3D Feature Extraction and Modelling for SLAM

Paper submitted to the 39th International Symposium on Robotics ISR 2008, Seoul, South Korea, October 15-17, 2008.

Using GNG to improve 3D feature extraction—Application to 6DoF egomotion

Several recent works deal with 3D data in mobile robotic problems, e.g. mapping or egomotion. Data comes from any kind of sensor such as stereo vision systems, time of flight cameras or 3D lasers, providing a huge amount of unorganized 3D data. In this paper, we describe an efficient method to build complete 3D models from a Growing Neural Gas (GNG). The GNG is applied to the 3D raw data and it reduces both the subjacent error and the number of points, keeping the topology of the 3D data. The GNG output is then used in a 3D feature extraction method. We have performed a deep study in which we quantitatively show that the use of GNG improves the 3D feature extraction method. We also show that our method can be applied to any kind of 3D data. The 3D features obtained are used as input in an Iterative Closest Point (ICP)-like method to compute the 6DoF movement performed by a mobile robot. A comparison with standard ICP is performed, showing that the use of GNG improves the results. Final results of 3D mapping from the egomotion calculated are also shown.

Real-time 3D semi-local surface patch extraction using GPGPU

Feature vectors can be anything from simple surface normals to more complex feature descriptors. Feature extraction is important to solve various computer vision problems: e.g. registration, object recognition and scene understanding. Most of these techniques cannot be computed online due to their complexity and the context where they are applied. Therefore, computing these features in real-time for many points in the scene is impossible. In this work, a hardware-based implementation of 3D feature extraction and 3D object recognition is proposed to accelerate these methods and therefore the entire pipeline of RGBD based computer vision systems where such features are typically used. The use of a GPU as a general purpose processor can achieve considerable speed-ups compared with a CPU implementation. In this work, advantageous results are obtained using the GPU to accelerate the computation of a 3D descriptor based on the calculation of 3D semi-local surface patches of partial views. This allows descriptor computation at several points of a scene in real-time. Benefits of the accelerated descriptor have been demonstrated in object recognition tasks. Source code will be made publicly available as contribution to the Open Source Point Cloud Library.

Constrained self-organizing feature map to preserve feature extraction topology

In many classification problems, it is necessary to consider the specific location of an n-dimensional space from which features have been calculated. For example, considering the location of features extracted from specific areas of a two-dimensional space, as an image, could improve the understanding of a scene for a video surveillance system. In the same way, the same features extracted from different locations could mean different actions for a 3D HCI system. In this paper, we present a self-organizing feature map able to preserve the topology of locations of an n-dimensional space in which the vector of features have been extracted. The main contribution is to implicitly preserving the topology of the original space because considering the locations of the extracted features and their topology could ease the solution to certain problems. Specifically, the paper proposes the n-dimensional constrained self-organizing map preserving the input topology (nD-SOM-PINT). Features in adjacent areas of the n-dimensional space, used to extract the feature vectors, are explicitly in adjacent areas of the nD-SOM-PINT constraining the neural network structure and learning. As a study case, the neural network has been instantiate to represent and classify features as trajectories extracted from a sequence of images into a high level of semantic understanding. Experiments have been thoroughly carried out using the CAVIAR datasets (Corridor, Frontal and Inria) taken into account the global behaviour of an individual in order to validate the ability to preserve the topology of the two-dimensional space to obtain high-performance classification for trajectory classification in contrast of non-considering the location of features. Moreover, a brief example has been included to focus on validate the nD-SOM-PINT proposal in other domain than the individual trajectory. Results confirm the high accuracy of the nD-SOM-PINT outperforming previous methods aimed to classify the same datasets.

A framework for automatic feature extraction from airborne light detection and ranging data

