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232
A maximum likelihood stereo algorithm
 Computer Vision and Image Understanding
, 1996
"... A stereo algorithm is presented that optimizes a maximum likelihood cost function. The maximum likelihood cost function assumes that corresponding features in the left and right images are Normally distributed about a common true value and consists of a weighted squared error term if two features ar ..."
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Cited by 196 (2 self)
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A stereo algorithm is presented that optimizes a maximum likelihood cost function. The maximum likelihood cost function assumes that corresponding features in the left and right images are Normally distributed about a common true value and consists of a weighted squared error term if two features are matched or a ( xed) cost if a feature is determined to be occluded. The stereo algorithm nds the set of correspondences that maximize the cost function subject to ordering and uniqueness constraints. The stereo algorithm is independent of the matching primitives. However, for the experiments described in this paper, matching is performed on the individual pixel intensities. Contrary to popular belief, the pixelbased stereo appears to be robust for a variety of images. It also has the advantages of (i) providing a dense disparity map, (ii) requiring no feature extraction and (iii) avoiding the adaptive windowing problem of areabased correlation methods. Because feature extraction and windowing are unnecessary, avery fast implementation is possible. Experimental results reveal that good stereo correspondences can be found using only ordering and uniqueness constraints, i.e. without local smoothness constraints. However, it is shown that the original maximum likelihood stereo algorithm exhibits multiple global minima. The dynamic programming algorithm is guaranteed to nd one, but not necessarily the same one for each epipolar scanline causing erroneous
Variational principles, Surface Evolution, PDE's, level set methods and the Stereo Problem
 IEEE TRANSACTIONS ON IMAGE PROCESSING
, 1999
"... We present a novel geometric approach for solving the stereo problem for an arbitrary number of images (greater than or equal to 2). It is based upon the denition of a variational principle that must be satisfied by the surfaces of the objects in the scene and their images. The EulerLagrange equati ..."
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Cited by 193 (21 self)
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We present a novel geometric approach for solving the stereo problem for an arbitrary number of images (greater than or equal to 2). It is based upon the denition of a variational principle that must be satisfied by the surfaces of the objects in the scene and their images. The EulerLagrange equations which are deduced from the variational principle provide a set of PDE's which are used to deform an initial set of surfaces which then move towards the objects to be detected. The level set implementation of these PDE's potentially provides an efficient and robust way of achieving the surface evolution and to deal automatically with changes in the surface topology during the deformation, i.e. to deal with multiple objects. Results of an implementation of our theory also dealing with occlusion and vibility are presented on synthetic and real images.
How does a brain build a cognitive code
 Psychological Review
, 1980
"... This article indicates how competition between afferent data and learned feedback expectancies can stabilize a developing code by buffering committed populations of detectors against continual erosion by new environmental demands. Tille gating phenomena that result lead to dynamically maintained cri ..."
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Cited by 181 (81 self)
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This article indicates how competition between afferent data and learned feedback expectancies can stabilize a developing code by buffering committed populations of detectors against continual erosion by new environmental demands. Tille gating phenomena that result lead to dynamically maintained critical peri(Jlds, and to attentional phenomena such as overshadowing in the adult. The fuillctional unit of cognitive coding is suggested to be an adaptive resonance, or amplification and,prolongation of neural activity, that occurs when afferent data and efferent expectancies reach consensus through a matching process. The resonant state embodies the perceptual event, or attentional focus, and its amplified and sustained activities are capable of driving slow changes of longterm memor:r"' Mismatch between afferent data and efferent expectancies yields a global sulppression of activity and triggers a reset of shortterm memory, as well as raJ~id parallel search and hypothesis testing for uncommitted cells. These mechanisms help to explain and predict, as manifestations of the unified theme of stable code development, positive and negative aftereffects, the McCollough effect, spatial frequency adaptation, monocular rivalry, binocular rivalry and hysteresis, pattern completion, and Gestalt switching; analgesia, partial reinforcement acquisition effect, conditioned reinforcers, underaroused versus overaroused depression; the contingent negative variation, P300, and pontoge]lliculooccipital waves; olfactory coding, corticogeniculate feedback, matching of proprioceptive and terminal motor maps, and cerebral dominance. The psychophysiological mechanisms that unify these effects are inherently nonlinear and parallel and are inequivalent to the computer, probabilistic, and linear models currently in use.
The motor theory of speech perception revised
 Cognition
, 1985
"... A motor theory of speech perception, initially proposed to account for results of early experiments with synthetic speech, is now extensively revised to accommodate recent findings, and to relate the assumptions of the theory to those that might be made about other perceptual modes. According to the ..."
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Cited by 161 (0 self)
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A motor theory of speech perception, initially proposed to account for results of early experiments with synthetic speech, is now extensively revised to accommodate recent findings, and to relate the assumptions of the theory to those that might be made about other perceptual modes. According to the revised theory, phonetic information is perceived in a biologically distinct system, a ‘module ’ specialized to detect the intended gestures of the speaker that are the basis for phonetic categories. Built into the structure of this module is the unique but lawful relationship between the gestures and the acoustic patterns in which they are variously overlapped. In consequence, the module causes perception of phonetic structure without translation from preliminary auditory impressions. Thus, it is comparable to such other modules as the one that enables an animal to localize sound. Peculiar to the phonetic module are the relation between perception and production it incorporates and the fact that it must compete with other modules for the same stimulus variations.
