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检索条件"任意字段=1st Canadian Conference on Computer and Robot Vision"

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Motion segmentation by learning homography matrices from motor signals

Motion segmentation by learning homography matrices from mot...

引用

canadian conference on computer and robot vision

作者： Xu, Changhai Liu, Jingen Kuipers, Benjamin Department of Computer Science University of Texas at Austin 1 University Station Austin TX 78712 United States Computer Science and Engineering University of Michigan 2260 Hayward Street Ann Arbor MI 48109 United States

ISBN: (纸本)9780769543628

Motion information is an important cue for a robot to separate foreground moving objects from the static background world. Based on the observation that the motion of the background (from the robot's egocentric view) has stronger correlation to the robot's motor signals than the motion of foreground objects, we propose a novel method to detect foreground moving objects by clustering image features according to their motion consistency with motor signals. Corner/edge features are detected and tracked across adjacent frames. The errors between the estimated feature locations based on motor signals and their actual tracked locations are calculated. The features are clustered into background/foreground using Expectation-Maximization on these errors. Labeled features are then used for pixel-level image segmentation with the Active Contours and Graph-based Transduction techniques. Unlike pixel-level background subtraction methods, the proposed approach does not require a large number of frames for background model construction, and does not suffer from accumulated image registration error for dynamic cameras. In contrast to existing sparse feature based foreground/background separation methods, our approach clusters features in only one dimensional space instead of a higher dimensional space, and there is no need to search for parameters in an affine or homography transformation space or motion trajectory space. © 2011 IEEE.

关键词： Errors

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TransSQL: A translation and validation-based solution for SQL-injection attacks

TransSQL: A translation and validation-based solution for SQ...

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1st International conference on robot, vision and Signal Processing, RVSP 2011

作者： Zhang, Kai-Xiang Lin, Chia-Jun Chen, Shih-Jen Hwang, Yanling Huang, Hao-Lun Hsu, Fu-Hau Computer Science and Info. Engineering National Central University Chungli Taoyuan Taiwan Network and Multimedia Inst. Inst. for Info. Industry Taipei Taiwan School of Applied Foreign Languages Chung Shan Medical University Taichung Taiwan Computer Science and Info. Engineering National Central University Taiwan

ISBN: (纸本)9780769545813

SQL injection attacks, a class of injection flaw in which specially crafted input strings leads to illegal queries to databases, are one of the topmost threats to web applications. A number of research prototypes and commercial products that maintain the queries structure in web applications have been developed. But these techniques either fail to address the full scope of the problem or have limitations. Based on our observation that the injected string in a SQL injection attack is interpreted differently on different databases, in this paper, we propose a novel and effective solution TransSQL to solve this problem. TransSQL automatically translates a SQL request to a LDAP-equivalent request. After queries are executed on a SQL database and a LDAP one, TransSQL checks the difference in responses between a SQL database and a LDAP one to detect and block SQL injection attacks. Experimental results show that TransSQL is an effective and efficient solution against SQL injection attacks. © 2011 IEEE.

关键词： computer crime

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Performance of stereo methods in cluttered scenes

Performance of stereo methods in cluttered scenes

引用

canadian conference on computer and robot vision

作者： Mannan, Fahim Langer, Michael S. School of Computer Science McGill University Montreal QC H3A 2A7 Canada

ISBN: (纸本)9780769543628

This paper evaluates the performance of different stereo formulations in the context of cluttered scenes [1] with large number of binocular-monocular boundaries (i.e. occlusion boundaries). Three stereo methods employing three different constraints are considered. These are basic [2], [3](Basic), uniqueness [4] (KZ-uni), and visibility [5](KZ-vis). Scenes for the experiments are synthetically generated and some are shown to have significantly more occlusion boundaries than the Middlebury scenes. This allows evaluating the methods with different types of scenes to understand the efficacy of different constraints for cluttered scenes. The evaluation considers mislabeled pixels of different types (binocular/monocular) in different regions (on or away from occlusion boundary). We have found that for sparse scenes (fewer occlusion boundaries) all three methods have similar performance. For dense scenes the performance is dominated by pixels on the boundary. For binocular pixels Basic always does better but for monocular pixels KZ-vis has the lowest error. If binary occlusion labeling is considered then the cross-checked version of basic constraint Basic-cc performs best followed by KZ-uni. © 2011 IEEE.

关键词： Visibility

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A study to support haptic collaboration with real time force feedback over wireless networks

A study to support haptic collaboration with real time force...

