Segmentation and recognition using structure from motion point clouds

We propose an algorithm for semantic segmentation based on 3D point clouds derived from ego-motion. We motivate five simple cues designed to model specific patterns of motion and 3D world structure that vary with object category. We introduce features that project the 3D cues back to the 2D image plane while modeling spatial layout and context. A randomized decision forest combines many such features to achieve a coherent 2D segmentation and recognize the object categories present. Our main contribution is to show how semantic segmentation is possible based solely on motion-derived 3D world structure. Our method works well on sparse, noisy point clouds, and unlike existing approaches, does not need appearance-based descriptors. Experiments were performed on a challenging new video database containing sequences filmed from a moving car in daylight and at dusk. The results confirm that indeed, accurate segmentation and recognition are possible using only motion and 3D world structure. Further, we show that the motion-derived information complements an existing state-of-the-art appearance-based method, improving both qualitative and quantitative performance. © 2008 Springer Berlin Heidelberg.

Comparison of Camera Motion Estimation Methods for 3D Reconstruction of Infrastructure

Camera motion estimation is one of the most significant steps for structure-from-motion (SFM) with a monocular camera. The normalized 8-point, the 7-point, and the 5-point algorithms are normally adopted to perform the estimation, each of which has distinct performance characteristics. Given unique needs and challenges associated to civil infrastructure SFM scenarios, selection of the proper algorithm directly impacts the structure reconstruction results. In this paper, a comparison study of the aforementioned algorithms is conducted to identify the most suitable algorithm, in terms of accuracy and reliability, for reconstructing civil infrastructure. The free variables tested are baseline, depth, and motion. A concrete girder bridge was selected as the "test-bed" to reconstruct using an off-the-shelf camera capturing imagery from all possible positions that maximally the bridge's features and geometry. The feature points in the images were extracted and matched via the SURF descriptor. Finally, camera motions are estimated based on the corresponding image points by applying the aforementioned algorithms, and the results evaluated.

A novel method of extraction of blend component structure from SANS measurements of homopolymer bimodal blends

A new method is presented for the extraction of single-chain form factors and interchain interference functions from a range of small-angle neutron scattering (SANS) experiments on bimodal homopolymer blends. The method requires a minimum of three blends, made up of hydrogenated and deuterated components with matched degree of polymerization at two different chain lengths, but with carefully varying deuteration levels. The method is validated through an experimental study on polystyrene homopolymer bimodal blends with M A≈1/2MB. By fitting Debye functions to the structure factors, it is shown that there is good agreement between the molar mass of the components obtained from SANS and from chromatography. The extraction method also enables, for the first time, interchain scattering functions to be produced for scattering between chains of different lengths. © 2014 The Authors. Published by WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim.