基于张量分解融合RGB-D图像的物体识别

为了充分利用RGB-D图像的深度图像信息，提出了基于张量分解的物体识别方法。首先将RGB-D图像构造成一个四阶张量，然后将该四阶张量分解为一个核心张量和四个因子矩阵，再利用相应的因子矩阵将原张量进行投影，获得融合后的RGB-D数据，最后输入到卷积神经网络中进行识别。RGB-D数据集中三组相似物体的识别结果表明，利用张量分解融合RGB-D图像的物体识别准确率高于未采用张量分解的物体识别准确率，并且单一错分实例的准确率最高可提升99%。     

RAFNet: RGB-D attention feature fusion network for indoor semantic segmentation

Semantic segmentation based on the complementary information from RGB and depth images has recently gained great popularity, but due to the difference between RGB and depth maps, how to effectively use RGB-D information is still a problem. In this paper, we propose a novel RGB-D semantic segmentation network named RAFNet, which can selectively gather features from the RGB and depth information. Specifically, we construct an architecture with three parallel branches and propose several complementary attention modules. This structure enables a fusion branch and we add the Bi-directional Multi-step Propagation (BMP) strategy to it, which can not only retain the feature streams of the original RGB and depth branches but also fully utilize the feature flow of the fusion branch. There are three kinds of complementary attention modules that we have constructed. The RGB-D fusion module can effectively extract important features from the RGB and depth branch streams. The refinement module can reduce the loss of semantic information and the context aggregation module can help propagate and integrate information better. We train and evaluate our model on NYUDv2 and SUN-RGBD datasets, and prove that our model achieves state-of-the-art performances.     

基于相位谱和调谐幅度谱的显著性检测方法

针对目前视觉注意选择领域中的谱残余方法(SR)显著图对比度较差、细节显著性检测效果不理想的问题,通过分析图像频谱特性与显著性的关系,提出了一种基于频谱分析的显著性区域检测方法。该方法通过保留傅里叶相位谱并对幅度谱进行分段非线性调谐,达到抑制图像冗余信息、增强图像显著性信息的效果。实验结果表明,本文基于相位谱和幅度谱调谐(PTA)的显著性检测方法得到的显著图较SR方法对比度更高,对显著细节的检测效果也更明显。     

应用改进频率调谐的海上小目标检测方法

提出了一种新的基于可见光图像的海上小目标检测方法。由于频率调谐方法将图像空间域整体均值与高斯滤波后差分结果,作为显著性度量的标准,因此当图像背景中存在较多杂波干扰时,显著目标检测效果不理想。提出的方法对基于频率调谐的显著性检测方法进行了改进,首先对图像LAB空间中3个特征分量进行分块,在每个分块区域中应用频率调谐显著性检测方法,进而将其结果合并为总显著图,以检测海上小目标。该方法克服了频率调谐方法,当海面背景中存在大量海杂波,无法有效提取小目标的缺陷。实验结果表明了该方法的有效性。     

基于小波变换和Retinex算法的显著性检测

近些年来,关于图像显著性检测的研究越来越热门。基于之前提出的很多算法产生的显著图都存在背景信息杂乱、干扰噪声多、细节丢失等问题,本文提出了一种基于小波变换和Retinex算法的显著性检测算法来解决以上问题。首先,利用Retinex算法对图像进行前期处理;然后,对前期处理过的图像进行SLIC超像素分割,对超像素进行小波变换,分别生成原始图像低频部分和高频部分的特征图,并进行适当的双边滤波降噪,生成对应的显著图;最后,通过加权组合这两种显著图,得到最终的显著性图。实验结果表明,本文提出的算法生成的显著图具有受背景影响小、噪声少以及细节突出等优势。     

Online learning and fusion of orientation appearance models for robust rigid object tracking

We introduce a robust framework for learning and fusing of orientation appearance models based on both texture and depth information for rigid object tracking. Our framework fuses data obtained from a standard visual camera and dense depth maps obtained by low-cost consumer depth cameras such as the Kinect. To combine these two completely different modalities, we propose to use features that do not depend on the data representation: angles. More specifically, our framework combines image gradient orientations as extracted from intensity images with the directions of surface normals computed from dense depth fields. We propose to capture the correlations between the obtained orientation appearance models using a fusion approach motivated by the original Active Appearance Models (AAMs). To incorporate these features in a learning framework, we use a robust kernel based on the Euler representation of angles which does not require off-line training, and can be efficiently implemented online. The robustness of learning from orientation appearance models is presented both theoretically and experimentally in this work. This kernel enables us to cope with gross measurement errors, missing data as well as other typical problems such as illumination changes and occlusions. By combining the proposed models with a particle filter, the proposed framework was used for performing 2D plus 3D rigid object tracking, achieving robust performance in very difficult tracking scenarios including extreme pose variations.     

基于全局和局部特征融合的显著性提取方法

显著性提取方法在图像处理、计算机视觉领域有着广泛的应用.然而,基于全局特征和基于局部特征的显著性区域提取算法存在各自的缺点,为此本文提出了一种融合全局和局部特征的显著性提取算法.首先,对图像进行不重叠地分块,当每个图像块经过主成分分析(Principle component analysis,PCA)映射到高维空间后,根据孤立的特征点对应显著性区域的规律得到基于全局特征的显著图;其次,根据邻域内中心块与其他块的颜色不相似性得到基于局部特征的显著图;最后,按照贝叶斯理论将这两个显著图融合为最终的显著图.在公认的三个图像数据库上的仿真实验验证了所提算法在显著性提取和目标分割上比其他先进算法更有效.     

基于特征算子的 RGB-D 图像手分割算法*

将人手势识别过程中使用的信息设计为不同算子,利用手部／非手部区域的相邻像素点的深度或颜色特征的连续性的原理,从手心作为起始点进行搜索并检测特征算子,保证了结果像素形成一个联通区域。算法解决了手部颜色和深度数据不均匀的问题,没有手必须离传感器最近的限制,可以实现复杂场景下的手分割。     

基于空时显著性感知的运动目标检测方法*

从视觉系统生理结构出发,对Itti视觉注意力模型进行了改进,融入运动特征,提出了一种基于视觉空时显著性感知的运动目标检测方法。首先提取图像的空间特征,形成空间显著图;然后利用相邻帧图像的全局运动、局部运动和相对运动,确定运动目标与背景的运动差异,形成运动显著图,并且对各显著区的空间特征和运动特征进行融合形成空时显著图,检测出运动目标。理论分析和实验结果表明,该方法能快速、准确地发现目标,减少目标的截获时间,提高目标跟踪性能。