摘要：This paper presents a hardware efficient high definition television (HDTV) encoder for H.264/AVC. We use a two-level mode decision (MD) mechanism to reduce the complexity and maintain the performance, and design a sharable architecture for normal mode fractional motion estimation (NFME), special mode fractional motion estimation (SFME), and luma motion compensation (LMC), to decrease the hardware cost. Based on these technologies, we adopt a four-stage macro-block pipeline scheme using an efficient memory management strategy for the system, which greatly reduces on-chip memory and bandwidth requirements. The proposed encoder uses about 1126k gates with an average Bjontegaard-Delta peak signal-to-noise ratio (BD-PSNR) decrease of 0.5 dB, compared with JM15.0. It can fully satisfy the real-time video encoding for 1080p@30 frames/s of H.264/AVC high profile.

摘要：Karhunen-Loeve transform （KLT） is the optimal transform that minimizes distortion at a given bit allocation for Gaussian source. As a KLT matrix usually contains non-integers, integer-KLT design is a classical problem. In this paper, a joint reversibility-gain （R-G） model is proposed for integer-KLT design in video coding. Specifically, the ＇reversibility＇ is modeled according to distortion analysis in using forward and inverse integer transform without quantization. It not only measures how invcrtible a transform is, but also bounds the distortion introduced by the non-orthonormal integer transform process. The ＇gain＇ means transform coding gain （TCG）, which is a widely used criterion for transform design in video coding. Since KLT maximizes the TCG under some assumptions, here we define the TCG loss ratio （LR） to measure how much coding gain an integer-KLT loses when compared with the original KLT. Thus, the R-G model can be explained as follows： subject to a certain TCG LR, an integer- KLT with the best reversibility is the optimal integer transform for a given non-integer-KLT. Experimental results show that the R-G model can guide the design of integer-KLTs with good performance.

摘要：Robust object tracking has been an important and challenging research area in the field of computer vision for decades. With the increasing popularity of affordable depth sensors, range data is widely used in visual tracking for its ability to provide robustness to varying illumination and occlusions. In this paper, a novel RGBD and sparse learning based tracker is proposed. The range data is integrated into the sparse learning framework in three respects. First, an extra depth view is added to the color image based visual features as an independent view for robust appearance modeling. Then, a special occlusion template set is designed to replenish the existing dictionary for handling various occlusion conditions. Finally, a depth-based occlusion detection method is proposed to efficiently determine an accurate time for the template update. Extensive experiments on both KITTI and Princeton data sets demonstrate that the proposed tracker outperforms the state-of-the-art tracking algorithms, including both sparse learning and RGBD based methods.

摘要：Efficient and precise localization is a prerequisite for the intelligent navigation of mobile robots. Traditional visual localization systems, such as visual odometry （VO） and simultaneous localization and mapping （SLAM）, suffer from two shortcomings： a drift problem caused by accumulated localization error, and erroneous motion estimation due to illumination variation and moving objects. In this paper, we propose an enhanced VO by introducing a panoramic camera into the traditional stereo-only VO system. Benefiting from the 360° field of view, the panoramic camera is responsible for three tasks： （1） detect- ing road junctions and building a landmark library online; （2） correcting the robot＇s position when the landmarks are revisited with any orientation; （3） working as a panoramic compass when the stereo VO cannot provide reliable positioning results. To use the large-sized panoramic images efficiently, the concept of compressed sensing is introduced into the solution and an adap- tive compressive feature is presented. Combined with our previous two-stage local binocular bundle adjustment （TLBBA） stereo VO, the new system can obtain reliable positioning results in quasi-real time. Experimental results of challenging long-range tests show that our enhanced VO is much more accurate and robust than the traditional VO, thanks to the compressive panoramic landmarks built online.