The conventional methods for estimating camera poses and scene structures from severely blurry or low resolution images often result in failure. The off-the-shelf deblurring or super-resolution methods may show visually pleasing results. However, applying each technique independently before matching is generally unprofitable because this naive series of procedures ignores the consistency between images. In this paper, we propose a pioneering unified framework that solves four problems simultaneously, namely, dense depth reconstruction, camera pose estimation, super-resolution, and deblurring. By reflecting a physical imaging process, we formulate a cost minimization problem and solve it using an alternating optimization technique. The experimental results on both synthetic and real videos show high-quality depth maps derived from severely degraded images that contrast the failures of naive multi-view stereo methods. Our proposed method also produces outstanding deblurred and super-resolved images unlike the independent application or combination of conventional video deblurring, super-resolution methods.
Lee al @cite_28 @cite_4 extended this idea and proposed several methods for handling blurred input images in camera pose estimation @cite_28 and dense stereo matching @cite_4 . However, given that scene depth and camera motion can generate the exact blur kernels only when both values are correct, estimating these parameters separately would be inappropriate. Moreover, the aforementioned works @cite_4 @cite_13 are limited by a simple assumption that the blur kernel can be modeled by using linear optical flow vectors between consecutive frames.
@cite_28 @cite_4 @cite_13
2024336175 2110671603 2061458897 2952773148
Building upon recent developments in optical flow and stereo matching estimation, we propose a variational framework for the estimation of stereoscopic scene flow, i.e., the motion of points in the three-dimensional world from stereo image sequences. The proposed algorithm takes into account image pairs from two consecutive times and computes both depth and a 3D motion vector associated with each point in the image. In contrast to previous works, we partially decouple the depth estimation from the motion estimation, which has many practical advantages. The variational formulation is quite flexible and can handle both sparse or dense disparity maps. The proposed method is very efficient; with the depth map being computed on an FPGA, and the scene flow computed on the GPU, the proposed algorithm runs at frame rates of 20 frames per second on QVGA images (320×240 pixels). Furthermore, we present solutions to two important problems in scene flow estimation: violations of intensity consistency between input images, and the uncertainty measures for the scene flow result. This paper presents a robust algorithm to deblur two consecutively captured blurred photos from camera shaking. Previous dual motion deblurring algorithms succeeded in small and simple motion blur and are very sensitive to noise. We develop a robust feedback algorithm to perform iteratively kernel estimation and image deblurring. In kernel estimation, the stability and capability of the algorithm is greatly improved by incorporating a robust cost function and a set of kernel priors. The robust cost function serves to reject outliers and noise, while kernel priors, including sparseness and continuity, remove ambiguity and maintain kernel shape. In deblurring, we propose a novel and robust approach which takes two blurred images as input to infer the clear image. The deblurred image is then used as feedback to refine kernel estimation. Our method can successfully estimate large and complex motion blurs which cannot be handled by previous dual or single image motion deblurring algorithms. The results are shown to be significantly better than those of previous approaches. We present an approach to jointly estimating camera motion and dense structure of a static scene in terms of depth maps from monocular image sequences in driver-assistance scenarios. At each instant of time, only two consecutive frames are processed as input data of a joint estimator that fully exploits second-order information of the corresponding optimization problem and effectively copes with the non-convexity due to both the imaging geometry and the manifold of motion parameters. Additionally, carefully designed Gaussian approximations enable probabilistic inference based on locally varying confidence and globally varying sensitivity due to the epipolar geometry, with respect to the high-dimensional depth map estimation. Embedding the resulting joint estimator in an online recursive framework achieves a pronounced spatio-temporal filtering effect and robustness. We evaluate hundreds of images taken from a car moving at speed up to 100 km h and being part of a publicly available benchmark data set. The results compare favorably with two alternative settings: stereo based scene reconstruction and camera motion estimation in batch mode using multiple frames. They, however, require a calibrated camera pair or storage for more than two frames, which is less attractive from a technical viewpoint than the proposed monocular and recursive approach. In addition to real data, a synthetic sequence is considered which provides reliable ground truth. This paper proposes a simple, accurate, and robust approach to single image nonparametric blind Super-Resolution (SR). This task is formulated as a functional to be minimized with respect to both an intermediate super-resolved image and a nonparametric blur-kernel. The proposed approach includes a convolution consistency constraint which uses a non-blind learning-based SR result to better guide the estimation process. Another key component is the unnatural bi-l0-l2-norm regularization imposed on the super-resolved, sharp image and the blur-kernel, which is shown to be quite beneficial for estimating the blur-kernel accurately. The numerical optimization is implemented by coupling the splitting augmented Lagrangian and the conjugate gradient (CG). Using the pre-estimated blur-kernel, we finally reconstruct the SR image by a very simple non-blind SR method that uses a natural image prior. The proposed approach is demonstrated to achieve better performance than the recent method by Michaeli and Irani [2] in both terms of the kernel estimation accuracy and image SR quality.