This paper presents a technique for motion detection that incorporates several innovative mechanisms. For example, our proposed technique stores, for each pixel, a set of values taken in the past at ...the same location or in the neighborhood. It then compares this set to the current pixel value in order to determine whether that pixel belongs to the background, and adapts the model by choosing randomly which values to substitute from the background model. This approach differs from those based upon the classical belief that the oldest values should be replaced first. Finally, when the pixel is found to be part of the background, its value is propagated into the background model of a neighboring pixel. We describe our method in full details (including pseudo-code and the parameter values used) and compare it to other background subtraction techniques. Efficiency figures show that our method outperforms recent and proven state-of-the-art methods in terms of both computation speed and detection rate. We also analyze the performance of a downscaled version of our algorithm to the absolute minimum of one comparison and one byte of memory per pixel. It appears that even such a simplified version of our algorithm performs better than mainstream techniques.
We present the Vortex Image Processing (VIP) library, a python package dedicated to astronomical high-contrast imaging. Our package relies on the extensive python stack of scientific libraries and ...aims to provide a flexible framework for high-contrast data and image processing. In this paper, we describe the capabilities of VIP related to processing image sequences acquired using the angular differential imaging (ADI) observing technique. VIP implements functionalities for building high-contrast data processing pipelines, encompassing pre- and post-processing algorithms, potential source position and flux estimation, and sensitivity curve generation. Among the reference point-spread function subtraction techniques for ADI post-processing, VIP includes several flavors of principal component analysis (PCA) based algorithms, such as annular PCA and incremental PCA algorithms capable of processing big datacubes (of several gigabytes) on a computer with limited memory. Also, we present a novel ADI algorithm based on non-negative matrix factorization, which comes from the same family of low-rank matrix approximations as PCA and provides fairly similar results. We showcase the ADI capabilities of the VIP library using a deep sequence on HR 8799 taken with the LBTI/LMIRCam and its recently commissioned L-band vortex coronagraph. Using VIP, we investigated the presence of additional companions around HR 8799 and did not find any significant additional point source beyond the four known planets. VIP is available at http://github.com/vortex-exoplanet/VIP and is accompanied with Jupyter notebook tutorials illustrating the main functionalities of the library.
Context. Post-processing algorithms play a key role in pushing the detection limits of high-contrast imaging (HCI) instruments. State-of-the-art image processing approaches for HCI enable the ...production of science-ready images relying on unsupervised learning techniques, such as low-rank approximations, for generating a model point spread function (PSF) and subtracting the residual starlight and speckle noise. Aims. In order to maximize the detection rate of HCI instruments and survey campaigns, advanced algorithms with higher sensitivities to faint companions are needed, especially for the speckle-dominated innermost region of the images. Methods. We propose a reformulation of the exoplanet detection task (for ADI sequences) that builds on well-established machine learning techniques to take HCI post-processing from an unsupervised to a supervised learning context. In this new framework, we present algorithmic solutions using two different discriminative models: SODIRF (random forests) and SODINN (neural networks). We test these algorithms on real ADI datasets from VLT/NACO and VLT/SPHERE HCI instruments. We then assess their performances by injecting fake companions and using receiver operating characteristic analysis. This is done in comparison with state-of-the-art ADI algorithms, such as ADI principal component analysis (ADI-PCA). Results. This study shows the improved sensitivity versus specificity trade-off of the proposed supervised detection approach. At the diffraction limit, SODINN improves the true positive rate by a factor ranging from ~2 to ~10 (depending on the dataset and angular separation) with respect to ADI-PCA when working at the same false-positive level. Conclusions. The proposed supervised detection framework outperforms state-of-the-art techniques in the task of discriminating planet signal from speckles. In addition, it offers the possibility of re-processing existing HCI databases to maximize their scientific return and potentially improve the demographics of directly imaged exoplanets.
Estimating the distance to objects is crucial for autonomous vehicles, but cost, weight or power constraints sometimes prevent the use of dedicated depth sensors. In this case, the distance has to be ...estimated from on-board mounted RGB cameras, which is a complex task especially for environments such as natural outdoor landscapes. In this paper, we present a new depth estimation method suitable for use in such landscapes. First, we establish a bijective relationship between depth and the visual parallax of two consecutive frames and show how to exploit it to perform motion-invariant pixel-wise depth estimation. Then, we detail our architecture which is based on a pyramidal convolutional neural network where each level refines an input parallax map estimate by using two customized cost volumes. We use these cost volumes to leverage the visual spatio-temporal constraints imposed by motion and make the network robust for varied scenes. We benchmarked our approach both in test and generalization modes on public datasets featuring synthetic camera trajectories recorded in a wide variety of outdoor scenes. Results show that our network outperforms the state of the art on these datasets, while also performing well on a standard depth estimation benchmark.
Semantic background subtraction Braham, M.; Pierard, S.; Van Droogenbroeck, M.
2017 IEEE International Conference on Image Processing (ICIP),
2017-Sept.
Conference Proceeding
Recenzirano
Odprti dostop
We introduce the notion of semantic background subtraction, a novel framework for motion detection in video sequences. The key innovation consists to leverage object-level semantics to address the ...variety of challenging scenarios for background subtraction. Our framework combines the information of a semantic segmentation algorithm, expressed by a probability for each pixel, with the output of any background subtraction algorithm to reduce false positive detections produced by illumination changes, dynamic backgrounds, strong shadows, and ghosts. In addition, it maintains a fully semantic background model to improve the detection of camouflaged foreground objects. Experiments led on the CDNet dataset show that we managed to improve, significantly, almost all background subtraction algorithms of the CDNet leaderboard, and reduce the mean overall error rate of all the 34 algorithms (resp. of the best 5 algorithms) by roughly 50% (resp. 20%).