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1st International conference on robot, vision and Signal Processing, RVSP 2011

作者： Yap, Kian Meng Lee, Tsung-Han School of Computer Technology Sunway University College Bandar Sunway Petaling Jaya Selangor Malaysia National Taichung University Taichung Taiwan

ISBN: (纸本)9780769545813

this paper presents an investigation into a new peerto-peer wireless network architecture for real time tele-haptic operation in distributed virtual environments (DVEs). A novel force collaboration and position synchronization algorithm is developed in order to support wireless networked haptic interactions. The new peer-to-peer architecture is able to support haptic interactions over wireless IP networkes. Experiments have been conducted to show the performance of this with different wireless hopping. Experiments have also been conducted to investigate the threshold levels of QoS required (i.e. number of wireless hopping) for wireless networked haptic collaboration. Findings of the study are presented in this paper and it shows the challenges in conducting haptic collaboration over wireless IP networks. The wireless channel condition varies over time due to such factors as channel characteristics, the PHY scheme selected, time-varying interference, and the priority of services (QoS demands) from MAC/PHY layers. © 2011 IEEE.

关键词： Virtual reality

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Implementation of intelligent motor speed control using rotary encoder

Implementation of intelligent motor speed control using rota...

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1st International conference on robot, vision and Signal Processing, RVSP 2011

作者： Chao, Min Hsieh, Kunta Wang, Chin-Yu Chang, Hsinchiu Department of Civil Engineering and Engineering Informatics Cheng Shiu University Kaohsiung Taiwan Institute of Mechatronics Engineering Cheng Shiu University Kaohsiung Taiwan Graduate Institute of Mechatronics Engineering Cheng Shiu University Kaohsiung Taiwan Department of Computer Science and Information Engineering Cheng Shiu University Kaohsiung Taiwan

ISBN: (纸本)9780769545813

The project will try to implement the system with the NI Labview DAQ-6211 capture card to make intelligent motor speed control system, expect this architecture to learn new construction methods, and can develop new applications. Ideas in the hope of a simple feedback information, that is, to determine whether the current speed should be to accelerate or decelerate the motor commands. As the motor control system uses a PWM signal, so the time interval within the same time continuing the level of the signal width is different from the motor speed will result in different. We make a default speed under the control of motor speed in Labview to automatically achieve, so constantly adjust the speed target, the system will change the speed at any time, in order to achieve the set target speed. © 2011 IEEE.

关键词： Speed

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Object detection using principal contour fragments

Object detection using principal contour fragments

引用

canadian conference on computer and robot vision

作者： Xu, Changhai Kuipers, Benjamin Department of Computer Science University of Texas at Austin 1 University Station Austin TX 78712 United States Computer Science and Engineering University of Michigan 2260 Hayward Street Ann Arbor MI 48109 United States

ISBN: (纸本)9780769543628

Contour features play an important role in object recognition. Psychological experiments have shown that maximum-curvature points are most distinctive along a contour. This paper presents an object detection method based on \emph{Principal Contour Fragments (PCFs)}, where PCFs are extracted by partitioning connected edge pixels at maximum-curvature points. An object is represented by a set of PCFs and their mutual geometric relations. The mutual geometric relations are described in each PCF's local coordinate system, and they are invariant to translation, rotation, and scale. With this representation, given any individual PCF, the system is capable of predicting all other PCFs' geometric properties. Object instances are detected in test images by sequentially locating PCFs whose geometric properties best match their predictions. Detected objects are verified according to their similarity to the model based on both individual PCF descriptors and mutual relation descriptors. Evaluation results show that the system works well in the presence of background clutter, large scale changes, and intra-class shape variations. © 2011 IEEE.

关键词： Object detection

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Lessons Learned from Using Personas and Scenarios for Requirements Specification of Next-Generation Industrial robots

Lessons Learned from Using Personas and Scenarios for Requir...

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1st International conference on Design, User Experience, and Usability (DUXU)/14th International conference on Human-computer Interaction (HCI)

作者： Bjorndal, Petra Rissanen, Mikko J. Murphy, steve ABB Corp Res Ind Software Syst Forskargrand 7 S-72178 Vasteras Sweden ABB Discrete Automat & Mot Robot S-43190 Molndal Sweden

ISBN: (纸本)9783642216756;9783642216749

As development and productization of complex technology for new markets is challenging, it is crucial to get valid information about the intended future users and represent that information in a proper way to technical experts and project management. This case study describes experiences from using the "engaging personas and narrative scenarios" approach [1], [2] for defining requirements for next-generation industrial robots. We found that additional steps were necessary to supplement the methodology to fit the development of complex industrial robots, namely globalization, validation of personas among end users, prioritization of personas, creation of common vocabulary, identification of business critical scenarios and identification of safety critical situations. The main benefit from using personas and scenarios was their role as communication catalyst and how the descriptions facilitate building a common vision within the project team.

