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1,328 results on '"Laboratoire d'informatique GRAphique, VIsion et Robotique de Grenoble (GRAVIR - IMAG)"'

1. Symphony Lake Dataset

Author

Georges Chahine, Cédric Pradalier, Shane Griffith, Georgia Tech Lorraine [Metz], Université de Franche-Comté (UFC), Université Bourgogne Franche-Comté [COMUE] (UBFC)-Université Bourgogne Franche-Comté [COMUE] (UBFC)-Ecole Supérieure d'Electricité - SUPELEC (FRANCE)-Georgia Institute of Technology [Atlanta]-CentraleSupélec-Ecole Nationale Supérieure des Arts et Metiers Metz-Centre National de la Recherche Scientifique (CNRS), Hôtel-Dieu de France (HDF), Université Saint-Joseph de Beyrouth (USJ), Automatic Programming and Decisional Systems in Robotics (SHARP), Laboratoire d'informatique GRAphique, VIsion et Robotique de Grenoble (GRAVIR - IMAG), Université Joseph Fourier - Grenoble 1 (UJF)-Institut National de Recherche en Informatique et en Automatique (Inria)-Centre National de la Recherche Scientifique (CNRS)-Institut National Polytechnique de Grenoble (INPG)-Université Joseph Fourier - Grenoble 1 (UJF)-Institut National de Recherche en Informatique et en Automatique (Inria)-Centre National de la Recherche Scientifique (CNRS)-Institut National Polytechnique de Grenoble (INPG)-Inria Grenoble - Rhône-Alpes, and Institut National de Recherche en Informatique et en Automatique (Inria)

Subjects
0209 industrial biotechnology, Unmanned surface vehicle, 02 engineering and technology, Simultaneous localization and mapping, 03 medical and health sciences, 020901 industrial engineering & automation, 0302 clinical medicine, Artificial Intelligence, unmanned surface vehicle, [INFO]Computer Science [cs], Electrical and Electronic Engineering, lake shore, Shore, geography, geography.geographical_feature_category, Applied Mathematics, Mechanical Engineering, Data space, natural environment, visual survey, Modeling and Simulation, 030221 ophthalmology & optometry, Symphony, Cartography, Software, Dataset
Abstract

International audience; This paper describes Symphony Lake Dataset, 121 visual surveys of an approximately 1.3 km lake shore in Metz, France. Different from roadway datasets, it adds breadth to the data space at a time when larger and more diverse datasets are desired. Over five million images from an unmanned surface vehicle captured the natural environment as it evolved over three years. Variation in appearance across weeks, seasons, and years is significant. Success on Symphony Lake Dataset could demonstrate advancements in perception, simultaneous localization and mapping, and environment monitoring.

Published
2017

2. Analyzing and managing the slot occupancy of car parking by exploiting vision-based urban surveillance networks

Author

Mahmoud Melkemi, Joel J. P. C. Rodrigues, Halim Benhabiles, Sofiane Hamrioui, Karim Hammoudi, Fadi Dornaika, Méthodes d'Analyses pour le Traitement d'Images et la Stéréorestitution (MATIS), Laboratoire des Sciences et Technologies de l'Information Géographique (LaSTIG), École nationale des sciences géographiques (ENSG), Institut National de l'Information Géographique et Forestière [IGN] (IGN)-Institut National de l'Information Géographique et Forestière [IGN] (IGN)-École nationale des sciences géographiques (ENSG), Institut National de l'Information Géographique et Forestière [IGN] (IGN)-Institut National de l'Information Géographique et Forestière [IGN] (IGN), Institut d'Informatique et de Mathématiques Appliquées de Grenoble (IMAG), Université Joseph Fourier - Grenoble 1 (UJF)-Institut National Polytechnique de Grenoble (INPG)-Centre National de la Recherche Scientifique (CNRS), Laboratoire d'Informatique Fondamentale de Lille (LIFL), Université de Lille, Sciences et Technologies-Institut National de Recherche en Informatique et en Automatique (Inria)-Université de Lille, Sciences Humaines et Sociales-Centre National de la Recherche Scientifique (CNRS), Modeling, localization, recognition and interpretation in computer vision (MOVI), Laboratoire d'informatique GRAphique, VIsion et Robotique de Grenoble (GRAVIR - IMAG), Université Joseph Fourier - Grenoble 1 (UJF)-Institut National de Recherche en Informatique et en Automatique (Inria)-Centre National de la Recherche Scientifique (CNRS)-Institut National Polytechnique de Grenoble (INPG)-Université Joseph Fourier - Grenoble 1 (UJF)-Institut National de Recherche en Informatique et en Automatique (Inria)-Centre National de la Recherche Scientifique (CNRS)-Institut National Polytechnique de Grenoble (INPG)-Inria Grenoble - Rhône-Alpes, Institut National de Recherche en Informatique et en Automatique (Inria)-Centre National de la Recherche Scientifique (CNRS), Université de Haute-Alsace (UHA) Mulhouse - Colmar (Université de Haute-Alsace (UHA)), Simula Research Laboratory [Lysaker] (SRL), Université Joseph Fourier - Grenoble 1 (UJF)-Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National Polytechnique de Grenoble (INPG)-Centre National de la Recherche Scientifique (CNRS)-Université Joseph Fourier - Grenoble 1 (UJF)-Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National Polytechnique de Grenoble (INPG)-Centre National de la Recherche Scientifique (CNRS)-Inria Grenoble - Rhône-Alpes, Méthodes d'Analyses pour le Traitement d'Images et la Stéréorestitution ( MATIS ), Institut National de l'Information Géographique et Forestière [IGN] ( IGN ), Institut d'Informatique et de Mathématiques Appliquées de Grenoble ( IMAG ), Université Joseph Fourier - Grenoble 1 ( UJF ) -Institut National Polytechnique de Grenoble ( INPG ) -Centre National de la Recherche Scientifique ( CNRS ), Laboratoire d'Informatique Fondamentale de Lille ( LIFL ), Université de Lille, Sciences et Technologies-Institut National de Recherche en Informatique et en Automatique ( Inria ) -Université de Lille, Sciences Humaines et Sociales-Centre National de la Recherche Scientifique ( CNRS ), Modeling, localization, recognition and interpretation in computer vision ( MOVI ), Graphisme, Vision et Robotique ( GRAVIR - IMAG ), Université Joseph Fourier - Grenoble 1 ( UJF ) -Institut National de Recherche en Informatique et en Automatique ( Inria ) -Institut National Polytechnique de Grenoble ( INPG ) -Centre National de la Recherche Scientifique ( CNRS ) -Université Joseph Fourier - Grenoble 1 ( UJF ) -Institut National de Recherche en Informatique et en Automatique ( Inria ) -Institut National Polytechnique de Grenoble ( INPG ) -Centre National de la Recherche Scientifique ( CNRS ) -Inria Grenoble - Rhône-Alpes, Institut National de Recherche en Informatique et en Automatique ( Inria ) -Centre National de la Recherche Scientifique ( CNRS ), Université de Haute-Alsace (UHA) Mulhouse - Colmar ( Université de Haute-Alsace (UHA) ), and Simula Research Laboratory [Lysaker] ( SRL )

Subjects
Engineering, [ INFO ] Computer Science [cs], Occupancy, Exploit, Parking guidance and information, business.industry, 020206 networking & telecommunications, Advanced driver assistance systems, 02 engineering and technology, Computer security, computer.software_genre, Transport engineering, Broadcasting (networking), Work (electrical), Robustness (computer science), 0202 electrical engineering, electronic engineering, information engineering, Wireless, 020201 artificial intelligence & image processing, [INFO]Computer Science [cs], business, computer, ComputingMilieux_MISCELLANEOUS
Abstract

In this paper, we present an approach for the analysis of parking slots by exploiting urban surveillance networks. This work has been developed in a project which aims to facilitate to the car drivers the access to available car parking slots. This paper describes a framework that exploits video streams provided by urban networks of cameras. The objective is to remotely determine the occupancy status of parking slots. Besides, the paper presents a case study and a discussion about a broadcasting strategy that could be used to share the positions of identified vacant parking slots with drivers searching an available parking slot.

Published
2017

3. A Semi−supervised Learning Approach to Object Recognition with Spatial Integration of Local Features and Segmentation Cues

Author

Gyuri Dorkó, Cordelia Schmid, Peter Carbonetto, Hendrik Kück, Nando de Freitas, Ponce, J, Hebert, M, Schmid, C, Zisserman, A, Computer Science Department (UBC-Computer Science), University of British Columbia (UBC), Learning and recognition in vision (LEAR), Laboratoire d'informatique GRAphique, VIsion et Robotique de Grenoble (GRAVIR - IMAG), Université Joseph Fourier - Grenoble 1 (UJF)-Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National Polytechnique de Grenoble (INPG)-Centre National de la Recherche Scientifique (CNRS)-Université Joseph Fourier - Grenoble 1 (UJF)-Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National Polytechnique de Grenoble (INPG)-Centre National de la Recherche Scientifique (CNRS)-Inria Grenoble - Rhône-Alpes, Institut National de Recherche en Informatique et en Automatique (Inria)-Centre National de la Recherche Scientifique (CNRS), and Jean Ponce and Martial Hebert and Cordelia Schmid and Andrew Zisserman

Subjects
Conditional random field, Computer science, Scale-invariant feature transform, Feature selection, Image processing, 02 engineering and technology, Semi-supervised learning, Machine learning, computer.software_genre, 01 natural sciences, 010104 statistics & probability, 0202 electrical engineering, electronic engineering, information engineering, Segmentation, 0101 mathematics, Contextual image classification, business.industry, Supervised learning, Cognitive neuroscience of visual object recognition, [INFO.INFO-CV]Computer Science [cs]/Computer Vision and Pattern Recognition [cs.CV], Pattern recognition, Kernel method, Pattern recognition (psychology), 020201 artificial intelligence & image processing, Artificial intelligence, business, computer
Abstract

This chapter presents a principled way of formulating models for automatic local feature selection in object class recognition when there is little supervised data. Moreover, it discusses how one could formulate sensible spatial image context models using a conditional random field for integrating local features and segmentation cues (superpixels). By adopting sparse kernel methods and Bayesian model selection and data association, the proposed model identifies the most relevant sets of local features for recognizing object classes, achieves performance comparable to the fully supervised setting, and consistently outperforms existing methods for image classification.

Published
2016

4. Bayesian Perception & Decision for Autonomous Vehicles and Mobile Robots (Invited Talk)

Author

Laugier, Christian, Geometry and Probability for Motion and Action (E-MOTION), Laboratoire d'informatique GRAphique, VIsion et Robotique de Grenoble (GRAVIR - IMAG), Université Joseph Fourier - Grenoble 1 (UJF)-Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National Polytechnique de Grenoble (INPG)-Centre National de la Recherche Scientifique (CNRS)-Université Joseph Fourier - Grenoble 1 (UJF)-Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National Polytechnique de Grenoble (INPG)-Centre National de la Recherche Scientifique (CNRS)-Inria Grenoble - Rhône-Alpes, Institut National de Recherche en Informatique et en Automatique (Inria), Robots coopératifs et adaptés à la présence humaine en environnements dynamiques (CHROMA), Inria Grenoble - Rhône-Alpes, Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria)-CITI Centre of Innovation in Telecommunications and Integration of services (CITI), Institut National des Sciences Appliquées de Lyon (INSA Lyon), Université de Lyon-Institut National des Sciences Appliquées (INSA)-Université de Lyon-Institut National des Sciences Appliquées (INSA)-Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National des Sciences Appliquées de Lyon (INSA Lyon), Université de Lyon-Institut National des Sciences Appliquées (INSA)-Université de Lyon-Institut National des Sciences Appliquées (INSA), Project Perfect IRT Nanoelec / ANR, Toyota, Renault, Prof Ren Luo, Institut National des Sciences Appliquées (INSA)-Université de Lyon-Institut National des Sciences Appliquées (INSA)-Université de Lyon-Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National des Sciences Appliquées de Lyon (INSA Lyon), Institut National des Sciences Appliquées (INSA)-Université de Lyon-Institut National des Sciences Appliquées (INSA)-Université de Lyon, and Laugier, Christian

Subjects
Bayesian Perception, Collision Risk Assessment, [INFO.INFO-RB] Computer Science [cs]/Robotics [cs.RO], [INFO.INFO-RB]Computer Science [cs]/Robotics [cs.RO], Safe navigation in Dynamic Environments, Situation Awareness
Abstract

International audience; New technologies for Autonomous Vehicles and Mobile Robots will be presented, with an emphasis on multi-sensors Embedded Perception, Situation Awareness, Collision Risk Assessment, and Decision-making for safe navigation in Dynamic Human Environments. It will be shown that Bayesian approaches are mandatory for developing these technologies and for obtaining the required robustness in presence of uncertainty and complex dynamic situations. The talk will be illustrated by some interesting results obtained in the scope of several collaborative projects involving Toyota, Renault, CEA-LETI, and the French IRT (Technological Research Institute) Nanoelec.

Published
2016

5. Integrating Animation Artists into the Animation Design of Social Robots: An Open-Source Robot Animation Software

Author

Balit, Etienne, Vaufreydaz, Dominique, Reignier, Patrick, Laboratoire d'Informatique de Grenoble (LIG ), Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS)-Université Grenoble Alpes [2016-2019] (UGA [2016-2019]), Université Grenoble Alpes [2016-2019] (UGA [2016-2019]), Perception, recognition and integration for observation of activity (PRIMA), Laboratoire d'informatique GRAphique, VIsion et Robotique de Grenoble (GRAVIR - IMAG), Université Joseph Fourier - Grenoble 1 (UJF)-Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National Polytechnique de Grenoble (INPG)-Centre National de la Recherche Scientifique (CNRS)-Université Joseph Fourier - Grenoble 1 (UJF)-Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National Polytechnique de Grenoble (INPG)-Centre National de la Recherche Scientifique (CNRS)-Inria Grenoble - Rhône-Alpes, Institut National de Recherche en Informatique et en Automatique (Inria), ANR-11-EQPX-0002,AmiQual4HOME,AmiLab pour Habitats Intelligents(2011), and Université Joseph Fourier - Grenoble 1 (UJF)-Institut National de Recherche en Informatique et en Automatique (Inria)-Centre National de la Recherche Scientifique (CNRS)-Institut National Polytechnique de Grenoble (INPG)-Université Joseph Fourier - Grenoble 1 (UJF)-Institut National de Recherche en Informatique et en Automatique (Inria)-Centre National de la Recherche Scientifique (CNRS)-Institut National Polytechnique de Grenoble (INPG)-Inria Grenoble - Rhône-Alpes

Subjects
expressive movement, human-robot interaction, animation, [INFO.INFO-RB]Computer Science [cs]/Robotics [cs.RO], [INFO.INFO-HC]Computer Science [cs]/Human-Computer Interaction [cs.HC], expressive gestures, robot animation, GeneralLiterature_MISCELLANEOUS, ComputingMethodologies_COMPUTERGRAPHICS
Abstract

International audience; Movements are an important part of robot design and we need dedicated tools to design them. As previous research has shown, 3D animation techniques are of great use to animate a robot. However, most robots don't benefit from an animation tool and therefore from animation artists knowledge. We present an open-source robot animation software to address this issue and describe some principles for designing a robot animation software derived from the specificity of robot as a medium.

Published
2016

6. Virtual Simulation with Real Occupants using Serious Games

Author

Kashif, Ayesha, Ploix, Stéphane, Dugdale, Julie, Reignier, Patrick, Shahzad, Muhammad Kashif, Gestion et Conduite des Systèmes de Production (G-SCOP_GCSP), Laboratoire des sciences pour la conception, l'optimisation et la production (G-SCOP), Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Institut National Polytechnique de Grenoble (INPG)-Centre National de la Recherche Scientifique (CNRS)-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Institut National Polytechnique de Grenoble (INPG)-Centre National de la Recherche Scientifique (CNRS), Modélisation d’agents autonomes en univers multi-agents (MAGMA), Laboratoire d'Informatique de Grenoble (LIG), Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Institut National Polytechnique de Grenoble (INPG)-Centre National de la Recherche Scientifique (CNRS)-Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Institut National Polytechnique de Grenoble (INPG)-Centre National de la Recherche Scientifique (CNRS), Université Grenoble Alpes [2016-2019] (UGA [2016-2019]), Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Institut National Polytechnique de Grenoble (INPG)-Centre National de la Recherche Scientifique (CNRS), Perception, recognition and integration for observation of activity (PRIMA), Laboratoire d'informatique GRAphique, VIsion et Robotique de Grenoble (GRAVIR - IMAG), Université Joseph Fourier - Grenoble 1 (UJF)-Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National Polytechnique de Grenoble (INPG)-Centre National de la Recherche Scientifique (CNRS)-Université Joseph Fourier - Grenoble 1 (UJF)-Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National Polytechnique de Grenoble (INPG)-Centre National de la Recherche Scientifique (CNRS)-Inria Grenoble - Rhône-Alpes, Institut National de Recherche en Informatique et en Automatique (Inria), Système d’Information, conception RobustE des Produits (G-SCOP_SIREP), Institut National Polytechnique de Grenoble (INPG)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS)-Université Joseph Fourier - Grenoble 1 (UJF)-Institut National Polytechnique de Grenoble (INPG)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS)-Université Joseph Fourier - Grenoble 1 (UJF), Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Institut National Polytechnique de Grenoble (INPG)-Centre National de la Recherche Scientifique (CNRS)-Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Institut National Polytechnique de Grenoble (INPG)-Centre National de la Recherche Scientifique (CNRS)-Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Joseph Fourier - Grenoble 1 (UJF), Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Institut National Polytechnique de Grenoble (INPG)-Centre National de la Recherche Scientifique (CNRS)-Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Joseph Fourier - Grenoble 1 (UJF), and Université Joseph Fourier - Grenoble 1 (UJF)-Institut National de Recherche en Informatique et en Automatique (Inria)-Centre National de la Recherche Scientifique (CNRS)-Institut National Polytechnique de Grenoble (INPG)-Université Joseph Fourier - Grenoble 1 (UJF)-Institut National de Recherche en Informatique et en Automatique (Inria)-Centre National de la Recherche Scientifique (CNRS)-Institut National Polytechnique de Grenoble (INPG)-Inria Grenoble - Rhône-Alpes

Subjects
ComputingMilieux_PERSONALCOMPUTING, [INFO.INFO-MO]Computer Science [cs]/Modeling and Simulation
Abstract

International audience; Inhabitants play a key role in the global energy consumption of buildings. However, it is difficult to motivate people to be concerned about energy management. Our objective is to make energy consumption visible by simulating the energy impacting behaviours of inhabitants by using Energy Plus and a 3D virtual environment. This will make energy consumption more obvious to people due to the use of a serious game. The nature of this game is exploratory where the player's knowledge about energy consumption is enriched as he plays the game. In this paper a methodology for building a serious game for energy management is proposed. In order to analyse the impact of occupant's behaviour the game is coupled with EnergyPlus. The Functional Mock-up Interface (FMI) standard is used for coupling these different tools. Since the occupants experience the impact of their different behaviours on energy consumption, the game creates an awareness about energy management and motivates the occupants to save energy.

