15328707
Visual Odometry System Using Multiple Stereo Cameras and Inertial Measurement Unit
Over the past decade, tremendous amount of research activity has focused around the problem of localization in GPS denied environments. Challenges with localization are highlighted in human wearable systems where the operator can freely move through both indoors and outdoors. In this paper, we present a robust method that addresses these challenges using a human wearable system with two pairs of backward and forward looking stereo cameras together with an inertial measurement unit (IMU). This algorithm can run in real-time with 15 Hz update rate on a dual-core 2 GHz laptop PC and it is designed to be a highly accurate local (relative) pose estimation mechanism acting as the front-end to a simultaneous localization and mapping (SLAM) type method capable of global corrections through landmark matching. Extensive tests of our prototype system so far, reveal that without any global landmark matching, we achieve between 0.5% and 1% accuracy in localizing a person over a 500 meter travel indoors and outdoors. To our knowledge, such performance results with a real time system have not been reported before.
13996299
Action video retrieval based on atomic action vocabulary
We propose an efficient action retrieval system that is based on a novel action representation and an effective video matching method. We represent actions with a hierarchical encoding scheme that at low-level measures local body parts motions, which then evolves into encoding of instantaneous global body motions and finally high-level description of actions through atomic action vocabulary. Atomic action vocabulary extends the notion of keyframe-based indexing techniques, where a long action video is decomposed into a sequence of atomic sub-actions matched from the vocabulary. Efficient video matching is achieved by exploiting precomputed inter-vocabulary distances so that global video distance between video sequences can be computed in a very efficient manner that is equivalent to index lookup operations with minimal additional computational loads. Combined with atomic action vocabulary, this can provide flexible video matching schemes of finding compound action sequences of arbitrary lengths. The proposed approach is evaluated on surveillance video and a public video dataset.
5884426
Validation of an optical flow method for tag displacement estimation
Presents a validation study of an optical-flow method for the rapid estimation of myocardial displacement in magnetic resonance tagged cardiac images. This registration and change visualization (RCV) software uses a hierarchical estimation technique to compute the flow field that describes the warping of an image of one cardiac phase into alignment with the next. This method overcomes the requirement of constant pixel intensity in standard optical-flow methods by preprocessing the input images to reduce any intensity bias which results from the reduction in stripe contrast throughout the cardiac cycle. To validate the method, SPAMM-tagged images were acquired of a silicon gel phantom with simulated rotational motion. The pixel displacement was estimated with the RCV method and the error in pixel tracking was <4% 1000 ms after application of the tags, and after 30/spl deg/ of rotation. An additional study was performed using a SPAMM-tagged multiphase slice of a canine left ventricle. The true displacement was determined using a previously validated active contour model (snakes). The error between methods was 6.7% at end systole. The RCV method has the advantage of tracking all pixels in the image in a substantially shorter period than the snakes method.
31836660
A Global Matching Framework for Stereo Computation
This paper presents a new global matching framework f o r stereo computation. In this framework, the second view is first predicted front the reference view using the depth information. A global match measure is then defined as the similarity function between the predicted image and the actual image. Stereo coniputcction is converted into a search problem where the goal is to find the depth rnup that maximizes the global match measure. The major advantage of this framework is that the global visibility constraint is inherently enforced in the computation. This paper explores several key components of this framework including ( I ) three color segmentation based depth representations, (2) an incremental warping algorithm that dramatically reduces the computational complexity, and (3) scene constraints such as the smoothness constraint and the color sinzilarity constraint. Experimental results using different types of depth representations are presented. The quality of the computed depth maps is demonstrated through image-based rendering from new viewpoints.
6283962
Multi-view 3D analysis with applications for augmented reality and enhanced video visualization
The article presents methods for 3D scene geometry recovery/refinement and pose estimation from motion imagery in two representative scenarios. First, we present a method for pose estimation and scene geometry recovery from extended sequences without prior knowledge of the scheme. Second, we discuss how to recover camera poses when a rough scene model is provided. We show how to extend and refine the scene model using the recovered poses. Finally, we present applications of the above techniques for 3D imagery manipulation such as enhanced visualization for video and 3D insertion of synthetic objects in the imagery.
