Evaluation of salient point techniques

In image retrieval, global features related to color or texture are commonly used to describe the image content. The problem with this approach is that these global features cannot capture all parts of the image having different characteristics. Therefore, local computation of image information is necessary. By using salient points to represent local information, more discriminative features can be computed. In this paper, we compare a wavelet-based salient point extraction algorithm with two corner detectors using the criteria: repeatability rate and information content. We also show that extracting color and texture information in the locations given by our salient points provides significantly improved results in terms of retrieval accuracy, computational complexity, and storage space of feature vectors as compared to global feature approaches.     

基于局部曲面特征直方图的点云识别

针对三维点云的快速识别问题,文中提出基于局部曲面特征直方图的点云识别算法.首先,采用循环体素滤波算法,将不同分辨率的点云滤波至指定分辨率.再基于邻域曲率均值最大的关键点查找算法选取点云局部特征较明显的点作为关键点,根据关键点邻域内点云重心与邻域曲面内各点的法线和距离的关系计算关键点的特征描述符.然后,根据临近关键点间的空间关系和特征描述符欧氏距离进行特征匹配.最后,采用多线程识别框架,加快在线识别速度.实验表明文中算法识别速度较快.     

Convolutional deep learning for 3D object retrieval

In recent years, with the development of 3D technologies, 3D model retrieval has become a hot topic. The key point of 3D model retrieval is to extract robust feature for 3D model representation. In order to improve the effectiveness of method on 3D model retrieval, this paper proposes a feature extraction model based on convolutional neural networks (CNN). First, we extract a set of 2D images from 3D model to represent each 3D object. SIFT detector is utilized to detect interesting points from each 2D image and extract interesting patches to represent local information of each 3D model. X-means is leveraged to generate the CNN filters. Second, a single CNN layer learns low-level features which are then given as inputs to multiple recursive neural networks (RNN) in order to compose higher order features. RNNs can generate the final feature for 2D image representation. Finally, nearest neighbor is used to compute the similarity between different 3D models in order to handle the retrieval problem. Extensive comparison experiments were on the popular ETH and MV-RED 3D model datasets. The results demonstrate the superiority of the proposed method.     

基于重叠域采样混合特征的点云配准算法

针对部分重叠的两片点云配准效率低、误差大等问题,提出了一种基于重叠域采样混合特征的点云配准算法。首先,通过编码和特征交互的方式预测每个点的重叠分数,获得更丰富的点云特征。其次,提取重叠点的局部几何特征,基于重叠分数和点特征的显著性保留重叠关键点。最后,利用重叠关键点的几何信息和空间信息构建混合特征矩阵,计算矩阵的匹配相似度,采取加权奇异值分解运算得到配准结果。实验结果表明,该方法具有较强的泛化能力,能在保证配准效率的同时显著提升点云配准精度。     

条件数和Zernike矩在图像配准中的应用

提出了一种基于条件数和泽尼克矩的图像配准算法。首先用Harris角点检测器提取特征点并通过条件数去掉一些伪特征点;用改进的Zernike矩作为特征点的描述子,通过比较各个特征点圆形邻域泽尼克矩的欧式距离得到初始匹配点对;用RANSAC估计待配准图像和基准图像之间的变换参数,实验表明,该算法在图像存在比例缩放、旋转等情况下有很好的配准效果。     

The relative distance of key point based iris recognition

Iris recognition has received increasing attention in recent years as a reliable approach to human identification. This paper makes an attempt to analyze the local feature structure of iris texture information based on the relative distance of key points. When preprocessed, the annular iris is normalized into a rectangular block. Multi-channel 2-D Gabor filters are used to capture the iris texture. In every filtered sub-image, we extract the points that can represent the local texture most effectively in each channel. The barycenter of these points in each channel is called the key point and a group of key points are obtained. Then, the distance between the center of key points of each sub-image and every key point is called relative distance, which is regarded as the iris feature vector. Iris feature matching is based on the Euclidean distance. Experimental results on public and private databases show that the performance of the proposed method is encouraging.     