Published
2015

7. A dual axis CMOS micromachined convective thermal accelerometer

Author

Benoit Charlot, Alain Giani, Alexandra Garraud, Mathieu Richard, Philippe Combette, Institut d’Electronique et des Systèmes (IES), Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS), Matériaux, MicroCapteurs et Acoustique (M2A), Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS), Virtual environments for animation and image synthesis of natural objects (EVASION), Laboratoire d'informatique GRAphique, VIsion et Robotique de Grenoble (GRAVIR - IMAG), Université Joseph Fourier - Grenoble 1 (UJF)-Institut National de Recherche en Informatique et en Automatique (Inria)-Centre National de la Recherche Scientifique (CNRS)-Institut National Polytechnique de Grenoble (INPG)-Université Joseph Fourier - Grenoble 1 (UJF)-Institut National de Recherche en Informatique et en Automatique (Inria)-Centre National de la Recherche Scientifique (CNRS)-Institut National Polytechnique de Grenoble (INPG)-Inria Grenoble - Rhône-Alpes, Institut National de Recherche en Informatique et en Automatique (Inria)-Centre National de la Recherche Scientifique (CNRS), and Université Joseph Fourier - Grenoble 1 (UJF)-Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National Polytechnique de Grenoble (INPG)-Centre National de la Recherche Scientifique (CNRS)-Université Joseph Fourier - Grenoble 1 (UJF)-Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National Polytechnique de Grenoble (INPG)-Centre National de la Recherche Scientifique (CNRS)-Inria Grenoble - Rhône-Alpes

Subjects
Bulk micromachining, Convective heat transfer, Acoustics, 02 engineering and technology, Accelerometer, 01 natural sciences, Acceleration, Thermocouple, 0103 physical sciences, Thermal, Electrical and Electronic Engineering, Instrumentation, ComputingMilieux_MISCELLANEOUS, 010302 applied physics, Physics, Microelectromechanical systems, Natural convection, business.industry, Metals and Alloys, Electrical engineering, 021001 nanoscience & nanotechnology, Condensed Matter Physics, [SPI.TRON]Engineering Sciences [physics]/Electronics, Computer Science::Other, Surfaces, Coatings and Films, Electronic, Optical and Magnetic Materials, 0210 nano-technology, business
Abstract

We present a dual axis accelerometer made with a frontside bulk micromachining on a 0.35 μm CMOS. The accelerometer is based on thermal convection where a central suspended hot plate creates a hot gas bubble. In-plane acceleration applied to the body will change the temperature distribution on the device, the latter being measured by four detectors containing six serially connected thermocouples. The paper will present the modelling of the device with a specific spherical model as well as measurements of sensitivity and linearity.

Published
2011

8. Efficient Impostor Manipulation for Real-Time Visualization of Urban Scenery

Author

Benoit Bodelet, George Drettakis, François X. Sillion, Models, Algorithms and Geometry for Computer Generated Image Graphics (iMAGIS), Laboratoire d'informatique GRAphique, VIsion et Robotique de Grenoble (GRAVIR - IMAG), Université Joseph Fourier - Grenoble 1 (UJF)-Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National Polytechnique de Grenoble (INPG)-Centre National de la Recherche Scientifique (CNRS)-Université Joseph Fourier - Grenoble 1 (UJF)-Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National Polytechnique de Grenoble (INPG)-Centre National de la Recherche Scientifique (CNRS)-Inria Grenoble - Rhône-Alpes, Institut National de Recherche en Informatique et en Automatique (Inria), and D. Fellner and L. Szirmay-Kalos

Subjects
Structure (mathematical logic), business.industry, Computer science, Visibility (geometry), 0211 other engineering and technologies, 020207 software engineering, 02 engineering and technology, Image-based modeling and rendering, Computer Graphics and Computer-Aided Design, [INFO.INFO-GR]Computer Science [cs]/Graphics [cs.GR], Urban structure, Visualization, 11. Sustainability, 021105 building & construction, 0202 electrical engineering, electronic engineering, information engineering, 020201 artificial intelligence & image processing, Computer vision, Segmentation, Artificial intelligence, business, Parallax, Interactive visualization, ComputingMethodologies_COMPUTERGRAPHICS
Abstract

International audience; Urban environments present unique challenges to interactive visualization systems, because of the huge complexity of the geometrical data and the widely varying visibility conditions. The paper introduces a new framework for real-time visualization of such urban scenes. The central concept is that of a dynamic segmentation of the dataset, into a local three dimensional model and a set of impostors used to represent distant scenery. A segmentation model is presented, based on inherent urban structures. A new impostor structure is introduced, derived from the level-of-detail approach. Impostors combine three-dimensional geometry to correctly model large depth discontinuities and parallax, and textures to rapidly display visual detail. We present the algorithm necessary for the creation of accurate and efficient three-dimensional impostors. The implementation of our algorithms allows interactive navigation in complex urban databases, as required by many applications.

Published
2008

9. Evaluating Quantum Dot Performance in Homogeneous FRET Immunoassays for Prostate Specific Antigen

Author

Niko Hildebrandt, Olivier Lefebvre, Karl David Wegner, Shashi Bhuckory, Xue Qiu, Institut d'électronique fondamentale (IEF), Université Paris-Sud - Paris 11 (UP11)-Centre National de la Recherche Scientifique (CNRS), Geometry and Probability for Motion and Action (E-MOTION), Laboratoire d'informatique GRAphique, VIsion et Robotique de Grenoble (GRAVIR - IMAG), Université Joseph Fourier - Grenoble 1 (UJF)-Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National Polytechnique de Grenoble (INPG)-Centre National de la Recherche Scientifique (CNRS)-Université Joseph Fourier - Grenoble 1 (UJF)-Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National Polytechnique de Grenoble (INPG)-Centre National de la Recherche Scientifique (CNRS)-Inria Grenoble - Rhône-Alpes, Institut National de Recherche en Informatique et en Automatique (Inria), Institut de Biologie Intégrative de la Cellule (I2BC), Commissariat à l'énergie atomique et aux énergies alternatives (CEA)-Université Paris-Saclay-Centre National de la Recherche Scientifique (CNRS), and Université Joseph Fourier - Grenoble 1 (UJF)-Institut National de Recherche en Informatique et en Automatique (Inria)-Centre National de la Recherche Scientifique (CNRS)-Institut National Polytechnique de Grenoble (INPG)-Université Joseph Fourier - Grenoble 1 (UJF)-Institut National de Recherche en Informatique et en Automatique (Inria)-Centre National de la Recherche Scientifique (CNRS)-Institut National Polytechnique de Grenoble (INPG)-Inria Grenoble - Rhône-Alpes

Subjects
Photoluminescence, [SDV]Life Sciences [q-bio], Analytical chemistry, bioconjugation, 02 engineering and technology, lcsh:Chemical technology, 010402 general chemistry, 01 natural sciences, Biochemistry, Article, Analytical Chemistry, homogeneous, medicine, [CHIM]Chemical Sciences, antibodies, lcsh:TP1-1185, immunoassay, Electrical and Electronic Engineering, Instrumentation, ComputingMilieux_MISCELLANEOUS, clinical diagnostics, Detection limit, [PHYS]Physics [physics], Qdots, Bioconjugation, medicine.diagnostic_test, Chemistry, business.industry, terbium, time-gating, TPSA, 021001 nanoscience & nanotechnology, Atomic and Molecular Physics, and Optics, 0104 chemical sciences, Prostate-specific antigen, Förster resonance energy transfer, FRET, serum, Quantum dot, Immunoassay, Optoelectronics, 0210 nano-technology, business, Plate reader
Abstract

The integration of semiconductor quantum dots (QDs) into homogeneous Förster resonance energy transfer (FRET) immunoassay kits for clinical diagnostics can provide significant advantages concerning multiplexing and sensitivity. Here we present a facile and functional QD-antibody conjugation method using three commercially available QDs with different photoluminescence (PL) maxima (605 nm, 655 nm, and 705 nm). The QD-antibody conjugates were successfully applied for FRET immunoassays against prostate specific antigen (PSA) in 50 µL serum samples using Lumi4-Tb (Tb) antibody conjugates as FRET donors and time-gated PL detection on a KRYPTOR clinical plate reader. Förster distance and Tb donor background PL were directly related to the analytical sensitivity for PSA, ...which resulted in the lowest limits of detection for Tb-QD705 (2 ng/mL), followed by Tb-QD655 (4 ng/mL), and Tb-QD605 (23 ng/mL). Duplexed PSA detection using the Tb-QD655 and Tb-QD705 FRET-pairs demonstrated the multiplexing ability of our immunoassays. Our results show that FRET based on QD acceptors is suitable for multiplexed and sensitive biomarker detection in clinical diagnostics.

Published
2015

10. On-line Balance Control and Adaptation in the Context of a Virtual Force Field Illusion

Author

Pusch, Andreas, Martin, Olivier, Coquillart, Sabine, GIPSA - Signal et Automatique pour la surveillance, le diagnostic et la biomécanique (GIPSA-SAIGA), Département Automatique (GIPSA-DA), Grenoble Images Parole Signal Automatique (GIPSA-lab), Université Stendhal - Grenoble 3-Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS)-Université Stendhal - Grenoble 3-Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS)-Grenoble Images Parole Signal Automatique (GIPSA-lab), Université Stendhal - Grenoble 3-Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS)-Université Stendhal - Grenoble 3-Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS)-Département Images et Signal (GIPSA-DIS), Université Stendhal - Grenoble 3-Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS)-Université Stendhal - Grenoble 3-Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS), Perception, recognition and integration for observation of activity (PRIMA), Laboratoire d'informatique GRAphique, VIsion et Robotique de Grenoble (GRAVIR - IMAG), Université Joseph Fourier - Grenoble 1 (UJF)-Institut National de Recherche en Informatique et en Automatique (Inria)-Centre National de la Recherche Scientifique (CNRS)-Institut National Polytechnique de Grenoble (INPG)-Université Joseph Fourier - Grenoble 1 (UJF)-Institut National de Recherche en Informatique et en Automatique (Inria)-Centre National de la Recherche Scientifique (CNRS)-Institut National Polytechnique de Grenoble (INPG)-Inria Grenoble - Rhône-Alpes, Institut National de Recherche en Informatique et en Automatique (Inria), Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Stendhal - Grenoble 3-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS)-Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Stendhal - Grenoble 3-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS)-Grenoble Images Parole Signal Automatique (GIPSA-lab), Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Stendhal - Grenoble 3-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS)-Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Stendhal - Grenoble 3-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS)-Département Images et Signal (GIPSA-DIS), Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Stendhal - Grenoble 3-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS)-Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Stendhal - Grenoble 3-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS), and Université Joseph Fourier - Grenoble 1 (UJF)-Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National Polytechnique de Grenoble (INPG)-Centre National de la Recherche Scientifique (CNRS)-Université Joseph Fourier - Grenoble 1 (UJF)-Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National Polytechnique de Grenoble (INPG)-Centre National de la Recherche Scientifique (CNRS)-Inria Grenoble - Rhône-Alpes

Subjects
[SDV.NEU.SC]Life Sciences [q-bio]/Neurons and Cognition [q-bio.NC]/Cognitive Sciences, ComputingMilieux_MISCELLANEOUS
Abstract

International audience

Published
2015

11. Fishing for barcodes in the Torrent: from COI to complete mitogenomes on NGS platforms

Author

Jose Utage, Marion Mennesson, Maeva Thomas, Gaël P.J. Denys, Damien Daniel Hinsinger, Agnès Dettai, Régis Debruyne, Models, Algorithms and Geometry for Computer Generated Image Graphics (iMAGIS), Laboratoire d'informatique GRAphique, VIsion et Robotique de Grenoble (GRAVIR - IMAG), Université Joseph Fourier - Grenoble 1 (UJF)-Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National Polytechnique de Grenoble (INPG)-Centre National de la Recherche Scientifique (CNRS)-Université Joseph Fourier - Grenoble 1 (UJF)-Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National Polytechnique de Grenoble (INPG)-Centre National de la Recherche Scientifique (CNRS)-Inria Grenoble - Rhône-Alpes, Institut National de Recherche en Informatique et en Automatique (Inria), Paléobiodiversité et paléoenvironnements, Muséum national d'Histoire naturelle (MNHN)-Université Pierre et Marie Curie - Paris 6 (UPMC)-Centre National de la Recherche Scientifique (CNRS), Biologie des Organismes et Ecosystèmes Aquatiques (BOREA), Université de Caen Normandie (UNICAEN), Normandie Université (NU)-Normandie Université (NU)-Muséum national d'Histoire naturelle (MNHN)-Institut de Recherche pour le Développement (IRD)-Sorbonne Université (SU)-Centre National de la Recherche Scientifique (CNRS)-Université des Antilles (UA), Outils et Méthodes de la Systématique Intégrative (OMSI), Muséum national d'Histoire naturelle (MNHN)-Centre National de la Recherche Scientifique (CNRS), Systématique, adaptation, évolution (SAE), Université Pierre et Marie Curie - Paris 6 (UPMC)-Centre National de la Recherche Scientifique (CNRS), Institut de Systématique, Evolution, Biodiversité (ISYEB ), Muséum national d'Histoire naturelle (MNHN)-École Pratique des Hautes Études (EPHE), Université Paris sciences et lettres (PSL)-Université Paris sciences et lettres (PSL)-Sorbonne Université (SU)-Centre National de la Recherche Scientifique (CNRS)-Université des Antilles (UA), Université Joseph Fourier - Grenoble 1 (UJF)-Institut National de Recherche en Informatique et en Automatique (Inria)-Centre National de la Recherche Scientifique (CNRS)-Institut National Polytechnique de Grenoble (INPG)-Université Joseph Fourier - Grenoble 1 (UJF)-Institut National de Recherche en Informatique et en Automatique (Inria)-Centre National de la Recherche Scientifique (CNRS)-Institut National Polytechnique de Grenoble (INPG)-Inria Grenoble - Rhône-Alpes, Muséum national d'Histoire naturelle (MNHN)-Centre National de la Recherche Scientifique (CNRS)-Université Pierre et Marie Curie - Paris 6 (UPMC), Centre National de la Recherche Scientifique (CNRS)-Université des Antilles (UA)-Muséum national d'Histoire naturelle (MNHN)-Institut de Recherche pour le Développement (IRD)-Sorbonne Université (SU)-Université de Caen Normandie (UNICAEN), Normandie Université (NU)-Normandie Université (NU), and Muséum national d'Histoire naturelle (MNHN)-École pratique des hautes études (EPHE)

Subjects
0106 biological sciences, Next-Generation Sequencing, [SDV.EE]Life Sciences [q-bio]/Ecology, environment, 0303 health sciences, [SDV.GEN]Life Sciences [q-bio]/Genetics, [SDV.BID.EVO]Life Sciences [q-bio]/Biodiversity/Populations and Evolution [q-bio.PE], Fishing, [SDV.BBM.BM]Life Sciences [q-bio]/Biochemistry, Molecular Biology/Molecular biology, Biology, [SDV.BID.SPT]Life Sciences [q-bio]/Biodiversity/Systematics, Phylogenetics and taxonomy, 010603 evolutionary biology, 01 natural sciences, Fishery, 03 medical and health sciences, sample multiplexing, mitogenome assembly, DNA barcoding, sequence post-processing, 030304 developmental biology
Abstract

The adoption of Next-Generation Sequencing (NGS) by the field of DNA barcoding of Metazoa has been hindered by the fit between the classical COI barcode and the Sanger-based sequencing method. Here we describe a framework for the sequencing and multiplexing of mitogenomes on NGS platforms that implements (I) a universal long-range PCR-based amplification technique, (II) a two-level multiplexing approach (i.e. divergence-based and specific tag indexing), and (III) a dedicated demultiplexing and assembling script from an Ion Torrent sequencing platform. We provide a case study of mitogenomes obtained for two vouchered individuals of daces Leuciscus burdigalensis and L. oxyrrhis and show that this workflow enables to recover over 100 mitogenomes per sequencing chip on a PGM sequencer, bringing the individual cost down below 7,50€ per mitogenome (as of current 2015 sequencing costs). The use of several kilobases for identification purposes, as involved in the improved DNA-barcode we propose, stress the need for data reliability, especially through metadata. Based on both scientific and economic considerations, this framework presents a relevant approach for multiplexing samples, adaptable on any desktop NGS platform. It enables to extend from the prevalent barcoding approach by shifting from the single COI to complete mitogenome sequencing

Published
2015

12. Stroke Pattern Analysis and Synthesis

Author

Simon Breslav, Pascal Barla, François X. Sillion, Joëlle Thollot, Lee Markosian, Acquisition, representation and transformations for image synthesis (ARTIS), Laboratoire d'informatique GRAphique, VIsion et Robotique de Grenoble (GRAVIR - IMAG), Université Joseph Fourier - Grenoble 1 (UJF)-Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National Polytechnique de Grenoble (INPG)-Centre National de la Recherche Scientifique (CNRS)-Université Joseph Fourier - Grenoble 1 (UJF)-Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National Polytechnique de Grenoble (INPG)-Centre National de la Recherche Scientifique (CNRS)-Inria Grenoble - Rhône-Alpes, Institut National de Recherche en Informatique et en Automatique (Inria)-Centre National de la Recherche Scientifique (CNRS), Department of Electrical Engineering and Computer Science (EECS), University of Michigan [Ann Arbor], University of Michigan System-University of Michigan System, Eduard Gröller and László Szirmay-Kalos, and Université Joseph Fourier - Grenoble 1 (UJF)-Institut National de Recherche en Informatique et en Automatique (Inria)-Centre National de la Recherche Scientifique (CNRS)-Institut National Polytechnique de Grenoble (INPG)-Université Joseph Fourier - Grenoble 1 (UJF)-Institut National de Recherche en Informatique et en Automatique (Inria)-Centre National de la Recherche Scientifique (CNRS)-Institut National Polytechnique de Grenoble (INPG)-Inria Grenoble - Rhône-Alpes

Subjects
ACM: I.: Computing Methodologies/I.3: COMPUTER GRAPHICS/I.3.7: Three-Dimensional Graphics and Realism/I.3.7.1: Color, shading, shadowing, and texture, business.industry, Computer science, media_common.quotation_subject, Pattern analysis, 020207 software engineering, 02 engineering and technology, Extension (predicate logic), medicine.disease, Computer Graphics and Computer-Aided Design, [INFO.INFO-GR]Computer Science [cs]/Graphics [cs.GR], ACM: I.: Computing Methodologies/I.3: COMPUTER GRAPHICS/I.3.4: Graphics Utilities/I.3.4.5: Paint systems, Perception, 0202 electrical engineering, electronic engineering, information engineering, medicine, 020201 artificial intelligence & image processing, Computer vision, Artificial intelligence, business, Stroke, media_common, Texture synthesis
Abstract

International audience; We present a synthesis technique that can automatically generate stroke patterns based on a user-specified reference pattern. Our method is an extension of texture synthesis techniques to vector-based patterns. Such an extension requires (a) an analysis of the pattern properties to extract meaningful pattern elements (defined as clusters of strokes) and (b) a synthesis algorithm based on similarities in the detected stroke clusters. Our method is based on results from human vision research concerning perceptual organization. The resulting synthesized patterns effectively reproduce the properties of the input patterns, and can be used to fill both 1D paths and 2D regions.

