We present a system that estimates the motion of a robot relying solely on images from onboard omnidirectional camera (visual odometry). Compared to other visual odometry hardware, ours is unusual in utilizing high resolution, low frame-rate (1 to 3 Hz) omnidirectional camera mounted on a robot that is propelled using continuous tracks. We focus on high precision estimates in scenes, where objects are far away from the camera. This is achieved by utilizing omnidirectional camera that is able to stabilize the motion estimates between camera frames that are known to be ill-conditioned for narrow field of view cameras. We employ feature based-approach for estimation camera motion. Given our hardware, possibly high ammounts of camera rotation between frames can occur. Thus we use techniques of feature matching rather than feature tracking.

We present a system that estimates the motion of a robot relying solely on images from onboard omnidirectional camera (visual odometry). Compared to other visual odometry hardware, ours is unusual in utilizing high resolution, low frame-rate (1 to 3 Hz) omnidirectional camera mounted on a robot that is propelled using continuous tracks. We focus on high precision estimates in scenes, where objects are far away from the camera. This is achieved by utilizing omnidirectional camera that is able to stabilize the motion estimates between camera frames that are known to be ill-conditioned for narrow field of view cameras. We employ feature based-approach for estimation camera motion. Given our hardware, possibly high ammounts of camera rotation between frames can occur. Thus we use techniques of feature matching rather than feature tracking.

[pt] Foi desenvolvido pelos grupos MPEG (Moving Picture Expert Group) e VCEG (Video Coding Expert Group) um novo padrão de codificação de vídeo denominado AVC (Advanced Vídeo Coding). Este padrão fornece uma capacidade de compressão maior de vídeo se comparado com os padrões anteriores. A estimação de movimento é a fase da codificação de vídeo que demanda maior tempo de processamento. Estimação de movimento é computacionalmente custosa para H.264/AVC se o método Full Search [1] é usado. A fim de reduzir o tempo de codificação, o software de referência JM 9.8 adota um rápido método de estimação de movimento para pixel inteiro chamado UMHexagonS e um método para pixel fracionário chamado CBFPS. Um método proposto por Xiaoquan Yi, Jun Zhang, Nam Ling e Weijia Shang [2] chamado aqui, por simplicidade, de P021 apresenta, em comparação com o software de referência JM, uma melhor e simplificada forma de estimação de movimento para aumentar a velocidade do processo de codificação e manter a qualidade visual do vídeo. Visando diminuir ainda mais o tempo de processamento e o custo computacional apresentada pelos métodos citados anteriormente, o que é necessário principalmente para aplicações de codificação de vídeo móveis, como celulares e palm tops e aplicações de tempo real, como videoconferência, este trabalho propõe um método de estimação de movimento que consiste em evitar o processamento de blocos que não se beneficiam da pesquisa de metade de pixel. Após a execução dos testes, pode-se constatar que com uma qualidade de vídeo semelhante, o método proposto reduz o tempo de processamento em 76,17%, 75,95% e 11,74% em média quando comparado com os métodos Full Search, JM 98 e P021. Além disso, este método praticamente preserva a taxa de bits, apresentando um pequeno aumento de 8,72% , 8,06% e 8,02% em média quando comparado com os mesmos métodos. Isto representa, em nossa opinião, um pequeno preço a ser pago, considerando os benefícios em termos de tempo de processamento. / [en] The MPEG (Moving Picture Experts Group) and the VCEG (Video Coding Experts Group) have developed a new video compression standard entitled AVC (Advanced Video Coding). This standard offers the capacity of video compression greater than the previous standards.The motion estimation which is a phase of the video compression is extremely computer-intensive and therefore demands most of the processing time. When Full Search [1] method is used for H.264/AVC, this process is extremely expensive. In order to reduce encoding time, the reference software JM (throughout this work, JM98 is the version used) has respectively adopted a fast motion estimation method for the integer pixel called UMHexagonS and a method for the sub- pixel called CBFPS. A method proposed by Xiaoquan Yi, Jun Zhang, Nam Ling e Weijia Shang [2] called here P021 (as referenced by the Joint Video Team) has shown, when compared to the reference software JM, a simple way of motion estimation that increases the speed of coding process while maintaining the video visual quality. In order to decrease the processing time and computational cost of these methods, which are: i) particularly needed in mobile video coding applications such as mobile phones and palmtops; ii) in real time applications such as videoconference, this work proposes a motion estimation method that eliminates the processing of blocks that does not produce benefits for the half-pixel search. The simulation results show that the proposed method reduces the processing time in 76,17%, 75,95% and 11,74% in average when respectively compared with Full Search, JM98 and P021 methods, without relevant impact in video quality. Besides, this method produces a bits rate increase of 8,72% , 8,06% e 8,02% in average when compared with the same methods. This is in our opinion, an inexpensive price to be paid when the time benefits are considered.