Recent advances in airborne Light Detection and Ranging (LIDAR) technology allow rapid and inexpensive measurements of topography over large areas. Airborne LIDAR systems usually return a 3-dimensional cloud of point measurements from reflective objects scanned by the laser beneath the flight path. This technology is becoming a primary method for extracting information of different kinds of geometrical objects, such as high-resolution digital terrain models (DTMs), buildings and trees, etc. In the past decade, LIDAR gets more and more interest from researchers in the field of remote sensing and GIS. Compared to the traditional data sources, such as aerial photography and satellite images, LIDAR measurements are not influenced by sun shadow and relief displacement. However, voluminous data pose a new challenge for automated extraction the geometrical information from LIDAR measurements because many raster image processing techniques cannot be directly applied to irregularly spaced LIDAR points. ^ In this dissertation, a framework is proposed to filter out information about different kinds of geometrical objects, such as terrain and buildings from LIDAR automatically. They are essential to numerous applications such as flood modeling, landslide prediction and hurricane animation. The framework consists of several intuitive algorithms. Firstly, a progressive morphological filter was developed to detect non-ground LIDAR measurements. By gradually increasing the window size and elevation difference threshold of the filter, the measurements of vehicles, vegetation, and buildings are removed, while ground data are preserved. Then, building measurements are identified from no-ground measurements using a region growing algorithm based on the plane-fitting technique. Raw footprints for segmented building measurements are derived by connecting boundary points and are further simplified and adjusted by several proposed operations to remove noise, which is caused by irregularly spaced LIDAR measurements. To reconstruct 3D building models, the raw 2D topology of each building is first extracted and then further adjusted. Since the adjusting operations for simple building models do not work well on 2D topology, 2D snake algorithm is proposed to adjust 2D topology. The 2D snake algorithm consists of newly defined energy functions for topology adjusting and a linear algorithm to find the minimal energy value of 2D snake problems. Data sets from urbanized areas including large institutional, commercial, and small residential buildings were employed to test the proposed framework. The results demonstrated that the proposed framework achieves a very good performance. ^

Fingerprint analysis using wavelet transform with application to compression and feature extraction

The main goal of this research is to design an efficient compression al~ gorithm for fingerprint images. The wavelet transform technique is the principal tool used to reduce interpixel redundancies and to obtain a parsimonious representation for these images. A specific fixed decomposition structure is designed to be used by the wavelet packet in order to save on the computation, transmission, and storage costs. This decomposition structure is based on analysis of information packing performance of several decompositions, two-dimensional power spectral density, effect of each frequency band on the reconstructed image, and the human visual sensitivities. This fixed structure is found to provide the "most" suitable representation for fingerprints, according to the chosen criteria. Different compression techniques are used for different subbands, based on their observed statistics. The decision is based on the effect of each subband on the reconstructed image according to the mean square criteria as well as the sensitivities in human vision. To design an efficient quantization algorithm, a precise model for distribution of the wavelet coefficients is developed. The model is based on the generalized Gaussian distribution. A least squares algorithm on a nonlinear function of the distribution model shape parameter is formulated to estimate the model parameters. A noise shaping bit allocation procedure is then used to assign the bit rate among subbands. To obtain high compression ratios, vector quantization is used. In this work, the lattice vector quantization (LVQ) is chosen because of its superior performance over other types of vector quantizers. The structure of a lattice quantizer is determined by its parameters known as truncation level and scaling factor. In lattice-based compression algorithms reported in the literature the lattice structure is commonly predetermined leading to a nonoptimized quantization approach. In this research, a new technique for determining the lattice parameters is proposed. In the lattice structure design, no assumption about the lattice parameters is made and no training and multi-quantizing is required. The design is based on minimizing the quantization distortion by adapting to the statistical characteristics of the source in each subimage. 11 Abstract Abstract Since LVQ is a multidimensional generalization of uniform quantizers, it produces minimum distortion for inputs with uniform distributions. In order to take advantage of the properties of LVQ and its fast implementation, while considering the i.i.d. nonuniform distribution of wavelet coefficients, the piecewise-uniform pyramid LVQ algorithm is proposed. The proposed algorithm quantizes almost all of source vectors without the need to project these on the lattice outermost shell, while it properly maintains a small codebook size. It also resolves the wedge region problem commonly encountered with sharply distributed random sources. These represent some of the drawbacks of the algorithm proposed by Barlaud [26). The proposed algorithm handles all types of lattices, not only the cubic lattices, as opposed to the algorithms developed by Fischer [29) and Jeong [42). Furthermore, no training and multiquantizing (to determine lattice parameters) is required, as opposed to Powell's algorithm [78). For coefficients with high-frequency content, the positive-negative mean algorithm is proposed to improve the resolution of reconstructed images. For coefficients with low-frequency content, a lossless predictive compression scheme is used to preserve the quality of reconstructed images. A method to reduce bit requirements of necessary side information is also introduced. Lossless entropy coding techniques are subsequently used to remove coding redundancy. The algorithms result in high quality reconstructed images with better compression ratios than other available algorithms. To evaluate the proposed algorithms their objective and subjective performance comparisons with other available techniques are presented. The quality of the reconstructed images is important for a reliable identification. Enhancement and feature extraction on the reconstructed images are also investigated in this research. A structural-based feature extraction algorithm is proposed in which the unique properties of fingerprint textures are used to enhance the images and improve the fidelity of their characteristic features. The ridges are extracted from enhanced grey-level foreground areas based on the local ridge dominant directions. The proposed ridge extraction algorithm, properly preserves the natural shape of grey-level ridges as well as precise locations of the features, as opposed to the ridge extraction algorithm in [81). Furthermore, it is fast and operates only on foreground regions, as opposed to the adaptive floating average thresholding process in [68). Spurious features are subsequently eliminated using the proposed post-processing scheme.

