Based on our previous work on the use of subspace distances for the outlier detection problem in video sequences under affine projection, this paper reports our further analysis of the problem and presents two algorit...
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ISBN:
(纸本)9810474806
Based on our previous work on the use of subspace distances for the outlier detection problem in video sequences under affine projection, this paper reports our further analysis of the problem and presents two algorithms for computing the reprojection errors of image features in the outlier detection process. Extensive experiments on real video sequences have been conducted to verify the performance of the algorithms. the key contributions of the paper are presentation of the relationship between subspace distances and reprojection errors and demonstration that reprojection errors can be estimated without explicitly computing the projective structure.
In computer vision tasks, it frequently happens that gross noise occupies the absolute majority of the data. Most robust estimators can tolerate no more than 50% gross errors. In this article, we propose a highly robu...
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ISBN:
(纸本)9810483643
In computer vision tasks, it frequently happens that gross noise occupies the absolute majority of the data. Most robust estimators can tolerate no more than 50% gross errors. In this article, we propose a highly robust estimator, called MDPE (Maximum Density Power Estimator), employing density estimation and density gradient estimation techniques in the residual space. this estimator can tolerate more than 85% outliers. Experiments illustrate that the MDPE has a higher breakdown point and less errors than other recently proposed similar estimators: Least Median of Squares (LMedS), Residual Consensus (RESC), and Adaptive Least kth Order Squares(ALKS).
this papers presents CIRES, a new online system for content-based retrieval in digital image libraries. Content-based image retrieval systems have traditionally used color and texture analyses. these analyses have not...
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ISBN:
(纸本)9810474806
this papers presents CIRES, a new online system for content-based retrieval in digital image libraries. Content-based image retrieval systems have traditionally used color and texture analyses. these analyses have not always achieved adequate level of performance and user satisfaction. the growing need for robust image retrieval systems has led to a need for additional retrieval methodologies. CIRES addresses this issue by using image structure in addition to color and texture. the efficacy of using structure in combination with color and texture is demonstrated.
Visual servo control is needed for realizing automatic bio- micromanipulation and increasing the accuracy of micromanipulator. A dual-hand micromanipulation system with micro-visual-servo was developed for automating ...
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ISBN:
(纸本)9810474806
Visual servo control is needed for realizing automatic bio- micromanipulation and increasing the accuracy of micromanipulator. A dual-hand micromanipulation system with micro-visual-servo was developed for automating cell manipulation in biotechnology. this paper presents a complete solution for micro-visual-servo of the system, involving micro-visual-servo architecture, control law, modeling of image Jacobian and recognition algorithms of micro objects. the experimental results of micro-circle trajectory tracking and automatic transgenic operation verify the effectiveness of the micro-visual-servo solution.
In automating manufacturing process of aircraft wings, one of the most difficult tasks is to apply sealant onto its edge surfaces. this is mainly due to the fact that the wing edge surfaces are in complex spatial form...
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ISBN:
(纸本)9810474806
In automating manufacturing process of aircraft wings, one of the most difficult tasks is to apply sealant onto its edge surfaces. this is mainly due to the fact that the wing edge surfaces are in complex spatial forms. If a robot is to be employed to perform such a task, position control alone for robots will not be sufficient. A passive or active force control strategy has to be employed. In this paper a fuzzy logic based impedance control algorithm is introduced for this application. the performance of this fuzzy impedance control is compared withthat of the neural impedance and conventional impedance control. Simulation results are used to show the effectiveness of using such a fuzzy impedance controller.
Corner extraction is an important task in many computer vision systems. the quality of the corners and the efficiency of the detection method are two very important aspects that can greatly impact the accuracy, robust...
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ISBN:
(纸本)9810483643
Corner extraction is an important task in many computer vision systems. the quality of the corners and the efficiency of the detection method are two very important aspects that can greatly impact the accuracy, robustness and real-time performance of the corresponding corner-based vision system. In this paper we introduce a fast corner detector based on local binary-image regions. We verify the performance of the proposed method by measuring the repeatability rate under various illumination, scale and motion conditions. Our experimental results show that while the quality of the features are comparable with other conventional methods, ours delivers a faster performance.
the problem of controlling a sensorless current-fed induction motor (i.e. without rotor speed measurements) is addressed. Smooth reference signals for rotor speed and rotor flux modulus are required to be tracked for ...
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ISBN:
(纸本)9810483643
the problem of controlling a sensorless current-fed induction motor (i.e. without rotor speed measurements) is addressed. Smooth reference signals for rotor speed and rotor flux modulus are required to be tracked for any initial condition and unknown constant value of load torque. A new control scheme is presented which guarantees local exponential stability and global asymptotic stability of the closed loop system.
An image-based visual servo control design is proposed for a four rotor vertical take-off and landing (VTOL) craft known as an X4-flyer accomplishing a trajectory tracking task. the approach taken is an image-based vi...
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ISBN:
(纸本)0780372727
An image-based visual servo control design is proposed for a four rotor vertical take-off and landing (VTOL) craft known as an X4-flyer accomplishing a trajectory tracking task. the approach taken is an image-based visual servo (IBVS) design that is applicable to under-actuated dynamic systems. the work is an extension of the authors earlier work to the trajectory tracking problem. Semi-global stability of the closed loop system is proved for bounded trajectories.
Mechatronics is a synergetic combination of mechanical engineering, electronics, control and system thinking in the design of products and manufacturing processes. In this paper, an integrated design framework, exploi...
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ISBN:
(纸本)9810474806
Mechatronics is a synergetic combination of mechanical engineering, electronics, control and system thinking in the design of products and manufacturing processes. In this paper, an integrated design framework, exploiting the intricate interactions between the mechanical structure and its control algorithm, is applied for the design and control of a closed-chain mechanism. By using this design framework, the internal vibration of the mechanism can be mitigated greatly, the controller design is also simplified, and satisfactory real time response can also be achieved. the effectiveness of this design approach is demonstrated via a simulation study on the set-point control of the closed-chain mechanism.
Typical real world machine control tasks have some characteristics which makes them difficult to solve: their state spaces are high-dimensional and continuous, and it may be impossible to reach a satisfying target sta...
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ISBN:
(纸本)9810483643
Typical real world machine control tasks have some characteristics which makes them difficult to solve: their state spaces are high-dimensional and continuous, and it may be impossible to reach a satisfying target state by exploration or human control. To overcome these problems, in this paper, we propose (1) to use radial basis Junctions for value function approximation in continuous space reinforcement learning and (2) the use of learned inverse projection functions for state space exploration. We apply our approach to path planning in dynamic environments and to an aircraft autolanding simulation, and evaluate its performance.
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