Jichao Jiao

A Smartphone Camera-Based Indoor Positioning Algorithm of Crowded Scenarios with the Assistance of Deep CNN

Considering the installation cost and coverage, the received signal strength indicator (RSSI)-based indoor positioning system is widely used across the world. However, the indoor positioning performance, due to the interference of wireless signals that are caused by the complex indoor environment that includes a crowded population, cannot achieve the demands of indoor location-based services. In this paper, we focus on increasing the signal strength estimation accuracy considering the population density, which is different to the other RSSI-based indoor positioning methods. Therefore, we propose a new wireless signal compensation model considering the population density, distance, and frequency. First of all, the number of individuals in an indoor crowded scenario can be calculated by our convolutional neural network (CNN)-based human detection approach. Then, the relationship between the population density and the signal attenuation is described in our model. Finally, we use the trilateral positioning principle to realize the pedestrian location. According to the simulation and tests in the crowded scenarios, the proposed model increases the accuracy of the signal strength estimation by 1.53 times compared to that without considering the human body. Therefore, the localization accuracy is less than 1.37 m, which indicates that our algorithm can improve the indoor positioning performance and is superior to other RSSI models.

A Hybrid Method for Multi-sensor Remote Sensing Image Registration Based on Salience Region

In order to align the remote sensing images, we propose a novel hybrid method that combines image segmentation and salient region detection, which is inspired by human vision system. First of all, we present a novel superpixel-based method for dividing the image into sub-areas. Second, we propose a novel method based on color and image textures for detecting salient regions composed by superpixels. Then, we extract a new feature based on difference of Gaussian and local binary pattern from the salient regions. Finally, the sensed image is transformed by thin-plate spline. The proposed algorithm was tested on 30 pairs of remote sensing images and compared to other three state of the art methods. Experimental results show our approach is fast and robust, while still being efficient, which is better than other three methods.

A structural similarity-inspired performance assessment model for multisensor image registration algorithms

In order to assess the performance of multisensor image registration algorithms that are used in the multirobot information fusion, we propose a model based on structural similarity whose name is vision registration assessment model. First of all, this article introduces a new image concept named superimposed image for testing subjective and objective assessment methods. Therefore, we assess the superimposed image but not the registered image, which is different from previous image registration assessment methods that usually use reference and sensed images. Then, we calculate eight assessment indicators from different aspects for superimposed images. After that, vision registration assessment model fuses the eight indicators using canonical correlation analysis, which is used for evaluating the quality of an image registration results in different aspects. Finally, three kinds of images which include optical images, infrared images, and SAR images are used to test vision registration assessment model. After evaluating three state-of-the-art image registration methods, experiments indict that the proposed structural similarity-motivated model achieved almost same evaluation results with that of the human object with the consistency rate of 98.3%, which shows that vision registration assessment model is efficient and robust for evaluating multisensor image registration algorithms. Moreover, vision registration assessment model is independent of the emotional factors and outside environment, which is different from the human.

An indoor positioning method based on wireless signal and image

In this paper, we propose a novel smartphone-based indoor localization algorithm by deeply combining wireless signals and images, which leads to improving the localization performance. Although the measured signals are polluted by the noise, we demonstrate that the combination of the image and wireless data dramatically improves the indoor positioning accuracy. Different with common wireless-based indoor positioning methods, the wireless signals that received in a certain time are transformed into frequency domain, and an image named W-image is created by using our proposed approach. Then, SIFT features that are extracted from the W-image is deeply combined with the LBP features that are extracted from the smartphone camera-based images. Moreover, the hybrid features from the smartphone camera images and images of reference database are matched which are used to determine correspondences indoor positioning points. In order to reduce the computation complexity of our proposed method, the wireless signals are illustrated to estimate the coarse positioning points for reducing the search space of image matching. By leveraging wireless signals and images, we are able to achieve almost a 0.86 in mean average precision and 57.65ms in mean average running time. The proposed algorithm can be applied to the smartphones that are integrated cameras to offer high-accuracy location-based services.

Individual Building Rooftop and Tree Crown Segmentation from High-Resolution Urban Aerial Optical Images

We segment buildings and trees from aerial photographs by using superpixels, and we estimate the tree’s parameters by using a cost function proposed in this paper. A method based on image complexity is proposed to refine superpixels boundaries. In order to classify buildings from ground and classify trees from grass, the salient feature vectors that include colors, Features from Accelerated Segment Test (FAST) corners, and Gabor edges are extracted from refined superpixels. The vectors are used to train the classifier based on Naive Bayes classifier. The trained classifier is used to classify refined superpixels as object or nonobject. The properties of a tree, including its locations and radius, are estimated by minimizing the cost function. The shadow is used to calculate the tree height using sun angle and the time when the image was taken. Our segmentation algorithm is compared with other two state-of-the-art segmentation algorithms, and the tree parameters obtained in this paper are compared to the ground truth data. Experiments show that the proposed method can segment trees and buildings appropriately, yielding higher precision and better recall rates, and the tree parameters are in good agreement with the ground truth data.

