Abstract-sGLOH (shifting GLOH) is a histogram-based keypoint descriptor that can be associated to multiple quantized rotations of the keypoint patch without any recomputation. This property can be exploited to define the best distance between two descriptor vectors, thus avoiding computing the dominant orientation. In addition, sGLOH can reject incongruous correspondences by adding a global constraint on the rotations either as an a priori knowledge or based on the data. This paper thoroughly reconsiders sGLOH and improves it in terms of robustness, speed and descriptor dimension. The revised sGLOH embeds more quantized rotations, thus yielding more correct matches. A novel fast matching scheme is also designed, which significantly reduces both computation time and memory usage. In addition, a new binarization technique based on comparisons inside each descriptor histogram is defined, yielding a more compact, faster, yet robust alternative. Results on an exhaustive comparative experimental evaluation show that the revised sGLOH descriptor incorporating the above ideas and combining them according to task requirements, improves in most cases the state of the art in both image matching and object recognition.

This study describes a corner selection strategy based on the Harris approach. Corners are usually defined as interest points for which intensity variation in the principal directions is locally maximised, as response from a filter given by the linear combination of the determinant and the trace of the autocorrelation matrix. The Harris corner detector, in its original definition, is only rotationally invariant, but scale-invariant and affine-covariant extensions have been developed. As one of the main drawbacks, corner detector performances are influenced by two user-given parameters: the linear combination coefficient and the response filter threshold. The main idea of the authors’ approach is to search only the corners near enhanced edges and, by a z-score normalisation, to avoid the introduction of the linear combination coefficient. Combining these strategies allows a fine and stable corner selection without tuning the method. The new detector has been compared with other state-of-the-art detectors on the standard Oxford data set, achieving good results showing the validity of the approach. Analogous results have been obtained using the local detector evaluation framework on non-planar scenes by Fraundorfer and Bischof

No abstract

ARchaeological RObot systems for the World's Seas (ARROWS) EU Project proposes to adapt and develop low-cost Autonomous Underwater Vehicle (AUV) technologies to significantly reduce the cost of archaeological operations, covering the full extent of archaeological campaign. ARROWS methodology is to identify the archaeologists requirements in all phases of the campaign and to propose related technological solutions. Starting from the necessities identified by archaeological project partners in collaboration with the Archaeology Advisory Group, a board composed of European archaeologists from outside ARROWS, the aim is the development of a heterogeneous team of cooperating AUVs capable of comply with a complete archaeological autonomous mission. Three new different AUVs have been designed in the framework of the project according to the archaeologists' indications: MARTA, characterized by a strong hardware modularity for ease of payload and propulsion systems configuration change; U-CAT, a turtle inspired bio-mimetic robot devoted to shipwreck penetration and A Size AUV, a vehicle of small dimensions and weight easily deployable even by a single person. These three vehicles will cooperate within the project with AUVs already owned by ARROWS partners exploiting a distributed high-level control software based on the World Model Service (WMS), a storage system for the environment knowledge, updated in real-time through online payload data process, in the form of an ontology. The project includes also the development of a cleaning tool for well-known artifacts maintenance operations. The paper presents the current stage of the project that will lead to overall system final demonstrations, during Summer 2015, in two different scenarios, Sicily (Italy) and Baltic Sea (Estonia).

This paper introduces a new compositional framework for classifying color correction methods according to their two main computational units. The framework was used to dissect fifteen among the best color correction algorithms and the computational units so derived, with the addition of four new units specifically designed for this work, were then reassembled in a combinatorial way to originate about one hundred distinct color correction methods, most of which never considered before. The above color correction methods were tested on three different existing datasets, including both real and artificial color transformations, plus a novel dataset of real image pairs categorized according to the kind of color alterations induced by specific acquisition setups. Differently from previous evaluations, special emphasis was given to effectiveness in real world applications, such as image mosaicing and stitching, where robustness with respect to strong image misalignments and light scattering effects is required. Experimental evidence is provided for the first time in terms of the most recent perceptual image quality metrics, which are known to be the closest to human judgment. Comparative results show that combinations of the new computational units are the most effective for real stitching scenarios, regardless of the specific source of color alteration. On the other hand, in the case of accurate image alignment and artificial color alterations, the best performing methods either use one of the new computational units, or are made up of fresh combinations of existing units.

Image descriptors are widely adopted structures to match image features. SIFT-based

MARTA (MARine Tool for Archaeology) is a modular AUV (Autonomous Underwater Vehicle) designed and developed by the University of Florence in the framework of the ARROWS (ARchaeological RObot systems for the World’s Seas) FP7 European project. The ARROWS project challenge is to provide the underwater archaeologists with technological tools for cost affordable campaigns: i.e. ARROWS adapts and develops low cost AUV technologies to significantly reduce the cost of archaeological operations, covering the full extent of an archaeological campaign (underwater mapping, diagnosis and cleaning tasks). The tools and methodologies developed within ARROWS comply with the “Annex” of the 2001 UNESCO Convention for the protection of Underwater Cultural Heritage (UCH). The system effectiveness and MARTA performance will be demonstrated in two scenarios, different as regards the environment and the historical context, the Mediterranean Sea (Egadi Islands) and the Baltic Sea

This paper presents a novel stereo SLAM framework, where a robust loop chain matching scheme for tracking keypoints is combined with an effective frame selection strategy. The proposed approach, referred to as selective SLAM (SSLAM), relies on the observation that the error in the pose estimation propagates from the uncertainty of the three-dimensional points. This is higher for distant points, corresponding to matches with low temporal flow disparity in the images. Comparative results based on the reference KITTI evaluation framework show that SSLAM is effective and can be implemented efficiently, as it does not require any loop closure or bundle adjustment.