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Description
Topological methods for data analysis present opportunities for enforcing certain invariances of broad interest in computer vision: including view-point in activity analysis, articulation in shape analysis, and measurement invariance in non-linear dynamical modeling. The increasing success of these methods is attributed to the complementary information that topology provides, as well

Topological methods for data analysis present opportunities for enforcing certain invariances of broad interest in computer vision: including view-point in activity analysis, articulation in shape analysis, and measurement invariance in non-linear dynamical modeling. The increasing success of these methods is attributed to the complementary information that topology provides, as well as availability of tools for computing topological summaries such as persistence diagrams. However, persistence diagrams are multi-sets of points and hence it is not straightforward to fuse them with features used for contemporary machine learning tools like deep-nets. In this paper theoretically well-grounded approaches to develop novel perturbation robust topological representations are presented, with the long-term view of making them amenable to fusion with contemporary learning architectures. The proposed representation lives on a Grassmann manifold and hence can be efficiently used in machine learning pipelines.

The proposed representation.The efficacy of the proposed descriptor was explored on three applications: view-invariant activity analysis, 3D shape analysis, and non-linear dynamical modeling. Favorable results in both high-level recognition performance and improved performance in reduction of time-complexity when compared to other baseline methods are obtained.
ContributorsThopalli, Kowshik (Author) / Turaga, Pavan Kumar (Thesis advisor) / Papandreou-Suppappola, Antonia (Committee member) / Yang, Yezhou (Committee member) / Arizona State University (Publisher)
Created2017
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Description
Light field imaging is limited in its computational processing demands of high

sampling for both spatial and angular dimensions. Single-shot light field cameras

sacrifice spatial resolution to sample angular viewpoints, typically by multiplexing

incoming rays onto a 2D sensor array. While this resolution can be recovered using

compressive sensing, these iterative solutions are slow

Light field imaging is limited in its computational processing demands of high

sampling for both spatial and angular dimensions. Single-shot light field cameras

sacrifice spatial resolution to sample angular viewpoints, typically by multiplexing

incoming rays onto a 2D sensor array. While this resolution can be recovered using

compressive sensing, these iterative solutions are slow in processing a light field. We

present a deep learning approach using a new, two branch network architecture,

consisting jointly of an autoencoder and a 4D CNN, to recover a high resolution

4D light field from a single coded 2D image. This network decreases reconstruction

time significantly while achieving average PSNR values of 26-32 dB on a variety of

light fields. In particular, reconstruction time is decreased from 35 minutes to 6.7

minutes as compared to the dictionary method for equivalent visual quality. These

reconstructions are performed at small sampling/compression ratios as low as 8%,

allowing for cheaper coded light field cameras. We test our network reconstructions

on synthetic light fields, simulated coded measurements of real light fields captured

from a Lytro Illum camera, and real coded images from a custom CMOS diffractive

light field camera. The combination of compressive light field capture with deep

learning allows the potential for real-time light field video acquisition systems in the

future.
ContributorsGupta, Mayank (Author) / Turaga, Pavan (Thesis advisor) / Yang, Yezhou (Committee member) / Li, Baoxin (Committee member) / Arizona State University (Publisher)
Created2017
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Description
Visual navigation is a useful and important task for a variety of applications. As the preva­lence of robots increase, there is an increasing need for energy-­efficient navigation methods as well. Many aspects of efficient visual navigation algorithms have been implemented in the lit­erature, but there is a lack of work

Visual navigation is a useful and important task for a variety of applications. As the preva­lence of robots increase, there is an increasing need for energy-­efficient navigation methods as well. Many aspects of efficient visual navigation algorithms have been implemented in the lit­erature, but there is a lack of work on evaluation of the efficiency of the image sensors. In this thesis, two methods are evaluated: adaptive image sensor quantization for traditional camera pipelines as well as new event­-based sensors for low­-power computer vision.The first contribution in this thesis is an evaluation of performing varying levels of sen­sor linear and logarithmic quantization with the task of visual simultaneous localization and mapping (SLAM). This unconventional method can provide efficiency benefits with a trade­ off between accuracy of the task and energy-­efficiency. A new sensor quantization method, gradient­-based quantization, is introduced to improve the accuracy of the task. This method only lowers the bit level of parts of the image that are less likely to be important in the SLAM algorithm since lower bit levels signify better energy­-efficiency, but worse task accuracy. The third contribution is an evaluation of the efficiency and accuracy of event­-based camera inten­sity representations for the task of optical flow. The results of performing a learning based optical flow are provided for each of five different reconstruction methods along with ablation studies. Lastly, the challenges of an event feature­-based SLAM system are presented with re­sults demonstrating the necessity for high quality and high­ resolution event data. The work in this thesis provides studies useful for examining trade­offs for an efficient visual navigation system with traditional and event vision sensors. The results of this thesis also provide multiple directions for future work.
ContributorsChristie, Olivia Catherine (Author) / Jayasuriya, Suren (Thesis advisor) / Chakrabarti, Chaitali (Committee member) / Yang, Yezhou (Committee member) / Arizona State University (Publisher)
Created2022