9659860
True multi-image alignment and its application to mosaicing and lens distortion correction
Multiple images of a scene are related through 2D/3D view transformations and linear and non-linear camera transformations. In all the traditional techniques to compute these transformations, especially the ones relying on direct intensity gradients, one image and its coordinate system have been assumed to be ideal and distortion free. In this paper, we present a formulation and an algorithm for true multi-image alignment that does not rely on the measurements of a reference image being distortion free. For instance, in the presence of lens distortion, none of the images can be assumed to be ideal. In our formulation, all the images are modeled as intensity measurements represented in their respective coordinate systems, each of which is related to an ideal coordinate system through an interior camera transformation and an exterior view transformation. The goal of the accompanying algorithm is to compute an image in the ideal coordinate system while solving for the transformations that relate the ideal system with each of the data images. Key advantages of the technique presented in this paper are: (i) no reliance on one distortion free image, (ii) ability to register images and compute coordinate transformations even when the multiple images are of an extended scene with no overlap between the first and last frame of the sequence, and (iii) ability to handle linear and non-linear transformations within the same framework. The new algorithm is evaluated in the context of two applications: (i) correction of lens distortion, and (ii) creation of video mosaics.
16117863
A Comparative Study of Different Sensors for Smart Car Park Management
Wireless sensor networks offer a very attractive, low cost alternative for traffic monitoring and surveillance in car parking, freeways and intersection in different environmental conditions. In such systems, robust and reliable vehicle detection is a critical step, thus it is important to carefully evaluate the different modes of operations in order to address existing issues. This paper proposes a vision of improvements to wireless sensor car parking network system by presenting valuable comparison data for different sensors using different type of software functions and hardware components. The main goal of this work is to present a simple, automated analysis and comparison of power management, communication efficiency and threshold times using different sensors and a corresponding prediction of the above features. The results show a clear difference in various parameters by using different types of sensors for vehicle detection.
8538452
Conjoined-Core Chip Multiprocessing
Chip Multiprocessors (CMP) and Simultaneous Multi-threading (SMT) are two approaches that have been proposed to increase processor efficiency. We believe these two approaches are two extremes of a viable spectrum. Between these two extremes, there exists a range of possible architectures, sharing varying degrees of hardware between processors or threads. This paper proposes conjoined-core chip multiprocessing - topologically feasible resource sharing between adjacent cores of a chip multiprocessor to reduce die area with minimal impact on performance and hence improving the overall computational efficiency. It investigates the possible sharing of floating-point units, crossbar ports, instruction caches, and data caches and details the area savings that each kind of sharing entails. It also shows that the negative impact on performance due to sharing is significantly less than the benefits of reduced area. Several novel techniques for intelligent sharing of the hardware resources to minimize performance degradation are presented.
1295165
Compiling for instruction cache performance on a multithreaded architecture
Instruction cache aware compilation seeks to lay out a program in memory in such a way that cache conflicts between procedures are minimized. It does this through profile-driven knowledge of procedure invocation patterns. On a multithreaded architecture, however, more conflicts may arise between threads than between procedures on the same thread. This research examines opportunities for the compiler to optimize instruction cache layout on a multithreaded architecture. We examine scenarios where (1) the compiler has knowledge, about multiple programs that will be or are likely to be co-scheduled, and where (2) the compiler has no knowledge at compile time of which applications will be co-scheduled. We present solutions for both environments.
14410544
Fluid modeling of pollution proliferation in P2P networks
P2P systems are highly vulnerable to pollution attacks in which attackers inject multiple versions of corrupted content into the system, which is then further proliferated by unsuspecting users. However, to our knowledge, there are no closed-form solutions that describe this phenomenon, nor are there models that describe how the injection of multiple versions of corrupted content impacts a clients' ability to receive a valid copy. In this paper we develop a suite of fluid models that model pollution proliferation in P2P systems. These fluid models lead to systems of non-linear differential equations. We obtain closed-form solutions for the differential equations; for the remaining models, we efficiently solve the differential equations numerically. The models capture a variety of user behaviors, including propensity for popular versions, abandonment after repeated failure to obtain a good version, freeloading, and local version blacklisting. Our analysis reveals intelligent strategies for attackers as well as strategies for clients seeking to recover non-polluted content within large-scale P2P networks.
1908016
Optimal peer selection for P2P downloading and streaming
In a P2P system, a client peer may select one or more server peers to download a specific file. In a P2P resource economy, the server peers charge the client for the downloading. A server peer's price would naturally depend on the specific object being downloaded, the duration of the download, and the rate at which the download is to occur. The optimal peer selection problem is to select, from the set of peers that have the desired object, the subset of peers and download rates that minimizes cost. In this paper we examine a number of natural peer selection problems for both P2P downloading and P2P streaming. For downloading, we obtain the optimal solution for minimizing the download delay subject to a budget constraint, as well as the corresponding Nash equilibrium. For the streaming problem, we obtain a solution that minimizes cost subject to continuous playback while allowing for one or more server peers to fail during the streaming process. The methodologies developed in this paper are applicable to a variety of P2P resource economy problems.