- Award ID(s):
- 9907141
- PAR ID:
- 10346816
- Date Published:
- Journal Name:
- International Conference on Pattern Recognition
- Volume:
- 3
- Page Range / eLocation ID:
- 844 to 849
- Format(s):
- Medium: X
- Sponsoring Org:
- National Science Foundation
More Like this
-
null (Ed.)Single-photon avalanche diodes (SPADs) are a rapidly developing image sensing technology with extreme low-light sensitivity and picosecond timing resolution. These unique capabilities have enabled SPADs to be used in applications like LiDAR, non-line-of-sight imaging and fluorescence microscopy that require imaging in photon-starved scenarios. In this work we harness these capabilities for dealing with motion blur in a passive imaging setting in low illumination conditions. Our key insight is that the data captured by a SPAD array camera can be represented as a 3D spatio-temporal tensor of photon detection events which can be integrated along arbitrary spatio-temporal trajectories with dynamically varying integration windows, depending on scene motion. We propose an algorithm that estimates pixel motion from photon timestamp data and dynamically adapts the integration windows to minimize motion blur. Our simulation results show the applicability of this algorithm to a variety of motion profiles including translation, rotation and local object motion. We also demonstrate the real-world feasibility of our method on data captured using a 32x32 SPAD camera.more » « less
-
Evolution has honed predatory skills in the natural world where localizing and intercepting fast-moving prey is required. The current generation of robotic systems mimics these biological systems using deep learning. High-speed processing of the camera frames using convolutional neural networks (CNN) (frame pipeline) on such constrained aerial edge-robots gets resource-limited. Adding more compute resources also eventually limits the throughput at the frame rate of the camera as frame-only traditional systems fail to capture the detailed temporal dynamics of the environment. Bio-inspired event cameras and spiking neural networks (SNN) provide an asynchronous sensor-processor pair (event pipeline) capturing the continuous temporal details of the scene for high-speed but lag in terms of accuracy. In this work, we propose a target localization system combining event-camera and SNN-based high-speed target estimation and frame-based camera and CNN-driven reliable object detection by fusing complementary spatio-temporal prowess of event and frame pipelines. One of our main contributions involves the design of an SNN filter that borrows from the neural mechanism for ego-motion cancelation in houseflies. It fuses the vestibular sensors with the vision to cancel the activity corresponding to the predator's self-motion. We also integrate the neuro-inspired multi-pipeline processing with task-optimized multi-neuronal pathway structure in primates and insects. The system is validated to outperform CNN-only processing using prey-predator drone simulations in realistic 3D virtual environments. The system is then demonstrated in a real-world multi-drone set-up with emulated event data. Subsequently, we use recorded actual sensory data from multi-camera and inertial measurement unit (IMU) assembly to show desired working while tolerating the realistic noise in vision and IMU sensors. We analyze the design space to identify optimal parameters for spiking neurons, CNN models, and for checking their effect on the performance metrics of the fused system. Finally, we map the throughput controlling SNN and fusion network on edge-compatible Zynq-7000 FPGA to show a potential 264 outputs per second even at constrained resource availability. This work may open new research directions by coupling multiple sensing and processing modalities inspired by discoveries in neuroscience to break fundamental trade-offs in frame-based computer vision 1 .more » « less
-
We demonstrate multi-frame motion deblurring for gigapixel wide-field fluorescence microscopy using fast slide scanning with coded illumination. Our method illuminates the sample with multiple pulses within each exposure, in order to introduce structured motion blur. By deconvolving this known motion sequence from the set of acquired measurements, we recover the object with up to 10× higher SNR than when illuminated with a single pulse (strobed illumination), while performing acquisition at 5× higher frame-rate than a comparable stop-and-stare method. Our coded illumination sequence is optimized to maximize the reconstruction SNR. We also derive a framework for determining when coded illumination is SNR-optimal in terms of system parameters such as source illuminance, noise, and motion stage specifications. This helps system designers to choose the ideal technique for high-throughput microscopy of very large samples.
-
Integral imaging has proven useful for three-dimensional (3D) object visualization in adverse environmental conditions such as partial occlusion and low light. This paper considers the problem of 3D object tracking. Two-dimensional (2D) object tracking within a scene is an active research area. Several recent algorithms use object detection methods to obtain 2D bounding boxes around objects of interest in each frame. Then, one bounding box can be selected out of many for each object of interest using motion prediction algorithms. Many of these algorithms rely on images obtained using traditional 2D imaging systems. A growing literature demonstrates the advantage of using 3D integral imaging instead of traditional 2D imaging for object detection and visualization in adverse environmental conditions. Integral imaging’s depth sectioning ability has also proven beneficial for object detection and visualization. Integral imaging captures an object’s depth in addition to its 2D spatial position in each frame. A recent study uses integral imaging for the 3D reconstruction of the scene for object classification and utilizes the mutual information between the object’s bounding box in this 3D reconstructed scene and the 2D central perspective to achieve passive depth estimation. We build over this method by using Bayesian optimization to track the object’s depth in as few 3D reconstructions as possible. We study the performance of our approach on laboratory scenes with occluded objects moving in 3D and show that the proposed approach outperforms 2D object tracking. In our experimental setup, mutual information-based depth estimation with Bayesian optimization achieves depth tracking with as few as two 3D reconstructions per frame which corresponds to the theoretical minimum number of 3D reconstructions required for depth estimation. To the best of our knowledge, this is the first report on 3D object tracking using the proposed approach.
-
3D phase imaging recovers an object’s volumetric refractive index from intensity and/or holographic measurements. Partially coherent methods, such as illumination-based differential phase contrast (DPC), are particularly simple to implement in a commercial brightfield microscope. 3D DPC acquires images at multiple focus positions and with different illumination source patterns in order to reconstruct 3D refractive index. Here, we present a practical extension of the 3D DPC method that does not require a precise motion stage for scanning the focus and uses optimized illumination patterns for improved performance. The user scans the focus by hand, using the microscope’s focus knob, and the algorithm self-calibrates the axial position to solve for the 3D refractive index of the sample through a computational inverse problem. We further show that the illumination patterns can be optimized by an end-to-end learning procedure. Combining these two, we demonstrate improved 3D DPC with a commercial microscope whose only hardware modification is LED array illumination.