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Register a new userFast and Robust Registration of Aerial Images and LiDAR data Based on Structrual Features and 3D Phase Correlation
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Yuanxin Ye
Publication date
2020
fields
Informatics Engineering
and research's language is
English
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Co-Registration of aerial imagery and Light Detection and Ranging (LiDAR) data is quilt challenging because the different imaging mechanism causes significant geometric and radiometric distortions between such data. To tackle the problem, this paper proposes an automatic registration method based on structural features and three-dimension (3D) phase correlation. In the proposed method, the LiDAR point cloud data is first transformed into the intensity map, which is used as the reference image. Then, we employ the Fast operator to extract uniformly distributed interest points in the aerial image by a partition strategy and perform a local geometric correction by using the collinearity equation to eliminate scale and rotation difference between images. Subsequently, a robust structural feature descriptor is build based on dense gradient features, and the 3D phase correlation is used to detect control points (CPs) between aerial images and LiDAR data in the frequency domain, where the image matching is accelerated by the 3D Fast Fourier Transform (FFT). Finally, the obtained CPs are employed to correct the exterior orientation elements, which is used to achieve co-registration of aerial images and LiDAR data. Experiments with two datasets of aerial images and LiDAR data show that the proposed method is much faster and more robust than state of the art methods
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Automatic registration of multimodal remote sensing data (e.g., optical, LiDAR, SAR) is a challenging task due to the significant non-linear radiometric differences between these data. To address this problem, this paper proposes a novel feature descriptor named the Histogram of Orientated Phase Congruency (HOPC), which is based on the structural properties of images. Furthermore, a similarity metric named HOPCncc is defined, which uses the normalized correlation coefficient (NCC) of the HOPC descriptors for multimodal registration. In the definition of the proposed similarity metric, we first extend the phase congruency model to generate its orientation representation, and use the extended model to build HOPCncc. Then a fast template matching scheme for this metric is designed to detect the control points between images. The proposed HOPCncc aims to capture the structural similarity between images, and has been tested with a variety of optical, LiDAR, SAR and map data. The results show that HOPCncc is robust against complex non-linear radiometric differences and outperforms the state-of-the-art similarities metrics (i.e., NCC and mutual information) in matching performance. Moreover, a robust registration method is also proposed in this paper based on HOPCncc, which is evaluated using six pairs of multimodal remote sensing images. The experimental results demonstrate the effectiveness of the proposed method for multimodal image registration.
This paper focuses on developing efficient and robust evaluation metrics for RANSAC hypotheses to achieve accurate 3D rigid registration. Estimating six-degree-of-freedom (6-DoF) pose from feature correspondences remains a popular approach to 3D rigid registration, where random sample consensus (RANSAC) is a de-facto choice to this problem. However, existing metrics for RANSAC hypotheses are either time-consuming or sensitive to common nuisances, parameter variations, and different application scenarios, resulting in performance deterioration in overall registration accuracy and speed. We alleviate this problem by first analyzing the contributions of inliers and outliers, and then proposing several efficient and robust metrics with different designing motivations for RANSAC hypotheses. Comparative experiments on four standard datasets with different nuisances and application scenarios verify that the proposed metrics can significantly improve the registration performance and are more robust than several state-of-the-art competitors, making them good gifts to practical applications. This work also draws an interesting conclusion, i.e., not all inliers are equal while all outliers should be equal, which may shed new light on this research problem.
We present a remote sensing pipeline that processes LiDAR (Light Detection And Ranging) data through machine & deep learning for the application of archeological feature detection on big geo-spatial data platforms such as e.g. IBM PAIRS Geoscope. Today, archeologists get overwhelmed by the task of visually surveying huge amounts of (raw) LiDAR data in order to identify areas of interest for inspection on the ground. We showcase a software system pipeline that results in significant savings in terms of expert productivity while missing only a small fraction of the artifacts. Our work employs artificial neural networks in conjunction with an efficient spatial segmentation procedure based on domain knowledge. Data processing is constraint by a limited amount of training labels and noisy LiDAR signals due to vegetation cover and decay of ancient structures. We aim at identifying geo-spatial areas with archeological artifacts in a supervised fashion allowing the domain expert to flexibly tune parameters based on her needs.
There has been a long pursuit for precise and reproducible glomerular quantification on renal pathology to leverage both research and practice. When digitizing the biopsy tissue samples using whole slide imaging (WSI), a set of serial sections from the same tissue can be acquired as a stack of images, similar to frames in a video. In radiology, the stack of images (e.g., computed tomography) are naturally used to provide 3D context for organs, tissues, and tumors. In pathology, it is appealing to do a similar 3D assessment. However, the 3D identification and association of large-scale glomeruli on renal pathology is challenging due to large tissue deformation, missing tissues, and artifacts from WSI. In this paper, we propose a novel Multi-object Association for Pathology in 3D (Map3D) method for automatically identifying and associating large-scale cross-sections of 3D objects from routine serial sectioning and WSI. The innovations of the Map3D method are three-fold: (1) the large-scale glomerular association is formed as a new multi-object tracking (MOT) perspective; (2) the quality-aware whole series registration is proposed to not only provide affinity estimation but also offer automatic kidney-wise quality assurance (QA) for registration; (3) a dual-path association method is proposed to tackle the large deformation, missing tissues, and artifacts during tracking. To the best of our knowledge, the Map3D method is the first approach that enables automatic and large-scale glomerular association across 3D serial sectioning using WSI. Our proposed method Map3D achieved MOTA= 44.6, which is 12.1% higher than the non deep learning benchmarks.
An accurate and computationally efficient SLAM algorithm is vital for modern autonomous vehicles. To make a lightweight the algorithm, most SLAM systems rely on feature detection from images for vision SLAM or point cloud for laser-based methods. Feature detection through a 3D point cloud becomes a computationally challenging task. In this paper, we propose a feature detection method by projecting a 3D point cloud to form an image and apply the vision-based feature detection technique. The proposed method gives repeatable and stable features in a variety of environments. Based on such features, we build a 6-DOF SLAM system consisting of tracking, mapping, and loop closure threads. For loop detection, we employ a 2-step approach i.e. nearest key-frames detection and loop candidate verification by matching features extracted from rasterized LIDAR images. Furthermore, we utilize a key-frame structure to achieve a lightweight SLAM system. The proposed system is evaluated with implementation on the KITTI dataset and the University of Michigan Ford Campus dataset. Through experimental results, we show that the algorithm presented in this paper can substantially reduce the computational cost of feature detection from the point cloud and the whole SLAM system while giving accurate results.
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