Published
2006

13. Learning nonlinear image manifolds by global alignment of local linear models

Author

Jakob Verbeek, Learning and recognition in vision (LEAR), Laboratoire d'informatique GRAphique, VIsion et Robotique de Grenoble (GRAVIR - IMAG), Université Joseph Fourier - Grenoble 1 (UJF)-Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National Polytechnique de Grenoble (INPG)-Centre National de la Recherche Scientifique (CNRS)-Université Joseph Fourier - Grenoble 1 (UJF)-Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National Polytechnique de Grenoble (INPG)-Centre National de la Recherche Scientifique (CNRS)-Inria Grenoble - Rhône-Alpes, and Institut National de Recherche en Informatique et en Automatique (Inria)-Centre National de la Recherche Scientifique (CNRS)

Subjects
Machine vision, ComputingMethodologies_IMAGEPROCESSINGANDCOMPUTERVISION, Information Storage and Retrieval, 02 engineering and technology, 010501 environmental sciences, 01 natural sciences, Pattern Recognition, Automated, Imaging, Three-Dimensional, [INFO.INFO-LG]Computer Science [cs]/Machine Learning [cs.LG], Artificial Intelligence, Image Interpretation, Computer-Assisted, 0202 electrical engineering, electronic engineering, information engineering, Computer Simulation, Image resolution, ComputingMethodologies_COMPUTERGRAPHICS, 0105 earth and related environmental sciences, Mathematics, Manifold alignment, Pixel, business.industry, Applied Mathematics, Degrees of freedom, statistical image representation, Probabilistic logic, Pattern recognition, Statistical model, Image Enhancement, Manifold, machine learning, Nonlinear Dynamics, Computational Theory and Mathematics, Feature extraction or construction, Computer Science::Computer Vision and Pattern Recognition, Linear Models, 020201 artificial intelligence & image processing, Computer Vision and Pattern Recognition, Artificial intelligence, business, Algorithms, Software
Abstract

International audience; Appearance based methods, based on statistical models of the pixels values in an image (region) rather than geometrical object models, are increasingly popular in computer vision. In many applications the number of degrees of freedom (DOF) in the image generating process is much lower than the number of pixels in the image. If there is a smooth function that maps the DOF to the pixel values, then the images are confined to a low dimensional manifold embedded in the image space. We propose a method based on probabilistic mixtures of factor analyzers to (i) model the density of images sampled from such manifolds and (ii) recover global parameterizations of the manifold. A globally non-linear probabilistic two-way mapping between coordinates on the manifold and images is obtained by combining several, locally valid, linear mappings. We propose a parameter estimation scheme that improves upon an existing scheme, and experimentally compare the presented approach to self-organizing maps, generative topographic mapping, and mixtures of factor analyzers. In addition, we show that the approach also applies to find mappings between different embeddings of the same manifold.

Published
2006

14. Accurate detection of symmetries in 3D shapes

Author

François X. Sillion, Aurélien Martinet, Nicolas Holzschuch, Cyril Soler, Acquisition, representation and transformations for image synthesis (ARTIS), Laboratoire d'informatique GRAphique, VIsion et Robotique de Grenoble (GRAVIR - IMAG), Université Joseph Fourier - Grenoble 1 (UJF)-Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National Polytechnique de Grenoble (INPG)-Centre National de la Recherche Scientifique (CNRS)-Université Joseph Fourier - Grenoble 1 (UJF)-Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National Polytechnique de Grenoble (INPG)-Centre National de la Recherche Scientifique (CNRS)-Inria Grenoble - Rhône-Alpes, Institut National de Recherche en Informatique et en Automatique (Inria)-Centre National de la Recherche Scientifique (CNRS), ANR Masses de Données 'SHOW', and Université Joseph Fourier - Grenoble 1 (UJF)-Institut National de Recherche en Informatique et en Automatique (Inria)-Centre National de la Recherche Scientifique (CNRS)-Institut National Polytechnique de Grenoble (INPG)-Université Joseph Fourier - Grenoble 1 (UJF)-Institut National de Recherche en Informatique et en Automatique (Inria)-Centre National de la Recherche Scientifique (CNRS)-Institut National Polytechnique de Grenoble (INPG)-Inria Grenoble - Rhône-Alpes

Subjects
Work (thermodynamics), Computation, Spherical harmonics, 020207 software engineering, 02 engineering and technology, Topology, 3d shapes, Computer Graphics and Computer-Aided Design, [INFO.INFO-GR]Computer Science [cs]/Graphics [cs.GR], Maxima and minima, Range (mathematics), Compression (functional analysis), Homogeneous space, 0202 electrical engineering, electronic engineering, information engineering, ACM: I.: Computing Methodologies/I.3: COMPUTER GRAPHICS/I.3.5: Computational Geometry and Object Modeling/I.3.5.2: Curve, surface, solid, and object representations, 020201 artificial intelligence & image processing, Algorithm, ComputingMethodologies_COMPUTERGRAPHICS, Mathematics
Abstract

We propose an automatic method for finding symmetries of 3D shapes, that is, isometric transforms which leave a shape globally unchanged. These symmetries are deterministically found through the use of an intermediate quantity: the generalized moments. By examining the extrema and spherical harmonic coefficients of these moments, we recover the parameters of the symmetries of the shape. The computation for large composite models is made efficient by using this information in an incremental algorithm capable of recovering the symmetries of a whole shape using the symmetries of its subparts. Applications of this work range from coherent remeshing of geometry with respect to the symmetries of a shape to geometric compression, intelligent mesh editing, and automatic instantiation.

Published
2006

15. Error-resilient first-order multiplexed source codes: performance bounds, design and decoding algorithms

Author

H. Jegou, C. Guillemot, Learning and recognition in vision (LEAR), Laboratoire d'informatique GRAphique, VIsion et Robotique de Grenoble (GRAVIR - IMAG), Université Joseph Fourier - Grenoble 1 (UJF)-Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National Polytechnique de Grenoble (INPG)-Centre National de la Recherche Scientifique (CNRS)-Université Joseph Fourier - Grenoble 1 (UJF)-Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National Polytechnique de Grenoble (INPG)-Centre National de la Recherche Scientifique (CNRS)-Inria Grenoble - Rhône-Alpes, Institut National de Recherche en Informatique et en Automatique (Inria)-Centre National de la Recherche Scientifique (CNRS), Digital image processing, modeling and communication (TEMICS), Institut de Recherche en Informatique et Systèmes Aléatoires (IRISA), Université de Rennes (UR)-Institut National des Sciences Appliquées - Rennes (INSA Rennes), Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Institut National de Recherche en Informatique et en Automatique (Inria)-Centre National de la Recherche Scientifique (CNRS)-Université de Rennes (UR)-Institut National des Sciences Appliquées - Rennes (INSA Rennes), Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Institut National de Recherche en Informatique et en Automatique (Inria)-Centre National de la Recherche Scientifique (CNRS)-Inria Rennes – Bretagne Atlantique, Institut National de Recherche en Informatique et en Automatique (Inria), Université Joseph Fourier - Grenoble 1 (UJF)-Institut National de Recherche en Informatique et en Automatique (Inria)-Centre National de la Recherche Scientifique (CNRS)-Institut National Polytechnique de Grenoble (INPG)-Université Joseph Fourier - Grenoble 1 (UJF)-Institut National de Recherche en Informatique et en Automatique (Inria)-Centre National de la Recherche Scientifique (CNRS)-Institut National Polytechnique de Grenoble (INPG)-Inria Grenoble - Rhône-Alpes, Université de Rennes 1 (UR1), Université de Rennes (UNIV-RENNES)-Université de Rennes (UNIV-RENNES)-Institut National des Sciences Appliquées - Rennes (INSA Rennes), Institut National des Sciences Appliquées (INSA)-Université de Rennes (UNIV-RENNES)-Institut National des Sciences Appliquées (INSA)-Institut National de Recherche en Informatique et en Automatique (Inria)-Centre National de la Recherche Scientifique (CNRS)-Université de Rennes 1 (UR1), and Institut National des Sciences Appliquées (INSA)-Université de Rennes (UNIV-RENNES)-Institut National des Sciences Appliquées (INSA)-Institut National de Recherche en Informatique et en Automatique (Inria)-Centre National de la Recherche Scientifique (CNRS)-Inria Rennes – Bretagne Atlantique

Subjects
Source code, media_common.quotation_subject, Variable-length code, Codebook, 020206 networking & telecommunications, 02 engineering and technology, Redundancy (information theory), [INFO.INFO-IR]Computer Science [cs]/Information Retrieval [cs.IR], Signal Processing, 0202 electrical engineering, electronic engineering, information engineering, Code (cryptography), 020201 artificial intelligence & image processing, Electrical and Electronic Engineering, Error detection and correction, Algorithm, Decoding methods, media_common, Data compression, Mathematics
Abstract

International audience; This paper describes a new family of error-resilient variable-length source codes (VLCs). The codes introduced can be regarded as generalizations of the multiplexed codes described by Je´gou and Guillemot. They allow to exploit first-order source statistics while, at the same time, being resilient to transmission errors. The design principle consists of creating a codebook of fixed-length codewords (FLCs) for high-priority information and in using the inherent codebook redundancy to describe low-priority information. The FLC codebook is partitioned into equivalence classes according to the conditional probabilities of the high-priority source. The error propagation phenomenon, which may result from the memory of the source coder, is controlled by choosing appropriate codebook partitions and index assignment strategies. In particular, a context-dependent index assignment strategy, called crossed-index assignment, is described. For the symbol error rate criterion, the approach turns out to maximize the cardinality of a set of codewords, called the code kernel, offering synchronization properties. The decoder resynchronization capability is shown to be further increased by periodic use of memoryless multiplexed codes. Theoretical and practical performances in terms of compression efficiency and error resilience are analyzed.

Published
2006

16. Bayesian Occupancy Filtering for Multitarget Tracking: An Automotive Application

Author

Thierry Fraichard, Cédric Pradalier, Pierre Bessière, Christophe Coué, Christian Laugier, Geometry and Probability for Motion and Action (E-MOTION), Laboratoire d'informatique GRAphique, VIsion et Robotique de Grenoble (GRAVIR - IMAG), Université Joseph Fourier - Grenoble 1 (UJF)-Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National Polytechnique de Grenoble (INPG)-Centre National de la Recherche Scientifique (CNRS)-Université Joseph Fourier - Grenoble 1 (UJF)-Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National Polytechnique de Grenoble (INPG)-Centre National de la Recherche Scientifique (CNRS)-Inria Grenoble - Rhône-Alpes, and Institut National de Recherche en Informatique et en Automatique (Inria)

Subjects
0209 industrial biotechnology, Occupancy grid mapping, Occupancy, Computer science, [INFO.INFO-OH]Computer Science [cs]/Other [cs.OH], Bayesian probability, Automotive industry, Advanced driver assistance systems, 02 engineering and technology, Machine learning, computer.software_genre, 020901 industrial engineering & automation, Artificial Intelligence, 0202 electrical engineering, electronic engineering, information engineering, State space, Computer vision, Electrical and Electronic Engineering, Representation (mathematics), business.industry, Applied Mathematics, Mechanical Engineering, Variety (cybernetics), Modeling and Simulation, 020201 artificial intelligence & image processing, Artificial intelligence, business, computer, Software
Abstract

voir basilic : http://emotion.inrialpes.fr/bibemotion/2006/CPLFB06/; Reliable and efficient perception and reasoning in dynamic and densely cluttered environments are still major challenges for driver assistance systems. Most of today's systems use target tracking algorithms based on object models. They work quite well in simple environments such as freeways, where few potential obstacles have to be considered. However, these approaches usually fail in more complex environments featuring a large variety of potential obstacles, as is usually the case in urban driving situations. In this paper, we propose a new approach for robust perception and risk assessment in highly dynamic environments. This approach is called Bayesian occupancy filtering; it basically combines a four-dimensional occupancy grid representation of the ecobstacle state space with Bayesian filtering techniques.

Published
2006

17. A sparse texture representation using local affine regions

Author

Cordelia Schmid, Svetlana Lazebnik, Jean Ponce, The Beckman Institute for Advanced Science and Technology, University of Illinois at Urbana-Champaign [Urbana], University of Illinois System-University of Illinois System, Learning and recognition in vision (LEAR), Laboratoire d'informatique GRAphique, VIsion et Robotique de Grenoble (GRAVIR - IMAG), Université Joseph Fourier - Grenoble 1 (UJF)-Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National Polytechnique de Grenoble (INPG)-Centre National de la Recherche Scientifique (CNRS)-Université Joseph Fourier - Grenoble 1 (UJF)-Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National Polytechnique de Grenoble (INPG)-Centre National de la Recherche Scientifique (CNRS)-Inria Grenoble - Rhône-Alpes, and Institut National de Recherche en Informatique et en Automatique (Inria)-Centre National de la Recherche Scientifique (CNRS)

Subjects
Normalization (statistics), feature measurement, Computer science, Feature extraction, ComputingMethodologies_IMAGEPROCESSINGANDCOMPUTERVISION, Normalization (image processing), Information Storage and Retrieval, Image processing, 02 engineering and technology, Pattern Recognition, Automated, Image texture, Artificial Intelligence, Image Interpretation, Computer-Assisted, Computer Graphics, 0202 electrical engineering, electronic engineering, information engineering, Cluster Analysis, Computer vision, ComputingMethodologies_COMPUTERGRAPHICS, Harris affine region detector, business.industry, Applied Mathematics, pattern recognition, [INFO.INFO-CV]Computer Science [cs]/Computer Vision and Pattern Recognition [cs.CV], Numerical Analysis, Computer-Assisted, 020207 software engineering, Pattern recognition, Image Enhancement, Affine shape adaptation, Index Terms- Image processing and computer vision, Computational Theory and Mathematics, Computer Science::Computer Vision and Pattern Recognition, 020201 artificial intelligence & image processing, Computer Vision and Pattern Recognition, Affine transformation, Artificial intelligence, business, Texel, texture, Laplace operator, Algorithms, Software
Abstract

International audience; This paper introduces a texture representation suitable for recognizing images of textured surfaces under a wide range of transformations, including viewpoint changes and nonrigid deformations. At the feature extraction stage, a sparse set of affine Harris and Laplacian regions is found in the image. Each of these regions can be thought of as a texture element having a characteristic elliptic shape and a distinctive appearance pattern. This pattern is captured in an affine-invariant fashion via a process of shape normalization followed by the computation of two novel descriptors, the spin image and the RIFT descriptor. When affine invariance is not required, the original elliptical shape serves as an additional discriminative feature for texture recognition. The proposed approach is evaluated in retrieval and classification tasks using the entire Brodatz database and a publicly available collection of 1,000 photographs of textured surfaces taken from different viewpoints.

Published
2005

18. Photorealistic 3D reconstruction from handheld cameras

Author

Pau Gargallo, Anders Heyden, Tomás Rodríguez, Fernando Jauregizar, Nicolas Guilbert, Peter Sturm, Jose Ignacio Ronda, José Manuel Menéndez, EPTRON SA, EPTRONSA, Modeling, localization, recognition and interpretation in computer vision (MOVI), Laboratoire d'informatique GRAphique, VIsion et Robotique de Grenoble (GRAVIR - IMAG), Université Joseph Fourier - Grenoble 1 (UJF)-Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National Polytechnique de Grenoble (INPG)-Centre National de la Recherche Scientifique (CNRS)-Université Joseph Fourier - Grenoble 1 (UJF)-Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National Polytechnique de Grenoble (INPG)-Centre National de la Recherche Scientifique (CNRS)-Inria Grenoble - Rhône-Alpes, Institut National de Recherche en Informatique et en Automatique (Inria)-Centre National de la Recherche Scientifique (CNRS), Center for Mathematical Sciences (CMS), Lund University [Lund], Grupo de Tratamiento de Imagenes (GTI), and Universidad Politécnica de Madrid (UPM)

Subjects
Computer science, Structure from motion, 3D reconstruction, 020207 software engineering, 3d model, 02 engineering and technology, Video analysis, Image based rendering (IBR), Computer Science Applications, Rendering (computer graphics), Photo-realistic, Computer graphics, Hardware and Architecture, Computer graphics (images), 0202 electrical engineering, electronic engineering, information engineering, 020201 artificial intelligence & image processing, Polygon mesh, Computer Vision and Pattern Recognition, Self calibration, Mobile device, Software, Sparse matrix
Abstract

International audience; One of the major challenges in the fields of computer vision and computer graphics is the construction and representation of life-like virtual 3D scenarios within a computer. The VISIRE project attempts to reconstruct photo-realistic 3D models of large scenarios using as input multiple freehand video sequences, while rendering the technology accessible to the non-expert. VISIRE is application oriented and hence must deal with multiple issues of practical relevance that were commonly overlooked in past experiences. The paper presents both an innovative approach for the integration of previously unrelated experiences, as well as a number of novel contributions, such as: an innovative algorithm to enforce closedness of the trajectories, a new approach to 3D mesh generation from sparse data, novel techniques dealing with partial occlusions and a method for using photo-consistency and visibility constrains to refine the 3D mesh.

Published
2005

19. A layered model of a virtual human intestine for surgery simulation

Author

L. France, J. Lenoir, A. Angelidis, P. Meseure, M.-P. Cani, F. Faure, C. Chaillou, Ecole Supérieure de Commerce Chambéry Savoie (ESC), Ecole Supérieure de Commerce chambéry savoie, Laboratoire d'Informatique Fondamentale de Lille (LIFL), Université de Lille, Sciences et Technologies-Institut National de Recherche en Informatique et en Automatique (Inria)-Université de Lille, Sciences Humaines et Sociales-Centre National de la Recherche Scientifique (CNRS), Collaborative interactive virtual environment (ALCOVE), Université de Lille, Sciences et Technologies-Institut National de Recherche en Informatique et en Automatique (Inria)-Université de Lille, Sciences Humaines et Sociales-Centre National de la Recherche Scientifique (CNRS)-Université de Lille, Sciences et Technologies-Institut National de Recherche en Informatique et en Automatique (Inria)-Université de Lille, Sciences Humaines et Sociales-Centre National de la Recherche Scientifique (CNRS)-Inria Lille - Nord Europe, Institut National de Recherche en Informatique et en Automatique (Inria)-IRCICA, Virtual environments for animation and image synthesis of natural objects (EVASION), Laboratoire d'informatique GRAphique, VIsion et Robotique de Grenoble (GRAVIR - IMAG), Université Joseph Fourier - Grenoble 1 (UJF)-Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National Polytechnique de Grenoble (INPG)-Centre National de la Recherche Scientifique (CNRS)-Université Joseph Fourier - Grenoble 1 (UJF)-Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National Polytechnique de Grenoble (INPG)-Centre National de la Recherche Scientifique (CNRS)-Inria Grenoble - Rhône-Alpes, Institut National de Recherche en Informatique et en Automatique (Inria)-Centre National de la Recherche Scientifique (CNRS), and Institut National de Recherche en Informatique et en Automatique (Inria)

Subjects
Surface (mathematics), medicine.medical_specialty, Computer science, Health Informatics, Context (language use), 02 engineering and technology, Models, Biological, Convolution, Computer graphics, User-Computer Interface, Skinning, Imaging, Three-Dimensional, Surgical simulation, Parametric surface, Computer Systems, Computer graphics (images), Image Interpretation, Computer-Assisted, Computer Graphics, 0202 electrical engineering, electronic engineering, information engineering, medicine, Humans, Computer Simulation, Radiology, Nuclear Medicine and imaging, Point (geometry), Virtual actor, Radiological and Ultrasound Technology, 020207 software engineering, physically based simulation, Image Enhancement, Computer Graphics and Computer-Aided Design, Telemedicine, [INFO.INFO-GR]Computer Science [cs]/Graphics [cs.GR], Surgery, Intestines, Surgery, Computer-Assisted, medical application, virtual reality, 020201 artificial intelligence & image processing, Computer Vision and Pattern Recognition, real-time computation, Algorithms
Abstract

In this paper, we propose a new approach to simulate the small intestine in a context of laparoscopic surgery. The ultimate aim of this work is to simulate the training of a basic surgical gesture in real-time: moving aside the intestine to reach hidden areas of the abdomen. The main problem posed by this kind of simulation is animating the intestine. The problem comes from the nature of the intestine: a very long tube which is not isotropically elastic, and is contained in a volume that is small when compared to the intestine's length. It coils extensively and collides with itself in many places. To do this, we use a layered model to animate the intestine. The intestine's axis is animated as a linear mechanical component. A specific sphere-based model handles contacts and self-collisions. A skinning model is used to create the intestine's volume around the axis. This paper discusses and compares three different representations for skinning the intestine: a parametric surface model and two implicit surface models. The first implicit surface model uses point skeletons while the second uses local convolution surfaces. Using these models, we obtained good-looking results in real-time. Some videos of this work can be found in the online version at doi: 10.1016/j.media.2004.11.006 and at www-imagis.imag.fr/Publications/2004/FLAMCFC04.

