8944659
Real-time global localization with a pre-built visual landmark database
In this paper, we study how to build a vision-based system for global localization with accuracies within 10 cm. for robots and humans operating both indoors and outdoors over wide areas covering many square kilometers. In particular, we study the parameters of building a landmark database rapidly and utilizing that database online for real-time accurate global localization. Although the accuracy of traditional short-term motion based visual odometry systems has improved significantly in recent years, these systems alone cannot solve the drift problem over large areas. Landmark based localization combined with visual odometry is a viable solution to the large scale localization problem. However, a systematic study of the specification and use of such a landmark database has not been undertaken. We propose techniques to build and optimize a landmark database systematically and efficiently using visual odometry. First, topology inference is utilized to find overlapping images in the database. Second, bundle adjustment is used to refine the accuracy of each 3D landmark. Finally, the database is optimized to balance the size of the database with achievable accuracy. Once the landmark database is obtained, a new real-time global localization methodology that works both indoors and outdoors is proposed. We present results of our study on both synthetic and real datasets that help us determine critical design parameters for the landmark database and the achievable accuracies of our proposed system.
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.
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.
6548026
Automated Mosaics via Topology Inference
The authors present a complete approach for the automated construction of mosaics from images and video using topology inference, local and global alignment, and compositing.
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.
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.
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.
214800957
Interconnections in Multi-Core Architectures: Understanding Mechanisms, Overheads and Scaling
This paper examines the area, power, performance, and design issues for the on-chip interconnects on a chip multiprocessor, attempting to present a comprehensive view of a class of interconnect architectures. It shows that the design choices for the interconnect have significant effect on the rest of the chip, potentially consuming a significant fraction of the real estate and power budget. This research shows that designs that treat interconnect as an entity that can be independently architected and optimized would not arrive at the best multi-core design. Several examples are presented showing the need for careful co-design. For instance, increasing interconnect bandwidth requires area that then constrains the number of cores or cache sizes, and does not necessarily increase performance. Also, shared level-2 caches become significantly less attractive when the overhead of the resulting crossbar is accounted for. A hierarchical bus structure is examined which negates some of the performance costs of the assumed base-line architecture.
8733679
Stochastic Fluid Theory for P2P Streaming Systems
We develop a simple stochastic fluid model that seeks to expose the fundamental characteristics and limitations of P2P streaming systems. This model accounts for many of the essential features of a P2P streaming system, including the peers' realtime demand for content, peer churn (peers joining and leaving), peers with heterogeneous upload capacity, limited infrastructure capacity, and peer buffering and playback delay. The model is tractable, providing closed-form expressions which can be used to shed insight on the fundamental behavior of P2P streaming systems. The model shows that performance is largely determined by a critical value. When the system is of moderate-to-large size, if a certain ratio of traffic loads exceeds the critical value, the system performs well; otherwise, the system performs poorly. Furthermore, large systems have better performance than small systems since they are more resilient to bandwidth fluctuations caused by peer churn. Finally, buffering can dramatically improve performance in the critical region, for both small and large systems. In particular, buffering can bring more improvement than can additional infrastructure bandwidth.
65135986
Model dependent inference of three-dimensional information from a sequence of two-dimensional images
In order to autonomously navigate through a complex environment, a mobile robot requires sensory feedback. This feedback will typically include the 3D motion and location of the robot and the 3D structure and motion of obstacles and other environmental features. The general problem considered in this thesis is how this 3D information may be obtained from a sequence of images generated by a camera mounted on a mobile robot. 
The first set of algorithms developed in this thesis are for robust determination of the 3D pose of the mobile robot from a matched set of model and image landmark features. Least-squares techniques for point and line tokens, which minimize both rotation and translation simultaneously are developed and shown to be far superior to the earlier techniques which solved for rotation first and then translation. However, least-squares techniques fail catastrophically when outliers (or gross errors) are present in the match data. Outliers arise frequently due to incorrect correspondences or gross errors in the 3D model. Robust techniques for pose determination are developed to handle data contaminated by fewer than 50.0% outliers. 
To make the model based approach widely applicable, it is necessary to be able to automatically build the landmark models. The approach adopted in this thesis is one of model extension and refinement. A partial model of the environment is assumed to exist and this model is extended over a sequence of frames. As will be shown in the experiments, the prior knowledge of the small partial model greatly enhances the robustness of the 3D structure computations. The initial 3D model may have errors and these too are refined over the sequence of frames. 
Finally, the sensitivity of pose determination and model extension to incorrect estimates of camera parameters is analyzed. It is shown that for small field of view systems, offsets in the image center do not significantly affect the location of the camera and the location of new 3D points in a world coordinate system. Errors in the focal length significantly affect only the component of translation along the optical axis in the pose computation.
5063744
Translator Design to Model Cpp Files
The most reliable and accurate description of the actual behavior of a software system is its source code. However, not all questions about the system can be answered directly by resorting to this repository of information. What the reverse engineering methodology aims at is the extraction of abstract, goal-oriented "views" of the system, able to summarize relevant properties of the computation performed by the program. While concentrating on reverse engineering we had modeled the C++ files by designing the translator. E all want to build software that makes things better, avoiding the bad things that lurk in the shadow of failed efforts. To succeed we need discipline when software is designed and built. We need an engineered approach. The usefulness of an abstract system model was already recognized in the 1970s, when structured methods were proposed as software development methods. These methods offered Entity-Relationship diagrams (1) to model the data aspect of a system, and data flow diagrams or functional decomposition techniques to model the functional, behavioral aspect of a system. The main drawbacks of these structured approaches were the often missing horizontal consistency between the data and behavior part within the overall system model, and the vertical mismatch of concepts between the real world domain and the model as well as between the model and the implementation. As a solution to these drawbacks, the concept of an abstract data type, where data and behavior of objects are closely coupled, became popular within the 1980s. This concept then formed the base for the object-oriented paradigm. In particular, object-oriented languages like C++ or Java have become the de facto standard for programming (10). The same holds for the analysis and design phases within a software development process, where object-oriented modeling approaches are becoming more and more the standard ones. The success of object-oriented modeling approaches was hindered in the beginning of the 90s due to the fact that surely more than fifty object-oriented modeling approaches claimed to be the right one. This so-called method war came to an end by an industrial initiative, which pushed the development of the meanwhile standardized object-oriented modeling language UML (Unified Modeling Language) (8). But, despite the fact that it has been standardized, UML is still a moving target.