ROV平台全景摄像系统的研究

不同于空气成像,水下全景受水压、暗光影响比较大,需要特殊的镜头封装和聚焦型水下照明,而水下多路图像处理可以借鉴、调整已有的图像处理算法,以解决偏色、噪点等成像问题;且基于全景视频传输的热点研究,水下ROV全景摄像系统有较好的发展空间。基于对水下全景摄像技术的研究,文章首先详细介绍了水下全景摄像的生成和传输方式,并以ROV平台为载体,从相机硬件的需求分析,说明分布式、集成式两种相机布局;接着,针对获得的多路图像数据,通过图像预处理、拼接融合生成全景图像;最后,考虑水下水上的远程视频传输,介绍了全景视频基于切片流（Tile流）划分的自适应多速率传输方案。从水下全景摄像技术的发展来看,随着图像无损拼接、影像处理器计算速度更迭、图像复原、超宽带连接和全景视频传输等技术的提高,ROV平台全景摄像系统将得到广泛应用。     

基于运动检测的图像去模糊算法

针对相机曝光期间,由于相机和被拍摄物体之间存在相对运动而产生的图像模糊的问题,提出一种基于运动检测的图像去模糊算法。本算法根据相机成像的数学模型,推导出模糊核的参数（长度和方向）与相对运动之间的定量关系,通过维纳滤波对图像进行滤波去模糊。通过实验,可以观察到滤波过后的图像在细节上更加清晰,表明本方法能够一定程度上地去除模糊。     

边缘区域约束引导的运动模糊图像复原

相机在拍摄物体时,物体运动或相机抖动会导致图像模糊.针对此问题,提出一种边缘区域约束引导的运动模糊图像复原算法.通过分析图像中阶跃边缘区域与运动模糊核之间的内在关系,建立了一种新的边缘区域约束;对该约束进一步结合RANSAC算法,可有效地引导运动模糊核的估计.大量对比实验结果表明,该算法简单、估计精度高,能够得到优于传统算法的高质量图像模糊恢复结果.     

自拍相机运动手势交互界面的设计与实现

随着智能移动终端的发展及摄像镜头的小型化,自拍变得越来越流行。如何设计新型自拍交互方法使得用户在自拍过程中能够自由、实时地控制相机是自拍相机交互界面的关键问题。提出利用基于视觉的运动手势交互界面的新方法,使自拍过程中用户只要挥一挥手臂就可以实现与自拍相机的交互功能。使用手势交互的方法,用户可以把相机放在任意的平台上,自由地摆出各种自拍姿态,增加了自拍的丰富性,提高了用户体验。主要提出挥手及画圈两种交互手势,通过组合应用可以实现丰富高效的自拍交互控制功能,如快门控制、白平衡,曝光度等。手势的识别利用相机摄像的实时图像进行处理,采用稀疏光流算法来识别运动手势。用户评估实验表明,所提出运动手势自拍交互界面具有较好的交互效率以及良好的用户满意度,两种手势的识别效率约为85%。     

基于生成对抗网络的运动模糊图像复原

针对相机成像时相机抖动、物体运动等导致图像产生运动模糊这一十分具有挑战性的问题，提出基于生成对抗网络的深度卷积神经网络来复原模糊图像的解决方案。该方案省略了模糊核估计的过程，采用端对端的方式直接获取复原图像；通过引入生成对抗网络思想的对抗损失和对残差网络进行改进，有效地复原了图像的细节信息。最后通过训练此深度卷积神经网络模型并在相关模糊复原基准数据集上测试，证明了该方案取得了较好的结果。     

基于椭圆变形域的图像局部变形

图像局部变形技术是图像处理领域的一个分支,它只改变图像中指定区域范围内的特征而保持其他区域不发生变化.文中在径向基函数的基础上,提出了一种基于椭圆变形域的图像局部变形的算法,并讨论了函数中关键参数的选取对变形效果的影响;通过对变形区域的影响半径R和影响系数s的设置,控制图像局部变形的区域,从而解决了图像变形过程中产生的重叠映射;最后,介绍了图像局部变形的算法流程,利用VC++6.0和OpenCV搭建实验平台对算法进行了验证,实现了交互模式下的图像局部变形     

动态相对模糊区域生长算法

为了提高区域生长的分割精度和模糊连通度算法的运算速度,减少算法所需的人工干预和种子点选取对分割结果的影响,提出了一种融合区域生长和改进模糊连通度,并结合置信区间和区域竞争方法,用于医学图像分割的动态相对模糊区域生长算法.首先算法使用置信区间区域生长快速地得出初步的多个对象分割结果,然后利用置信区间的参数,对分割区域间重叠部分使用动态相对模糊连通度算法进行再分割.通过在大量医学图像上的实验,实现了复杂背景下的图像分割.实验结果表明,该算法所需交互少,并能提高分割精度和速度.     

