Humans perceive the three-dimensional structure of the world with apparent ease. However, despite all of the recent advances in computer vision research, the dream of having a computer interpret an image at the same level as a two-year old remains elusive. Why is computer vision such a challenging problem and what is the current state of the art? Computer Vision: Algorithms and Applications explores the variety of techniques commonly used to analyze and interpret images. It also describes challenging real-world applications where vision is being successfully used, both for specialized applications such as medical imaging, and for fun, consumer-level tasks such as image editing and stitching, which students can apply to their own personal photos and videos. More than just a source of recipes, this exceptionally authoritative and comprehensive textbook/reference also takes a scientific approach to basic vision problems, formulating physical models of the imaging process before inverting them to produce descriptions of a scene. These problems are also analyzed using statistical models and solved using rigorous engineering techniques Topics and features: structured to support active curricula and project-oriented courses, with tips in the Introduction for using the book in a variety of customized courses; presents exercises at the end of each chapter with a heavy emphasis on testing algorithms and containing numerous suggestions for small mid-term projects; provides additional material and more detailed mathematical topics in the Appendices, which cover linear algebra, numerical techniques, and Bayesian estimation theory; suggests additional reading at the end of each chapter, including the latest research in each sub-field, in addition to a full Bibliography at the end of the book; supplies supplementary course material for students at the associated website, http://szeliski.org/Book/. Suitable for an upper-level undergraduate or graduate-level course in computer science or engineering, this textbook focuses on basic techniques that work under real-world conditions and encourages students to push their creative boundaries. Its design and exposition also make it eminently suitable as a unique reference to the fundamental techniques and current research literature in computer vision.

/pdf/computer-vision-algorithms-and-applications-25dn6wu83j.pdf

Computer Vision: Algorithms and Applications

In this paper, we propose a simple but effective image prior-dark channel prior to remove haze from a single input image. The dark channel prior is a kind of statistics of outdoor haze-free images. It is based on a key observation-most local patches in outdoor haze-free images contain some pixels whose intensity is very low in at least one color channel. Using this prior with the haze imaging model, we can directly estimate the thickness of the haze and recover a high-quality haze-free image. Results on a variety of hazy images demonstrate the power of the proposed prior. Moreover, a high-quality depth map can also be obtained as a byproduct of haze removal.

Single Image Haze Removal Using Dark Channel Prior

From the Publisher: 
The accessible presentation of this book gives both a general view of the entire computer vision enterprise and also offers sufficient detail to be able to build useful applications. Users learn techniques that have proven to be useful by first-hand experience and a wide range of mathematical methods. A CD-ROM with every copy of the text contains source code for programming practice, color images, and illustrative movies. Comprehensive and up-to-date, this book includes essential topics that either reflect practical significance or are of theoretical importance. Topics are discussed in substantial and increasing depth. Application surveys describe numerous important application areas such as image based rendering and digital libraries. Many important algorithms broken down and illustrated in pseudo code. Appropriate for use by engineers as a comprehensive reference to the computer vision enterprise.

Computer vision : a modern approach = 计算机视觉 : 一种现代的方法

Previous work has demonstrated that the image variation of many objects (human faces in particular) under variable lighting can be effectively modeled by low-dimensional linear spaces, even when there are multiple light sources and shadowing. Basis images spanning this space are usually obtained in one of three ways: a large set of images of the object under different lighting conditions is acquired, and principal component analysis (PCA) is used to estimate a subspace. Alternatively, synthetic images are rendered from a 3D model (perhaps reconstructed from images) under point sources and, again, PCA is used to estimate a subspace. Finally, images rendered from a 3D model under diffuse lighting based on spherical harmonics are directly used as basis images. In this paper, we show how to arrange physical lighting so that the acquired images of each object can be directly used as the basis vectors of a low-dimensional linear space and that this subspace is close to those acquired by the other methods. More specifically, there exist configurations of k point light source directions, with k typically ranging from 5 to 9, such that, by taking k images of an object under these single sources, the resulting subspace is an effective representation for recognition under a wide range of lighting conditions. Since the subspace is generated directly from real images, potentially complex and/or brittle intermediate steps such as 3D reconstruction can be completely avoided; nor is it necessary to acquire large numbers of training images or to physically construct complex diffuse (harmonic) light fields. We validate the use of subspaces constructed in this fashion within the context of face recognition.

/pdf/acquiring-linear-subspaces-for-face-recognition-under-nb1y99xak2.pdf

Acquiring linear subspaces for face recognition under variable lighting

A full-rank matrix ${\bf A}\in \mathbb{R}^{n\times m}$ with $n<m$ generates an underdetermined system of linear equations ${\bf Ax} = {\bf b}$ having infinitely many solutions. Suppose we seek the sparsest solution, i.e., the one with the fewest nonzero entries. Can it ever be unique? If so, when? As optimization of sparsity is combinatorial in nature, are there efficient methods for finding the sparsest solution? These questions have been answered positively and constructively in recent years, exposing a wide variety of surprising phenomena, in particular the existence of easily verifiable conditions under which optimally sparse solutions can be found by concrete, effective computational methods.

Such theoretical results inspire a bold perspective on some important practical problems in signal and image processing. Several well-known signal and image processing problems can be cast as demanding solutions of undetermined systems of equations. Such problems have previously seemed, to many, intractable, but there is considerable evidence that these problems often have sparse solutions. Hence, advances in finding sparse solutions to underdetermined systems have energized research on such signal and image processing problems—to striking effect.