Published
2005

20. Using geometric constraints through parallelepipeds for calibration and 3D modeling

Author

M. Wilczkowiak, Edmond Boyer, Peter Sturm, Department of Engineering [Cambridge], University of Cambridge [UK] (CAM), Modeling, localization, recognition and interpretation in computer vision (MOVI), Laboratoire d'informatique GRAphique, VIsion et Robotique de Grenoble (GRAVIR - IMAG), Université Joseph Fourier - Grenoble 1 (UJF)-Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National Polytechnique de Grenoble (INPG)-Centre National de la Recherche Scientifique (CNRS)-Université Joseph Fourier - Grenoble 1 (UJF)-Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National Polytechnique de Grenoble (INPG)-Centre National de la Recherche Scientifique (CNRS)-Inria Grenoble - Rhône-Alpes, and Institut National de Recherche en Informatique et en Automatique (Inria)-Centre National de la Recherche Scientifique (CNRS)

Subjects
geometric constraints, Relation (database), Duality (mathematics), ComputingMethodologies_IMAGEPROCESSINGANDCOMPUTERVISION, 02 engineering and technology, Iterative reconstruction, Sensitivity and Specificity, 3D modeling, Imaging, Three-Dimensional, Artificial Intelligence, Image Interpretation, Computer-Assisted, 0202 electrical engineering, electronic engineering, information engineering, Computer vision, Geometric primitive, Mathematics, business.industry, Applied Mathematics, Reproducibility of Results, 020207 software engineering, Image Enhancement, calibration, Computational geometry, Parallelepiped, Computational Theory and Mathematics, Photogrammetry, 020201 artificial intelligence & image processing, Computer Vision and Pattern Recognition, Artificial intelligence, business, Algorithms, Software, Camera resectioning
Abstract

This paper concerns the incorporation of geometric information in camera calibration and 3D modeling. Using geometric constraints enables more stable results and allows us to perform tasks with fewer images. Our approach is motivated and developed within a framework of semi-automatic 3D modeling, where the user defines geometric primitives and constraints between them. It is based on the observation that constraints, such as coplanarity, parallelism, or orthogonality, are often embedded intuitively in parallelepipeds. Moreover, parallelepipeds are easy to delineate by a user and are well adapted to model the main structure of, e.g., architectural scenes. In this paper, first a duality that exists between the shape parameters of a parallelepiped and the intrinsic parameters of a camera is described. Then, a factorization-based algorithm exploiting this relation is developed. Using images of parallelepipeds, it allows us to simultaneously calibrate cameras, recover shapes of parallelepipeds, and estimate the relative pose of all entities. Besides geometric constraints expressed via parallelepipeds, our approach simultaneously takes into account the usual self-calibration constraints on cameras. The proposed algorithm is completed by a study of the singular cases of the calibration method. A complete method for the reconstruction of scene primitives that are not modeled by parallelepipeds is also briefly described. The proposed methods are validated by various experiments with real and simulated data, for single-view as well as multiview cases.

Published
2005

21. Interactive global and local deformations for virtual clay

Author

M.-P. Cani, G. Dewaele, Modeling, localization, recognition and interpretation in computer vision (MOVI), Laboratoire d'informatique GRAphique, VIsion et Robotique de Grenoble (GRAVIR - IMAG), Université Joseph Fourier - Grenoble 1 (UJF)-Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National Polytechnique de Grenoble (INPG)-Centre National de la Recherche Scientifique (CNRS)-Université Joseph Fourier - Grenoble 1 (UJF)-Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National Polytechnique de Grenoble (INPG)-Centre National de la Recherche Scientifique (CNRS)-Inria Grenoble - Rhône-Alpes, Institut National de Recherche en Informatique et en Automatique (Inria)-Centre National de la Recherche Scientifique (CNRS), and Virtual environments for animation and image synthesis of natural objects (EVASION)

Subjects
Pressing, Bending (metalworking), deformations, Computer science, Virtual modeling, Virtual Clay, Solid modelling, 020207 software engineering, 02 engineering and technology, Plasticity, Virtual reality, Computer Graphics and Computer-Aided Design, [INFO.INFO-GR]Computer Science [cs]/Graphics [cs.GR], GeneralLiterature_MISCELLANEOUS, modelling, Shape modelling, implicit surfaces, Modeling and Simulation, Computer graphics (images), 0202 electrical engineering, electronic engineering, information engineering, 020201 artificial intelligence & image processing, Geometry and Topology, Conservation of mass, Software, ComputingMethodologies_COMPUTERGRAPHICS
Abstract

A former version of this paper appeared in the proceedings of Pacifics Graphics'2003.; International audience; Making virtual modeling as easy and intuitive as real-clay manipulation is still an unsolved problem. This paper takes a step in this direction: in addition to offering standard features such as addition and removal of material, it uses a new real-time plasticity model to let the user apply local and global deformations such as those made in real clay by pressing with a finger or bending a sculpture with one hands. Although not completely physically accurate, the model exhibits several important features of real clay, namely plasticity, mass conservation, and surface tension effects. These features make the model intuitive, since the user obtains the shapes he expects, as demonstrated by our results.

Published
2004

22. Scale & Affine Invariant Interest Point Detectors

Author

Cordelia Schmid, Krystian Mikolajczyk, Learning and recognition in vision (LEAR), Laboratoire d'informatique GRAphique, VIsion et Robotique de Grenoble (GRAVIR - IMAG), Université Joseph Fourier - Grenoble 1 (UJF)-Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National Polytechnique de Grenoble (INPG)-Centre National de la Recherche Scientifique (CNRS)-Université Joseph Fourier - Grenoble 1 (UJF)-Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National Polytechnique de Grenoble (INPG)-Centre National de la Recherche Scientifique (CNRS)-Inria Grenoble - Rhône-Alpes, and Institut National de Recherche en Informatique et en Automatique (Inria)-Centre National de la Recherche Scientifique (CNRS)

Subjects
Harris affine region detector, matching, [INFO.INFO-CV]Computer Science [cs]/Computer Vision and Pattern Recognition [cs.CV], 020207 software engineering, scale invariance, 02 engineering and technology, interest points, Topology, Affine coordinate system, Affine shape adaptation, Affine combination, Artificial Intelligence, Affine hull, Hessian affine region detector, Affine group, 0202 electrical engineering, electronic engineering, information engineering, 020201 artificial intelligence & image processing, affine invariance, Computer Vision and Pattern Recognition, Affine transformation, recognition, Algorithm, Software, local features, Mathematics
Abstract

International audience; In this paper we propose a novel approach for detecting interest points invariant to scale and affine transformations. Our scale and affine invariant detectors are based on the following recent results: (1) Interest points extracted with the Harris detector can be adapted to affine transformations and give repeatable results (geometrically stable). (2) The characteristic scale of a local structure is indicated by a local extremum over scale of normalized derivatives (the Laplacian). (3) The affine shape of a point neighborhood is estimated based on the second moment matrix. Our scale invariant detector computes a multi-scale representation for the Harris interest point detector and then selects points at which a local measure (the Laplacian) is maximal over scales. This provides a set of distinctive points which are invariant to scale, rotation and translation as well as robust to illumination changes and limited changes of viewpoint. The characteristic scale determines a scale invariant region for each point. We extend the scale invariant detector to affine invariance by estimating the affine shape of a point neighborhood. An iterative algorithm modifies location, scale and neighborhood of each point and converges to affine invariant points. This method can deal with significant affine transformations including large scale changes. The characteristic scale and the affine shape of neighborhood determine an affine invariant region for each point. We present a comparative evaluation of different detectors and show that our approach provides better results than existing methods. The performance of our detector is also confirmed by excellent matching results; the image is described by a set of scale/affine invariant descriptors computed on the regions associated with our points

Published
2004

23. Face detection and tracking in a video by propagating detection probabilities

Author

Cordelia Schmid, Ragini Verma, Krystian Mikolajczyk, Section for Biomedical Image Analysis (SBIA), Perelman School of Medicine, University of Pennsylvania [Philadelphia]-University of Pennsylvania [Philadelphia], Modeling, localization, recognition and interpretation in computer vision (MOVI), Laboratoire d'informatique GRAphique, VIsion et Robotique de Grenoble (GRAVIR - IMAG), Université Joseph Fourier - Grenoble 1 (UJF)-Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National Polytechnique de Grenoble (INPG)-Centre National de la Recherche Scientifique (CNRS)-Université Joseph Fourier - Grenoble 1 (UJF)-Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National Polytechnique de Grenoble (INPG)-Centre National de la Recherche Scientifique (CNRS)-Inria Grenoble - Rhône-Alpes, Institut National de Recherche en Informatique et en Automatique (Inria)-Centre National de la Recherche Scientifique (CNRS), and University of Pennsylvania-University of Pennsylvania

Subjects
Facial motion capture, Computer science, Face tracking, Corner detection, 02 engineering and technology, video, Facial recognition system, Object-class detection, face detection, Artificial Intelligence, Histogram, 0202 electrical engineering, electronic engineering, information engineering, Computer vision, Face detection, business.industry, Applied Mathematics, [INFO.INFO-CV]Computer Science [cs]/Computer Vision and Pattern Recognition [cs.CV], 020206 networking & telecommunications, Pattern recognition, Computational Theory and Mathematics, Condensation filter, Face (geometry), 020201 artificial intelligence & image processing, Viola–Jones object detection framework, Computer Vision and Pattern Recognition, Artificial intelligence, business, Software
Abstract

International audience; This paper presents a new probabilistic method for detecting and tracking multiple faces in a video sequence. The proposed method integrates the information of face probabilities provided by the detector and the temporal information provided by the tracker to produce a method superior to the available detection and tracking methods. The three novel contributions of the paper are: 1) Accumulation of probabilities of detection over a sequence. This leads to coherent detection over time and, thus, improves detection results. 2) Prediction of the detection parameters which are position, scale, and pose. This guarantees the accuracy of accumulation as well as a continuous detection. 3) The representation of pose is based on the combination of two detectors, one for frontal views and one for profiles. Face detection is fully automatic and is based on the method developed by Schneiderman and Kanade (2000). It uses local histograms of wavelet coefficients represented with respect to a coordinate frame fixed to the object. A probability of detection is obtained for each image position and at several scales and poses. The probabilities of detection are propagated over time using a Condensation filter and factored sampling. Prediction is based on a zero order model for position, scale, and pose; update uses the probability maps produced by the detection routine. The proposed method can handle multiple faces, appearing/disappearing faces as well as changing scale and pose. Experiments carried out on a large number of sequences taken from commercial movies and the Web show a clear improvement over the results of frame-based detection (in which the detector is applied to each frame of the video sequence).

Published
2003

24. Grid Based Final Gather for Radiosity on Complex Clustered Scenes

Author

Marc Stamminger, Hans-Peter Seidel, Annette Scheel, Max-Planck-Institut für Informatik (MPII), Max-Planck-Gesellschaft, Models, Algorithms and Geometry for Computer Generated Image Graphics (iMAGIS), Laboratoire d'informatique GRAphique, VIsion et Robotique de Grenoble (GRAVIR - IMAG), Université Joseph Fourier - Grenoble 1 (UJF)-Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National Polytechnique de Grenoble (INPG)-Centre National de la Recherche Scientifique (CNRS)-Université Joseph Fourier - Grenoble 1 (UJF)-Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National Polytechnique de Grenoble (INPG)-Centre National de la Recherche Scientifique (CNRS)-Inria Grenoble - Rhône-Alpes, Institut National de Recherche en Informatique et en Automatique (Inria), Rendering and virtual environments with sound (REVES), Inria Sophia Antipolis - Méditerranée (CRISAM), Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria), and George Drettakis and Hans-Peter Seidel

Subjects
Structure (mathematical logic), Computer science, business.industry, Visibility (geometry), ComputingMethodologies_IMAGEPROCESSINGANDCOMPUTERVISION, Radiosity (computer graphics), 020207 software engineering, Grid cell, 02 engineering and technology, Grid, Computer Graphics and Computer-Aided Design, [INFO.INFO-GR]Computer Science [cs]/Graphics [cs.GR], Image (mathematics), Computer graphics (images), Polygon, 0202 electrical engineering, electronic engineering, information engineering, 020201 artificial intelligence & image processing, Computer vision, Artificial intelligence, Graphics, business, ComputingMethodologies_COMPUTERGRAPHICS
Abstract

Radiosity methods handle large scenes and complex objects using clustering techniques. To reconstruct a high quality image, usually a second very time consuming final gather pass is applied which exactly recomputes the last light transport before reaching the eye. We propose a new final gather technique which is especially suited for scenes with fine polygonal geometry. In such scenes, substantial parts of the incident illumination vary only smoothly across the surfaces and can be reconstructed on a much coarser structure. We therefore propose a final gather reconstruction based on an object-independent 3D grid. The illumination of each sender is investigated separately: If it varies smoothly across a grid cell, it is interpolated between the vertices of the grid cell, or recomputed exactly, otherwise. We further reduce the number of required samples using view-dependent optimizations. So complex objects with a very detailed structure—plants are good example here—exhibit strong masking effects, which can be exploited by our method. Finally, the estimation of penumbra screen sizes can be used to further reduce costly visibility reevaluations. Categories and Subject Descriptors (according to ACM CCS): I.3.3 [Copmuter Graphics]: Picture/Image generation I.3.7 [Copmuter Graphics]: Three-Dimensional Graphics and Realism

Published
2002

25. Realistic rendering of an organ surface in real-time for laparoscopic surgery simulation

Author

Fabrice Neyret, Franck Sénégas, Raphaël Heiss, Models, Algorithms and Geometry for Computer Generated Image Graphics (iMAGIS), Laboratoire d'informatique GRAphique, VIsion et Robotique de Grenoble (GRAVIR - IMAG), Université Joseph Fourier - Grenoble 1 (UJF)-Institut National de Recherche en Informatique et en Automatique (Inria)-Centre National de la Recherche Scientifique (CNRS)-Institut National Polytechnique de Grenoble (INPG)-Université Joseph Fourier - Grenoble 1 (UJF)-Institut National de Recherche en Informatique et en Automatique (Inria)-Centre National de la Recherche Scientifique (CNRS)-Institut National Polytechnique de Grenoble (INPG)-Inria Grenoble - Rhône-Alpes, Institut National de Recherche en Informatique et en Automatique (Inria), and Université Joseph Fourier - Grenoble 1 (UJF)-Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National Polytechnique de Grenoble (INPG)-Centre National de la Recherche Scientifique (CNRS)-Université Joseph Fourier - Grenoble 1 (UJF)-Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National Polytechnique de Grenoble (INPG)-Centre National de la Recherche Scientifique (CNRS)-Inria Grenoble - Rhône-Alpes

Subjects
simulator, Computer science, 0206 medical engineering, OpenGL, ComputingMethodologies_IMAGEPROCESSINGANDCOMPUTERVISION, 02 engineering and technology, Rendering (computer graphics), Computer graphics, Computer graphics (images), Real-time rendering, 0202 electrical engineering, electronic engineering, information engineering, Specular highlight, Computer vision, Graphics, ComputingMethodologies_COMPUTERGRAPHICS, Parallel rendering, medical applications, business.industry, 020207 software engineering, textures, 020601 biomedical engineering, Computer Graphics and Computer-Aided Design, multipass, [INFO.INFO-GR]Computer Science [cs]/Graphics [cs.GR], Computer Vision and Pattern Recognition, Artificial intelligence, business, Alternate frame rendering, Software
Abstract

International audience; This paper deals with the rendering issues of the problem of producing a real-time convincing surgery simulation. The main scope of our project is to simulate laparoscopic liver surgery. Nevertheless large parts of the technique apply to other organs. We address three aspects of the appearance of the organ surface: the organ skin texture, the specular highlights, and the reactions of the organ to the instruments. For this last aspect we address three effects: blood drops rolling on the surface, clear or deep cauterization, and whitening of the surface under local pressure. To meet the real-time constraint we use advanced graphics features such as multipass rendering, OpenGL texture extensions and lookup-tables. Our target hardware are high-end graphics accelerators such as the SGI Infinite Reality. Nevertheless most of the technique apply to low-end graphics accelerators. Submitted: July 2000. Accepted: January 2001. Published: May 2002.; Ce papier traite des problemes de rendu rencontres lors de la creation d'un simulateur chirurgical temps-reel credible. Le but principal de notre projet est la simulation de la chirurgie laparoscopique du foie. Neanmoins, de larges parts de la techniques peuvent s'appliquer a d'autres organes. Nous traitons trois aspects de l'apparence de la surface de l'organe: la texture de la peau, les reflets speculaires, et les reactions de l'organe aux instruments. Concernant ce dernier aspect, nous traitons trois effets: les gouttes de sang coulant a la surface, la cauterisation legere ou intense, et le blanchiement de la surface sous une pression locale. Pour remplir la contrainte de temps-reel nous utilisons des fonctionnalites graphiques avancees comme le rendu multi-passes, les extensions des textures OpenGL et les lookup-tables. Notre machine cible correspond aux accelerateurs graphiques haut de gamme comme l'Infinite Reality de SGI. Neanmoins l'essentiel de la technique s'applique aussi aux accelerateurs graphiques d'entree de gamme. Soumission: juillet 2000. Acceptation: janvier 2001. Publication: mai 2002.