关键词： Persona Scenario UCSD robot development

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Utilizing geographic information system data for unmanned aerial vehicle position estimation

Utilizing geographic information system data for unmanned ae...

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canadian conference on computer and robot vision

作者： Patterson, Timothy McClean, Sally Morrow, Philip Parr, Gerard School of Computing and Information Engineering University of Ulster Cromore Road Coleraine BT52 1SA United Kingdom

ISBN: (纸本)9780769543628

For many sensing applications Unmanned Aerial Vehicles (UAVs) can provide a lightweight and highly portable solution. Inevitably they may encounter malfunctions, the most serious of which may require the UAV to land as soon as possible. From a safety prospective it is insufficient to assume the UAV can safely reach a previously determined safe landing site. It is therefore desirable to utilize a reliable source of knowledge such as Geographic Information System (GIS) data to aid in autonomous safe landing site detection. However, before this knowledge can be exploited the UAVs position must be known. This position is commonly estimated using GPS the failure of which may be the very reason an abort command has been issued. Presented in this paper is a method of UAV position estimation which can be executed in the event of GPS failure. Preliminary results are presented based on aerial imagery from the Antrim Plateau region of Northern Ireland which indicate potential in the approach used. © 2011 IEEE.

关键词： Geographic information systems

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Automatic colon segmentation using isolated-connected threshold

Automatic colon segmentation using isolated-connected thresh...

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1st International conference on robot, vision and Signal Processing, RVSP 2011

作者： Chang, Ku-Yaw Zhang, Hao-Han Chen, Shao-Jer Chen, Lih-Shyang Chen, Jia-Hong Department of Computer Science and Information Engineering Da-Yeh University Changhua Taiwan Department of Radiology Buddhist Dalin Tzu Chi General Hospital Chiayi Taiwan School of Medicine Buddhist Tzu Chi University Hualien Taiwan Department of Electrical Engineering National Cheng-Kung University Tainan Taiwan

ISBN: (纸本)9780769545813

Virtual colonoscopy (VC) is a safe and fast medical imaging procedure to screen the colon for polyps. And it has become very popular recently. Colon segmentation is a necessary and important step of such an examination procedure. In this paper, an automatic colon segmentation method is proposed. The fluid inside the colon is first identified and removed based on its characteristic of horizontal surface. A simple 3D region growing algorithm is applied to obtain initial segmentation of air, which is served as the basis of the ensuing automatic locating object and background seeds. Then the isolated-connected threshold algorithm, together with the above seeds, is applied to obtain the final results. The colon can be obtained by applying morphological operations to the segmentation results of air. Our proposed algorithm can automatically segment different substances based on the isolated-connected threshold. It allows the user to modify the segmentation results interactively by providing more object or background seeds. © 2011 IEEE.

关键词： Mathematical morphology

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Design and FPGA-Implementation of 1^st-Order 4D IIR Frequency-Hyperplanar Digital Filters

Design and FPGA-Implementation of 1<SUP>st</SUP>-Order 4D II...

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54th IEEE International Midwest Symposium on Circuits and Systems (MWSCAS)

作者： Madanayake, Arjuna Wimalagunaratne, Randeel Dansereau, Donald G. Bruton, Len T. Univ Akron Elect & Comp Engn Akron OH 44325 USA Univ Sydney Australian Ctr Field Robot Sch Aerosp Mech & Mech Engn Sydney NSW 2006 Australia Univ Calgary Elect & Comp Engn Calgary AB T2N 1N4 Canada

ISBN: (纸本)9781612848570

Four-dimensional (4D) 1(st)-order frequency-hyperplanar digital filters have emerging applications in computed tomography (CT), volumetric ultrasound, and light field processing for computer vision. A novel IIR architecture for real-time implementation of such filters is proposed, and two single-chip prototypes are implemented on Xilinx Virtex-4 Sx35ff668-10 FPGAs. Experimental results from the FPGA physical implementation as well as simulated 4D frequency responses of the two 4D IIR filter realizations are used to quantify the proposed circuits in terms of frequency response, speed and FPGA resource utilization.

关键词： CT FPGA implementation FPGA resource utilization IIR filters Xilinx Virtex-4 Sx35ff668-10 FPGA computed tomography computer vision field programmable gate arrays first-order 4D IIR frequency-hyperplanar digital filters four-dimensional IIR filter realizations frequency response light field processing real-time implementation simulated 4D frequency responses single-chip prototypes volumetric ultrasound

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