We present a system that estimates the motion of a robot relying solely on images from onboard omnidirectional camera (visual odometry). Compared to other visual odometry hardware, ours is unusual in utilizing high resolution, low frame-rate (1 to 3 Hz) omnidirectional camera mounted on a robot that is propelled using continuous tracks. We focus on high precision estimates in scenes, where objects are far away from the camera. This is achieved by utilizing omnidirectional camera that is able to stabilize the motion estimates between camera frames that are known to be ill-conditioned for narrow field of view cameras and the fact that low frame-rate of the imaging system allows us to focus computational resources on utilizing high resolution images. We employ feature based-approach for estimation camera motion. Given our hardware, possibly high ammounts of camera rotation between frames can occur. Thus we use techniques of feature matching rather than feature tracking.

A compressão de vídeo é um tema extremamente relevante no cenário atual, principalmente devido ao crescimento significativo da utilização de vídeos digitais. Sem a compressão, é praticamente impossível enviar ou armazenar vídeos digitais devido à sua grande quantidade de informações, inviabilizando aplicações como televisão digital de alta definição, vídeo conferência, vídeo chamada para celulares etc. O problema vem se tornando maior com o crescimento de aplicações de vídeos de alta definição, onde a quantidade de informação é consideravelmente maior. Diversos padrões de compressão de vídeo foram desenvolvidos nos últimos anos, todos eles podem gerar grandes taxas de compressão. Os padrões de compressão de vídeo atuais obtêm a maior parte dos seus ganhos de compressão explorando a redundância temporal, através da estimação de movimento. No entanto, os algoritmos de estimação de movimento utilizados atualmente não consideram as variações nas características dos vídeos de alta definição. Neste trabalho uma avaliação da estimação de movimento em vídeos de alta definição é apresentada, demonstrando que algoritmos rápidos conhecidos, e largamente utilizados pela comunidade científica, não apresentam os mesmos resultados de qualidade com o aumento da resolução dos vídeos. Isto demonstra a importância do desenvolvimento de novos algoritmos focados em vídeos de altíssima definição, superiores à HD 1080p. Esta tese apresenta o desenvolvimento de novos algoritmos rápidos de estimação de movimento, focados na codificação de vídeos de alta definição. Os algoritmos desenvolvidos nesta tese apresentam características que os tornam menos suscetíveis à escolha de mínimos locais, resultando em ganhos significativos de qualidade em relação aos algoritmos rápidos convencionais, quando aplicados a vídeos de alta definição. Além disso, este trabalho também visa o desenvolvimento de arquiteturas de hardware dedicadas para estes novos algoritmos, igualmente dedicadas a vídeos de alta definição. O desenvolvimento arquitetural é extremamente relevante, principalmente para aplicações de tempo real a 30 quadros por segundo, e também para a utilização em dispositivos móveis, onde requisitos de desempenho e potência são críticos. Todos os algoritmos desenvolvidos foram avaliados para um conjunto de 10 sequências de teste HD 1080p, e seus resultados de qualidade e custo computacional foram avaliados e comparados com algoritmos conhecidos da literatura. As arquiteturas de hardware dedicadas, desenvolvidas para os novos algoritmos, foram descritas em VHDL e sintetizadas para FPGAs e ASIC, em standard cells nas tecnologias 0,18μm e 90nm. Os algoritmos desenvolvidos apresentam ganhos de qualidade para vídeos de alta definição em relação a algoritmos rápidos convencionais, e as arquiteturas desenvolvidas possuem altas taxas de processamento com baixo consumo de recursos de hardware e de potência. / Video compression is an extremely relevant theme in today’s scenario, mainly due to the significant growth in digital video applications. Without compression, it is almost impossible to send or store digital videos, due to the large amount of data that they require, making applications such as high definition digital television, video conferences, mobiles video calls, and others unviable. This demand is increasing since there is a strong growth in high definition video applications, where the amount of information is considerably larger. Many