In this paper, we propose a unified framework to generate a pleasant and high-quality street-view panorama by stitching multiple panoramic images captured from the cameras mounted on the mobile platform. Our proposed framework is comprised of four major steps: image warping, color correction, optimal seam line detection and image blending. Since the input images are captured without a precisely common projection center from the scenes with the depth differences with respect to the cameras to different extents, such images cannot be precisely aligned in geometry. Therefore, an efficient image warping method based on the dense optical flow field is proposed to greatly suppress the influence of large geometric misalignment at first. Then, to lessen the influence of photometric inconsistencies caused by the illumination variations and different exposure settings, we propose an efficient color correction algorithm via matching extreme points of histograms to greatly decrease color differences between warped images. After that, the optimal seam lines between adjacent input images are detected via the graph cut energy minimization framework. At last, the Laplacian pyramid blending algorithm is applied to further eliminate the stitching artifacts along the optimal seam lines. Experimental results on a large set of challenging street-view panoramic images captured form the real world illustrate that the proposed system is capable of creating high-quality panoramas.

Most Simultaneous Localization and Mapping (SLAM) methods assume that environments are static. Such a strong assumption limits the application of most visual SLAM systems. The dynamic objects will cause many wrong data associations during the SLAM process. To address this problem, a novel visual SLAM method that follows the pipeline of feature-based methods called DM-SLAM is proposed in this paper. DM-SLAM combines an instance segmentation network with optical flow information to improve the location accuracy in dynamic environments, which supports monocular, stereo, and RGB-D sensors. It consists of four modules: semantic segmentation, ego-motion estimation, dynamic point detection and a feature-based SLAM framework. The semantic segmentation module obtains pixel-wise segmentation results of potentially dynamic objects, and the ego-motion estimation module calculates the initial pose. In the third module, two different strategies are presented to detect dynamic feature points for RGB-D/stereo and monocular cases. In the first case, the feature points with depth information are reprojected to the current frame. The reprojection offset vectors are used to distinguish the dynamic points. In the other case, we utilize the epipolar constraint to accomplish this task. Furthermore, the static feature points left are fed into the fourth module. The experimental results on the public TUM and KITTI datasets demonstrate that DM-SLAM outperforms the standard visual SLAM baselines in terms of accuracy in highly dynamic environments.

The roof plane segmentation is one of the key issues for constructing accurate three-dimensional building models from airborne light detection and ranging (LiDAR) data. Region growing is one of the most widely used methods to detect roof planes. It first selects one point or region as a seed, and then iteratively expands to neighboring points. However, region growing has two problems. The first problem is that it is hard to select the robust seed points. The other problem is that it is difficult to detect the accurate boundaries between two roof planes. In this paper, to solve these two problems, we propose a novel approach to segment the roof planes from airborne LiDAR point clouds using hierarchical clustering and boundary relabeling. For the first problem, we first extract the initial set of robust planar patches via an octree-based method, and then apply the hierarchical clustering method to iteratively merge the adjacent planar patches belonging to the same plane until the merging cost exceeds a predefined threshold. These merged planar patches are regarded as the robust seed patches for the next region growing. The coarse roof planes are generated by adding the non-planar points into the seed patches in sequence using region growing. However, the boundaries of coarse roof planes may be inaccurate. To solve this problem, namely, the second problem, we refine the boundaries between adjacent coarse planes by relabeling the boundary points. At last, we can effectively extract high-quality roof planes with smooth and accurate boundaries from airborne LiDAR data. We conducted our experiments on two datasets captured from Vaihingen and Wuhan using Leica ALS50 and Trimble Harrier 68i, respectively. The experimental results show that our proposed approach outperforms several representative approaches in both visual quality and quantitative metrics.