In this paper we review the theoretical results on sparse solutions of linear systems, empirical results on sparse modeling of signals and images, and recent applications in inverse problems and compression in image processing. This work lies at the intersection of signal processing and applied mathematics, and arose initially from the wavelets and harmonic analysis research communities. The aim of this paper is to introduce a few key notions and applications connected to sparsity, targeting newcomers interested in either the mathematical aspects of this area or its applications.

/pdf/from-sparse-solutions-of-systems-of-equations-to-sparse-1y2kv866zu.pdf

From Sparse Solutions of Systems of Equations to Sparse Modeling of Signals and Images

We present an approach to easily remove the effects of haze from images. It is based on the fact that usually airlight scattered by atmospheric particles is partially polarized. Polarization filtering alone cannot remove the haze effects, except in restricted situations. Our method, however, works under a wide range of atmospheric and viewing conditions. We analyze the image formation process, taking into account polarization effects of atmospheric scattering. We then invert the process to enable the removal of haze from images. The method can be used with as few as two images taken through a polarizer at different orientations. This method works instantly, without relying on changes of weather conditions. We present experimental results of complete dehazing in far from ideal conditions for polarization filtering. We obtain a great improvement of scene contrast and correction of color. As a by product, the method also yields a range (depth) map of the scene, and information about properties of the atmospheric particles.

https://webee.technion.ac.il/people/OLD/yoav.new/publications/hazecvpr.pdf

Instant dehazing of images using polarization

Outdoor imaging is plagued by poor visibility conditions due to atmospheric scattering, particularly in haze. A major problem is spatially-varying reduction of contrast by stray radiance (airlight), which is scattered by the haze particles towards the camera. Recent computer vision methods have shown that images can be compensated for haze, and even yield a depth map of the scene. A key step in such a scene recovery is subtraction of the airlight. In particular, this can be achieved by analyzing polarization-filtered images. However, the recovery requires parameters of the airlight. These parameters were estimated in past studies by measuring pixels in sky areas. This paper derives an approach for blindly recovering the parameter needed for separating the airlight from the measurements, thus recovering contrast, with neither user interaction nor existence of the sky in the frame. This eases the interaction and conditions needed for image dehazing, which also requires compensation for attenuation. The approach has proved successful in experiments, some of which are shown here.

/pdf/blind-haze-separation-4m4urutoj5.pdf

Blind Haze Separation

We present an approach for easily removing the effects of haze from passively acquired images. Our approach is based on the fact that usually the natural illuminating light scattered by atmospheric particles (airlight) is partially polarized. Optical filtering alone cannot remove the haze effects, except in restricted situations. Our method, however, stems from physics-based analysis that works under a wide range of atmospheric and viewing conditions, even if the polarization is low. The approach does not rely on specific scattering models such as Rayleigh scattering and does not rely on the knowledge of illumination directions. It can be used with as few as two images taken through a polarizer at different orientations. As a byproduct, the method yields a range map of the scene, which enables scene rendering as if imaged from different viewpoints. It also yields information about the atmospheric particles. We present experimental results of complete dehazing of outdoor scenes, in far-from-ideal conditions for polarization filtering. We obtain a great improvement of scene contrast and correction of color.

/pdf/polarization-based-vision-through-haze-5cx4tcr4pn.pdf

Polarization-based vision through haze

Underwater imaging is important for scientific research and technology as well as for popular activities, yet it is plagued by poor visibility conditions. In this paper, we present a computer vision approach that removes degradation effects in underwater vision. We analyze the physical effects of visibility degradation. It is shown that the main degradation effects can be associated with partial polarization of light. Then, an algorithm is presented, which inverts the image formation process for recovering good visibility in images of scenes. The algorithm is based on a couple of images taken through a polarizer at different orientations. As a by-product, a distance map of the scene is also derived. In addition, this paper analyzes the noise sensitivity of the recovery. We successfully demonstrated our approach in experiments conducted in the sea. Great improvements of scene contrast and color correction were obtained, nearly doubling the underwater visibility range.

/pdf/recovery-of-underwater-visibility-and-structure-by-246zw4v3ed.pdf

Recovery of underwater visibility and structure by polarization analysis

Vision in scattering media is important but challenging. Images suffer from poor visibility due to backscattering and attenuation. Most prior methods for scene recovery use active illumination scanners (structured and gated), which can be slow and cumbersome, while natural illumination is inapplicable to dark environments. The current paper addresses the need for a non-scanning recovery method, that uses active scene irradiance. We study the formation of images under widefield artificial illumination. Based on the formation model, the paper presents an approach for recovering the object signal. It also yields rough information about the 3D scene structure. The approach can work with compact, simple hardware, having active widefield, polychromatic polarized illumination. The camera is fitted with a polarization analyzer. Two frames of the scene are taken, with different states of the analyzer or polarizer. A recovery algorithm follows the acquisition. It allows both the backscatter and the object reflection to be partially polarized. It thus unifies and generalizes prior polarization-based methods, which had assumed exclusive polarization of either of these components. The approach is limited to an effective range, due to image noise and illumination falloff. Thus, the limits and noise sensitivity are analyzed. We demonstrate the approach in underwater field experiments.

/pdf/active-polarization-descattering-1hvlq0m273.pdf

Yoav Y. Schechner

Papers

Instant dehazing of images using polarization

Blind Haze Separation

Polarization-based vision through haze

Recovery of underwater visibility and structure by polarization analysis

Active Polarization Descattering