video coding standards were developed in the last few years, all of them can achieve excellent compression rates. A significant part of the compression gains in the current video coding standards are obtained through the exploration of the temporal redundancies by means of the motion estimation process. However, the current motion estimation algorithms do not consider the inherent variations that appear in high and ultra-high definition videos. In this work an evaluation of the motion estimation in high definition videos is presented. This evaluation shows that some well know fast algorithms, that are widely used by the scientific community, do not keep the same quality results when applied to high resolution videos. It demonstrates the relevance of new fast algorithms that are focused on high definition videos. This thesis presents the development of new fast motion estimation algorithms focused in high definition video encoding. The algorithms developed in this thesis show some characteristics that make them more resilient to avoid local minima, when applied to high definition videos. Moreover, this work also aims at the development of dedicated hardware architectures for these new algorithms, focused on high definition videos. The architectural development is extremely relevant, mainly for real time applications at 30 frames per second, and also for mobile applications, where performance and power are critical issues. All developed algorithms were assessed using 10 HD 1080p test video sequences, and the results for quality and computational cost were evaluated and compared against known algorithms from the literature. The dedicated hardware architectures, developed for the new algorithms, were described in VHDL and synthesized for FPGA and ASIC. The ASIC implementation used 0.18μm and 90nm CMOS standard cells technology. The developed algorithms present quality gains in comparison to regular fast algorithms for high definition videos, and the developed architectures presents high processing rate with low hardware resources cost and power consumption.

abstract: Motion estimation is a core task in computer vision and many applications utilize optical flow methods as fundamental tools to analyze motion in images and videos. Optical flow is the apparent motion of objects in image sequences that results from relative motion between the objects and the imaging perspective. Today, optical flow fields are utilized to solve problems in various areas such as object detection and tracking, interpolation, visual odometry, etc. In this dissertation, three problems from different areas of computer vision and the solutions that make use of modified optical flow methods are explained. The contributions of this dissertation are approaches and frameworks that introduce i) a new optical flow-based interpolation method to achieve minimally divergent velocimetry data, ii) a framework that improves the accuracy of change detection algorithms in synthetic aperture radar (SAR) images, and iii) a set of new methods to integrate Proton Magnetic Resonance Spectroscopy (1HMRSI) data into threedimensional (3D) neuronavigation systems for tumor biopsies. In the first application an optical flow-based approach for the interpolation of minimally divergent velocimetry data is proposed. The velocimetry data of incompressible fluids contain signals that describe the flow velocity. The approach uses the additional flow velocity information to guide the interpolation process towards reduced divergence in the interpolated data. In the second application a framework that mainly consists of optical flow methods and other image processing and computer vision techniques to improve object extraction from synthetic aperture radar images is proposed. The proposed framework is used for distinguishing between actual motion and detected motion due to misregistration in SAR image sets and it can lead to more accurate and meaningful change detection and improve object extraction from a SAR datasets. In the third application a set of new methods that aim to improve upon the current state-of-the-art in neuronavigation through the use of detailed three-dimensional (3D) 1H-MRSI data are proposed. The result is a progressive form of online MRSI-guided neuronavigation that is demonstrated through phantom validation and clinical application. / Dissertation/Thesis / Doctoral Dissertation Electrical Engineering 2018