Published
2002

26. The 3D visibility complex

Author

Frédo Durand, George Drettakis, Claude Puech, Models, Algorithms and Geometry for Computer Generated Image Graphics (iMAGIS), Laboratoire d'informatique GRAphique, VIsion et Robotique de Grenoble (GRAVIR - IMAG), Université Joseph Fourier - Grenoble 1 (UJF)-Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National Polytechnique de Grenoble (INPG)-Centre National de la Recherche Scientifique (CNRS)-Université Joseph Fourier - Grenoble 1 (UJF)-Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National Polytechnique de Grenoble (INPG)-Centre National de la Recherche Scientifique (CNRS)-Inria Grenoble - Rhône-Alpes, Institut National de Recherche en Informatique et en Automatique (Inria), Massachusetts Institute of Technology (MIT), Rendering and virtual environments with sound (REVES), Inria Sophia Antipolis - Méditerranée (CRISAM), and Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria)

Subjects
Computer science, ComputingMethodologies_IMAGEPROCESSINGANDCOMPUTERVISION, 0102 computer and information sciences, 02 engineering and technology, 01 natural sciences, Computer graphics, Line-space, Global Visibility, Computer graphics (images), Shadow, 0202 electrical engineering, electronic engineering, information engineering, Computer vision, Visibility Complex, Visibility, ComputingMethodologies_COMPUTERGRAPHICS, Visibility classification, business.industry, Visibility graph, Visibility (geometry), Regular polygon, 020207 software engineering, Object (computer science), Computer Graphics and Computer-Aided Design, Ray, [INFO.INFO-GR]Computer Science [cs]/Graphics [cs.GR], 010201 computation theory & mathematics, Visibility Skeleton, Artificial intelligence, Visibility polygon, business
Abstract

Visibility problems are central to many computer graphics applications. The most common examples include hidden-part removal for view computation, shadow boundaries, mutual visibility of objects for lighting simulation. In this paper, we present a theoretical study of 3D visibility properties for scenes of smooth convex objects. We work in the space of light rays, or more precisely, of maximal free segments . We group segments that "see" the same object; this defines the 3D visibility complex . The boundaries of these groups of segments correspond to the visual events of the scene (limits of shadows, disappearance of an object when the viewpoint is moved, etc.). We provide a worst case analysis of the complexity of the visibility complex of 3D scenes, as well as a probabilistic study under a simple assumption for "normal" scenes. We extend the visibility complex to handle temporal visibility. We give an output-sensitive construction algorithm and present applications of our approach.

Published
2002

27. Critical motion sequences for the self-calibration of cameras and stereo systems with variable focal length

Author

Peter Sturm, Modeling, localization, recognition and interpretation in computer vision (MOVI), Laboratoire d'informatique GRAphique, VIsion et Robotique de Grenoble (GRAVIR - IMAG), Université Joseph Fourier - Grenoble 1 (UJF)-Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National Polytechnique de Grenoble (INPG)-Centre National de la Recherche Scientifique (CNRS)-Université Joseph Fourier - Grenoble 1 (UJF)-Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National Polytechnique de Grenoble (INPG)-Centre National de la Recherche Scientifique (CNRS)-Inria Grenoble - Rhône-Alpes, Institut National de Recherche en Informatique et en Automatique (Inria)-Centre National de la Recherche Scientifique (CNRS), Computer Science Department, University of Reading (UOR), and Tony Pridmore and Dave Elliman

Subjects
business.industry, Astrophysics::Instrumentation and Methods for Astrophysics, Motion (geometry), 020207 software engineering, 02 engineering and technology, [INFO.INFO-GR]Computer Science [cs]/Graphics [cs.GR], Signal Processing, Image sequence, 0202 electrical engineering, electronic engineering, information engineering, Calibration, Focal length, 020201 artificial intelligence & image processing, Computer vision, Computer Vision and Pattern Recognition, Artificial intelligence, business, Mathematics, Variable (mathematics)
Abstract

see also paper in IVC 2002; International audience; We consider the self-calibration problem for a moving camera whose intrinsic parameters are known, except the focal length, which may vary freely across different views. The conditions under which the determination of the focal length's values for an image sequence is not possible, are derived. These depend only on the camera's motions. We give a complete catalogue of the so-called critical motion sequences. This is then used to derive the critical motion sequences for stereo systems with variable focal lengths.

Published
2002

28. Multiple-Camera Tracking of Rigid Objects

Author

Radu Horaud, Frédérick Martin, Modeling, localization, recognition and interpretation in computer vision (MOVI), Laboratoire d'informatique GRAphique, VIsion et Robotique de Grenoble (GRAVIR - IMAG), Université Joseph Fourier - Grenoble 1 (UJF)-Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National Polytechnique de Grenoble (INPG)-Centre National de la Recherche Scientifique (CNRS)-Université Joseph Fourier - Grenoble 1 (UJF)-Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National Polytechnique de Grenoble (INPG)-Centre National de la Recherche Scientifique (CNRS)-Inria Grenoble - Rhône-Alpes, and Institut National de Recherche en Informatique et en Automatique (Inria)-Centre National de la Recherche Scientifique (CNRS)

Subjects
0209 industrial biotechnology, ComputingMethodologies_IMAGEPROCESSINGANDCOMPUTERVISION, 02 engineering and technology, Visual servoing, symbols.namesake, 020901 industrial engineering & automation, Artificial Intelligence, Robustness (computer science), Camera auto-calibration, 0202 electrical engineering, electronic engineering, information engineering, Computer vision, Electrical and Electronic Engineering, object tracking, Mathematics, visual servoing, business.industry, Applied Mathematics, Mechanical Engineering, [INFO.INFO-GR]Computer Science [cs]/Graphics [cs.GR], Computer Science::Computer Vision and Pattern Recognition, Modeling and Simulation, Video tracking, Jacobian matrix and determinant, symbols, 020201 artificial intelligence & image processing, Gravitational singularity, Minification, Artificial intelligence, camera calibration, business, Software, Camera resectioning
Abstract

International audience; In this paper we describe a method for tracking rigid objects using one or several cameras. The tracking process consists of aligning a 3-D model representation of an object with image contours by measuring and minimizing the image error between predicted model points and image contours. The tracker behaves like a visual servo loop where the internal and external camera parameters are updated at each new image acquisition. We study in detail the Jacobian matrix associated with this minimization process in the presence of both point-to-point and point-to-contour matches. We establish the minimal number of matches that are needed as well as the singular configurations leading to a rank-defficient Jacobian matrix. We find a mathematical link between the point-to-point and point-to-contour cases. Based on this link we show that the latter has the same kind of singularities than the former. Moreover, we study multiple camera configurations which optimize the robustness of the method in the presence of single-camera singularities, bad, noisy, or missing data. Extensive experiments done with a complex ship part and with up to three cameras validate the method. In particular we show that the tracker may well be used as a camera calibration procedure.

Published
2002

29. Robotic intelligent vision and control for tunnel inspection and evaluation - The ROBINSPECT EC project

Author

Loupos, Amditis, Stentoumis, Chrobocinski, Victores, Wietek, Panetsos, Roncaglia, Camarinopoulos, Kalidromitis, Bairaktaris, Komodakis, Lopez, Institute of Communication and Computer Systems (ICCS), Geometry and Probability for Motion and Action (E-MOTION), Laboratoire d'informatique GRAphique, VIsion et Robotique de Grenoble (GRAVIR - IMAG), Université Joseph Fourier - Grenoble 1 (UJF)-Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National Polytechnique de Grenoble (INPG)-Centre National de la Recherche Scientifique (CNRS)-Université Joseph Fourier - Grenoble 1 (UJF)-Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National Polytechnique de Grenoble (INPG)-Centre National de la Recherche Scientifique (CNRS)-Inria Grenoble - Rhône-Alpes, Institut National de Recherche en Informatique et en Automatique (Inria), Cassidian, EADS - European Aeronautic Defense and Space, Carlos III University of Madrid, VersuchsStollen Hagerbach AG (VSH), Egnatia Odos, Institute of Microelectronics and Microsystems [Bologna] (IMM), RISA Sicherheitsanalysen GmbH [Berlin], Tecniche E Consulenze Nell' Ingegneria Civile Spa (TECNIC SPA), Computer Science Department [Crete] (CSD-UOC), School of Sciences and Engineering [Crete] (SSE-UOC), University of Crete [Heraklion] (UOC)-University of Crete [Heraklion] (UOC), and Robotnik Automation [Valencia]

Subjects
Intelligent control, 0209 industrial biotechnology, Cracks, Process (engineering), Computer science, Control (management), ComputerApplications_COMPUTERSINOTHERSYSTEMS, 02 engineering and technology, Intelligent robots, Structural condition, Construction engineering, Field (computer science), 020901 industrial engineering & automation, 11. Sustainability, 0202 electrical engineering, electronic engineering, information engineering, Technological solution, ComputingMilieux_MISCELLANEOUS, Simulation, Computer control systems, Railroad tunnels, Structural health monitoring, Civil infrastructures, business.industry, Inspection, System architectures, [INFO.INFO-CV]Computer Science [cs]/Computer Vision and Pattern Recognition [cs.CV], Robotics, Research infrastructure, Tunnel inspection, Continuous learning, Autonomous vehicle navigation, Unmanned vehicles, Computer vision, 020201 artificial intelligence & image processing, Artificial intelligence, Surface defects, business, Robots
Abstract

Recent developments in robotics and the associated fields of computer vision and sensors pave the floor for automated robotic solutions, exploitable in the wider field of inspection of civil infrastructures and particularly transportation tunnels, the latter ageing urgently requiring inspection and assessment. Currently, tunnel inspections are performed via visually by human operators. This can result into slow, labour expensive and subjective process often requiring lane shutdown during the inspection, parameters that need to be lowered while having safety requirements and tunnel uptimes increasing. ROBINSPECT is an EC research project (FP7 - ICT - 611145) driven by the tunnel inspection industry, that adapts and integrates recent research results in intelligent control in robotics, computer vision and active continuous learning and sensing, in an innovative, integrated, robotic system that automatically scans the intrados of tunnels for potential defects on the surface while at the same time inspects and measures radial deformation in the cross-section, distance between parallel cracks, cracks and open joints that impact tunnel stability, with mm accuracies. Intelligent control systems and robotics are integrated to set an automatic robotic arm manipulation and autonomous vehicle navigation so as to minimize humans' interaction during tunnel inspection. This way, the structural condition and safety of a tunnel is assessed automatically, reliably and speedily. The robotic system will be evaluated at the research infrastructure of tunnels of VSH, at three road tunnels of the Egnatia Motorway and the rail tunnel of London Underground. This paper will focus on the ROBISPECT EC project first year activities starting from the requirements, specifications and system architecture as well as the technologies that will be integrated and overall technological solution. Also it will provide the current status of implementations and following steps as well as its expected European and International impact.

Published
2014

30. Fusion at Detection Level for Frontal Object Perception

Author

Trung Dung Vu, Olivier Aycard, R. Omar Chavez-Garcia, Analyse de données, Modélisation et Apprentissage automatique [Grenoble] (AMA), Laboratoire d'Informatique de Grenoble (LIG), Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Institut National Polytechnique de Grenoble (INPG)-Centre National de la Recherche Scientifique (CNRS)-Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Institut National Polytechnique de Grenoble (INPG)-Centre National de la Recherche Scientifique (CNRS), Geometry and Probability for Motion and Action (E-MOTION), Laboratoire d'informatique GRAphique, VIsion et Robotique de Grenoble (GRAVIR - IMAG), Université Joseph Fourier - Grenoble 1 (UJF)-Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National Polytechnique de Grenoble (INPG)-Centre National de la Recherche Scientifique (CNRS)-Université Joseph Fourier - Grenoble 1 (UJF)-Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National Polytechnique de Grenoble (INPG)-Centre National de la Recherche Scientifique (CNRS)-Inria Grenoble - Rhône-Alpes, Institut National de Recherche en Informatique et en Automatique (Inria), This work was also supported by the European Commission under interactIVe (http://www.interactive-ip.eu), a large scale integrating project part of the FP7-ICT for Safety and Energy Efficiency in Mobility., European Project, Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Institut National Polytechnique de Grenoble (INPG)-Centre National de la Recherche Scientifique (CNRS)-Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Institut National Polytechnique de Grenoble (INPG)-Centre National de la Recherche Scientifique (CNRS)-Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Joseph Fourier - Grenoble 1 (UJF), and Université Joseph Fourier - Grenoble 1 (UJF)-Institut National de Recherche en Informatique et en Automatique (Inria)-Centre National de la Recherche Scientifique (CNRS)-Institut National Polytechnique de Grenoble (INPG)-Université Joseph Fourier - Grenoble 1 (UJF)-Institut National de Recherche en Informatique et en Automatique (Inria)-Centre National de la Recherche Scientifique (CNRS)-Institut National Polytechnique de Grenoble (INPG)-Inria Grenoble - Rhône-Alpes

Subjects
0209 industrial biotechnology, Computer science, media_common.quotation_subject, lidar processing, Image processing, 02 engineering and technology, Tracking (particle physics), Task (project management), law.invention, evidential theory, Reduction (complexity), 020901 industrial engineering & automation, Position (vector), law, Perception, 0502 economics and business, [INFO.INFO-RB]Computer Science [cs]/Robotics [cs.RO], Computer vision, multi-sensor, Radar, media_common, 050210 logistics & transportation, business.industry, 05 social sciences, Vehicle perception, image processing, Lidar, Artificial intelligence, Information fusion, business
Abstract

International audience; Intelligent vehicle perception involves the correct detection and tracking of moving objects. Taking into account all the possible information at early levels of the perception task can improve the final model of the environment. In this paper, we present an evidential fusion framework to represent and combine evidence from multiple lists of sensor detections. Our fusion framework considers the position, shape and appearance information to represent, associate and combine sensor detections. Although our approach takes place at detection level, we propose a general architecture to include it as a part of a whole perception solution. Several experiments were conducted using real data from a vehicle demonstrator equipped with three main sensors: lidar, radar and camera. The obtained results show improvements regarding the reduction of false detections and mis-classifications of moving objects.

Published
2014

31. More questions than answers: the Southeast Asian Lead Isotope Project 2009–2012

Author

Nigel Chang, Bérénice Bellina, Ernst Pernicka, Pranab Chattopadhyay, Vin Laychour, Andreas Reinecke, Sandrine Baron, Christophe Pottier, Jean-Pierre Pautreau, Joyce C. White, Vincent C. Pigott, Thomas Oliver Pryce, Charles Higham, Mark Pollard, Thongsa Sayavongkhamdy, Surapol Natapintu, Viengkeo Souksavatdy, Eusebio Z. Dizon, Viet Nguyen, Aung Aung Kyaw, Ian Glover, Peter Bellwood, Elizabeth G. Hamilton, Préhistoire et Technologie (PréTech), Université Paris Nanterre (UPN)-Centre National de la Recherche Scientifique (CNRS), Travaux et recherches archéologiques sur les cultures, les espaces et les sociétés (TRACES), École des hautes études en sciences sociales (EHESS)-Université Toulouse - Jean Jaurès (UT2J), Université de Toulouse (UT)-Université de Toulouse (UT)-Ministère de la Culture et de la Communication (MCC)-Centre National de la Recherche Scientifique (CNRS), Australian National University (ANU), James Cook University (JCU), Centre for Archaeological Studies and Training (CASTEI), National Museum of the Philippines, University College of London [London] (UCL), Department of Immunology and Infectious Diseases, Harvard School of Public Health, University of Otago [Dunedin, Nouvelle-Zélande], Department of Archaeology, Ministry of Culture, Ministry of Culture and Fine arts (MCFA), Silpakorn University [Bangkok, Thaïlande], Geometry and Probability for Motion and Action (E-MOTION), Laboratoire d'informatique GRAphique, VIsion et Robotique de Grenoble (GRAVIR - IMAG), Université Joseph Fourier - Grenoble 1 (UJF)-Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National Polytechnique de Grenoble (INPG)-Centre National de la Recherche Scientifique (CNRS)-Université Joseph Fourier - Grenoble 1 (UJF)-Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National Polytechnique de Grenoble (INPG)-Centre National de la Recherche Scientifique (CNRS)-Inria Grenoble - Rhône-Alpes, Institut National de Recherche en Informatique et en Automatique (Inria), Centre de Recherche en Archéologie, Archéosciences, Histoire (CReAAH), Le Mans Université (UM)-Université de Rennes (UR)-Université de Rennes 2 (UR2)-Centre National de la Recherche Scientifique (CNRS)-Université de Nantes - UFR Histoire, Histoire de l'Art et Archéologie (UFR HHAA), Université de Nantes (UN)-Université de Nantes (UN)-Ministère de la Culture (MC), CEZA, Eberhard Karls Universität Tübingen = Eberhard Karls University of Tuebingen, University of Pennsylvania, Research Laboratory for Archaeology and the History of Art [Oxford], School of Archaeology [Oxford], University of Oxford-University of Oxford, École française d'Extrême-Orient (EFEO), Deutsches Archäologisches Institut (DAI), Department of national heritage, Ministry of Information and Culture, Department of Museums, Historic Buildings and Archaeology, Ministry of Information and Culture, École des hautes études en sciences sociales (EHESS)-Université Toulouse - Jean Jaurès (UT2J)-Ministère de la Culture et de la Communication (MCC)-Centre National de la Recherche Scientifique (CNRS), Silpakorn University, Université Joseph Fourier - Grenoble 1 (UJF)-Institut National de Recherche en Informatique et en Automatique (Inria)-Centre National de la Recherche Scientifique (CNRS)-Institut National Polytechnique de Grenoble (INPG)-Université Joseph Fourier - Grenoble 1 (UJF)-Institut National de Recherche en Informatique et en Automatique (Inria)-Centre National de la Recherche Scientifique (CNRS)-Institut National Polytechnique de Grenoble (INPG)-Inria Grenoble - Rhône-Alpes, Nantes Université (NU)-Ministère de la Culture (MC)-Centre National de la Recherche Scientifique (CNRS)-Université de Rennes 1 (UR1), Université de Rennes (UNIV-RENNES)-Université de Rennes (UNIV-RENNES)-Université de Rennes 2 (UR2), Université de Rennes (UNIV-RENNES)-Le Mans Université (UM), University of Pennsylvania [Philadelphia], University of Oxford [Oxford], Université de Nantes - UFR Histoire, Histoire de l'Art et Archéologie (UFR HHAA), Université de Nantes (UN)-Université de Nantes (UN)-Centre National de la Recherche Scientifique (CNRS)-Ministère de la Culture (MC)-Université de Rennes 2 (UR2), Université de Rennes (UNIV-RENNES)-Université de Rennes (UNIV-RENNES)-Université de Rennes 1 (UR1), Ministère de la Culture et de la Communication (MCC)-École des hautes études en sciences sociales (EHESS)-Université Toulouse - Jean Jaurès (UT2J)-Centre National de la Recherche Scientifique (CNRS), Université de Nantes (UN)-Le Mans Université (UM)-Université de Rennes 2 (UR2), Université de Rennes (UNIV-RENNES)-Centre National de la Recherche Scientifique (CNRS)-Ministère de la Culture (MC), Le Mans Université (UM)-Université de Rennes 1 (UR1), Université de Rennes (UNIV-RENNES)-Centre National de la Recherche Scientifique (CNRS)-Université de Nantes - UFR Histoire, Histoire de l'Art et Archéologie (UFR HHAA), and University of Oxford

Subjects
Economic integration, 010506 paleontology, Archeology, education.field_of_study, 060102 archaeology, [SHS.ARCHEO]Humanities and Social Sciences/Archaeology and Prehistory, Population, Lead isotope, 06 humanities and the arts, Present day, Consumption (sociology), Southeast asian, 01 natural sciences, Archaeology, Southeast Asia, Interconnectedness, Eurasian technology transmission, Geography, Economy, Cultural diversity, 0601 history and archaeology, China, education, Copper-base metal exchange, 0105 earth and related environmental sciences
Abstract

International audience; As in most parts of the world, ancient Southeast Asian metal production and exchange has been accorded great importance as a cultural and technological development with far-reaching economic and political impacts. Here we present the results of the Southeast Asian Lead Isotope Project's 2009–2012 research campaign, a systematic effort to empirically reconstruct regional metal exchange networks and their attendant social interactions c. 1000 BC–c. 500 AD. The study's morpho-stylistic, technological, elemental and isotopic datasets cover early metal production (minerals and slag) and consumption (Cu, Cu–Sn, Cu–Pb, Cu–Sn–Pb alloys) assemblages from thirty sites in eight countries. These data have either identified or substantiated long-range maritime and terrestrial exchange networks connecting Han China and Mauryan India with most of continental Southeast Asia. The variety and intensity of the attested metal exchange behaviours hints at a dynamic and innovative 1st millennium BC regional economy and the vibrant exchange of cultural practices amongst populations separated by thousands of kilometres. Important too is the provision of indirect evidence for intra-regional economic integration between the Southeast Asia's metal-consuming lowland majorities and metal-producing upland minorities. Southeast Asia has a comparable surface area and present day population to Europe, and thus our efforts represent only the beginning for diachronic and multi-scalar metal exchange research. However, archaeometallurgical methodologies have the potential to greatly improve our understanding of Southeast Asia's vast cultural diversity and interconnectedness. With this paper we lay the framework for such an endeavour and, we hope, define the major questions for its next phase.