鱼眼相机与PTZ相机相结合的主从目标监控系统

提出了一种将鱼眼相机和PTZ相机相结合的主从目标监控系统,充分利用鱼眼相机单镜头半球空间成像以及PTZ相机指向性高分辨率成像的优点,实现了单系统半球空间运动目标的高分辨率成像监控。首先采用运动点团模式实现鱼眼图像中运动目标的检测;然后在鱼眼图像空间计算目标的相对方位角P′、俯仰角T′和距离Z′;最后通过参数映射将其映射到PTZ图像空间,输出PTZ控制信号给相机进行指向性成像。PTZ图像空间中的P参数和T参数结合鱼眼镜头畸变系数进行校正计算,Z参数根据目标在鱼眼图像中的相对尺寸及PTZ图像中需要的尺寸进行计算。通过对PTZ参数的多次实验测量,其结果的误差均在系统要求范围之内。系统实际的户外测试结果表明,系统能准确检测出鱼眼图像中的运动目标,在PTZ参数的控制下,PTZ相机能准确指向目标进行二次高分辨率成像,目标在PTZ图像中的位置和大小合适,达到预期的设计目标。     

动平台下双目视觉定位标定算法研究

研究空中目标定位优化问题,对于动平台下的双目视觉定位精度差.通过固定位置的两部相机拍摄图像的视差,获取目标位置信息,算法简单、精确.对静平台下相机标定参数进行调整,用新的旋转矩阵和平移向量取代静平台下的这些数据,降低动平台带来的扰动,同时解决了相机转动后需要重新标定才能获得相机内外参数的问题.最后仿真结果验证了改进后的双目视觉定位标定算法达到在平台转动情况下定位精确、算法简单、有效,为空间电影票定位优化设计提供了参考.     

基于OpenGL的空间目标图像序列仿真

在实际中,真实图像序列的获取具有实现难度大、成本高、周期长等困难,针对这一问题,在分析摄影测量成像原理与OpenGL成像机理的基础上,提出一种基于OpenGL的空间目标2D/3D图像序列仿真方法。构建成像系统中目标、光源、2D相机、3D相机等部分的仿真模型,通过设置合理的仿真参数生成目标仿真图像序列,且能够在生成目标的2D图像序列的同时生成目标的3D图像序列。通过仿真实验验证了该方法的可行性,为空间目标位姿视觉测量提供有效的图像数据支持。     

Perception-based model simplification for motion blur rendering

Motion blur effects are important to motion perception in visual arts, interactive games and animation applications. Usually, such motion blur rendering is quite time consuming, thus blocking the online/interactive use of the effects. Motivated by the human perception in relation to moving objects, this paper presents simplified geometric models that enable to speedup motion blur rendering, which has not been tracked in motion blur rendering specifically. We develop a novel algorithm to simplify models with motion-aware, to preserve the features whose characteristics are perceivable in motion. We deduce the formula to outline the level of detail simplification by the object moving velocity. Using our simplified models, methods for motion blur rendering can achieve the rendering quality as using the original models, and obtain the processing acceleration mostly. The experimental results have shown the effectiveness of our approach, more acceleration with the larger models or faster motion (e.g. for the dragon model with over a million facets, the motion-blur rendering via hierarchical stochastic rasterization is sped up by over 27 times).     

Training-free referenceless camera image blur assessment via hypercomplex singular value decomposition

Blur plays an important role in the perception of camera image quality. Generally, blur leads to attenuation of high frequency information and accordingly changes the image energy. Quaternion describes the color information as a whole. Recent researches in quaternion singular value decomposition show that the singular values and singular vectors of the quaternion can capture the distortion of color images, and thus we reasonably suppose that singular values can be utilized to evaluate the sharpness of camera images. Motivated by this, a novel training-free blind quality assessment method considering the integral color information and singular values of the distorted image is proposed to evaluate the sharpness of camera images. The blurred camera image is first converted to LAB color space and divided into blocks. Then pure quaternion is utilized to represent pixels of the blurred camera image and the energy of every block are obtained. Inspired by the human visual system appears to assess image sharpness based on the sharpest region of the image, the local sharpness normalized energy is defined as the sharpness score of the blurred camera image. Experimental results have demonstrated the effectiveness of the proposed metric compared with popular sharpness image quality metrics.

