Estimating the Illuminant Color from the Shading of a Smooth Surface

\0\05{\0\0\0\0\0\0\0\0 a uniform wall illuminated by a spot light often gives a strong impression of the illuminant color. How can it be possible to know if it is a white wall illuminated by yellow light or a yellow wall illuminated by white light? If the wall is a Lambertian reflector, it would not be possible to tell the difference. However, in the real world, some amount of specular reflection is almost always present. In this memo, it is shown that the computation is possible in most practical cases.

Multi-Scale Vector-Ridge-Detection for Perceptual Organization Without Edges

We present a novel ridge detector that finds ridges on vector fields. It is designed to automatically find the right scale of a ridge even in the presence of noise, multiple steps and narrow valleys. One of the key features of such ridge detector is that it has a zero response at discontinuities. The ridge detector can be applied to scalar and vector quantities such as color. We also present a parallel perceptual organization scheme based on such ridge detector that works without edges; in addition to perceptual groups, the scheme computes potential focus of attention points at which to direct future processing. The relation to human perception and several theoretical findings supporting the scheme are presented. We also show results of a Connection Machine implementation of the scheme for perceptual organization (without edges) using color.

A Binocular, Foveated Active Vision System

This report documents the design and implementation of a binocular, foveated active vision system as part of the Cog project at the MIT Artificial Intelligence Laboratory. The active vision system features a three degree of freedom mechanical platform that supports four color cameras, a motion control system, and a parallel network of digital signal processors for image processing. To demonstrate the capabilities of the system, we present results from four sample visual-motor tasks.

Advanced Programming Language Features for Executable Design Patterns "Better Patterns Through Reflection

The Design Patterns book [GOF95] presents 24 time-tested patterns that consistently appear in well-designed software systems. Each pattern is presented with a description of the design problem the pattern addresses, as well as sample implementation code and design considerations. This paper explores how the patterns from the "Gang of Four'', or "GOF'' book, as it is often called, appear when similar problems are addressed using a dynamic, higher-order, object-oriented programming language. Some of the patterns disappear -- that is, they are supported directly by language features, some patterns are simpler or have a different focus, and some are essentially unchanged.

Sharing visual features for multiclass and multiview object detection

We consider the problem of detecting a large number of different classes of objects in cluttered scenes. Traditional approaches require applying a battery of different classifiers to the image, at multiple locations and scales. This can be slow and can require a lot of training data, since each classifier requires the computation of many different image features. In particular, for independently trained detectors, the (run-time) computational complexity, and the (training-time) sample complexity, scales linearly with the number of classes to be detected. It seems unlikely that such an approach will scale up to allow recognition of hundreds or thousands of objects. We present a multi-class boosting procedure (joint boosting) that reduces the computational and sample complexity, by finding common features that can be shared across the classes (and/or views). The detectors for each class are trained jointly, rather than independently. For a given performance level, the total number of features required, and therefore the computational cost, is observed to scale approximately logarithmically with the number of classes. The features selected jointly are closer to edges and generic features typical of many natural structures instead of finding specific object parts. Those generic features generalize better and reduce considerably the computational cost of an algorithm for multi-class object detection.

The Role of Fixation and Visual Attention in Object Recognition

This research project is a study of the role of fixation and visual attention in object recognition. In this project, we build an active vision system which can recognize a target object in a cluttered scene efficiently and reliably. Our system integrates visual cues like color and stereo to perform figure/ground separation, yielding candidate regions on which to focus attention. Within each image region, we use stereo to extract features that lie within a narrow disparity range about the fixation position. These selected features are then used as input to an alignment-style recognition system. We show that visual attention and fixation significantly reduce the complexity and the false identifications in model-based recognition using Alignment methods. We also demonstrate that stereo can be used effectively as a figure/ground separator without the need for accurate camera calibration.

The Computation of Color

This thesis takes an interdisciplinary approach to the study of color vision, focussing on the phenomenon of color constancy formulated as a computational problem. The primary contributions of the thesis are (1) the demonstration of a formal framework for lightness algorithms; (2) the derivation of a new lightness algorithm based on regularization theory; (3) the synthesis of an adaptive lightness algorithm using "learning" techniques; (4) the development of an image segmentation algorithm that uses luminance and color information to mark material boundaries; and (5) an experimental investigation into the cues that human observers use to judge the color of the illuminant. Other computational approaches to color are reviewed and some of their links to psychophysics and physiology are explored.