<p>Recent algorithms for video coding achieve a high-quality transmission at moderate bit rates. On the other hand, those coders are very sensitive to transmission errors. Many research projects focus on methods to conceal such errors in the decoded video sequence. </p><p>Motion compensated prediction is commonly used in video coding to achieve a high compression ratio. This thesis proposes an algorithm which uses the motion compensated prediction of a given video coder to predict a sequence of several complete frames, based on the last correctly decoded images, during a transmission interruption. The proposed algorithm is evaluated on a video coder which uses a dense motion field for motion compensation. </p><p>A drawback of predicting lost fields is the perceived discontinuity when the decoder switches back from the prediction to a normal mode of operation. Various approaches to reduce this discontinuity are investigated.</p>

<p>To improve the control of a steel casting process ABB has developed an Electro Magnetic Brake (EMBR). This product is designed to improve steel quality, i.e. reduce non-metallic inclusions and blisters as well as risk of surface cracks. There is a demand of increasing the steel quality and in order to optimize the steel casting, simulations and experiments play an important role in achieving this. An advanced CFD simulation model has been created to carry out this task.</p><p>The validation of the simulation model is performed on a water model that has been built for this purpose. This water model also makes experiments possible. One step to the simulation model is to measure the velocity and motion pattern of the seeding particles and the air bubbles in the water model to see if it corresponds to the simulation results. </p><p>Since the water is transparent, seeding particles have been added to the liquid in order to observe the motion of the water. They have the same density as water. Hence the particles will follow the flow accurately. The motions of the air bubbles that are added into the water model need also to be observed since they influence the flow pattern.</p><p>An algorithm - ”Transparent motions” - is thoroughly inspected and implemented. ”Transparent motions” was originally designed to post process x-ray images. However in this thesis, it is investigated whether the algorithm might be applicable to the water model and the image sequences containing seeding particles and air bubbles that are going to be used for motion estimation.</p><p>The result show satisfying results for image sequences of particles only, however with a camera with a faster sampling interval, these results would improve. For image sequences with both bubbles and particles no results have been achieved. </p>

<p>H.264 is a video coding standard which offers high data compression rate at the cost of a high computational load. This thesis evaluates how well parts of the H.264 standard can be implemented for a new multi-core digital signal processing processor architecture called ePUMA. The thesis investigates if real-time encoding of high definition video sequences could be performed. The implementation consists of the motion estimation, motion compensation, discrete cosine transform, inverse discrete cosine transform, quantization and rescaling parts of the H.264 standard. Benchmarking is done using the ePUMA system simulator and the results are compared to an implementation of an existing H.264 encoder for another multi-core processor architecture called STI Cell. The results show that the selected parts of the H.264 encoder could be run on 6 calculation cores in 5 million cycles per frame. This setup leaves 2 calculation cores to run the remaining parts of the encoder.</p>

<p>The packing and coding of digital video is a part of science where much innovation has taken place during the last few decades. The MPEG standards of video encoding are some of the most well-known and used video coding standards today. Since MPEG defines exact requirements for the decoder, but not the encoder, encoders can be made in many different ways and levels of complexity, as long as they produce legal MPEG streams that can be viewed on any MPEG-conformant decoder. This thesis will examine the possible performance of MPEG, in particular MPEG-1/MPEG-2 full TV resolution (720*576), for coding video at bitrates significantly lower than the 2-15 Mb/s MPEG-2 originally was designed for. For this purpose, encoding methods previously proposed by various researchers are presented. Furthermore a few new algorithms, which can be used for MPEG coding in general, but was constructed with a low-bitrate encoder in mind, were developed. Finally objective video quality benchmarks were conducted and the results evaluated.</p>