Background subtraction is a crucial step in many automatic video content analysis applications. While numerous acceptable techniques have been proposed so far for background extraction, there is ...still a need to produce more efficient algorithms in terms of adaptability to multiple environments, noise resilience, and computation efficiency. In this paper, we present a powerful method for background extraction that improves in accuracy and reduces the computational load. The main innovation concerns the use of a random policy to select values to build a samples-based estimation of the background. To our knowledge, it is the first time that a random aggregation is used in the field of background extraction. In addition we propose a novel policy that propagates information between neighboring pixels of an image. Experiment detailed in this paper show how our method improves on other widely used techniques, and how it outperforms these techniques for noisy images.
Positioning is a fundamental issue in mobile robot applications. It can be achieved in many ways. Among them, triangulation based on angles measured with the help of beacons is a proven technique. ...Most of the many triangulation algorithms proposed so far have major limitations. For example, some of them need a particular beacon ordering, have blind spots, or only work within the triangle defined by the three beacons. More reliable methods exist; however, they have an increasing complexity, or they require to handle certain spatial arrangements separately. In this paper, we present a simple and new three object triangulation algorithm, known as ToTal, that natively works in the whole plane and for any beacon ordering. We also provide a comprehensive comparison between many algorithms and show that our algorithm is faster and simpler than comparable algorithms. In addition to its inherent efficiency, our algorithm provides a very useful and unique reliability measure that is assessable anywhere in the plane, which can be used to identify pathological cases, or as a validation gate in Kalman filters.
Context. Data processing constitutes a critical component of high-contrast exoplanet imaging. Its role is almost as important as the choice of a coronagraph or a wavefront control system, and it is ...intertwined with the chosen observing strategy. Among the data processing techniques for angular differential imaging (ADI), the most recent is the family of principal component analysis (PCA) based algorithms. It is a widely used statistical tool developed during the first half of the past century. PCA serves, in this case, as a subspace projection technique for constructing a reference point spread function (PSF) that can be subtracted from the science data for boosting the detectability of potential companions present in the data. Unfortunately, when building this reference PSF from the science data itself, PCA comes with certain limitations such as the sensitivity of the lower dimensional orthogonal subspace to non-Gaussian noise. Aims. Inspired by recent advances in machine learning algorithms such as robust PCA, we aim to propose a localized subspace projection technique that surpasses current PCA-based post-processing algorithms in terms of the detectability of companions at near real-time speed, a quality that will be useful for future direct imaging surveys. Methods. We used randomized low-rank approximation methods recently proposed in the machine learning literature, coupled with entry-wise thresholding to decompose an ADI image sequence locally into low-rank, sparse, and Gaussian noise components (LLSG). This local three-term decomposition separates the starlight and the associated speckle noise from the planetary signal, which mostly remains in the sparse term. We tested the performance of our new algorithm on a long ADI sequence obtained on beta Pictoris with VLT/NACO. Results. Compared to a standard PCA approach, LLSG decomposition reaches a higher signal-to-noise ratio and has an overall better performance in the receiver operating characteristic space. This three-term decomposition brings a detectability boost compared to the full-frame standard PCA approach, especially in the small inner working angle region where complex speckle noise prevents PCA from discerning true companions from noise.
•We present a simple and flexible background generation method named LaBGen.•Motion detection is used to select patches with the lowest amount of motion.•A pixel-wise median filter is applied on ...selected patches to generate the background.•The method is evaluated on the SBI dataset; it performs extremely well.•We study the stability of the computed stationary background over time.
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Given a video sequence acquired with a fixed camera, the generation of the stationary background of the scene is a challenging problem which aims at computing a reference image for a motionless background. For that purpose, we developed our method named LaBGen, which emerged as the best one during the Scene Background Modeling and Initialization (SBMI) workshop organized in 2015, and the IEEE Scene Background Modeling Contest (SBMC) organized in 2016. LaBGen combines a pixel-wise temporal median filter and a patch selection mechanism based on motion detection. To detect motion, a background subtraction algorithm decides, for each frame, which pixels belong to the background. In this paper, we describe the LaBGen method extensively, evaluate it on the SBI 2016 dataset and compare its performance with other background generation methods. We also study its computational complexity, the performance sensitivity with respect to its parameters, and the stability of the predicted background image over time with respect to the chosen background subtraction algorithm. We provide an open source C++ implementation at http://www.telecom.ulg.ac.be/labgen.
Road vehicle accidents are mostly due to human errors, and many such accidents could be avoided by continuously monitoring the driver. Driver monitoring (DM) is a topic of growing interest in the ...automotive industry, and it will remain relevant for all vehicles that are not fully autonomous, and thus for decades for the average vehicle owner. The present paper focuses on the first step of DM, which consists of characterizing the state of the driver. Since DM will be increasingly linked to driving automation (DA), this paper presents a clear view of the role of DM at each of the six SAE levels of DA. This paper surveys the state of the art of DM, and then synthesizes it, providing a unique, structured, polychotomous view of the many characterization techniques of DM. Informed by the survey, the paper characterizes the driver state along the five main dimensions—called here “(sub)states”—of drowsiness, mental workload, distraction, emotions, and under the influence. The polychotomous view of DM is presented through a pair of interlocked tables that relate these states to their indicators (e.g., the eye-blink rate) and the sensors that can access each of these indicators (e.g., a camera). The tables factor in not only the effects linked directly to the driver, but also those linked to the (driven) vehicle and the (driving) environment. They show, at a glance, to concerned researchers, equipment providers, and vehicle manufacturers (1) most of the options they have to implement various forms of advanced DM systems, and (2) fruitful areas for further research and innovation.
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