基于Gabor能量空间的尺度不变兴趣点检测方法(英文)

Interest point detection is a fundamental issue in many intermediate level vision problems and plays a significant role in vision systems. The previous interest point detectors are designed to detect some special image structures such as corners,junctions, line terminations and so on. These detectors based on some simplified 2D feature models will not work for image features that differ significantly from the models. In this paper, a scale invariant interest point detector, which is appropriate for most types of image features, is proposed based on an iterative method in the Gabor based energy space. It detects interest points by noting that there are some similarities in the phase domain for all types of image features, which are obtained by different detectors respectively. Firstly, this approach obtains the positions of candidate points by detecting the local maxima of a series of energy maps constructed by Gabor filter responses.Secondly, an iterative algorithm is adopted to select the corresponding characteristic scales and accurately locate the interest points simultaneously in the Gabor based energy space. Finally,in order to improve the real-time performance of the approach, a fast implementation of Gabor function is used to accelerate the process of energy space construction. Experiments show that this approach has a broader applicability than the other detectors and has a good performance under rotation and some other image changes.     

基于Gabor能量空间的尺度不变兴趣点检测方法

兴趣点检测是中层视觉感知过程的关键步骤,也是众多机器视觉系统的重要组成部分.此前的大多数兴趣点检测子都是针对特殊的二维图像结构设计的,比如角点、交叉点、端点等,所以对与其差别较大的特征不能检测.采用在Gabor能量空间中迭代搜索的方法,本文提出了一种尺度不变兴趣点检测子.基于结构不同的二维图像特征在相频域中表现相似的特点,该检测子能检测大多数特征.首先,基于Gabor滤波器响应获得一系列能量图像,通过极值点检测得到候选兴趣点;其次,使用一种迭代方法同时选择特征尺度与精确定位特征点位置;最后为了提高算法的实时性,采用了一种递推方法加速能量图像的计算过程.实验结果表明相对于其它检测子,本文提出的方法具有更广泛的适应性,并且在旋转、尺度、光照等变化下具有良好的稳定性.     

Feature line extraction from unorganized noisy point clouds using truncated Fourier series

The detection of feature lines is important for representing and understanding geometric features of 3D models. In this paper, we introduce a new and robust method for extracting feature lines from unorganized point clouds. We use a one-dimensional truncated Fourier series for detecting feature points. Each point and its neighbors are approximated along the principal directions by using the truncated Fourier series, and the curvature of the point is computed from the approximated curves. The Fourier coefficients are computed by Fast Fourier Transform (FFT). We apply low-pass filtering to remove noise and to compute the curvature of the point robustly. For extracting feature points from the detected potential feature points, the potential feature points are thinned using a curvature weighted Laplacian-like smoothing method. The feature lines are constructed through growing extracted points and then projected onto the original point cloud. The efficiency and robustness of our approach is illustrated by several experimental results.     

A Catalog of 1-D Features in Natural Images

This paper explores the local form of actual feature types contained in real images. The local energy feature detector is used to locate points in an image where features are found. An unsupervised neural network is trained to capture the mean luminance values and standard deviations of the luminance values in a small neighborhood of these feature points. This local luminance information is called a feature template. After culling and normalization, we arrive at a catalog of local feature forms for the image. Our experiments indicate that the feature forms are self-similar over different images and across scales. When described by their phase angle, features also show some clustering around a small number of types. The size of the feature catalog is small, and shows promising applications in the area of image compression and reconstruction. Quantization of phase angles around the central angles of clusters yields a catalog of synthetic feature templates that further improves the fidelity of the reconstructed images.     

A fast registration algorithm of rock point cloud based on spherical projection and feature extraction

Point cloud registration is an essential step in the process of 3D reconstruction. In this paper, a fast registration algorithm of rock mass point cloud is proposed based on the improved iterative closest point (ICP) algorithm. In our proposed algorithm, the point cloud data of single station scanner is transformed into digital images by spherical polar coordinates, then image features are extracted and edge points are removed, the features used in this algorithm is scale-invariant feature transform (SIFT). By analyzing the corresponding relationship between digital images and 3D points, the 3D feature points are extracted, from which we can search for the two-way correspondence as candidates. After the false matches are eliminated by the exhaustive search method based on random sampling, the transformation is computed via the Levenberg-Marquardt-Iterative Closest Point (LM-ICP) algorithm. Experiments on real data of rock mass show that the proposed algorithm has the similar accuracy and better registration efficiency compared with the ICP algorithm and other algorithms.     

