-edge-coloring, where Δ denotes the maximum degree. Modulo the 1 + o(1) factor, this settles one of the long-standing open problems of the area from the 1990's (see e.g. Panconesi and Srinivasan [PODC'92]). Indeed, a weaker requirement of (2Δ − 1) · poly log Δ-edge-coloring in poly log n rounds was asked for in the 4th open question in the Distributed Graph Coloring book by Barenboim and Elkin. • We show that sinkless orientation---i.e., orienting edges such that each node has at least one out-going edge---on Δ-regular graphs can be solved in O(logΔ log n) rounds randomized and in O(logΔ n) rounds deterministically. These prove the corresponding lower bounds by [STOC'16] and Chang, Kopelowitz, and Pettie [FOCS'16] to be tight. Moreover, these show that sinkless orientation exhibits an exponential separation between its randomized and deterministic complexities, akin to the results of for Δ-coloring Δ-regular trees. • We present a randomized O(log4 n) round algorithm for orienting a-arboricity graphs with maximum out-degree a(1 + e). This can be also turned into a decomposition into a(1 + e) forests when a = Ω(log n) and into a(1 + e) pseduo-forests when a = o(log n). Obtaining an efficient distributed decomposition into less than 2a forests was stated as the 10th open problem in the book by Barenboim and Elkin. Tropical timber woods have more than 1,000 species. Some of the species have similar patterns with others and some have different patterns even though they are of the same species. One of the main problems in wood species recognition system is the lack of discriminative features of the texture images. Gabor filter has been extensively used as feature extractor for various applications such as face detection, face recognition, image retrieval and font type extraction. In our work, we propose the use of Gabor filter to generate multiple processed images from a single image so that more features can be extracted and will be trained by neural network. The use of Gabor filters will optimally localized the properties of the images in both spatial and frequency domain. The features of the filtered images are extracted using co- occurrence matrix approach, known as grey level co- occurrence matrix (GLCM). A multi-layer neural network based on the popular BP (back propagation) algorithm is used for classification. The results show that increasing the number of features by means of Gabor filters as well as the right combination of Gabor filters increases the accuracy rate of the system. The human vision is usually considered a multiscale, hierarchical knowledge extraction system. Inspired by this fact, multiscale techniques for computer vision perform a sequential analysis, driven by different interpretations of the concept of scale. In the case of edge detection, the scale usually relates to the size of the region where the intensity changes are measured or to the size of the regularization filter applied before edge extraction. Multiscale edge detection methods constitute an effort to combine the spatial accuracy of fine-scale methods with the ability to deal with spurious responses inherent to coarse-scale methods. In this work we introduce a multiscale method for edge detection based on increasing Gaussian smoothing, the Sobel operators and coarse-to-fine edge tracking. We include visual examples and quantitative evaluations illustrating the benefits of our proposal. The analysis of several algorithms and data structures can be framed as a peeling process on a random hypergraph: vertices with degree less than k are removed until there are no vertices of degree less than k left. The remaining hypergraph is known as the k-core. In this paper, we analyze parallel peeling processes, where in each round, all vertices of degree less than k are removed. It is known that, below a specific edge density threshold, the k-core is empty with high probability. We show that, with high probability, below this threshold, only (log log n) log(k-1)(r-1) + O(1) rounds of peeling are needed to obtain the empty k-core for r-uniform hypergraphs. Interestingly, we show that above this threshold, Omega(log n) rounds of peeling are required to find the non-empty k-core. Since most algorithms and data structures aim to peel to an empty k-core, this asymmetry appears fortunate. We verify the theoretical results both with simulation and with a parallel implementation using graphics processing units (GPUs). Our implementation provides insights into how to structure parallel peeling algorithms for efficiency in practice. We consider a pipeline for image classification or search based on coding approaches like bag of words or Fisher vectors. In this context, the most common approach is to extract the image patches regularly in a dense manner on several scales. This paper proposes and evaluates alternative choices to extract patches densely. Beyond simple strategies derived from regular interest region detectors, we propose approaches based on superpixels, edges, and a bank of Zernike filters used as detectors. The different approaches are evaluated on recent image retrieval and fine-grained classification benchmarks. Our results show that the regular dense detector is outperformed by other methods in most situations, leading us to improve the state-of-the-art in comparable setups on standard retrieval and fined-grained benchmarks. As a byproduct of our study, we show that existing methods for blob and superpixel