A Vector Signal Processing Approach to Color

Surface (Lambertain) color is a useful visual cue for analyzing material composition of scenes. This thesis adopts a signal processing approach to color vision. It represents color images as fields of 3D vectors, from which we extract region and boundary information. The first problem we face is one of secondary imaging effects that makes image color different from surface color. We demonstrate a simple but effective polarization based technique that corrects for these effects. We then propose a systematic approach of scalarizing color, that allows us to augment classical image processing tools and concepts for multi-dimensional color signals.

Attentional Selection in Object Recognition

A key problem in object recognition is selection, namely, the problem of identifying regions in an image within which to start the recognition process, ideally by isolating regions that are likely to come from a single object. Such a selection mechanism has been found to be crucial in reducing the combinatorial search involved in the matching stage of object recognition. Even though selection is of help in recognition, it has largely remained unsolved because of the difficulty in isolating regions belonging to objects under complex imaging conditions involving occlusions, changing illumination, and object appearances. This thesis presents a novel approach to the selection problem by proposing a computational model of visual attentional selection as a paradigm for selection in recognition. In particular, it proposes two modes of attentional selection, namely, attracted and pay attention modes as being appropriate for data and model-driven selection in recognition. An implementation of this model has led to new ways of extracting color, texture and line group information in images, and their subsequent use in isolating areas of the scene likely to contain the model object. Among the specific results in this thesis are: a method of specifying color by perceptual color categories for fast color region segmentation and color-based localization of objects, and a result showing that the recognition of texture patterns on model objects is possible under changes in orientation and occlusions without detailed segmentation. The thesis also presents an evaluation of the proposed model by integrating with a 3D from 2D object recognition system and recording the improvement in performance. These results indicate that attentional selection can significantly overcome the computational bottleneck in object recognition, both due to a reduction in the number of features, and due to a reduction in the number of matches during recognition using the information derived during selection. Finally, these studies have revealed a surprising use of selection, namely, in the partial solution of the pose of a 3D object.

People Recognition in Image Sequences by Supervised Learning

We describe a system that learns from examples to recognize people in images taken indoors. Images of people are represented by color-based and shape-based features. Recognition is carried out through combinations of Support Vector Machine classifiers (SVMs). Different types of multiclass strategies based on SVMs are explored and compared to k-Nearest Neighbors classifiers (kNNs). The system works in real time and shows high performance rates for people recognition throughout one day.

Role of color in face recognition

One of the key challenges in face perception lies in determining the contribution of different cues to face identification. In this study, we focus on the role of color cues. Although color appears to be a salient attribute of faces, past research has suggested that it confers little recognition advantage for identifying people. Here we report experimental results suggesting that color cues do play a role in face recognition and their contribution becomes evident when shape cues are degraded. Under such conditions, recognition performance with color images is significantly better than that with grayscale images. Our experimental results also indicate that the contribution of color may lie not so much in providing diagnostic cues to identity as in aiding low-level image-analysis processes such as segmentation.

Relative Contributions of Internal and External Features to Face Recognition

The central challenge in face recognition lies in understanding the role different facial features play in our judgments of identity. Notable in this regard are the relative contributions of the internal (eyes, nose and mouth) and external (hair and jaw-line) features. Past studies that have investigated this issue have typically used high-resolution images or good-quality line drawings as facial stimuli. The results obtained are therefore most relevant for understanding the identification of faces at close range. However, given that real-world viewing conditions are rarely optimal, it is also important to know how image degradations, such as loss of resolution caused by large viewing distances, influence our ability to use internal and external features. Here, we report experiments designed to address this issue. Our data characterize how the relative contributions of internal and external features change as a function of image resolution. While we replicated results of previous studies that have shown internal features of familiar faces to be more useful for recognition than external features at high resolution, we found that the two feature sets reverse in importance as resolution decreases. These results suggest that the visual system uses a highly non-linear cue-fusion strategy in combining internal and external features along the dimension of image resolution and that the configural cues that relate the two feature sets play an important role in judgments of facial identity.

The Japanese Business System: Key Features and Prospects for Change

This paper argues that the Japanese business system cannot be adequately understood without extending the focus of analysis beyond the individual firm to the vertical keiretsu, or business group. The vertical group or keiretsu structure was first identified and studied in the auto and electronics industries, where it is most strongly marked, but it characterizes virtually all sectors, service industries as well as manufacturing. Large industrial vertical keiretsu are composed of subsidiaries engaged in three distinct types of activities (manufacturing, marketing, and quasirelated business). The coordination and control systems are built on the flows of products, financial resources, information and technology, and people across formal company boundaries, with the parent firm controlling the key flows. The paper examines the prevailing explanations first for the emergence and then for the persistence of the vertical group structure, and looks at the current pressures for change and adaptation in the system.