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In this paper, we present a novel global descriptor M2DP for 3D point clouds, and apply it to the problem of loop closure detection. In M2DP, we project a 3D point cloud to multiple 2D planes and generate a density signature for points for each of the planes. We then use the left and right singular vectors of these signatures as the descriptor of the 3D point cloud. Our experimental results show that...
An important problem in robot simultaneous localization and mapping (SLAM) is loop closure detection. Recent studies of the problem have led to successful development of methods that are based on images captured by the robot. These methods tackle the issue of efficiency through data structures such as indexing and hierarchical (tree) organization of the image data that represent the robot map. In...
In this paper, we propose a data hiding scheme with high capacity in steganography. First of all, we improve the data hiding technique based one neighbor mean interpolation for increasing the image quality of a stego-image without losing any capacity. A stego-image is derived from a cover image which has embedded the secret data. A cover image is generated from an original image by using interpolating...
We present the performance evaluation of different whole-image descriptors in visual loop closure detection. A whole-image descriptor here is defined as the one that does not require keypoint detection and is therefore fast to extract. In addition, it can be extremely compact to reduce storage requirement. This type of image descriptors are attracting an increasing amount of interest in appearance-based...
Histogram equalization (HE) based methodologies are popular and effective ways to improve image contrast and visual quality, but standard HE is not directly applied on consumer electronics. This paper proposes a modified Clipped Histogram Equalization (CHE) for contrast enhancement based on the fundamental of histogram modification. It improves the visual quality by enhancing details both in dark...
The coherence optimization methods of compact polarimetric SAR interferometry (PolInSAR) are analyzed in this paper. Coherence optimization for compact PolInSAR can be performed directly in the two-dimensional observation space of the CP system without the reconstruction of the pseudo fully PolInSAR covariance matrix. The performance of different compact polarimetric modes for coherence optimization...
This paper is concerned with the problem of keyframe detection in appearance-based visual SLAM. Appearance SLAM models a robot's environment topologically by a graph whose nodes represent strategically interesting places that have been visited by the robot and whose arcs represent spatial connectivity between these places. Specifically, we discuss and compare various methods for identifying the next...
Fingerprint enhancement is an important step in fingerprint identification processing. A novel algorithm was proposed: firstly, a new property based on the first derivative of fingerprint images, namely: contrast, were given conceptual definition and introduced into the fingerprint segmentation processing; secondly, different from traditional methods, a new algorithm to estimate the orientation field...
A new image based activity recognition method for a person wearing a video camera below the neck is presented in this paper. The wearable device is used to capture video data in front of the wearer. Although the wearer never appears in the video, his or her physical activity is analyzed and recognized using the recorded scene changes resulting from the motion of the wearer. Correspondence features...
Tracking multiple interacting objects is an interesting and difficult task in computer vision. Two common problems in this field are a single object with multiple tracks and a single track with multiple objects. Most of the existing algorithms address the first problem but not the second one. In this paper, to solve the second problem we propose a new algorithm with a novel prediction model, which...
Maximum entropy thresholding method is a common image segmentation technology, several optimization algorithms are proposed based on maximum entropy objective function, these algorithms use subtraction instead of logarithm and multiplication and which are used in image segmentation. But for sparse histogram images, the segmentation based on the existing optimize methods is ineffective. In this paper,...
A new method is proposed to get the segmentation threshold and detect the dark spot in oil-spill images. The method is inspired from the ??-distribution model of sea background, which is widely accepted to describe the ocean clutter. By comparing the histograms of oil-spill region and the sea background, it is found that the oil slicks break the ??-distribution model, but there is still some information...
We consider here a change detection problem: to find regions of change on a test image with respect to a reference image. Unlike the state-of-the-art change detection and background subtraction algorithms that compute only local (pixel location-based) changes, we propose to minimize a novel region-based energy functional based on Bhattacharya coefficient involving histograms of image features. The...
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