extraction achieve high accuracy if the patches are extracted along the edges and not around the detected regions. In this paper, we introduce new edge-based features for the task of recovering the 3D layout of an indoor scene from a single image. Indoor scenes have certain edges that are very informative about the spatial layout of the room, namely, the edges formed by the pairwise intersections of room faces (two walls, wall and ceiling, wall and floor). In contrast with previous approaches that rely on area-based features like geometric context and orientation maps, our method attempts to directly detect these informative edges. We learn to predict 'informative edge' probability maps using two recent methods that exploit local and global context, respectively: structured edge detection forests, and a fully convolutional network for pixelwise labeling. We show that the fully convolutional network is quite successful at predicting the informative edges even when they lack contrast or are occluded, and that the accuracy can be further improved by training the network to jointly predict the edges and the geometric context. Using features derived from the 'informative edge' maps, we learn a maximum margin structured classifier that achieves state-of-the-art performance on layout prediction. In this paper, we introduce a feature-preserving denoising algorithm. It is built on the premise that the underlying surface of a noisy mesh is piecewise smooth, and a sharp feature lies on the intersection of multiple smooth surface regions. A vertex close to a sharp feature is likely to have a neighborhood that includes distinct smooth segments. By defining the consistent subneighborhood as the segment whose geometry and normal orientation most consistent with those of the vertex, we can completely remove the influence from neighbors lying on other segments during denoising. Our method identifies piecewise smooth subneighborhoods using a robust density-based clustering algorithm based on shared nearest neighbors. In our method, we obtain an initial estimate of vertex normals and curvature tensors by robustly fitting a local quadric model. An anisotropic filter based on optimal estimation theory is further applied to smooth the normal field and the curvature tensor field. This is followed by second-order bilateral filtering, which better preserves curvature details and alleviates volume shrinkage during denoising. The support of these filters is defined by the consistent subneighborhood of a vertex. We have applied this algorithm to both generic and CAD models, and sharp features, such as edges and corners, are very well preserved. Edge detection is one of the most studied problems in computer vision, yet it remains a very challenging task. It is difficult since often the decision for an edge cannot be made purely based on low level cues such as gradient, instead we need to engage all levels of information, low, middle, and high, in order to decide where to put edges. In this paper we propose a novel supervised learning algorithm for edge and object boundary detection which we refer to as Boosted Edge Learning or BEL for short. A decision of an edge point is made independently at each location in the image; a very large aperture is used providing significant context for each decision. In the learning stage, the algorithm selects and combines a large number of features across different scales in order to learn a discriminative model using an extended version of the Probabilistic Boosting Tree classification algorithm. The learning based framework is highly adaptive and there are no parameters to tune. We show applications for edge detection in a number of specific image domains as well as on natural images. We test on various datasets including the Berkeley dataset and the results obtained are very good. Abstract We present a novel convolutional neural network (CNN) based pipeline which can effectively fuse multi-level information extracted from different intermediate layers generating hybrid convolutional features (HCF) for edge detection. Different from previous methods, the proposed method fuses multi-level information in a feature-map based manner. The produced hybrid convolutional features can be used to perform high-quality edge detection. The edge detector is also computationally efficient, because it detects edges in an image-to-image way without any post-processing. We evaluate the proposed method on three widely used datasets for edge detection including BSDS500, NYUD and Multicue, and also test the method on Pascal VOC’12 dataset for object contour detection. The results show that HCF achieves an improvement in performance over the state-of-the-art methods on all four datasets. On BSDS500 dataset, the efficient version of the proposed approach achieves ODS F-score of 0.804 with a speed of 22 fps and the high-accuracy version achieves ODS F-score of 0.814 with 11 fps . In this paper, we develop methods to rapidly remove rough features from irregularly triangulated data intended to portray a smooth surface. The main task is to remove undesirable noise and uneven edges while retaining desirable geometric features. The problem arises mainly when creating high-fidelity computer graphics objects using imperfectly-measured data from the real world. Our approach contains three novel features: an implicit integration method to achieve efficiency, stability, and large time-steps; a scale-dependent