Published
2014

32. Drawing for Illustration and Annotation in 3D

Author

George Drettakis, Marie-Paule Cani, David Bourguignon, Models, Algorithms and Geometry for Computer Generated Image Graphics (iMAGIS), Laboratoire d'informatique GRAphique, VIsion et Robotique de Grenoble (GRAVIR - IMAG), Université Joseph Fourier - Grenoble 1 (UJF)-Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National Polytechnique de Grenoble (INPG)-Centre National de la Recherche Scientifique (CNRS)-Université Joseph Fourier - Grenoble 1 (UJF)-Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National Polytechnique de Grenoble (INPG)-Centre National de la Recherche Scientifique (CNRS)-Inria Grenoble - Rhône-Alpes, Institut National de Recherche en Informatique et en Automatique (Inria), EUROGRAPHICS, and A. Chalmers and T.-M. Rhyne

Subjects
Stroke-based illustration, business.industry, Computer science, Drawing, Graphics hardware, ComputingMethodologies_IMAGEPROCESSINGANDCOMPUTERVISION, 020207 software engineering, 02 engineering and technology, Interface, Viewpoints, Computer Graphics and Computer-Aided Design, [INFO.INFO-GR]Computer Science [cs]/Graphics [cs.GR], Sketch, Rendering (computer graphics), Silhouette, Annotation, Computer graphics (images), 0202 electrical engineering, electronic engineering, information engineering, 020201 artificial intelligence & image processing, Computer vision, Artificial intelligence, business, ComputingMethodologies_COMPUTERGRAPHICS
Abstract

International audience; We present a system for sketching in 3D, which strives to preserve the degree of expression, imagination, and simplicity of use achieved by 2D drawing. Our system directly uses user-drawn strokes to infer the sketches representing the same scene from different viewpoints, rather than attempting to reconstruct a 3D model. This is achieved by interpreting strokes as indications of a local surface silhouette or contour. Strokes thus deform and disappear progressively as we move away from the original viewpoint. They may be occluded by objects indicated by other strokes, or, in contrast, be drawn above such objects. The user draws on a plane which can be positioned explicitly or relative to other objects or strokes in the sketch. Our system is interactive, since we use fast algorithms and graphics hardware for rendering. We present applications to education, design, architecture and fashion, where 3D sketches can be used alone or as an annotation of an existing 3D model.

Published
2001

33. Minimal projective reconstruction including missing data

Author

Long Quan, Fredrik Kahl, Anders Heyden, Department of Mathematics [Lund University], Lund University [Lund], Modeling, localization, recognition and interpretation in computer vision (MOVI), Laboratoire d'informatique GRAphique, VIsion et Robotique de Grenoble (GRAVIR - IMAG), Université Joseph Fourier - Grenoble 1 (UJF)-Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National Polytechnique de Grenoble (INPG)-Centre National de la Recherche Scientifique (CNRS)-Université Joseph Fourier - Grenoble 1 (UJF)-Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National Polytechnique de Grenoble (INPG)-Centre National de la Recherche Scientifique (CNRS)-Inria Grenoble - Rhône-Alpes, and Institut National de Recherche en Informatique et en Automatique (Inria)-Centre National de la Recherche Scientifique (CNRS)

Subjects
ComputingMethodologies_IMAGEPROCESSINGANDCOMPUTERVISION, Bundle adjustment, 02 engineering and technology, Iterative reconstruction, RANSAC, 030218 nuclear medicine & medical imaging, 03 medical and health sciences, 0302 clinical medicine, Artificial Intelligence, 0202 electrical engineering, electronic engineering, information engineering, Structure from motion, Computer vision, Projective geometry, Mathematics, Optimal estimation, business.industry, Applied Mathematics, Real image, Missing data, [INFO.INFO-GR]Computer Science [cs]/Graphics [cs.GR], Computational Theory and Mathematics, Computer Science::Computer Vision and Pattern Recognition, 020201 artificial intelligence & image processing, Computer Vision and Pattern Recognition, Artificial intelligence, business, Algorithm, Software
Abstract

International audience; The minimal data necessary for projective reconstruction from point features is well-known when each object point is visible in all images. In this paper, we formulate and propose solutions to a new family of reconstruction problems for multiple images from minimal data, where there are missing points in some of the images. The ability to handle the minimal cases with missing data is of great theoretical and practical importance. It is unavoidable to use them to bootstrap robust estimation such as RANSAC and LMS algorithms and optimal estimation such as bundle adjustment. First, we develop a framework to parameterize the multiple view geometry, needed to handle the missing data cases. Then we present a solution to the minimal case of 8 points in 3 images, where one point is missing in one of the three images. We prove that there are in general as many as 11 solutions for this minimal case. Furthermore, all minimal cases with missing data for 3 and 4 images are catalogued. Finally, we demonstrate the method on both simulated and real images and show that the algorithms presented in this paper can be used for practical problems.

Published
2001

34. Fuzzy control to drive car-like vehicles

Author

Thierry Fraichard, Philippe Garnier, Automatic Programming and Decisional Systems in Robotics (SHARP), Laboratoire d'informatique GRAphique, VIsion et Robotique de Grenoble (GRAVIR - IMAG), Université Joseph Fourier - Grenoble 1 (UJF)-Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National Polytechnique de Grenoble (INPG)-Centre National de la Recherche Scientifique (CNRS)-Université Joseph Fourier - Grenoble 1 (UJF)-Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National Polytechnique de Grenoble (INPG)-Centre National de la Recherche Scientifique (CNRS)-Inria Grenoble - Rhône-Alpes, and Institut National de Recherche en Informatique et en Automatique (Inria)

Subjects
0209 industrial biotechnology, Neuro-fuzzy, Computer science, General Mathematics, 02 engineering and technology, Defuzzification, Fuzzy logic, 020901 industrial engineering & automation, Control theory, 0202 electrical engineering, electronic engineering, information engineering, [INFO.INFO-RB]Computer Science [cs]/Robotics [cs.RO], Fuzzy associative matrix, Simulation, Adaptive neuro fuzzy inference system, Fuzzy rule, Control engineering, Mobile robot, Fuzzy control system, Motion control, Computer Science Applications, Fuzzy electronics, Control and Systems Engineering, Control system, Fuzzy set operations, 020201 artificial intelligence & image processing, Software
Abstract

The reactive component of a motion control architecture for a car-like vehicle intended to move in dynamic and partially known environments is presented in this paper. It is called the execution monitor (EM). The purpose of EM is to generate commands for the servo-systems of the vehicle so as to follow a given nominal trajectory while reacting in real time to unexpected events. EM is designed as a fuzzy controller, i.e. a control system based upon fuzzy logic, whose main component is a set of fuzzy rules encoding the reactive behaviour of the vehicle. A behaviour-based approach is used to set up the fuzzy rule base: the overall behaviour of the vehicle results from the combination of several basic behaviours (trajectory following, obstacle avoidance, etc.), each of which is encoded by a specific set of rules. This approach permits an easy and incremental construction of the fuzzy rule base and also to develop and test the basic behaviours separately. It is the fuzzy control mechanism that straightforwardly handles the problems of behaviour arbitration and command fusion. The basic behaviour rules are simply obtained through direct encoding of the human expertise about car driving. In addition, weighing coefficients are attached to the rules thus permitting a fine tuning of the influence of each basic behaviour. EM has been implemented and tested on a real computer-controlled car, equipped with sensors of limited precision and reliability. Experimental results obtained with the prototype vehicle are presented. They demonstrate the capability of EM to actually control a real vehicle and to perform trajectory following and obstacle avoidance in real outdoor environments by using simple fuzzy behaviours relying upon low-resolution sensor data.

Published
2001

35. Two-way ambiguity in 2D projective reconstruction from three uncalibrated 1D images

Author

Long Quan, Modeling, localization, recognition and interpretation in computer vision (MOVI), Laboratoire d'informatique GRAphique, VIsion et Robotique de Grenoble (GRAVIR - IMAG), Université Joseph Fourier - Grenoble 1 (UJF)-Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National Polytechnique de Grenoble (INPG)-Centre National de la Recherche Scientifique (CNRS)-Université Joseph Fourier - Grenoble 1 (UJF)-Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National Polytechnique de Grenoble (INPG)-Centre National de la Recherche Scientifique (CNRS)-Inria Grenoble - Rhône-Alpes, and Institut National de Recherche en Informatique et en Automatique (Inria)-Centre National de la Recherche Scientifique (CNRS)

Subjects
0209 industrial biotechnology, reconstruction, media_common.quotation_subject, Duality (mathematics), Quadratic transformation, 02 engineering and technology, Iterative reconstruction, vision geometry, 020901 industrial engineering & automation, Projective reconstruction, 1D camera, Artificial Intelligence, 0202 electrical engineering, electronic engineering, information engineering, Computer vision, Projective test, Mathematics, media_common, business.industry, Applied Mathematics, Ambiguity, 16. Peace & justice, [INFO.INFO-GR]Computer Science [cs]/Graphics [cs.GR], Computational Theory and Mathematics, ambiguity, 020201 artificial intelligence & image processing, Computer Vision and Pattern Recognition, Artificial intelligence, business, Software
Abstract

International audience; We show that there is in genral a two-way ambiguity for 2D projective reconstruction from three uncalilbrated 1D views, independent of the number of point correspondences. The two distinct projective reconstructions are exactly related by a quadratic transformation with the three camera centers as fundamental points. Unique 2D reconstruction is possible only when the three camera centers are aligned. By Carlsson duality, there is a dual two-way ambiguity for 2D projective reconstruction from six point correspondences, independent of the number of 1D views. The theoretical results are demonstrated on numerical examples.

Published
2001

36. Interactive animation of cloth-like objects in virtual reality

Author

Alan H. Barr, Mathieu Desbrun, Gilles Debunne, Mark Meyer, Models, Algorithms and Geometry for Computer Generated Image Graphics (iMAGIS), Laboratoire d'informatique GRAphique, VIsion et Robotique de Grenoble (GRAVIR - IMAG), Université Joseph Fourier - Grenoble 1 (UJF)-Institut National de Recherche en Informatique et en Automatique (Inria)-Centre National de la Recherche Scientifique (CNRS)-Institut National Polytechnique de Grenoble (INPG)-Université Joseph Fourier - Grenoble 1 (UJF)-Institut National de Recherche en Informatique et en Automatique (Inria)-Centre National de la Recherche Scientifique (CNRS)-Institut National Polytechnique de Grenoble (INPG)-Inria Grenoble - Rhône-Alpes, Institut National de Recherche en Informatique et en Automatique (Inria), Computer Science Department (CS CALTECH), California Institute of Technology (CALTECH), and Université Joseph Fourier - Grenoble 1 (UJF)-Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National Polytechnique de Grenoble (INPG)-Centre National de la Recherche Scientifique (CNRS)-Université Joseph Fourier - Grenoble 1 (UJF)-Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National Polytechnique de Grenoble (INPG)-Centre National de la Recherche Scientifique (CNRS)-Inria Grenoble - Rhône-Alpes

Subjects
Cloth modeling, Computer science, animation, implicit integration, 020207 software engineering, 02 engineering and technology, Animation, Virtual reality, Computer Graphics and Computer-Aided Design, [INFO.INFO-GR]Computer Science [cs]/Graphics [cs.GR], GeneralLiterature_MISCELLANEOUS, Computer graphics (images), Interactive skeleton-driven simulation, 0202 electrical engineering, electronic engineering, information engineering, Skeletal animation, 020201 artificial intelligence & image processing, Physically based animation, Software, Computer facial animation, Computer animation, ComputingMethodologies_COMPUTERGRAPHICS
Abstract

Modeling and animation of cloth have experienced important developments in recent years. As a consequence, complex textile models can be used to realistically drape objects or human characters in a fairly efficient way. However, real-time realistic simulation remains a major challenge, even if applications are numerous, from rapid prototyping to e-commerce. In this paper, we present a stable, real-time algorithm for animating cloth-like materials. Using a hybrid explicit/implicit algorithm, we perform fast and stable time integration of a physically based model with rapid collision detection and response, as well as wind or liquid drag effects to enhance realism. We demonstrate our approach through a series of examples in virtual reality environments, proving that real-time animation of cloth, even on low-end computers, is now achievable. Copyright © 2001 John Wiley & Sons, Ltd.

Published
2001

37. The design and implementation of a Bayesian CAD modeler for robotic applications

Author

Pierre Bessière, Kamel Mekhnacha, Emmanuel Mazer, Laboratoire Leibniz (Leibniz - IMAG), Université Joseph Fourier - Grenoble 1 (UJF)-Institut National Polytechnique de Grenoble (INPG)-Centre National de la Recherche Scientifique (CNRS), Automatic Programming and Decisional Systems in Robotics (SHARP), Laboratoire d'informatique GRAphique, VIsion et Robotique de Grenoble (GRAVIR - IMAG), Université Joseph Fourier - Grenoble 1 (UJF)-Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National Polytechnique de Grenoble (INPG)-Centre National de la Recherche Scientifique (CNRS)-Université Joseph Fourier - Grenoble 1 (UJF)-Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National Polytechnique de Grenoble (INPG)-Centre National de la Recherche Scientifique (CNRS)-Inria Grenoble - Rhône-Alpes, and Institut National de Recherche en Informatique et en Automatique (Inria)

Subjects
0209 industrial biotechnology, Mathematical optimization, geometric constraints, Computer science, Generalization, Monte Carlo method, Bayesian probability, Bayesian reasoning, [SCCO.COMP]Cognitive science/Computer science, CAD, 02 engineering and technology, Bayesian inference, [INFO.INFO-AI]Computer Science [cs]/Artificial Intelligence [cs.AI], 020901 industrial engineering & automation, 0202 electrical engineering, electronic engineering, information engineering, business.industry, Monte Carlo methods, Robotics, [INFO.INFO-RO]Computer Science [cs]/Operations Research [cs.RO], Computer Science Applications, Human-Computer Interaction, Constraint (information theory), Hardware and Architecture, Control and Systems Engineering, Probability distribution, 020201 artificial intelligence & image processing, Artificial intelligence, business, Software
Abstract

International audience; We present a Bayesian CAD modeler for robotic applications. We address the problem of taking into account the propagation of geometric uncertainties when solving inverse geometric problems. The proposed method may be seen as a generalization of constraint-based approaches in which we explicitly model geometric uncertainties. Using our methodology, a geometric constraint is expressed as a probability distribution on the system parameters and the sensor measurements, instead of a simple equality or inequality. To solve geometric problems in this framework, we propose an original resolution method able to adapt to problem complexity. Using two examples, we show how to apply our approach by providing simulation results using our modeler.

Published
2001

38. Bayesian Programming

Author

Pierre Bessière, Emmanuel Mazer, Juan Manuel Ahuactzin-Larios, Kamel Mekhnacha, Geometry and Probability for Motion and Action (E-MOTION), Inria Grenoble - Rhône-Alpes, Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria)-Laboratoire d'Informatique de Grenoble (LIG), Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Institut National Polytechnique de Grenoble (INPG)-Centre National de la Recherche Scientifique (CNRS)-Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Institut National Polytechnique de Grenoble (INPG)-Centre National de la Recherche Scientifique (CNRS), Laboratoire de Physiologie de la Perception et de l'Action (LPPA), Collège de France (CdF (institution))-Centre National de la Recherche Scientifique (CNRS), Laboratoire d'informatique GRAphique, VIsion et Robotique de Grenoble (GRAVIR - IMAG), Université Joseph Fourier - Grenoble 1 (UJF)-Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National Polytechnique de Grenoble (INPG)-Centre National de la Recherche Scientifique (CNRS)-Université Joseph Fourier - Grenoble 1 (UJF)-Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National Polytechnique de Grenoble (INPG)-Centre National de la Recherche Scientifique (CNRS)-Inria Grenoble - Rhône-Alpes, Institut National de Recherche en Informatique et en Automatique (Inria), Institut d'Informatique et de Mathématiques Appliquées de Grenoble (IMAG), Université Joseph Fourier - Grenoble 1 (UJF)-Institut National Polytechnique de Grenoble (INPG)-Centre National de la Recherche Scientifique (CNRS), Probayes [Montbonnot], Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Institut National Polytechnique de Grenoble (INPG)-Centre National de la Recherche Scientifique (CNRS)-Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Institut National Polytechnique de Grenoble (INPG)-Centre National de la Recherche Scientifique (CNRS)-Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Joseph Fourier - Grenoble 1 (UJF), Université Joseph Fourier - Grenoble 1 (UJF)-Institut National de Recherche en Informatique et en Automatique (Inria)-Centre National de la Recherche Scientifique (CNRS)-Institut National Polytechnique de Grenoble (INPG)-Université Joseph Fourier - Grenoble 1 (UJF)-Institut National de Recherche en Informatique et en Automatique (Inria)-Centre National de la Recherche Scientifique (CNRS)-Institut National Polytechnique de Grenoble (INPG)-Inria Grenoble - Rhône-Alpes, Laboratoire d'Informatique de Grenoble (LIG), Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Institut National Polytechnique de Grenoble (INPG)-Centre National de la Recherche Scientifique (CNRS)-Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Institut National Polytechnique de Grenoble (INPG)-Centre National de la Recherche Scientifique (CNRS)-Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Joseph Fourier - Grenoble 1 (UJF)-Inria Grenoble - Rhône-Alpes, and Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria)

Subjects
[MATH.MATH-PR]Mathematics [math]/Probability [math.PR], 03 medical and health sciences, 0302 clinical medicine, [INFO.INFO-LG]Computer Science [cs]/Machine Learning [cs.LG], [STAT.ML]Statistics [stat]/Machine Learning [stat.ML], 0202 electrical engineering, electronic engineering, information engineering, [SCCO.COMP]Cognitive science/Computer science, [INFO.INFO-RB]Computer Science [cs]/Robotics [cs.RO], 020201 artificial intelligence & image processing, 02 engineering and technology, 030217 neurology & neurosurgery, [INFO.INFO-AI]Computer Science [cs]/Artificial Intelligence [cs.AI]
Abstract

International audience; Features Presents a new modeling methodology and inference algorithms for Bayesian programming Explains how to build efficient Bayesian models Addresses controversies, historical notes, epistemological debates, and tricky technical questions in a dedicated chapter separate from the main text Encourages further research on new programming languages and specialized hardware for computing large-scale Bayesian inference problems Offers an online Python package for running and modifying the Python program examples in the book Summary Probability as an Alternative to Boolean Logic While logic is the mathematical foundation of rational reasoning and the fundamental principle of computing, it is restricted to problems where information is both complete and certain. However, many real-world problems, from financial investments to email filtering, are incomplete or uncertain in nature. Probability theory and Bayesian computing together provide an alternative framework to deal with incomplete and uncertain data. Decision-Making Tools and Methods for Incomplete and Uncertain Data Emphasizing probability as an alternative to Boolean logic, Bayesian Programming covers new methods to build probabilistic programs for real-world applications. Written by the team who designed and implemented an efficient probabilistic inference engine to interpret Bayesian programs, the book offers many Python examples that are also available on a supplementary website together with an interpreter that allows readers to experiment with this new approach to programming. Principles and Modeling Only requiring a basic foundation in mathematics, the first two parts of the book present a new methodology for building subjective probabilistic models. The authors introduce the principles of Bayesian programming and discuss good practices for probabilistic modeling. Numerous simple examples highlight the application of Bayesian modeling in different fields. Formalism and Algorithms The third part synthesizes existing work on Bayesian inference algorithms since an efficient Bayesian inference engine is needed to automate the probabilistic calculus in Bayesian programs. Many bibliographic references are included for readers who would like more details on the formalism of Bayesian programming, the main probabilistic models, general purpose algorithms for Bayesian inference, and learning problems. FAQs Along with a glossary, the fourth part contains answers to frequently asked questions. The authors compare Bayesian programming and possibility theories, discuss the computational complexity of Bayesian inference, cover the irreducibility of incompleteness, and address the subjectivist versus objectivist epistemology of probability. The First Steps toward a Bayesian Computer A new modeling methodology, new inference algorithms, new programming languages, and new hardware are all needed to create a complete Bayesian computing framework. Focusing on the methodology and algorithms, this book describes the first steps toward reaching that goal. It encourages readers to explore emerging areas, such as bio-inspired computing, and develop new programming languages and hardware architectures.