     

模拟视觉感知系统的无参考模糊图像质量评价

为了获得与人类视觉感知一致的图像质量评价方法, 本文提出一种模拟视觉感知系统的无参考模糊图像质量评价方法. 该方法通过比较不同模糊程度的图像特征的相似度来度量图像质量. 首先, 通过对待测图像进行人工模糊, 获得不同模糊程度的图像. 然后, 通过视网膜模型提取图像的细节信息. 接着, 采用奇异值分解用来获得图像的内部结构信息. 之后, 将待测图像与其它不同模糊度图像之间的细节相似度和奇异值相似度作为度量图像模糊度的特征向量. 最后, 将这些度量特征向量输入支持向量回归模型(SVR)进行训练, 获得最终的图像质量评估模型.在常用数据库上的实验结果表明, 该方法与人眼主观视觉感知的一致性优于比较方法.     

Depth from Defocus Estimation in Spatial Domain

This paper presents an algorithm for a dense computation of the difference in blur between two images. The two images are acquired by varying the intrinsic parameters of the camera. The image formation system is assumed to be passive. Estimation of depth from the blur difference is straightforward. The algorithm is based on a local image decomposition technique using the Hermite polynomial basis. We show that any coefficient of the Hermite polynomial computed using the more blurred image is a function of the partial derivatives of the other image and the blur difference. Hence, the blur difference is computed by resolving a system of equations. The resulting estimation is dense and involves simple local operations carried out in the spatial domain. The mathematical developments underlying estimation of the blur in both 1D and 2D images are presented. The behavior of the algorithm is studied for constant images, step edges, line edges, and junctions. The selection of its parameters is discussed. The proposed algorithm is tested using synthetic and real images. The results obtained are accurate and dense. They are compared with those obtained using an existing algorithm.     

结合稀疏表示和概率潜在语义的图像模糊度评价

目的 图像的模糊度评价是客观图像质量评价的一种,主要用来衡量图像信号经过成像系统或处理算法后的降质程度,其在图像获取、传输、分析以及图像处理系统或算法评价等领域有着广泛的应用。针对目前图像模糊度评价方法没有考虑人类视觉系统的无监督学习和层次化特征提取的特性,本文将图像稀疏表示和利用概率潜在语义提取图像主题相结合,提出基于稀疏表示和概率潜在语义的图像模糊度评价算法。方法 该算法在图像稀疏表示的基础上,通过概率潜在语义方法分别提取清晰训练图像和待测图像的主题,以待测图像潜在主题与清晰图像平均潜在主题之间的相似性作为模糊度评价的依据。主要过程分为3个阶段:词典构建阶段、训练学习阶段和模糊度评价阶段。词典构建阶段的目的是通过样本学习获得图像稀疏表示的词典;训练学习阶段的目的是采用概率潜在语义的方法获得训练图像的平均主题;模糊度评价阶段的目的是通过待测图像的潜在主题与训练图像的平均潜在主题的相关系数来计算图像的模糊程度。结果 在仿真图和公共测试数据库上与典型算法的比较实验表明:本文算法在单调性、抗噪性以及视频质量专家组制定的5个评价指标上都取得了较好的效果,其中Pearson相关系数和Spearman秩相关系数分别为0.995 6和0.993 4。结论 本文根据人类视觉系统具有无监督学习和层次化特征提取的特点,以待测图像潜在主题与清晰图像平均潜在主题之间的相似性作为模糊度评价的依据,提出了一种新的基于稀疏表示和概率潜在语义的图像模糊度评价方法。实验结果表明该方法能够对图像的模糊度进行较准确的评价,并且结果与人的主观评价结果一致。     

Inferring user intent to interact with a public service robot using bimodal information analysis