Sharp feature preserving MLS surface reconstruction based on local feature line approximations

Sharp features in manufactured and designed objects require particular attention when reconstructing surfaces from unorganized scan point sets using moving least squares (MLS) fitting. It is an inherent property of MLS fitting that sharp features are smoothed out. Instead of searching for appropriate new fitting functions our approach computes a modified local point neighborhood so that a standard MLS fitting can be applied enhanced by sharp features reconstruction.We present a two-stage algorithm. In a pre-processing step sharp feature points are marked first. This algorithm is robust to noise since it is based on Gauss map clustering. In the main phase, the selected feature points are used to locally approximate the feature curve and to segment and enhance the local point neighborhood. The MLS projection thus leads to a piecewise smooth surface preserving all sharp features. The method is simple to implement and able to preserve line-type features as well as corner-type features during reconstruction.     

An edge-based scale- and affine-invariant algorithm for remote sensing image registration

For remote sensing image registration, we find that affine transformation is suitable to describe the mapping between images. Based on the scale-invariant feature transform (SIFT), affine-SIFT (ASIFT) is capable of detecting and matching scale- and affine-invariant features. Unlike the blob feature detected in SIFT and ASIFT, a scale-invariant edge-based matching operator is employed in our new method. To find the local features, we first extract edges with a multi-scale edge detector, then the distinctive features (we call these ‘feature from edge’ or FFE) with computed scale are detected, and finally a new matching scheme is introduced for image registration. The algorithm incorporates principal component analysis (PCA) to ease the computational burden, and its affine invariance is embedded by discrete sampling as ASIFT. We present our analysis based on multi-sensor, multi-temporal, and different viewpoint images. The operator shows the potential to become a robust alternative for point-feature-based registration of remote-sensing images as subpixel registration consistency is achieved. We also show that using the proposed edge-based scale- and affine-invariant algorithm (EBSA) results in a significant speedup and fewer false matching pairs compared to the original ASIFT operator.     

明显区域块和空间分布特征的图像检索

基于小波变换理论提出了一种明显区域块检测方法,改进了环型分割算法,使对视觉有意义的区域特征提取更加快捷、方便。该算法不仅考虑到区域内的图像特征,而且还考虑到明显区域块的空间分布信息,把环型区域的颜色矩和在明显区域块附近的Gabor特点,作为索引图像的特征向量。使用Corel图像库测试了提出的方法。实验表明,该方法切实可行。     

基于邻域曲率的低特征辨识度点云配准方法

在对特征辨识度低的点云进行配准的过程中,传统的基于局部特征提取和匹配的方法通常精度不高,而基于全局特征匹配的方法精度和效率也难以保证。针对这一问题,提出一种改进的局部特征配准方法。在初步配准阶段,设计了一种基于法向量投影协方差分析的关键点提取方法,结合快速特征直方图(FPFH)对关键点进行特征描述,定义多重匹配条件对特征点进行筛选,最后将对应点的最近距离之和作为优化目标进行粗匹配;在精配准阶段,采用以点到平面的最小距离作为迭代优化对象的改进迭代最近点(ICP)算法进行精确配准。实验结果表明,在配准特征辨识度低的点云时,相较于其他三种配准方法,该方法能保持高配准精度的同时降低配准时间。     

基于关键特征点的改进TLD目标跟踪算法研究

TLD（Tracking-Learning-Detection）算法是一种新颖的单目标长时间视觉跟踪算法,在给定极少的先验知识的情况下,能够迅速地学习目标特征并进行有效的跟踪。TLD算法中跟踪器每次在跟踪目标上均匀地选取特征点进行跟踪,不能保证每个特征点都能够被可靠地跟踪。针对这个问题,提出一种基于关键特征点检测的改进TLD算法,保证所选特征点都能够被正确可靠地跟踪,防止跟踪结果发生漂移,提高了跟踪器的跟踪精度。另一方面,在TLD检测器中引入了基于轨迹连续性的在线位置预测,在保证正确跟踪的前提下,缩小了检测器的检测范围,提高了运算速度。实验结果表明,该算法有较高的跟踪精度和速度。     

基于局部仿射不变特征的宽基线影像匹配

提出了一种基于局部仿射不变量特征的宽基线影像匹配算法。该算法以影像特征点为定位点,使用分层变尺度窗口内的几何和亮度仿射不变量特征实现立体匹配。由于使用局部特征,在较大窗口范围内构造尺度、旋转不变特征,以及将大窗口划分为较小的子区域,因此,该算法具有较高的匹配可靠性、较高的效率和匹配精度。