Published
2013

39. Motion–Egomotion Discrimination and Motion Segmentation from Image-Pair Streams

Author

Radu Horaud, David Demirdjian, Modeling, localization, recognition and interpretation in computer vision (MOVI), Laboratoire d'informatique GRAphique, VIsion et Robotique de Grenoble (GRAVIR - IMAG), Université Joseph Fourier - Grenoble 1 (UJF)-Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National Polytechnique de Grenoble (INPG)-Centre National de la Recherche Scientifique (CNRS)-Université Joseph Fourier - Grenoble 1 (UJF)-Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National Polytechnique de Grenoble (INPG)-Centre National de la Recherche Scientifique (CNRS)-Inria Grenoble - Rhône-Alpes, and Institut National de Recherche en Informatique et en Automatique (Inria)-Centre National de la Recherche Scientifique (CNRS)

Subjects
Sequence, business.industry, Data classification, ComputingMethodologies_IMAGEPROCESSINGANDCOMPUTERVISION, Motion (geometry), 020207 software engineering, 02 engineering and technology, [INFO.INFO-GR]Computer Science [cs]/Graphics [cs.GR], Image (mathematics), Match moving, Signal Processing, 0202 electrical engineering, electronic engineering, information engineering, Projective space, 020201 artificial intelligence & image processing, Computer vision, Segmentation, Computer Vision and Pattern Recognition, Artificial intelligence, business, Software, Camera resectioning, Mathematics
Abstract

International audience; Given a sequence of image pairs we describe a method that segments the observed scene into static and moving objects while it rejects badly matched points. We show that, using a moving stereo rig, the detection of motion can be solved in a projective framework and therefore requires no camera calibration. Moreover the method allows for articulated objects. First we establish the projective framework enabling us to characterize rigid motion in projective space. This characterization is used in conjunction with a robust estimation technique to determine egomotion. Second we describe a method based on data classification which further considers the non-static scene points and groups them into several moving objects. Third we introduce a stereo-tracking algorithm that provides the point-to-point correspondences needed by the algorithms. Finally we show some experiments involving a moving stereo head observing both static and moving objects.

Published
2000

40. An Exhaustive Error‐Bounding Algorithm for Hierarchical Radiosity

Author

François X. Sillion, Nicolas Holzschuch, Models, algorithms and geometry for computer graphics and vision (ISA), INRIA Lorraine, Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria)-Laboratoire Lorrain de Recherche en Informatique et ses Applications (LORIA), Institut National de Recherche en Informatique et en Automatique (Inria)-Université Henri Poincaré - Nancy 1 (UHP)-Université Nancy 2-Institut National Polytechnique de Lorraine (INPL)-Centre National de la Recherche Scientifique (CNRS)-Université Henri Poincaré - Nancy 1 (UHP)-Université Nancy 2-Institut National Polytechnique de Lorraine (INPL)-Centre National de la Recherche Scientifique (CNRS), Models, Algorithms and Geometry for Computer Generated Image Graphics (iMAGIS), Laboratoire d'informatique GRAphique, VIsion et Robotique de Grenoble (GRAVIR - IMAG), Université Joseph Fourier - Grenoble 1 (UJF)-Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National Polytechnique de Grenoble (INPG)-Centre National de la Recherche Scientifique (CNRS)-Université Joseph Fourier - Grenoble 1 (UJF)-Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National Polytechnique de Grenoble (INPG)-Centre National de la Recherche Scientifique (CNRS)-Inria Grenoble - Rhône-Alpes, Institut National de Recherche en Informatique et en Automatique (Inria), and Université Joseph Fourier - Grenoble 1 (UJF)-Institut National de Recherche en Informatique et en Automatique (Inria)-Centre National de la Recherche Scientifique (CNRS)-Institut National Polytechnique de Grenoble (INPG)-Université Joseph Fourier - Grenoble 1 (UJF)-Institut National de Recherche en Informatique et en Automatique (Inria)-Centre National de la Recherche Scientifique (CNRS)-Institut National Polytechnique de Grenoble (INPG)-Inria Grenoble - Rhône-Alpes

Subjects
Mathematical optimization, Heuristic (computer science), Global illumination, Computation, [INFO.INFO-OH]Computer Science [cs]/Other [cs.OH], 020207 software engineering, Radiosity (computer graphics), 02 engineering and technology, Computer Graphics and Computer-Aided Design, Upper and lower bounds, Hierarchical Radiosity, Bounding overwatch, Global Illumination, Error-Control, 0202 electrical engineering, electronic engineering, information engineering, Image Synthesis, 020201 artificial intelligence & image processing, Polygon mesh, Contrôle de l'erreur, Error detection and correction, Algorithm, Images de Synthèse, Radiosité hiérarchique, Mathematics
Abstract

Article dans revue scientifique avec comité de lecture.; International audience; This paper presents a complete algorithm for the evaluation and control of error in radiosity calculations. Providing such control is both extremely important for industrial applications and one of the most challenging issues remaining in global illumination research. In order to control the error, we need to estimate the accuracy of the calculation while computing the energy exchanged between two objects. Having this information for each radiosity interaction allows to allocate more resources to refine interactions with greater potential error, and to avoid spending more time to refine interactions already represented with sufficient accuracy. Until now, the accuracy of the computed energy exchange could only be approximated using heuristic algorithms. This paper presents the first exhaustive algorithm to compute fully reliable upper and lower bounds on the energy being exchanged in each interaction. This is accomplished by computing first and second derivatives of the radiosity function where appropriate, and making use of two concavity conjectures. These bounds are then used in a refinement criterion for hierarchical radiosity, resulting in a global illumination algorithm with complete control of the error incurred. Results are presented, demonstrating the possibility to create radiosity solutions with guaranteed precision. We then extend our algorithm to consider linear bounding functions instead of constant functions, thus creating simpler meshes in regions where the function is concave, without loss of precision. Our experiments show that the computation of radiosity derivatives along with the radiosity values only requires a modest extra cost, with the advantage of a much greater precision.

Published
1998

41. A Light Hierarchy for Fast Rendering of Scenes with Many Lights

Author

Pierre Poulin, George Drettakis, Eric Paquette, Models, Algorithms and Geometry for Computer Generated Image Graphics (iMAGIS), Laboratoire d'informatique GRAphique, VIsion et Robotique de Grenoble (GRAVIR - IMAG), Université Joseph Fourier - Grenoble 1 (UJF)-Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National Polytechnique de Grenoble (INPG)-Centre National de la Recherche Scientifique (CNRS)-Université Joseph Fourier - Grenoble 1 (UJF)-Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National Polytechnique de Grenoble (INPG)-Centre National de la Recherche Scientifique (CNRS)-Inria Grenoble - Rhône-Alpes, Institut National de Recherche en Informatique et en Automatique (Inria), Eurographics, and N. Göbel and F. Nunes Ferreira (guest editor)

Subjects
Computer science, ComputingMethodologies_IMAGEPROCESSINGANDCOMPUTERVISION, hierarchy, 02 engineering and technology, Rendering (computer graphics), octree, Octree, 020204 information systems, Shadow, 0202 electrical engineering, electronic engineering, information engineering, Specular highlight, ray-tracing, Computer vision, Specular reflection, bounds, ComputingMethodologies_COMPUTERGRAPHICS, Phong, business.industry, illumination, 020207 software engineering, Image synthesis, Computer Graphics and Computer-Aided Design, [INFO.INFO-GR]Computer Science [cs]/Graphics [cs.GR], rendering, Ray tracing (graphics), Artificial intelligence, Shading, business, reflection, clustering
Abstract

International audience; We introduce a new data structure in the form of a light hierarchy for efficiently ray-tracing scenes with many light sources. An octree is constructed with the point light sources in a scene. Each node represents all the light sources it contains by means of a virtual light source. We determine bounds on the error committed with this approximation to shade a point, both for the cases of diffuse and specular reflections. These bounds are then used to guide a hierarchical shading algorithm. If the current level of the light hierarchy provides shading of sufficient quality, the approximation is used, thus avoiding the cost of shading for all the light sources contained below this level. Otherwise the descent into the light hierarchy continues. Our approach has been implemented for scenes without occlusion. The results show important acceleration compared to standard ray-tracing (up to 90 times faster) and an important improvement compared to Ward's adaptive shadow testing.

Published
1998

42. Using Local Planar Geometric Invariants to Match and Model Images of Line Segments

Author

Edmond Boyer, Olivier Bournez, Patrick Gros, Modeling, localization, recognition and interpretation in computer vision (MOVI), Laboratoire d'informatique GRAphique, VIsion et Robotique de Grenoble (GRAVIR - IMAG), Université Joseph Fourier - Grenoble 1 (UJF)-Institut National de Recherche en Informatique et en Automatique (Inria)-Centre National de la Recherche Scientifique (CNRS)-Institut National Polytechnique de Grenoble (INPG)-Université Joseph Fourier - Grenoble 1 (UJF)-Institut National de Recherche en Informatique et en Automatique (Inria)-Centre National de la Recherche Scientifique (CNRS)-Institut National Polytechnique de Grenoble (INPG)-Inria Grenoble - Rhône-Alpes, Institut National de Recherche en Informatique et en Automatique (Inria)-Centre National de la Recherche Scientifique (CNRS), Laboratoire de l'Informatique du Parallélisme (LIP), École normale supérieure - Lyon (ENS Lyon)-Université Claude Bernard Lyon 1 (UCBL), Université de Lyon-Université de Lyon-Institut National de Recherche en Informatique et en Automatique (Inria)-Centre National de la Recherche Scientifique (CNRS), Université Joseph Fourier - Grenoble 1 (UJF)-Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National Polytechnique de Grenoble (INPG)-Centre National de la Recherche Scientifique (CNRS)-Université Joseph Fourier - Grenoble 1 (UJF)-Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National Polytechnique de Grenoble (INPG)-Centre National de la Recherche Scientifique (CNRS)-Inria Grenoble - Rhône-Alpes, and École normale supérieure de Lyon (ENS de Lyon)-Université Claude Bernard Lyon 1 (UCBL)

Subjects
[INFO.INFO-CC]Computer Science [cs]/Computational Complexity [cs.CC], 0209 industrial biotechnology, business.industry, Epipolar geometry, Geometric transformation, ComputingMethodologies_IMAGEPROCESSINGANDCOMPUTERVISION, 02 engineering and technology, Polyhedron, 020901 industrial engineering & automation, Planar, Line segment, Computer Science::Computer Vision and Pattern Recognition, Signal Processing, 0202 electrical engineering, electronic engineering, information engineering, 020201 artificial intelligence & image processing, Computer vision, Computer Vision and Pattern Recognition, Affine transformation, Artificial intelligence, Geometric hashing, business, Software, Blossom algorithm, Mathematics
Abstract

Image matching consists of finding features in different images that represent the same feature of the observed scene. It is a basic process in vision whenever several images are used. This paper describes a matching algorithm for lines segments in two images. The key idea of the algorithm is to assume that the apparent motion between the two images can be approximated by a planar geometric transformation (a similarity or an affine transformation) and to compute such an approximation. Under such an assumption, local planar invariants related the kind of transformation used as approximation, should have the same value in both images. Such invariants are computed for simple segment configurations in both images and matched according to their values. A global constraint is added to ensure a global coherency between all the possible matches: all the local matches must define approximately the same geometric transformation between the two images. These first matches are verified and completed using a better and more global approximation of the apparent motion by a planar homography and an estimate of the epipolar geometry. If more than two images are considered, they are initially matched pairwise; then global matches are deduced in a second step. Finally, from a set of images representing different aspects of an object, it is possible to compare them and to compute a model of each aspect using the matching algorithm. This work uses in a new way many elements already known in vision; some of the local planar invariants used here were presented as quasi-invariants by Binford and studied by Ben-Arie in his work on thepeaking effect. The algorithm itself uses other ideas coming from the geometric hashing and the Hough algorithms. Its main limitations come from the invariants used. They are really stable when they are computed for a planar object or for many man-made objects which contain many coplanar facets and elements. On the other hand, the algorithm will probably fail when used with images of very general polyhedrons. Its main advantages are that it still works even if the images are noisy and the polyhedral approximation of the contours is not exact, if the apparent motion between the images is not infinitesimal, if they are several different motions in the scene, and if the camera is uncalibrated and its motion unknown. The basic matching algorithm is presented in Section 2, the verification and completion stages in Section 3, the matching of several images is studied in Section 4 and the algorithm to model the different aspects of an object is presented in Section 5. Results obtained with the different algorithms are shown in the corresponding sections.

Published
1998

43. Simultaneous robot-world and hand-eye calibration

Author

Radu Horaud, Fadi Dornaika, Department of Mechanical and Automation Engineering (CAD Laboratory), The Chinese University of Hong Kong [Hong Kong], Modeling, localization, recognition and interpretation in computer vision (MOVI), Laboratoire d'informatique GRAphique, VIsion et Robotique de Grenoble (GRAVIR - IMAG), Université Joseph Fourier - Grenoble 1 (UJF)-Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National Polytechnique de Grenoble (INPG)-Centre National de la Recherche Scientifique (CNRS)-Université Joseph Fourier - Grenoble 1 (UJF)-Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National Polytechnique de Grenoble (INPG)-Centre National de la Recherche Scientifique (CNRS)-Inria Grenoble - Rhône-Alpes, and Institut National de Recherche en Informatique et en Automatique (Inria)-Centre National de la Recherche Scientifique (CNRS)

Subjects
0209 industrial biotechnology, Quaternion algebra, Frame (networking), robot/world calibration, 02 engineering and technology, [INFO.INFO-GR]Computer Science [cs]/Graphics [cs.GR], Nonlinear programming, Nonlinear system, 020901 industrial engineering & automation, Transformation matrix, Control and Systems Engineering, Control theory, 0202 electrical engineering, electronic engineering, information engineering, quaternion algebra, 020201 artificial intelligence & image processing, hand/eye calibration, Electrical and Electronic Engineering, Representation (mathematics), Quaternion, Algorithm, Rigid transformation, Mathematics
Abstract

International audience; Zhuang et al. (1994) proposed a method that allows simultaneous computation of the rigid transformations from world frame to robot base frame and from hand frame to camera frame. Their method attempts to solve a homogeneous matrix equation of the for, AX=ZB. They use quaternions to derive explicit linear solution for X and Z. In this paper, we present two new solutions that attempt to solve the homogeneous matrix equation mentioned above: 1) a closed-form method which uses quaternion algebra and a positive quadratic error function associated with this representation; 2) a method based on nonlinear constrained minimization and which simultaneously solves for rotations and translations. These results may be useful to other problems that can be formulated in the same mathematical form. We perform a sensitivity analysis for both our two methods and the linear method developed by Zhuang et al. This analysis allows the comparison of the three methods. In the light of this comparison, the nonlinear optimization method, which solves for rotations and translations simultaneously, seems to be the most stable one with respect to noise and to measurement errors.

Published
1998

44. Skeletal Reconstruction of Branching Shapes

Author

Marie-Paule Cani-Gascuel, Dominique Attali, Eric Ferley, Artis, Team, John C. Hart and Kees van Overveld, Models, Algorithms and Geometry for Computer Generated Image Graphics (iMAGIS), Laboratoire d'informatique GRAphique, VIsion et Robotique de Grenoble (GRAVIR - IMAG), Université Joseph Fourier - Grenoble 1 (UJF)-Institut National de Recherche en Informatique et en Automatique (Inria)-Centre National de la Recherche Scientifique (CNRS)-Institut National Polytechnique de Grenoble (INPG)-Université Joseph Fourier - Grenoble 1 (UJF)-Institut National de Recherche en Informatique et en Automatique (Inria)-Centre National de la Recherche Scientifique (CNRS)-Institut National Polytechnique de Grenoble (INPG)-Inria Grenoble - Rhône-Alpes, Institut National de Recherche en Informatique et en Automatique (Inria), INFODIS, Techniques de l'Ingénierie Médicale et de la Complexité - Informatique, Mathématiques et Applications, Grenoble - UMR 5525 (TIMC-IMAG), VetAgro Sup - Institut national d'enseignement supérieur et de recherche en alimentation, santé animale, sciences agronomiques et de l'environnement (VAS)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS)-Université Joseph Fourier - Grenoble 1 (UJF)-VetAgro Sup - Institut national d'enseignement supérieur et de recherche en alimentation, santé animale, sciences agronomiques et de l'environnement (VAS)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS)-Université Joseph Fourier - Grenoble 1 (UJF), Université Joseph Fourier - Grenoble 1 (UJF)-Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National Polytechnique de Grenoble (INPG)-Centre National de la Recherche Scientifique (CNRS)-Université Joseph Fourier - Grenoble 1 (UJF)-Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National Polytechnique de Grenoble (INPG)-Centre National de la Recherche Scientifique (CNRS)-Inria Grenoble - Rhône-Alpes, and Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-VetAgro Sup - Institut national d'enseignement supérieur et de recherche en alimentation, santé animale, sciences agronomiques et de l'environnement (VAS)-Centre National de la Recherche Scientifique (CNRS)-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-VetAgro Sup - Institut national d'enseignement supérieur et de recherche en alimentation, santé animale, sciences agronomiques et de l'environnement (VAS)-Centre National de la Recherche Scientifique (CNRS)

Subjects
scattered data analysis, Computation, [INFO.INFO-GR] Computer Science [cs]/Graphics [cs.GR], ComputingMethodologies_IMAGEPROCESSINGANDCOMPUTERVISION, 020207 software engineering, Bézier curve, Geometry, 02 engineering and technology, Solid modeling, skeletal design, solid modeling, Computer Graphics and Computer-Aided Design, [INFO.INFO-GR]Computer Science [cs]/Graphics [cs.GR], Graph, Data point, implicit surfaces, 0202 electrical engineering, electronic engineering, information engineering, blends, 020201 artificial intelligence & image processing, ComputingMethodologies_COMPUTERGRAPHICS, Mathematics
Abstract

Published under the name Marie-Paule Cani-Gascuel; International audience; We present a new method to reconstruct an implicit representation of a branching object from a set of data points scattered on its surface. The method is based on the computation of a geometric skeleton inside the data set. This skeleton is simplified in order to filter noise and converted into skeletal elements - a graph of interconnected curves - that generate an implicit surface. We use Bézier triangles as extra skeletal elements to perform bulge free blends between branches while controlling the blend extent. The result is a smooth reconstruction of the object, that can be computed whatever its topology. The skeleton offers compact storage, and provides an underlying structure for the reconstructed object, making it easier to edit in a modeling or animation environment.

