842 resultados para Image Based Visual Servoing


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Representing images and videos in the form of compact codes has emerged as an important research interest in the vision community, in the context of web scale image/video search. Recently proposed Vector of Locally Aggregated Descriptors (VLAD), has been shown to outperform the existing retrieval techniques, while giving a desired compact representation. VLAD aggregates the local features of an image in the feature space. In this paper, we propose to represent the local features extracted from an image, as sparse codes over an over-complete dictionary, which is obtained by K-SVD based dictionary training algorithm. The proposed VLAD aggregates the residuals in the space of these sparse codes, to obtain a compact representation for the image. Experiments are performed over the `Holidays' database using SIFT features. The performance of the proposed method is compared with the original VLAD. The 4% increment in the mean average precision (mAP) indicates the better retrieval performance of the proposed sparse coding based VLAD.

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This paper proposes a denoising algorithm which performs non-local means bilateral filtering. As existing literature suggests, non-local means (NLM) is one of the widely used denoising techniques, but has a critical drawback of smoothing of edges. In order to improve this, we perform fast and efficient NLM using Approximate Nearest Neighbour Fields and improve the edge content in denoising by formulating a joint-bilateral filter. Using the proposed joint bilateral, we are able to denoise smooth regions using the NLM approach and efficient edge reconstruction is obtained from the bilateral filter. Furthermore, to avoid tedious parameter selection, we carry out a noise estimation before performing joint bilateral filtering. The proposed approach is observed to perform well on high noise images.

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Image inpainting is the process of filling the unwanted region in an image marked by the user. It is used for restoring old paintings and photographs, removal of red eyes from pictures, etc. In this paper, we propose an efficient inpainting algorithm which takes care of false edge propagation. We use the classical exemplar based technique to find out the priority term for each patch. To ensure that the edge content of the nearest neighbor patch found by minimizing L-2 distance between patches, we impose an additional constraint that the entropy of the patches be similar. Entropy of the patch acts as a good measure of edge content. Additionally, we fill the image by considering overlapping patches to ensure smoothness in the output. We use structural similarity index as the measure of similarity between ground truth and inpainted image. The results of the proposed approach on a number of examples on real and synthetic images show the effectiveness of our algorithm in removing objects and thin scratches or text written on image. It is also shown that the proposed approach is robust to the shape of the manually selected target. Our results compare favorably to those obtained by existing techniques

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Among the multiple advantages and applications of remote sensing, one of the most important uses is to solve the problem of crop classification, i.e., differentiating between various crop types. Satellite images are a reliable source for investigating the temporal changes in crop cultivated areas. In this letter, we propose a novel bat algorithm (BA)-based clustering approach for solving crop type classification problems using a multispectral satellite image. The proposed partitional clustering algorithm is used to extract information in the form of optimal cluster centers from training samples. The extracted cluster centers are then validated on test samples. A real-time multispectral satellite image and one benchmark data set from the University of California, Irvine (UCI) repository are used to demonstrate the robustness of the proposed algorithm. The performance of the BA is compared with two other nature-inspired metaheuristic techniques, namely, genetic algorithm and particle swarm optimization. The performance is also compared with the existing hybrid approach such as the BA with K-means. From the results obtained, it can be concluded that the BA can be successfully applied to solve crop type classification problems.

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We address the problem of denoising images corrupted by multiplicative noise. The noise is assumed to follow a Gamma distribution. Compared with additive noise distortion, the effect of multiplicative noise on the visual quality of images is quite severe. We consider the mean-square error (MSE) cost function and derive an expression for an unbiased estimate of the MSE. The resulting multiplicative noise unbiased risk estimator is referred to as MURE. The denoising operation is performed in the wavelet domain by considering the image-domain MURE. The parameters of the denoising function (typically, a shrinkage of wavelet coefficients) are optimized for by minimizing MURE. We show that MURE is accurate and close to the oracle MSE. This makes MURE-based image denoising reliable and on par with oracle-MSE-based estimates. Analogous to the other popular risk estimation approaches developed for additive, Poisson, and chi-squared noise degradations, the proposed approach does not assume any prior on the underlying noise-free image. We report denoising results for various noise levels and show that the quality of denoising obtained is on par with the oracle result and better than that obtained using some state-of-the-art denoisers.

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对薄板成形应变场传统的测量方法进行了研究,指出了其不足和误差的来源,提出了数字图像分析法测量薄板成形中的应变场,对测量原理、新的测量方法对传统方法的改进,以及如何降低误差进行了介绍,指出数字图像分析法的前景,提出了改进意见。

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This paper presents a novel coarse-to-fine global localization approach that is inspired by object recognition and text retrieval techniques. Harris-Laplace interest points characterized by SIFT descriptors are used as natural land-marks. These descriptors are indexed into two databases: an inverted index and a location database. The inverted index is built based on a visual vocabulary learned from the feature descriptors. In the location database, each location is directly represented by a set of scale invariant descriptors. The localization process consists of two stages: coarse localization and fine localization. Coarse localization from the inverted index is fast but not accurate enough; whereas localization from the location database using voting algorithm is relatively slow but more accurate. The combination of coarse and fine stages makes fast and reliable localization possible. In addition, if necessary, the localization result can be verified by epipolar geometry between the representative view in database and the view to be localized. Experimental results show that our approach is efficient and reliable. ©2005 IEEE.

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This paper presents a novel approach using combined features to retrieve images containing specific objects, scenes or buildings. The content of an image is characterized by two kinds of features: Harris-Laplace interest points described by the SIFT descriptor and edges described by the edge color histogram. Edges and corners contain the maximal amount of information necessary for image retrieval. The feature detection in this work is an integrated process: edges are detected directly based on the Harris function; Harris interest points are detected at several scales and Harris-Laplace interest points are found using the Laplace function. The combination of edges and interest points brings efficient feature detection and high recognition ratio to the image retrieval system. Experimental results show this system has good performance. © 2005 IEEE.

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903 páginas, bibliografía en páginas 854-895, glosario en páginas 896-903