Disparity analysis of images
 IEEE TPAMI
, 1980
"... AbstractAn algorithm for matching images of real world scenes is presented. The matching is a specification of the geometrical disparity between the images and may be used to partially reconstruct the threedimensional structure of the scene. Sets of candidate matching points are selected independen ..."
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Cited by 129 (2 self)
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AbstractAn algorithm for matching images of real world scenes is presented. The matching is a specification of the geometrical disparity between the images and may be used to partially reconstruct the threedimensional structure of the scene. Sets of candidate matching points are selected independently in each image. These points are the locations of small, distinct features which are likely to be detectable in both images. An initial network of possible matches between the two sets of candidates is constructed. Each possible match specifies a possible disparity of a candidate point in a selected reference image. An initial estimate of the probability of each possible disparity is made, based on the similarity of subimages surrounding the points. These estimates are iteratively improved by a relaxation labeling technique making use of the local continuity property of disparity that is a consequence of the continuity of real world surfaces. The algorithm is effective for binocular parallax, motion parallax, and object motion. It quickly converges to good estimates of disparity, which reflect the spatial organization of the scene. Index TermsDisparity, matching, motion, relaxation labeling, scene analysis, stereo.
Occlusions and Binocular Stereo
, 1995
"... Binocular stereo is the process of obtaining depth information from a pair of cameras. In the past, stereo algorithms have had problems at occlusions and have tended to fail there (though sometimes postprocessing has been added to mitigate the worst effects). We show that, on the contrary, occlusio ..."
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Cited by 128 (5 self)
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Binocular stereo is the process of obtaining depth information from a pair of cameras. In the past, stereo algorithms have had problems at occlusions and have tended to fail there (though sometimes postprocessing has been added to mitigate the worst effects). We show that, on the contrary, occlusions can help stereo computation by providing cues for depth discontinuities. We describe a theory for stereo based on the Bayesian approach, using adaptive windows and a prior weak smoothness constraint, which incorporates occlusion. Our model assumes that a disparity discontinuity, along the epipolar line, in one eye always corresponds to an occluded region in the other eye thus, leading to an occlusion constraint. This constraint restricts the space of possible disparity values, thereby simplifying the computations. An estimation of the disparity at occluded features is also discussed in light of psychophysical experiments. Using dynamic programming we can find the optimal solution to our s...
Conjunction search revisited
 Journal of Experimental Psychology: Human Perception and Performance
, 1990
"... Search for conjunctions of highly discriminable features can be rapid or even parallel. This article explores, three possible accounts based on (a) perceptual segregation, (b) conjunction detectors, and (c) inhibition controlled separately by two or more distractor features. Search rates for conjunc ..."
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Cited by 110 (1 self)
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Search for conjunctions of highly discriminable features can be rapid or even parallel. This article explores, three possible accounts based on (a) perceptual segregation, (b) conjunction detectors, and (c) inhibition controlled separately by two or more distractor features. Search rates for conjunctions of color, size, orientation, and direction of motion correlated closely with an independent measure of perceptual segregation. However, they appeared unrelated to the physiology of singleunit responses. Each dimension contributed additively to conjunction search rates, suggesting that each was checked independently of the others. Unknown targets appear to be found only by serial search for each in turn. Searching through 4 sets of distractors was slower than searching through 2. The results suggest a modification of feature integration theory, in which attention is controlled not only by a unitary "window " but also by a form of featurebased inhibition. Objects in the real world vary in a large number of properties, at least some of which appear to be coded by specialized, independent channels or modules in the perceptual
Complete Dense Stereovision using Level Set Methods
 in Proc. 5th European Conf. on Computer Vision
, 1998
"... We present a novel geometric approach for solving the stereo problem for an arbitrary number of images (greater than or equal to 2). It is based upon the denition of a variational principle that must be satised by the surfaces of the objects in the scene and their images. The EulerLagrange equation ..."
Abstract

Cited by 104 (1 self)
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We present a novel geometric approach for solving the stereo problem for an arbitrary number of images (greater than or equal to 2). It is based upon the denition of a variational principle that must be satised by the surfaces of the objects in the scene and their images. The EulerLagrange equations which are deduced from the variational principle provide a set of PDE's which are used to deform an initial set of surfaces which then move towards the objects to be detected. The level set implementation of these PDE's potentially provides an efficient and robust way of achieving the surface evolution and to deal automatically with changes in the surface topology during the deformation, i.e. to deal with multiple objects. Results of an implementation of our theory also dealing with occlusion and vibility are presented on synthetic and real images.
Occlusions, discontinuities, and epipolar lines in stereo
 In European Conference on Computer Vision
, 1998
"... Abstract. Binocular stereo is the process of obtaining depth information from a pair of left and right views of a scene. We present a new approach to compute the disparity map by solving a global optimization problem that models occlusions, discontinuities, and epipolarline interactions. In the mod ..."
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Cited by 92 (8 self)
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Abstract. Binocular stereo is the process of obtaining depth information from a pair of left and right views of a scene. We present a new approach to compute the disparity map by solving a global optimization problem that models occlusions, discontinuities, and epipolarline interactions. In the model, geometric constraints require every disparity discontinuity along the epipolar lineinoneeyetoalways correspond to an occluded region in the other eye, while at the same time encouraging smoothness across epipolar lines. Smoothing coefficients are adjusted according to the edge and junction information. For some welldefined set of optimization functions, we can map the optimization problem to a maximumflow problem on a directed graph in a novel way, which enables us to obtain a global solution in a polynomial time. Experiments confirm the validity of this approach. 1