arXiv subjects

Jürgen Seiler

Publications and source records attributed to Jürgen Seiler.

At least 37 records · Page 2Linked to original sources

arXiv2023

End-to-End Lidar-Camera Self-Calibration for Autonomous Vehicles

Autonomous vehicles are equipped with a multi-modal sensor setup to enable the car to drive safely. The initial calibration of such perception sensors is a highly matured topic and is routinely done in an automated factory environment. However, an intriguing question arises on how to maintain the calibration quality throughout the vehicle's operating duration. Another challenge is to calibrate multiple sensors jointly to ensure no propagation of systemic errors. In this paper, we propose CaLiCa, an end-to-end deep self-calibration network which addresses the automatic calibration problem for pinhole camera and Lidar. We jointly predict the camera intrinsic parameters (focal length and distortion) as well as Lidar-Camera extrinsic parameters (rotation and translation), by regressing feature correlation between the camera image and the Lidar point cloud. The network is arranged in a Siamese-twin structure to constrain the network features learning to a mutually shared feature in both point cloud and camera (Lidar-camera constraint). Evaluation using KITTI datasets shows that we achieve 0.154 ° and 0.059 m accuracy with a reprojection error of 0.028 pixel with a single-pass inference. We also provide an ablative study of how our end-to-end learning architecture offers lower terminal loss (21% decrease in rotation loss) compared to isolated calibration

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arXiv2023

Image Super-Resolution Using T-Tetromino Pixels

For modern high-resolution imaging sensors, pixel binning is performed in low-lighting conditions and in case high frame rates are required. To recover the original spatial resolution, single-image super-resolution techniques can be applied for upscaling. To achieve a higher image quality after upscaling, we propose a novel binning concept using tetromino-shaped pixels. It is embedded into the field of compressed sensing and the coherence is calculated to motivate the sensor layouts used. Next, we investigate the reconstruction quality using tetromino pixels for the first time in literature. Instead of using different types of tetrominoes as proposed elsewhere, we show that using a small repeating cell consisting of only four T-tetrominoes is sufficient. For reconstruction, we use a locally fully connected reconstruction (LFCR) network as well as two classical reconstruction methods from the field of compressed sensing. Using the LFCR network in combination with the proposed tetromino layout, we achieve superior image quality in terms of PSNR, SSIM, and visually compared to conventional single-image super-resolution using the very deep super-resolution (VDSR) network. For PSNR, a gain of up to \SI[retain-explicit-plus]{+1.92}{dB} is achieved.

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arXiv2023

Synthetic Hyperspectral Array Video Database with Applications to Cross-Spectral Reconstruction and Hyperspectral Video Coding

In this paper, a synthetic hyperspectral video database is introduced. Since it is impossible to record ground truth hyperspectral videos, this database offers the possibility to leverage the evaluation of algorithms in diverse applications. For all scenes, depth maps are provided as well to yield the position of a pixel in all spatial dimensions as well as the reflectance in spectral dimension. Two novel algorithms for two different applications are proposed to prove the diversity of applications that can be addressed by this novel database. First, a cross-spectral image reconstruction algorithm is extended to exploit the temporal correlation between two consecutive frames. The evaluation using this hyperspectral database shows an increase in PSNR of up to 5.6 dB dependent on the scene. Second, a hyperspectral video coder is introduced which extends an existing hyperspectral image coder by exploiting temporal correlation. The evaluation shows rate savings of up to 10% depending on the scene. The novel hyperspectral video database and source code is available at https:// github.com/ FAU-LMS/ HyViD for use by the research community.

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arXiv2023

Analysis of mesh-based motion compensation in wavelet lifting of dynamical 3-D+t CT data

Factorized in the lifting structure, the wavelet transform can easily be extended by arbitrary compensation methods. Thereby, the transform can be adapted to displacements in the signal without losing the ability of perfect reconstruction. This leads to an improvement of scalability. In temporal direction of dynamic medical 3-D+t volumes from Computed Tomography, displacement is mainly given by expansion and compression of tissue. We show that these smooth movements can be well compensated with a mesh-based method. We compare the properties of triangle and quadrilateral meshes. We also show that with a mesh-based compensation approach coding results are comparable to the common slice wise coding with JPEG 2000 while a scalable representation in temporal direction can be achieved.