When mosaicking orthoimages, especially in urban areas with various obvious ground objects like buildings, roads, cars or trees, the detection of optimal seamlines is one of the key technologies for creating seamless and pleasant image mosaics. In this paper, we propose a new approach to detect optimal seamlines for orthoimage mosaicking with the use of deep convolutional neural network (CNN) and graph cuts. Deep CNNs have been widely used in many fields of computer vision and photogrammetry in recent years, and graph cuts is one of the most widely used energy optimization frameworks. We first propose a deep CNN for land cover semantic segmentation in overlap regions between two adjacent images. Then, the energy cost of each pixel in the overlap regions is defined based on the classification probabilities of belonging to each of the specified classes. To find the optimal seamlines globally, we fuse the CNN-classified energy costs of all pixels into the graph cuts energy minimization framework. The main advantage of our proposed method is that the pixel similarity energy costs between two images are defined using the classification results of the CNN based semantic segmentation instead of using the image informations of color, gradient or texture as traditional methods do. Another advantage of our proposed method is that the semantic informations are fully used to guide the process of optimal seamline detection, which is more reasonable than only using the hand designed features defined to represent the image differences. Finally, the experimental results on several groups of challenging orthoimages show that the proposed method is capable of finding high-quality seamlines among urban and non-urban orthoimages, and outperforms the state-of-the-art algorithms and the commercial software based on the visual comparison, statistical evaluation and quantitative evaluation based on the structural similarity (SSIM) index.

Accurate building extraction from remotely sensed data is difficult to perform automatically because of the complex environments and the complex shapes, colours and textures of buildings. Supervised deep-learning-based methods offer a possible solution to solve this problem. However, these methods generally require many high-quality, manually labelled samples to obtain satisfactory test results, and their production is time and labour intensive. For multimodal data with sufficient information, extracting buildings accurately in as unsupervised a manner as possible. Combining remote sensing images and LiDAR point clouds for unsupervised building extraction is not a new idea, but existing methods often experience two problems: (1) the accuracy of vegetation detection is often not high, which leads to limited building extraction accuracy, and (2) they lack a proper mechanism to further refine the building masks. We propose two methods to address these problems, combining aerial images and aerial LiDAR point clouds. First, we improve two recently developed vegetation detection methods to generate accurate initial building masks. We then refine the building masks based on the image feature consistency constraint, which can replace inaccurate LiDAR-derived boundaries with accurate image-based boundaries, remove the remaining vegetation points and recover some missing building points. Our methods do not require manual parameter tuning or manual data labelling, but still exhibit a competitive performance compared to 29 methods: our methods exhibit accuracies higher than or comparable to 19 state-of-the-art methods (including 8 deep-learning-based methods and 11 unsupervised methods, and 9 of them combine remote sensing images and 3D data), and outperform the top 10 methods (4 of them combine remote sensing images and LiDAR data) evaluated using all three test areas of the Vaihingen dataset on the official website of the ISPRS Test Project on Urban Classification and 3D Building Reconstruction in average area quality. These comparative results verify that our unsupervised methods combining multisource data are very effective.

Background: Freezing injury is a devastating yet common damage that occurs to winter rapeseed during the overwintering period which directly reduces the yield and causes heavy economic loss. Thus, it is an important and urgent task for crop breeders to find the freezing-tolerant rapeseed materials in the process of breeding. Existing large-scale freezing-tolerant rapeseed material recognition methods mainly rely on the field investigation conducted by the agricultural experts using some professional equipments. These methods are time-consuming, inefficient and laborious. In addition, the accuracy of these traditional methods depends heavily on the knowledge and experience of the experts. Methods: To solve these problems of existing methods, we propose a low-cost freezing-tolerant rapeseed material recognition approach using deep learning and unmanned aerial vehicle (UAV) images captured by a consumer UAV. We formulate the problem of freezing-tolerant material recognition as a binary classification problem, which can be solved well using deep learning. The proposed method can automatically and efficiently recognize the freezing-tolerant rapeseed materials from a large number of crop candidates. To train the deep learning network, we first manually construct the real dataset using the UAV images of rapeseed materials captured by the DJI Phantom 4 Pro V2.0. Then, five classic deep learning networks (AlexNet, VGGNet16, ResNet18, ResNet50 and GoogLeNet) are selected to perform the freezing-tolerant rapeseed material recognition. Result and conclusion: The accuracy of the five deep learning networks used in our work is all over 92%. Especially, ResNet50 provides the best accuracy (93.33 $$\%$$% ) in this task. In addition, we also compare deep learning networks with traditional machine learning methods. The comparison results show that the deep learning-based methods significantly outperform the traditional machine learning-based methods in our task. The experimental results show that it is feasible to recognize the freezing-tolerant rapeseed using UAV images and deep learning.