scholarly journals A Mean-Shift-Based Feature Descriptor for Wide Baseline Stereo Matching

2015 ◽  
Vol 2015 ◽  
pp. 1-14 ◽  
Author(s):  
Yiwen Dou ◽  
Kuangrong Hao ◽  
Yongsheng Ding ◽  
Min Mao
Keyword(s):  
Cross Correlation ◽  
Stereo Matching ◽  
Mean Shift ◽  
Depth Image ◽  
Feature Descriptor ◽  
Feature Points ◽  
Accuracy Rate ◽  
Feature Description ◽  
Feature Scale ◽  
Stable Feature

We propose a novel Mean-Shift-based building approach in wide baseline. Initially, scale-invariance feature transform (SIFT) approach is used to extract relatively stable feature points. As to each matching SIFT feature point, it needs a reasonable neighborhood range so as to choose feature points set. Subsequently, in view of selecting repeatable and high robust feature points, Mean-Shift controls corresponding feature scale. At last, our approach is employed to depth image acquirement in wide baseline and Graph Cut algorithm optimizes disparity information. Compared with the existing methods such as SIFT, speeded up robust feature (SURF), and normalized cross-correlation (NCC), the presented approach has the advantages of higher robustness and accuracy rate. Experimental results on low resolution image and weak feature description in wide baseline confirm the validity of our approach.

scholarly journals A Disparity Refinement Algorithm for Satellite Remote Sensing Images Based on Mean-Shift Plane Segmentation

2021 ◽  
Vol 13 (10) ◽  
pp. 1903
Author(s):  
Zhihui Li ◽  
Jiaxin Liu ◽  
Yang Yang ◽  
Jing Zhang
Keyword(s):  
Remote Sensing ◽  
Satellite Remote Sensing ◽  
Stereo Matching ◽  
Mean Shift ◽  
Segmentation Method ◽  
Remote Sensing Images ◽  
Edge Matching ◽  
Refinement Method ◽  
Initial Segmentation ◽  
Refinement Algorithm

Objects in satellite remote sensing image sequences often have large deformations, and the stereo matching of this kind of image is so difficult that the matching rate generally drops. A disparity refinement method is needed to correct and fill the disparity. A method for disparity refinement based on the results of plane segmentation is proposed in this paper. The plane segmentation algorithm includes two steps: Initial segmentation based on mean-shift and alpha-expansion-based energy minimization. According to the results of plane segmentation and fitting, the disparity is refined by filling missed matching regions and removing outliers. The experimental results showed that the proposed plane segmentation method could not only accurately fit the plane in the presence of noise but also approximate the surface by plane combination. After the proposed plane segmentation method was applied to the disparity refinement of remote sensing images, many missed matches were filled, and the elevation errors were reduced. This proved that the proposed algorithm was effective. For difficult evaluations resulting from significant variations in remote sensing images of different satellites, the edge matching rate and the edge matching map are proposed as new stereo matching evaluation and analysis tools. Experiment results showed that they were easy to use, intuitive, and effective.

Mean Shift-Based Target Tracking for Moving Spherical Object in Video

2014 ◽  
Vol 623 ◽  
pp. 156-160
Author(s):  
Bo Zhao Li
Keyword(s):  
Target Tracking ◽  
Mean Shift ◽  
Feature Points ◽  
Color Information ◽  
Spherical Object ◽  
Color Feature ◽  
Color Distribution ◽  
Distribution Probability ◽  
Flow Algorithm ◽  
Tracking Object

When researching on target tracking in the on or off line video, using a variety of methods such as MeanShift, Camshaft’s, feature points and optical flow algorithm. MeanShift target tracking algorithm is introduced in this paper. Firstly, tracking object is selected by human-computer interaction. Then color feature histogram is obtained using RGB color information, and color distribution probability image is got by converting color feature histogram. Finally, by comparing the probability difference of color distribution of the adjacent frames, motion directions of the object’s center are obtained, which object can be effectively tracked.

scholarly journals Depth Image–Based Deep Learning of Grasp Planning for Textureless Planar-Faced Objects in Vision-Guided Robotic Bin-Picking