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arXiv2023

Compression of Dynamic Medical CT Data Using Motion Compensated Wavelet Lifting with Denoised Update

For the lossless compression of dynamic 3-D+t volumes as produced by medical devices like Computed Tomography, various coding schemes can be applied. This paper shows that 3-D subband coding outperforms lossless HEVC coding and additionally provides a scalable representation, which is often required in telemedicine applications. However, the resulting lowpass subband, which shall be used as a downscaled representative of the whole original sequence, contains a lot of ghosting artifacts. This can be alleviated by incorporating motion compensation methods into the subband coder. This results in a high quality lowpass subband but also leads to a lower compression ratio. In order to cope with this, we introduce a new approach for improving the compression efficiency of compensated 3-D wavelet lifting by performing denoising in the update step. We are able to reduce the file size of the lowpass subband by up to 1.64\%, while the lowpass subband is still applicable for being used as a downscaled representative of the whole original sequence.

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arXiv2023

Optimal Filter Selection for Multispectral Object Classification Using Fast Binary Search

When designing multispectral imaging systems for classifying different spectra it is necessary to choose a small number of filters from a set with several hundred different ones. Tackling this problem by full search leads to a tremendous number of possibilities to check and is NP-hard. In this paper we introduce a novel fast binary search for optimal filter selection that guarantees a minimum distance metric between the different spectra to classify. In our experiments, this procedure reaches the same optimal solution as with full search at much lower complexity. The desired number of filters influences the full search in factorial order while the fast binary search stays constant. Thus, fast binary search allows to find the optimal solution of all combinations in an adequate amount of time and avoids prevailing heuristics. Moreover, our fast binary search algorithm outperforms other filter selection techniques in terms of misclassified spectra in a real-world classification problem.

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arXiv2023

Centroid adapted frequency selective extrapolation for reconstruction of lost image areas

Lost image areas with different size and arbitrary shape can occur in many scenarios such as error-prone communication, depth-based image rendering or motion compensated wavelet lifting. The goal of image reconstruction is to restore these lost image areas as close to the original as possible. Frequency selective extrapolation is a block-based method for efficiently reconstructing lost areas in images. So far, the actual shape of the lost area is not considered directly. We propose a centroid adaption to enhance the existing frequency selective extrapolation algorithm that takes the shape of lost areas into account. To enlarge the test set for evaluation we further propose a method to generate arbitrarily shaped lost areas. On our large test set, we obtain an average reconstruction gain of 1.29 dB.

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arXiv2023

On the influence of clipping in lossless predictive and wavelet coding of noisy images

Especially in lossless image coding the obtainable compression ratio strongly depends on the amount of noise included in the data as all noise has to be coded, too. Different approaches exist for lossless image coding. We analyze the compression performance of three kinds of approaches, namely direct entropy, predictive and wavelet-based coding. The results from our theoretical model are compared to simulated results from standard algorithms that base on the three approaches. As long as no clipping occurs with increasing noise more bits are needed for lossless compression. We will show that for very noisy signals it is more advantageous to directly use an entropy coder without advanced preprocessing steps.

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arXiv2023

Efficient lossless coding of highpass bands from block-based motion compensated wavelet lifting using JPEG 2000

Lossless image coding is a crucial task especially in the medical area, e.g., for volumes from Computed Tomography or Magnetic Resonance Tomography. Besides lossless coding, compensated wavelet lifting offers a scalable representation of such huge volumes. While compensation methods increase the details in the lowpass band, they also vary the characteristics of the wavelet coefficients, so an adaption of the coefficient coder should be considered. We propose a simple invertible extension for JPEG 2000 that can reduce the filesize for lossless coding of the highpass band by 0.8% on average with peak rate saving of 1.1%.