Laplacian operator to improve the diffusion process; and finally, a robust curvature flow operator that achieves a smoothing of the shape itself, distinct from any parameterization. Additional features of the algorithm include automatic exact volume preservation, and hard and soft constraints on the positions of the points in the mesh. We compare our method to previous operators and related algorithms, and prove that our curvature and Laplacian operators have several mathematically-desirable qualities that improve the appearance of the resulting surface. In consequence, the user can easily select the appropriate operator according to the desired type of fairing. Finally, we provide a series of examples to graphically and numerically demonstrate the quality of our results. Road information is fundamental not only in the military field but also common daily living. Automatic road extraction from a remote sensing images can provide references for city planning as well as transportation database and map updating. However, owing to the spectral similarity between roads and impervious structures, the current methods solely using spectral characteristics are often ineffective. By contrast, the detailed information discernible from the high-resolution aerial images enables road extraction with spatial texture features. In this study, a knowledge-based method is established and proposed; this method incorporates the spatial texture feature into urban road extraction. The spatial texture feature is initially extracted by the local Moran’s I, and the derived texture is added to the spectral bands of image for image segmentation. Subsequently, features like brightness, standard deviation, rectangularity, aspect ratio, and area are selected to form the hypothesis and verification model based on road knowledge. Finally, roads are extracted by applying the hypothesis and verification model and are post-processed based on the mathematical morphology. The newly proposed method is evaluated by conducting two experiments. Results show that the completeness, correctness, and quality of the results could reach approximately 94 , 90 and 86 respectively, indicating that the proposed method is effective for urban road extraction. This paper solves the speed bottleneck of deformable part model (DPM), while maintaining the accuracy in detection on challenging datasets. Three prohibitive steps in cascade version of DPM are accelerated, including 2D correlation between root filter and feature map, cascade part pruning and HOG feature extraction. For 2D correlation, the root filter is constrained to be low rank, so that 2D correlation can be calculated by more efficient linear combination of 1D correlations. A proximal gradient algorithm is adopted to progressively learn the low rank filter in a discriminative manner. For cascade part pruning, neighborhood aware cascade is proposed to capture the dependence in neighborhood regions for aggressive pruning. Instead of explicit computation of part scores, hypotheses can be pruned by scores of neighborhoods under the first order approximation. For HOG feature extraction, look-up tables are constructed to replace expensive calculations of orientation partition and magnitude with simpler matrix index operations. Extensive experiments show that (a) the proposed method is 4 times faster than the current fastest DPM method with similar accuracy on Pascal VOC, (b) the proposed method achieves state-of-the-art accuracy on pedestrian and face detection task with frame-rate speed. We present a new technique for extracting line-type features on point-sampled geometry. Given an unstructured point cloud as input, our method first applies principal component analysis on local neighborhoods to classify points according to the likelihood that they belong to a feature. Using hysteresis thresholding, we then compute a minimum spanning graph as an initial approximation of the feature lines. To smooth out the features while maintaining a close connection to the underlying surface, we use an adaptation of active contour models. Central to our method is a multi-scale classification operator that allows feature analysis at multiple scales, using the size of the local neighborhoods as a discrete scale parameter. This significantly improves the reliability of the detection phase and makes our method more robust in the presence of noise. To illustrate the usefulness of our method, we have implemented a non-photorealistic point renderer to visualize point-sampled surfaces as line drawings of their extracted feature curves. The performance of high-level computer vision applications is tightly coupled with the low-level vision operations that are commonly required. Thus, it is advantageous to have low-level feature extractors that are optimal with respect to a desired performance criteria. This paper presents a novel approach that uses Genetic Programming as a learning framework that generates a specific type of low-level feature extractor: Interest Point Detector. The learning process is posed as an optimization problem. The optimization criterion is designed to promote the emergence of the detectors geometric stability under different types of image transformations and global separability between detected points. This concept is represented by the operators repeatability rate [11]. Results prove that our approach is effective at automatically generating low-level feature extractors. This paper presents