Sensors ◽  
2020 ◽  
Vol 20 (3) ◽  
pp. 706 ◽  
Author(s):  
Ping Jiang ◽  
Yoshiyuki Ishihara ◽  
Nobukatsu Sugiyama ◽  
Junji Oaki ◽  
Seiji Tokura ◽  
...  
Keyword(s):  
Feature Extraction ◽  
Degrees Of Freedom ◽  
Color Image ◽  
Texture Features ◽  
Depth Image ◽  
Feature Descriptor ◽  
Grasp Planning ◽  
Depth Images ◽  
Bin Picking ◽  
Picking System

Bin-picking of small parcels and other textureless planar-faced objects is a common task at warehouses. A general color image–based vision-guided robot picking system requires feature extraction and goal image preparation of various objects. However, feature extraction for goal image matching is difficult for textureless objects. Further, prior preparation of huge numbers of goal images is impractical at a warehouse. In this paper, we propose a novel depth image–based vision-guided robot bin-picking system for textureless planar-faced objects. Our method uses a deep convolutional neural network (DCNN) model that is trained on 15,000 annotated depth images synthetically generated in a physics simulator to directly predict grasp points without object segmentation. Unlike previous studies that predicted grasp points for a robot suction hand with only one vacuum cup, our DCNN also predicts optimal grasp patterns for a hand with two vacuum cups (left cup on, right cup on, or both cups on). Further, we propose a surface feature descriptor to extract surface features (center position and normal) and refine the predicted grasp point position, removing the need for texture features for vision-guided robot control and sim-to-real modification for DCNN model training. Experimental results demonstrate the efficiency of our system, namely that a robot with 7 degrees of freedom can pick randomly posed textureless boxes in a cluttered environment with a 97.5% success rate at speeds exceeding 1000 pieces per hour.

A Disparity Refinement in Stereo Matching based on Mean-shift Segmentation and Spatiotemporal Domain

2020 ◽  
Vol 64 (2) ◽  
pp. 20505-1-20505-12
Author(s):  
Hui-Yu Huang ◽  
Zhe-Hao Liu
Keyword(s):  
Stereo Matching ◽  
Mean Shift ◽  
Disparity Map ◽  
Video Streams ◽  
Segmentation Strategy ◽  
Information Matching ◽  
Color Similarity ◽  
Spatial Domains ◽  
Disparity Maps ◽  
The Cost

Abstract A stereo matching algorithm is used to find the best match between a pair of images. To compute the cost of the matching points from the sequence of images, the disparity maps from video streams are estimated. However, the estimated disparity sequences may cause undesirable flickering errors. These errors result in low visibility of the synthesized video and reduce video coding. In order to solve this problem, in this article, the authors propose a spatiotemporal disparity refinement on local stereo matching based on the segmentation strategy. Based on segmentation information, matching point searching, and color similarity, adaptive disparity values to recover the disparity errors in disparity sequences can be obtained. The flickering errors are also effectively removed, and the boundaries of objects are well preserved. The procedures of the proposed approach consist of a segmentation process, matching point searching, and refinement in the temporal and spatial domains. Experimental results verify that the proposed approach can yield a high quantitative evaluation and a high-quality disparity map compared with other methods.

scholarly journals Stereo Matching Based on Immune Neural Network in Abdomen Reconstruction

2015 ◽  
Vol 2015 ◽  
pp. 1-15
Author(s):  
Huan Liu ◽  
Kuangrong Hao ◽  
Yongsheng Ding ◽  
Chunjuan Ouyang
Keyword(s):  
Neural Network ◽  
Stereo Matching ◽  
Feature Matching ◽  
Three Dimensional ◽  
Target Point ◽  
Feature Points ◽  
Matching Algorithm ◽  
Optimization Task ◽  
Feasible Alternative ◽  
Single Neural Network

Stereo feature matching is a technique that finds an optimal match in two images from the same entity in the three-dimensional world. The stereo correspondence problem is formulated as an optimization task where an energy function, which represents the constraints on the solution, is to be minimized. A novel intelligent biological network (Bio-Net), which involves the human B-T cells immune system into neural network, is proposed in this study in order to learn the robust relationship between the input feature points and the output matched points. A model from input-output data (left reference point-right target point) is established. In the experiments, the abdomen reconstructions for different-shape mannequins are then performed by means of the proposed method. The final results are compared and analyzed, which demonstrate that the proposed approach greatly outperforms the single neural network and the conventional matching algorithm in precise. Particularly, as far as time cost and efficiency, the proposed method exhibits its significant promising and potential for improvement. Hence, it is entirely considered as an effective and feasible alternative option for stereo matching.

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