A hybrid fusion of wireless signals and RGB image for indoor positioning

In this article, we propose a new indoor positioning algorithm using smartphones, where wireless signals and images are deeply combined together to improve the positioning performance. Our approach is based on the use of local binary patterns’ feature, which has the advantages of rotation invariance and scale invariance. Moreover, the term “uniform” are fundamental properties of local image textures and their occurrence histogram is proven to be a very powerful texture feature. Besides, the received signal strength acts as a reliable cue on a person’s identity. We first obtain a coarse-grained estimation based on the visualization of wireless signals, which are presented by a vector, making use of fingerprinting methods. Then, we perform a matching process to determine correspondences between two-dimensional pixels and three-dimensional points based on images collected by the smartphone. After being evaluated by experiments, our proposed method demonstrates that the combination of the visual and the wireless data significantly improves the positioning accuracy and robustness. It can be widely applied to smartphones to better analyze human behavior and offer high-accuracy indoor location–based services.

A fast template matching algorithm based on principal orientation difference

In the case that the background scene is dense map regularization complex and the detected objects are low texture, the method of matching according to the feature points is not applicable. Usually, the template matching method is used. When training samples are insufficient, the template matching method gets a worse detection result. In order to resolve the problem stably in real time, we propose a fast template matching algorithm based on the principal orientation difference feature. The algorithm firstly obtains the edge direction information by comparing the images that are binary. Then, the template area is divided where the different features are extracted. Finally, the matching positions are searched around the template. Experiments on the videos whose speed is 30 frames/s show that our algorithm detects the low-texture objects in real time with a matching rate of 95%. Compared with other state-of-art methods, our proposed method reduces the training samples significantly and is more robust to the illumination changes.

Build a Robust Learning Feature Descriptor by Using a New Image Visualization Method for Indoor Scenario Recognition

In order to recognize indoor scenarios, we extract image features for detecting objects, however, computers can make some unexpected mistakes. After visualizing the histogram of oriented gradient (HOG) features, we find that the world through the eyes of a computer is indeed different from human eyes, which assists researchers to see the reasons that cause a computer to make errors. Additionally, according to the visualization, we notice that the HOG features can obtain rich texture information. However, a large amount of background interference is also introduced. In order to enhance the robustness of the HOG feature, we propose an improved method for suppressing the background interference. On the basis of the original HOG feature, we introduce a principal component analysis (PCA) to extract the principal components of the image colour information. Then, a new hybrid feature descriptor, which is named HOG–PCA (HOGP), is made by deeply fusing these two features. Finally, the HOGP is compared to the state-of-the-art HOG feature descriptor in four scenes under different illumination. In the simulation and experimental tests, the qualitative and quantitative assessments indicate that the visualizing images of the HOGP feature are close to the observation results obtained by human eyes, which is better than the original HOG feature for object detection. Furthermore, the runtime of our proposed algorithm is hardly increased in comparison to the classic HOG feature.

A Post-Rectification Approach of Depth Images of Kinect v2 for 3D Reconstruction of Indoor Scenes

3D reconstruction of indoor scenes is a hot research topic in computer vision. Reconstructing fast, low-cost, and accurate dense 3D maps of indoor scenes have applications in indoor robot positioning, navigation, and semantic mapping. In other studies, the Microsoft Kinect for Windows v2 (Kinect v2) is utilized to complete this task, however, the accuracy and precision of depth information and the accuracy of correspondence between the RGB and depth (RGB-D) images still remain to be improved. In this paper, we propose a post-rectification approach of the depth images to improve the accuracy and precision of depth information. Firstly, we calibrate the Kinect v2 with a planar checkerboard pattern. Secondly, we propose a post-rectification approach of the depth images according to the reflectivity-related depth error. Finally, we conduct tests to evaluate this post-rectification approach from the perspectives of accuracy and precision. In order to validate the effect of our post-rectification approach, we apply it to RGB-D simultaneous localization and mapping (SLAM) in an indoor environment. Experimental results show that once our post-rectification approach is employed, the RGB-D SLAM system can perform a more accurate and better visual effect 3D reconstruction of indoor scenes than other state-of-the-art methods.