ABSTRACT

Achieving polite service with a public service robot requires it to proactively ascertain who will interact with it in human-populated environments. Enlightened by interactive inference of intentions among humans, we investigate a novel and practical interactive intention-predicting method for people using bimodal information analysis for a public service robot. Different from the traditional research, only the visual cues are used to analyze the user's attention, this method combines the RGB-D camera and laser information to perceive the user, which realizes the 360-degree range perception, and compensates for the lack of perspective using the RGB-D camera. In addition, seven kinds of interactive intent features were extracted, and a random forest regression model was trained to score the interaction intentions of the people in the field of view. Considering the inference order of two different sensors, a priority rule for intention inference is also designed. The algorithm is implemented into a robot operation system (ROS) and evaluated on our public service robot. Extensive experimental results illustrate that the proposed method enables public service robots to achieve a higher level of politeness than the traditional, passive interactivity approach in which robots wait for commands from users.     

Image motion estimation from motion smear-a new computational model

Motion smear is an important visual cue for motion perception by the human vision system (HVS). However, in image analysis research, exploiting motion smear has been largely ignored. Rather, motion smear is usually considered as a degradation of images that needs to be removed. In this paper, the authors establish a computational model that estimates image motion from motion smear information-“motion from smear”. In many real situations, the shutter of the sensing camera must be kept open long enough to produce images of adequate signal-to-noise ratio (SNR), resulting in significant motion smear in images. The authors present a new motion blur model and an algorithm that enables unique estimation of image motion. A prototype sensor system that exploits the new motion blur model has been built to acquire data for “motion-from-smear”. Experimental results on images with both simulated smear and real smear, using the authors' “motion-from-smear” algorithm as well as a conventional motion estimation technique, are provided. The authors also show that temporal aliasing does not affect “motion-from-smear” to the same degree as it does algorithms that use displacement as a cue. “Motion-from-smear” provides an additional tool for motion estimation and effectively complements the existing techniques when apparent motion smear is present     

Photo-consistent synthesis of motion blur and depth-of-field effects with a real camera model

Depth-of-field (DOF) and motion blur are important visual cues used for computer graphics and photography to illustrate focus of attention and object motion. In this work, we present a method for photo-realistic DOF and motion blur generation based on the characteristics of a real camera system. Both the depth–blur relation for different camera focus settings and the nonlinear intensity response of image sensors are modeled. The camera parameters are calibrated and used for defocus and motion blur synthesis. For a well-focused real scene image, DOF and motion blur effects are generated by post-processing techniques. Experiments have shown that the proposed method generates more photo-consistent results than the commonly used graphical models.     

A homotopy-based approach for computing defocus blur and affine transform simultaneously

This paper presents a homotopy-based algorithm for a simultaneous recovery of defocus blur and the affine parameters of apparent shifts between planar patches of two pictures. These parameters are recovered from two images of the same scene acquired by a camera evolving in time and/or space and for which the intrinsic parameters are known. Using limited Taylor's expansion one of the images (and its partial derivatives) is expressed as a function of the partial derivatives of the two images, the blur difference, the affine parameters and a continuous parameter derived from homotopy methods. All of these unknowns can thus be directly computed by resolving a system of equations at a single scale. The proposed algorithm is tested using synthetic and real images. The results confirm that dense and accurate estimation of the previously mentioned parameters can be obtained.     

Kinect based real-time synthetic aperture imaging through occlusion

Real-time and high performance occluded object imaging is a big challenge to many computer vision applications. In recent years, camera array synthetic aperture theory proves to be a potential powerful way to solve this problem. However, due to the high cost of complex system hardware, the severe blur of occluded object imaging, and the slow speed of image processing, the exiting camera array synthetic aperture imaging algorithms and systems are difficult to apply in practice. In this paper, we present a novel handheld system to handle those challenges. The objective of this work is to design a convenient system for real-time high quality object imaging even under severe occlusion. The main characteristics of our work include: (1) To the best of our knowledge, this is the first real-time handheld system for seeing occluded object in synthetic imaging domain using color and depth images. (2) A novel sequential synthetic aperture imaging framework is designed to achieve seamless interaction among multiple novel modules, and this framework includes object probability generation, virtual camera array generation, and sequential synthetic aperture imaging. (3) In the virtual camera array generation module, based on the integration of color and depth information, a novel feature set iterative optimization algorithm is presented, which can improve the robustness and accuracy of camera pose estimation even in dynamic occlusion scene. Experimental results in challenging scenarios demonstrate the superiority of our system both in robustness and efficiency compared against the state-of-the-art algorithms.