Published
1997

45. Animation of deformable models using implicit surfaces

Author

Marie-Paule Cani-Gascuel, Mathieu Desbrun, Models, Algorithms and Geometry for Computer Generated Image Graphics (iMAGIS), Laboratoire d'informatique GRAphique, VIsion et Robotique de Grenoble (GRAVIR - IMAG), Université Joseph Fourier - Grenoble 1 (UJF)-Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National Polytechnique de Grenoble (INPG)-Centre National de la Recherche Scientifique (CNRS)-Université Joseph Fourier - Grenoble 1 (UJF)-Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National Polytechnique de Grenoble (INPG)-Centre National de la Recherche Scientifique (CNRS)-Inria Grenoble - Rhône-Alpes, and Institut National de Recherche en Informatique et en Automatique (Inria)

Subjects
Computer science, animation, 02 engineering and technology, Computational science, Computer graphics, inelasticity, Simple (abstract algebra), implicit surfaces, deformable models, Computer graphics (images), 0202 electrical engineering, electronic engineering, information engineering, collision detection, Collision detection, Motion planning, Computer animation, ComputingMethodologies_COMPUTERGRAPHICS, 020207 software engineering, Animation, Elasticity (physics), collision response, Collision, Computer Graphics and Computer-Aided Design, [INFO.INFO-GR]Computer Science [cs]/Graphics [cs.GR], Visualization, Collision response, Signal Processing, 020201 artificial intelligence & image processing, Computer Vision and Pattern Recognition, Software
Abstract

Published under the name Marie-Paule Cani-Gascuel; International audience; The paper presents a general approach for designing and animating complex deformable models with implicit surfaces. Implicit surfaces are introduced as an extra layer coating any kind of structure that moves and deforms over time. Offering a compact definition of a smooth surface around an object, they provide an efficient collision detection mechanism. The implicit layer deforms in order to generate exact contact surfaces between colliding bodies. A simple physically based model approximating elastic behavior is then used for computing collision response. The implicit formulation also eases the control of the object's volume with a new method based on local controllers. We present two different applications that illustrate the benefits of these techniques. First, the animation of simple characters made of articulated skeletons coated with implicit flesh exploits the compactness and enhanced control of the model. The second builds on the specific properties of implicit surfaces for modeling soft inelastic substances capable of separation and fusion that maintain a constant volume when animated

Published
1997

46. Semi-local projective invariants for the recognition of smooth plane curves

Author

Stefan Carlsson, F. Veillon, Charlie Rothwell, Roger Mohr, Luce Morin, L. Van Gool, Theo Moons, Andrew Zisserman, M Van Diest, Computer Vision & Active Perception lab. (CVAP), Royal Institute of Technology [Stockholm] (KTH ), Modeling, localization, recognition and interpretation in computer vision (MOVI), Laboratoire d'informatique GRAphique, VIsion et Robotique de Grenoble (GRAVIR - IMAG), Université Joseph Fourier - Grenoble 1 (UJF)-Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National Polytechnique de Grenoble (INPG)-Centre National de la Recherche Scientifique (CNRS)-Université Joseph Fourier - Grenoble 1 (UJF)-Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National Polytechnique de Grenoble (INPG)-Centre National de la Recherche Scientifique (CNRS)-Inria Grenoble - Rhône-Alpes, Institut National de Recherche en Informatique et en Automatique (Inria)-Centre National de la Recherche Scientifique (CNRS), Laboratoire d'Informatique Fondamentale et d'Intelligence Artificielle (LIFIA), Institut National Polytechnique de Grenoble (INPG), Advanced Image Sequence Processing (TEMIS), Institut de Recherche en Informatique et Systèmes Aléatoires (IRISA), Université de Rennes (UR)-Institut National des Sciences Appliquées - Rennes (INSA Rennes), Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Institut National de Recherche en Informatique et en Automatique (Inria)-Centre National de la Recherche Scientifique (CNRS)-Université de Rennes (UR)-Institut National des Sciences Appliquées - Rennes (INSA Rennes), Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Institut National de Recherche en Informatique et en Automatique (Inria)-Centre National de la Recherche Scientifique (CNRS)-INRIA Rennes, Institut National de Recherche en Informatique et en Automatique (Inria), Robotics Research Group, University of Oxford, Machine Intelligence and Imaging Research Group (ESAT), Université Catholique de Louvain = Catholic University of Louvain (UCL)-Catholic University of Leuven - Katholieke Universiteit Leuven (KU Leuven), Université Joseph Fourier - Grenoble 1 (UJF)-Institut National de Recherche en Informatique et en Automatique (Inria)-Centre National de la Recherche Scientifique (CNRS)-Institut National Polytechnique de Grenoble (INPG)-Université Joseph Fourier - Grenoble 1 (UJF)-Institut National de Recherche en Informatique et en Automatique (Inria)-Centre National de la Recherche Scientifique (CNRS)-Institut National Polytechnique de Grenoble (INPG)-Inria Grenoble - Rhône-Alpes, Université de Rennes 1 (UR1), Université de Rennes (UNIV-RENNES)-Université de Rennes (UNIV-RENNES)-Institut National des Sciences Appliquées - Rennes (INSA Rennes), Institut National des Sciences Appliquées (INSA)-Université de Rennes (UNIV-RENNES)-Institut National des Sciences Appliquées (INSA)-Institut National de Recherche en Informatique et en Automatique (Inria)-Centre National de la Recherche Scientifique (CNRS)-Université de Rennes 1 (UR1), Institut National des Sciences Appliquées (INSA)-Université de Rennes (UNIV-RENNES)-Institut National des Sciences Appliquées (INSA)-Institut National de Recherche en Informatique et en Automatique (Inria)-Centre National de la Recherche Scientifique (CNRS)-INRIA Rennes, and University of Oxford [Oxford]

Subjects
Discrete mathematics, Pure mathematics, Plane curve, 05 social sciences, [INFO.INFO-CV]Computer Science [cs]/Computer Vision and Pattern Recognition [cs.CV], Image processing, 02 engineering and technology, Real image, 050105 experimental psychology, Artificial Intelligence, Projective frame, 0202 electrical engineering, electronic engineering, information engineering, Recognition system, 020201 artificial intelligence & image processing, 0501 psychology and cognitive sciences, Computer Vision and Pattern Recognition, Projective invariants, Projective test, Invariant (mathematics), Software, Mathematics
Abstract

International audience; Recently, several methods have been proposed for describing plane, non-algebraic curves in a projectively invariant fashion. These curve representations are invariant under changes in viewpoint and therefore ideally suited for recognition. We report the results of a study where the strengths and weaknesses of a number of semi-local methods are compared on the basis of the same images and edge data. All the methods define a distinguished or canonical projective frame for the curve segment which is used for projective normalisation. In this canonical frame the curve has a viewpoint invariant signature. Measurements on the signature are invariants. All the methods presented are designed to work on real images where extracted data will not be ideal, and parts of curves will be missing because of poor contrast or occlusion. We compare the stability and discrimination of the signatures and invariants over a number of example curves and viewpoints. The paper concludes with a discussion of how the various methods can be integrated within a recognition system.

Published
1996

47. Self-calibration of an affine camera from multiple views

Author

Long Quan, Modeling, localization, recognition and interpretation in computer vision (MOVI), Laboratoire d'informatique GRAphique, VIsion et Robotique de Grenoble (GRAVIR - IMAG), Université Joseph Fourier - Grenoble 1 (UJF)-Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National Polytechnique de Grenoble (INPG)-Centre National de la Recherche Scientifique (CNRS)-Université Joseph Fourier - Grenoble 1 (UJF)-Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National Polytechnique de Grenoble (INPG)-Centre National de la Recherche Scientifique (CNRS)-Inria Grenoble - Rhône-Alpes, Institut National de Recherche en Informatique et en Automatique (Inria)-Centre National de la Recherche Scientifique (CNRS), Laboratoire d'Informatique Fondamentale et d'Intelligence Artificielle (LIFIA), and Institut National Polytechnique de Grenoble (INPG)

Subjects
ComputingMethodologies_IMAGEPROCESSINGANDCOMPUTERVISION, 02 engineering and technology, 01 natural sciences, 010309 optics, Affine combination, Artificial Intelligence, Camera auto-calibration, 0103 physical sciences, 0202 electrical engineering, electronic engineering, information engineering, Computer vision, Mathematics, Harris affine region detector, business.industry, Astrophysics::Instrumentation and Methods for Astrophysics, [INFO.INFO-GR]Computer Science [cs]/Graphics [cs.GR], Affine coordinate system, Affine shape adaptation, Computer Science::Computer Vision and Pattern Recognition, Pinhole camera model, 020201 artificial intelligence & image processing, Computer Vision and Pattern Recognition, Affine transformation, Artificial intelligence, business, Software, Camera resectioning
Abstract

International audience; A key limitation of all existing algorithms for shape and motion from image sequences under orthographic, weak perspective and para-perspective projection is that they require the calibration parameters of the camera. We present in this paper a new approach that allows the shape and motion to be computed from image sequences without having to know the calibration parameters. This approach is derived with the affine camera model, introduced by Mundy and Zisserman (1992), which is a more general class of projections including orthographic, weak perspective and para-perspective projection models. The concept of self-calibration, introduced by Maybank and Faugeras (1992) for the perspective camera and by Hartley (1994) for the rotating camera, is then applied for the affine camera. This paper introduces the 3 intrinsic parameters that the affine camera can have at most. The intrinsic parameters of the affine camera are closely related to the usual intrinsic parameters of the pin-hole perspective camera, but are different in the general case. Based on the invariance of the intrinsic parameters, methods of self-calibration of the affine camera are proposed. It is shown that with at least four views, an affine camera may be self-calibrated up to a scaling factor, leading to Euclidean (similarity) shape réconstruction up to a global scaling factor. Another consequence of the introduction of intrinsic and extrinsic parameters of the affine camera is that all existing algorithms using calibrated affine cameras can be assembled into the same framework and some of them can be easily extented to a batch solution. Experimental results are presented and compared with other methods using calibrated affine cameras.

Published
1996

48. Algebraic and geometric invariant of a pair of non-coplanar conics in space

Author

Long Quan, Modeling, localization, recognition and interpretation in computer vision (MOVI), Laboratoire d'informatique GRAphique, VIsion et Robotique de Grenoble (GRAVIR - IMAG), Université Joseph Fourier - Grenoble 1 (UJF)-Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National Polytechnique de Grenoble (INPG)-Centre National de la Recherche Scientifique (CNRS)-Université Joseph Fourier - Grenoble 1 (UJF)-Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National Polytechnique de Grenoble (INPG)-Centre National de la Recherche Scientifique (CNRS)-Inria Grenoble - Rhône-Alpes, Institut National de Recherche en Informatique et en Automatique (Inria)-Centre National de la Recherche Scientifique (CNRS), Laboratoire d'Informatique Fondamentale et d'Intelligence Artificielle (LIFIA), and Institut National Polytechnique de Grenoble (INPG)

Subjects
Statistics and Probability, Pure mathematics, Invariant polynomial, 02 engineering and technology, 01 natural sciences, computer vision, projective geometry, 0202 electrical engineering, electronic engineering, information engineering, 0101 mathematics, Invariant (mathematics), Mathematics, Projective geometry, Discrete mathematics, Applied Mathematics, 010102 general mathematics, Five points determine a conic, Condensed Matter Physics, [INFO.INFO-GR]Computer Science [cs]/Graphics [cs.GR], Invariant theory, Finite type invariant, invariant, Conic section, Modeling and Simulation, space conic, 020201 artificial intelligence & image processing, Geometry and Topology, Computer Vision and Pattern Recognition, Geometric invariant theory, recognition
Abstract

International audience; It is easy to construct the geometric invariant of a pair of non-coplanar conics in space. It is the crossratio of the 4 intersection points of the two conics with the common line of the two conic planes. In this paper, the algebraic invariant of a pair of non-coplanar conics is derived from the invariant algebra of a pair of quaternary quadratic forms by using the dual representation of space conics. Then, the relationship between the algebraic invariant and the geometric invariant is established.

Published
1995

49. Object pose from 2-D to 3-D point and line correspondences

Author

Thai Quynh Phong, Pham Dinh Tao, Adnan Yassine, Radu Horaud, Modeling, localization, recognition and interpretation in computer vision (MOVI), Laboratoire d'informatique GRAphique, VIsion et Robotique de Grenoble (GRAVIR - IMAG), Université Joseph Fourier - Grenoble 1 (UJF)-Institut National de Recherche en Informatique et en Automatique (Inria)-Centre National de la Recherche Scientifique (CNRS)-Institut National Polytechnique de Grenoble (INPG)-Université Joseph Fourier - Grenoble 1 (UJF)-Institut National de Recherche en Informatique et en Automatique (Inria)-Centre National de la Recherche Scientifique (CNRS)-Institut National Polytechnique de Grenoble (INPG)-Inria Grenoble - Rhône-Alpes, Institut National de Recherche en Informatique et en Automatique (Inria)-Centre National de la Recherche Scientifique (CNRS), Laboratoire d'Informatique Fondamentale et d'Intelligence Artificielle (LIFIA), Institut National Polytechnique de Grenoble (INPG), Laboratoire de Mathématiques de l'INSA de Rouen Normandie (LMI), Institut national des sciences appliquées Rouen Normandie (INSA Rouen Normandie), Institut National des Sciences Appliquées (INSA)-Normandie Université (NU)-Institut National des Sciences Appliquées (INSA)-Normandie Université (NU), Institut Élie Cartan de Nancy (IECN), Centre National de la Recherche Scientifique (CNRS)-Institut National Polytechnique de Lorraine (INPL)-Université Nancy 2-Université Henri Poincaré - Nancy 1 (UHP)-Institut National de Recherche en Informatique et en Automatique (Inria), Université Joseph Fourier - Grenoble 1 (UJF)-Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National Polytechnique de Grenoble (INPG)-Centre National de la Recherche Scientifique (CNRS)-Université Joseph Fourier - Grenoble 1 (UJF)-Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National Polytechnique de Grenoble (INPG)-Centre National de la Recherche Scientifique (CNRS)-Inria Grenoble - Rhône-Alpes, and Institut National de Recherche en Informatique et en Automatique (Inria)-Université Henri Poincaré - Nancy 1 (UHP)-Université Nancy 2-Institut National Polytechnique de Lorraine (INPL)-Centre National de la Recherche Scientifique (CNRS)

Subjects
0209 industrial biotechnology, Mathematical optimization, dual number quater, non linear minimization, 02 engineering and technology, exterior camera calibration, 020901 industrial engineering & automation, Quadratic equation, Artificial Intelligence, Robustness (computer science), 0202 electrical engineering, electronic engineering, information engineering, Image noise, Quaternion, rigid transformation, nions, Rigid transformation, Mathematics, Optimal estimation, Dual number, [INFO.INFO-GR]Computer Science [cs]/Graphics [cs.GR], Error function, object pose, 020201 artificial intelligence & image processing, Computer Vision and Pattern Recognition, trust region optimization methods, Algorithm, Software
Abstract

This work has been supported by the Esprit programme through the SECOND project (Esprit-BRA No. 6769).; International audience; In this paper we present a method for optimally estimating the rotation and translation between a camera and a 3-D object from point and/or line correspondences. First we devise an error function and second we show how to minimize this error function. The quadratic nature of this function is made possible by representing rotation and translation with a dual number quaternion. We provide a detailed account of the computational aspects of a trust-region optimization method. This method compares favourably with Newton's method which has extensively been used to solve the problem at hand, with Faugeras-Toscani's linear method (Faugeras and Toscani 1986) for calibrating a camera, and with the Levenberg-Marquardt non-linear optimization method. Finally we present some experimental results which demonstrate the robustness of our method with respect to image noise and matching errors.

Published
1995

50. Invariants of six points and projective reconstruction from three uncalibrated images

Author

Long Quan, Modeling, localization, recognition and interpretation in computer vision (MOVI), Laboratoire d'informatique GRAphique, VIsion et Robotique de Grenoble (GRAVIR - IMAG), Université Joseph Fourier - Grenoble 1 (UJF)-Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National Polytechnique de Grenoble (INPG)-Centre National de la Recherche Scientifique (CNRS)-Université Joseph Fourier - Grenoble 1 (UJF)-Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National Polytechnique de Grenoble (INPG)-Centre National de la Recherche Scientifique (CNRS)-Inria Grenoble - Rhône-Alpes, Institut National de Recherche en Informatique et en Automatique (Inria)-Centre National de la Recherche Scientifique (CNRS), Laboratoire d'Informatique Fondamentale et d'Intelligence Artificielle (LIFIA), and Institut National Polytechnique de Grenoble (INPG)

Subjects
Pure mathematics, Computation, Epipolar geometry, 02 engineering and technology, Iterative reconstruction, projective reconstruction, projective geometry, Artificial Intelligence, self-calibration, 0202 electrical engineering, electronic engineering, information engineering, Image noise, Computer vision, Invariant (mathematics), Projective representation, Projective geometry, Mathematics, business.industry, Applied Mathematics, 020207 software engineering, [INFO.INFO-GR]Computer Science [cs]/Graphics [cs.GR], uncalibrated images, Computational Theory and Mathematics, invariant, Computer Science::Computer Vision and Pattern Recognition, epipolar geometry, 020201 artificial intelligence & image processing, Computer Vision and Pattern Recognition, Artificial intelligence, business, General position, Software
Abstract

There are three projective invariants of a set of six points in general position in space. It is well known that these invariants cannot be recovered from one image, however an invariant relationship does exist between space invariants and image invariants. This invariant relationship is first derived for a single image. Then this invariant relationship is used to derive the space invariants, when multiple images are available. This paper establishes that the minimum number of images for computing these invariants is three, and the computation of invariants of six points from three images can have as many as three solutions. Algorithms are presented for computing these invariants in closed form. The accuracy and stability with respect to image noise, selection of the triplets of images and distance between viewing positions are studied both through real and simulated images. Applications of these invariants are also presented. Both the results of Faugeras (1992) and Hartley et al. (1992) for projective reconstruction and Sturm's method (1869) for epipolar geometry determination from two uncalibrated images with at least seven points are extended to the case of three uncalibrated images with only six points. >

Published
1995

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