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arXiv2023

Analysis of displacement compensation methods for wavelet lifting of medical 3-D thorax CT volume data

A huge advantage of the wavelet transform in image and video compression is its scalability. Wavelet-based coding of medical computed tomography (CT) data becomes more and more popular. While much effort has been spent on encoding of the wavelet coefficients, the extension of the transform by a compensation method as in video coding has not gained much attention so far. We will analyze two compensation methods for medical CT data and compare the characteristics of the displacement compensated wavelet transform with video data. We will show that for thorax CT data the transform coding gain can be improved by a factor of 2 and the quality of the lowpass band can be improved by 8 dB in terms of PSNR compared to the original transform without compensation.

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arXiv2022

On Benefits and Challenges of Conditional Interframe Video Coding in Light of Information Theory

The rise of variational autoencoders for image and video compression has opened the door to many elaborate coding techniques. One example here is the possibility of conditional interframe coding. Here, instead of transmitting the residual between the original frame and the predicted frame (often obtained by motion compensation), the current frame is transmitted under the condition of knowing the prediction signal. In practice, conditional coding can be straightforwardly implemented using a conditional autoencoder, which has also shown good results in recent works. In this paper, we provide an information theoretical analysis of conditional coding for inter frames and show in which cases gains compared to traditional residual coding can be expected. We also show the effect of information bottlenecks which can occur in practical video coders in the prediction signal path due to the network structure, as a consequence of the data-processing theorem or due to quantization. We demonstrate that conditional coding has theoretical benefits over residual coding but that there are cases in which the benefits are quickly canceled by small information bottlenecks of the prediction signal.

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arXiv2022

3-D mesh compensated wavelet lifting for 3-D+t medical CT data

For scalable coding, a high quality of the lowpass band of a wavelet transform is crucial when it is used as a downscaled version of the original signal. However, blur and motion can lead to disturbing artifacts. By incorporating feasible compensation methods directly into the wavelet transform, the quality of the lowpass band can be improved. The displacement in dynamic medical 3-D+t volumes from Computed Tomography is mainly given by expansion and compression of tissue over time and can be modeled well by mesh-based methods. We extend a 2-D mesh-based compensation method to three dimensions to obtain a volume compensation method that can additionally compensate deforming displacements in the third dimension. We show that a 3-D mesh can obtain a higher quality of the lowpass band by 0.28 dB with less than 40% of the model parameters of a comparable 2-D mesh. Results from lossless coding with JPEG 2000 3D and SPECK3D show that the compensated subbands using a 3-D mesh need about 6% less data compared to using a 2-D mesh.

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arXiv2022

Improving block-based compensated wavelet lifting by reconstructing unconnected pixels

This paper presents a new approach for improving the visual quality of the lowpass band of a compensated wavelet transform. A high quality of the lowpass band is very important as it can then be used as a downscaled version of the original signal. To adapt the transform to the signal, compensation methods can be implemented directly into the transform. We propose an improved inversion of the block-based motion compensation by processing unconnected pixels by a reconstruction method. We obtain a better subjective visual quality while furthermore saving up to 2.6% of bits for lossless coding.

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arXiv2022

A hybrid motion estimation technique for fisheye video sequences based on equisolid re-projection

Capturing large fields of view with only one camera is an important aspect in surveillance and automotive applications, but the wide-angle fisheye imagery thus obtained exhibits very special characteristics that may not be very well suited for typical image and video processing methods such as motion estimation. This paper introduces a motion estimation method that adapts to the typical radial characteristics of fisheye video sequences by making use of an equisolid re-projection after moving part of the motion vector search into the perspective domain via a corresponding back-projection. By combining this approach with conventional translational motion estimation and compensation, average gains in luminance PSNR of up to 1.14 dB are achieved for synthetic fish-eye sequences and up to 0.96 dB for real-world data. Maximum gains for selected frame pairs amount to 2.40 dB and 1.39 dB for synthetic and real-world data, respectively.