two different evolved operators: IPGP1 and IPGP2. Their performance is comparable with the Harris [5] operator given their excellent repeatability rate. Furthermore, the learning process was able to rediscover the DET corner detector proposed by Beaudet. Although neural networks have shown very good performance in many application domains, one of their main drawbacks lies in the incapacity to provide an explanation for the underlying reasoning mechanisms. The “explanation capability” of neural networks can be achieved by the extraction of symbolic knowledge. In this paper, we present a new method of extraction that captures nonmonotonic rules encoded in the network, and prove that such a method is sound. We start by discussing some of the main problems of knowledge extraction methods. We then discuss how these problems may be ameliorated. To this end, a partial ordering on the set of input vectors of a network is defined, as well as a number of pruning and simplification rules. The pruning rules are then used to reduce the search space of the extraction algorithm during a pedagogical extraction, whereas the simplification rules are used to reduce the size of the extracted set of rules. We show that, in the case of regular networks, the extraction algorithm is sound and complete. We proceed to extend the extraction algorithm to the class of non-regular networks, the general case. We show that non-regular networks always contain regularities in their subnetworks. As a result, the underlying extraction method for regular networks can be applied, but now in a decompositional fashion. In order to combine the sets of rules extracted from each subnetwork into the final set of rules, we use a method whereby we are able to keep the soundness of the extraction algorithm. Finally, we present the results of an empirical analysis of the extraction system, using traditional examples and real-world application problems. The results have shown that a very high fidelity between the extracted set of rules and the network can be achieved. Automatic cloud extraction from satellite imagery is an important task for many applications in remote sensing. Humans can easily identify various clouds from satellite images based on the visual features of cloud. In this study, a method of automatic cloud detection is proposed based on object classification of image features. An image is first segmented into superpixels so that the descriptor of each superpixel can be computed to form a feature vector for classification. The support vector machine algorithm is then applied to discriminate cloud and noncloud regions. Thereafter, the GrabCut algorithm is used to extract more accurate cloud regions. The key of the method is to deal with the highly varying patterns of clouds. The bag-of-words (BOW) model is used to construct the compact feature vectors from densely extracted local features, such as dense scale-invariant feature transform (SIFT). The algorithm is tested using 101 RapidEye and 86 Landsat images with many cloud patterns. These images achieve 89.2 of precision, 87.8 of recall for RapidEye, 85.8 of precision, and 83.9 of recall for Landsat. The experiments show that the method is insensitive to the number of codewords in the codebook construction of the BOW. Inspired by theories of sparse representation and compressed sensing, this paper presents a simple, novel, yet very powerful approach for texture classification based on random projection, suitable for large texture database applications. At the feature extraction stage, a small set of random features is extracted from local image patches. The random features are embedded into a bag--of-words model to perform texture classification; thus, learning and classification are carried out in a compressed domain. The proposed unconventional random feature extraction is simple, yet by leveraging the sparse nature of texture images, our approach outperforms traditional feature extraction methods which involve careful design and complex steps. We have conducted extensive experiments on each of the CUReT, the Brodatz, and the MSRC databases, comparing the proposed approach to four state-of-the-art texture classification methods: Patch, Patch-MRF, MR8, and LBP. We show that our approach leads to significant improvements in classification accuracy and reductions in feature dimensionality. In (2015), we proposed a graph-based formulation that links and clusters person hypotheses over time by solving a minimum cost subgraph multicut problem. In this paper, we modify and extend (2015) in three ways: (1) We introduce a novel local pairwise feature based on local appearance matching that is robust to partial occlusion and camera motion. (2) We perform extensive experiments to compare different pairwise potentials and to analyze the robustness of the tracking formulation. (3) We consider a plain multicut problem and remove outlying clusters from its solution. This allows us to employ an efficient primal feasible optimization algorithm that is not applicable to the subgraph multicut problem of (2015). Unlike the branch-and-cut algorithm used there, this efficient algorithm used here is applicable to long videos and many detections. Together with the novel pairwise feature, it eliminates the need for the intermediate tracklet representation of (2015). We demonstrate the effectiveness of our overall approach on the MOT16 benchmark ( 2016), achieving state-of-art performance.