Spectral–texture feature extraction using statistical moments with application to object-based vegetation species classification

The use of appropriate features to characterise an output class or object is critical for all classification problems. In order to find optimal feature descriptors for vegetation species classification in a power line corridor monitoring application, this article evaluates the capability of several spectral and texture features. A new idea of spectral–texture feature descriptor is proposed by incorporating spectral vegetation indices in statistical moment features. The proposed method is evaluated against several classic texture feature descriptors. Object-based classification method is used and a support vector machine is employed as the benchmark classifier. Individual tree crowns are first detected and segmented from aerial images and different feature vectors are extracted to represent each tree crown. The experimental results showed that the proposed spectral moment features outperform or can at least compare with the state-of-the-art texture descriptors in terms of classification accuracy. A comprehensive quantitative evaluation using receiver operating characteristic space analysis further demonstrates the strength of the proposed feature descriptors.

An approach to statistical lip modelling for speaker identification via chromatic feature extraction

This paper presents a novel technique for the tracking of moving lips for the purpose of speaker identification. In our system, a model of the lip contour is formed directly from chromatic information in the lip region. Iterative refinement of contour point estimates is not required. Colour features are extracted from the lips via concatenated profiles taken around the lip contour. Reduction of order in lip features is obtained via principal component analysis (PCA) followed by linear discriminant analysis (LDA). Statistical speaker models are built from the lip features based on the Gaussian mixture model (GMM). Identification experiments performed on the M2VTS¹ database, show encouraging results

Discovering the best feature extraction and selection algorithms for spontaneous facial expression recognition

Feature extraction and selection are critical processes in developing facial expression recognition (FER) systems. While many algorithms have been proposed for these processes, direct comparison between texture, geometry and their fusion, as well as between multiple selection algorithms has not been found for spontaneous FER. This paper addresses this issue by proposing a unified framework for a comparative study on the widely used texture (LBP, Gabor and SIFT) and geometric (FAP) features, using Adaboost, mRMR and SVM feature selection algorithms. Our experiments on the Feedtum and NVIE databases demonstrate the benefits of fusing geometric and texture features, where SIFT+FAP shows the best performance, while mRMR outperforms Adaboost and SVM. In terms of computational time, LBP and Gabor perform better than SIFT. The optimal combination of SIFT+FAP+mRMR also exhibits a state-of-the-art performance.

Robust facial feature extraction and matching

Automated feature extraction and correspondence determination is an extremely important problem in the face recognition community as it often forms the foundation of the normalisation and database construction phases of many recognition and verification systems. This paper presents a completely automatic feature extraction system based upon a modified volume descriptor. These features form a stable descriptor for faces and are utilised in a reversible jump Markov chain Monte Carlo correspondence algorithm to automatically determine correspondences which exist between faces. The developed system is invariant to changes in pose and occlusion and results indicate that it is also robust to minor face deformations which may be present with variations in expression.

Structured feature extraction using association rules

As of today, opinion mining has been widely used to iden- tify the strength and weakness of products (e.g., cameras) or services (e.g., services in medical clinics or hospitals) based upon people's feed- back such as user reviews. Feature extraction is a crucial step for opinion mining which has been used to collect useful information from user reviews. Most existing approaches only find individual features of a product without the structural relationships between the features which usually exists. In this paper, we propose an approach to extract features and feature relationship, represented as tree structure called a feature hi- erarchy, based on frequent patterns and associations between patterns derived from user reviews. The generated feature hierarchy profiles the product at multiple levels and provides more detailed information about the product. Our experiment results based on some popularly used review datasets show that the proposed feature extraction approach can identify more correct features than the baseline model. Even though the datasets used in the experiment are about cameras, our work can be ap- plied to generate features about a service such as the services in hospitals or clinics.