2298962
A Cooperative Algorithm for Stereo Matching and Occlusion Detection
Presents a stereo algorithm for obtaining disparity maps with occlusion explicitly detected. To produce smooth and detailed disparity maps, two assumptions that were originally proposed by Marr and Poggio (1976, 1979) are adopted: uniqueness and continuity. That is, the disparity maps have a unique value per pixel and are continuous almost everywhere. These assumptions are enforced within a three-dimensional array of match values in disparity space. Each match value corresponds to a pixel in an image and a disparity relative to another image. An iterative algorithm updates the match values by diffusing support among neighboring values and inhibiting others along similar lines of sight. By applying the uniqueness assumption, occluded regions can be explicitly identified. To demonstrate the effectiveness of the algorithm, we present the processing results from synthetic and real image pairs, including ones with ground-truth values for quantitative comparison with other methods.
2304541
Name-It: association of face and name in video
This paper proposes a novel approach to extract meaningful content information from video by collaborative integration of image understanding and natural language processing. As an actual example, we developed a system that associates faces and names in videos, called Name-It, which is given news videos as a knowledge source, then automatically extracts face and name association as content information. The system can infer the name of a given unknown face image, or guess faces which are likely to have the name given to the system. This paper explains the method with several successful matching results which reveal effectiveness in integrating heterogeneous techniques as well as the importance of real content information extraction from video, especially face-name association.
5247846
A Closed-Form Solution to Non-Rigid Shape and Motion Recovery
Recovery of three dimensional (3D) shape and motion of non-static scenes from a monocular video sequence is important for applications like robot navigation and human computer interaction. If every point in the scene randomly moves, it is impossible to recover the non-rigid shapes. In practice, many non-rigid objects, e.g. the human face under various expressions, deform with certain structures. Their shapes can be regarded as a weighted combination of certain shape bases. Shape and motion recovery under such situations has attracted much interest. Previous work on this problem (Bregler, C., Hertzmann, A., and Biermann, H. 2000. In Proc. Int. Conf. Computer Vision and Pattern Recognition; Brand, M. 2001. In Proc. Int. Conf. Computer Vision and Pattern Recognition; Torresani, L., Yang, D., Alexander, G., and Bregler, C. 2001. In Proc. Int. Conf. Computer Vision and Pattern Recognition) utilized only orthonormality constraints on the camera rotations (rotation constraints). This paper proves that using only the rotation constraints results in ambiguous and invalid solutions. The ambiguity arises from the fact that the shape bases are not unique. An arbitrary linear transformation of the bases produces another set of eligible bases. To eliminate the ambiguity, we propose a set of novel constraints, basis constraints, which uniquely determine the shape bases. We prove that, under the weak-perspective projection model, enforcing both the basis and the rotation constraints leads to a closed-form solution to the problem of non-rigid shape and motion recovery. The accuracy and robustness of our closed-form solution is evaluated quantitatively on synthetic data and qualitatively on real video sequences.
2727051
Anomaly detection through registration
We study an application of image registration in the medical domain. Based on a 3-D hierarchical deformable registration algorithm, we have developed a prototype system which automatically aligns a standard atlas to a subject's data to create a customized atlas. Combined with domain knowledge, the registration algorithm can also detect asymmetries and abnormal variations in the subject's data that indicate the existence and location of pathologies. We have conducted tests on 106 MRI scans of normal brains, 3 MRI and 1 CT scan of brains with pathologies, with results qualitatively comparable to manual segmentation.
941787
Optical Navigation by the Method of Differences
The method of differences refers to a technique for image matching that uses the intensity gradient of the image to iteratively improve the match between the two images. Used in an iterative scheme combined with image smoothing, the method exhibits good accuracy and a wide convergence range. In this paper we show how the technique ran be used to directly solve for the parameters relating two cameras viewing the same scene. The resulting algorithm can be used for optical navigation, which has applications in robot arm guidance and autonomous roving vehicle navigation. Because of the regular structure of the algorithm, the prospects of carrying it out with specialpurpose hardware for real-time control of a robot seem good. We present experimental results demonstrating the accuracy and range of convergence that can be expected from the algorithm.
6728834
Robust full-motion recovery of head by dynamic templates and re-registration techniques
This paper presents a method to recover the full-motion (3 rotations and 3 translations) of the head using a cylindrical model. The robustness of the approach is achieved by a combination of three techniques. First, we use the iteratively re-weighted least squares (IRLS) technique in conjunction with the image gradient to deal with non-rigid motion and occlusion. Second, while tracking, the templates are dynamically updated to diminish the effects of self-occlusion and gradual lighting changes and keep tracking the head when most of the face is not visible. Third, because the dynamic templates may cause error accumulation, we re-register images to a reference frame when head pose is close to a reference pose. The performance of the real-time tracking program was evaluated in three separate experiments using image sequences (both synthetic and real) for which ground truth head motion is known. The real sequences included pitch and yaw of as large as 40/spl deg/ and 75/spl deg/ respectively. The average recovery accuracy of the 3D rotations was found to be about 3/spl deg/.
17343403
Ambler: an autonomous rover for planetary exploration
The authors are building a prototype legged rover, called the Ambler (loosely an acronym for autonomous mobile exploration robot) and testing it on full-scale, rugged terrain of the sort that might be encountered on the Martian surface. They present an overview of their research program, focusing on locomotion, perception, planning, and control. They summarize some of the most important goals and requirements of a rover design and describe how locomotion, perception, and planning systems can satisfy these requirements. Since the program is relatively young (one year old at the time of writing) they identify issues and approaches and describe work in progress rather than report results. It is expected that many of the technologies developed will be applicable to other planetary bodies and to terrestrial concerns such as hazardous waste assessment and remediation, ocean floor exploration, and mining.<<ETX>>