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arXiv2022

Temporal error concealment for fisheye video sequences based on equisolid re-projection

Wide-angle video sequences obtained by fisheye cameras exhibit characteristics that may not very well comply with standard image and video processing techniques such as error concealment. This paper introduces a temporal error concealment technique designed for the inherent characteristics of equisolid fisheye video sequences by applying a re-projection into the equisolid domain after conducting part of the error concealment in the perspective domain. Combining this technique with conventional decoder motion vector estimation achieves average gains of 0.71 dB compared against pure decoder motion vector estimation for the test sequences used. Maximum gains amount to up to 2.04 dB for selected frames.

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arXiv2022

Domain Adaptation for Unknown Image Distortions in Instance Segmentation

Data-driven techniques for machine vision heavily depend on the training data to sufficiently resemble the data occurring during test and application. However, in practice unknown distortion can lead to a domain gap between training and test data, impeding the performance of a machine vision system. With our proposed approach this domain gap can be closed by unpaired learning of the pristine-to-distortion mapping function of the unknown distortion. This learned mapping function may then be used to emulate the unknown distortion in the training data. Employing a fixed setup, our approach is independent from prior knowledge of the distortion. Within this work, we show that we can effectively learn unknown distortions at arbitrary strengths. When applying our approach to instance segmentation in an autonomous driving scenario, we achieve results comparable to an oracle with knowledge of the distortion. An average gain in mean Average Precision (mAP) of up to 0.19 can be achieved.

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arXiv2022

Synthesizing Annotated Image and Video Data Using a Rendering-Based Pipeline for Improved License Plate Recognition

An insufficient number of training samples is a common problem in neural network applications. While data augmentation methods require at least a minimum number of samples, we propose a novel, rendering-based pipeline for synthesizing annotated data sets. Our method does not modify existing samples but synthesizes entirely new samples. The proposed rendering-based pipeline is capable of generating and annotating synthetic and partly-real image and video data in a fully automatic procedure. Moreover, the pipeline can aid the acquisition of real data. The proposed pipeline is based on a rendering process. This process generates synthetic data. Partly-real data bring the synthetic sequences closer to reality by incorporating real cameras during the acquisition process. The benefits of the proposed data generation pipeline, especially for machine learning scenarios with limited available training data, are demonstrated by an extensive experimental validation in the context of automatic license plate recognition. The experiments demonstrate a significant reduction of the character error rate and miss rate from 73.74% and 100% to 14.11% and 41.27% respectively, compared to an OCR algorithm trained on a real data set solely. These improvements are achieved by training the algorithm on synthesized data solely. When additionally incorporating real data, the error rates can be decreased further. Thereby, the character error rate and miss rate can be reduced to 11.90% and 39.88% respectively. All data used during the experiments as well as the proposed rendering-based pipeline for the automated data generation is made publicly available under (URL will be revealed upon publication).

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arXiv2022

3D Rendering Framework for Data Augmentation in Optical Character Recognition

In this paper, we propose a data augmentation framework for Optical Character Recognition (OCR). The proposed framework is able to synthesize new viewing angles and illumination scenarios, effectively enriching any available OCR dataset. Its modular structure allows to be modified to match individual user requirements. The framework enables to comfortably scale the enlargement factor of the available dataset. Furthermore, the proposed method is not restricted to single frame OCR but can also be applied to video OCR. We demonstrate the performance of our framework by augmenting a 15% subset of the common Brno Mobile OCR dataset. Our proposed framework is capable of leveraging the performance of OCR applications especially for small datasets. Applying the proposed method, improvements of up to 2.79 percentage points in terms of Character Error Rate (CER), and up to 7.88 percentage points in terms of Word Error Rate (WER) are achieved on the subset. Especially the recognition of challenging text lines can be improved. The CER may be decreased by up to 14.92 percentage points and the WER by up to 18.19 percentage points for this class. Moreover, we are able to achieve smaller error rates when training on the 15% subset augmented with the proposed method than on the original non-augmented full dataset.

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