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Sensor networked mobile robotics

Sensor networked mobile robotics

引用

conference on Computer Vision and pattern recognition (CVPR)

作者： T. Christensen M. Noergaard C. Madsen A. Hoover Department of Medical Inf & image Analysis Laboratory of Image Analysis University of Aalborg Denmark Aalborg Universitet Aalborg DK Electrical and Computer Engineering Department Data Fusion Lab Clemson University Clemson SC USA

The dominant architecture for mobile robot perception uses sensors on-board the robot, providing a first-person perspective on the environment. We demonstrate a novel mobile robot architecture that uses an environment-based sensor network, which provides third-person perception. The idea is that a mobile robot working in the area tunes in to broadcasts from the video camera network (or in this case from an environment-based computer processing the video frames) to receive sensor data. This distributed sensing configuration offers several advantages over on-board sensing.

关键词： Mobile robots Robot sensing systems

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Wavelet compression and data fusion: An investigation into the automatic classification of urban environments using colour photography and laser scanning data

Wavelet compression and data fusion: An investigation into t...

引用

International conference on pattern recognition

作者： J.B.K. Kiema Institute for Photogrammetry and Remote Sensing IPF University of Karlsruhe Karlsruhe Germany

ISBN: (纸本)0769507506

The field of wavelets has opened up new opportunities for the compression of satellite sensory imagery. The paper examines the influence of wavelet compression on the automatic classification of urban environments. Airborne laser scanning data is introduced as an additional channel along-side the spectral channels of colour infrared imagery. This effectively integrates the local height and multi-spectral information sources. To incorporate context information, the feature base is expanded to include both spectral and non-spectral features. A maximum likelihood classification approach is then applied. It is demonstrated that the classification of urban scenes is considerably improved by fusing multi-spectral and geometric data sets. The fused imagery is then systematically compressed (channel by channel) at compression rates ranging from 5 to 100 using a wavelet-based algorithm. The compressed imagery is then classified using the approach described here-above. Analysis of the results obtained indicates that a compression rate of up to 20 can conveniently be employed without adversely affecting the segmentation results.

关键词： image coding Satellites image segmentation Data compression remote sensing image sensors Infrared imaging Testing Pulse measurements Photography

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Wavelet filter selection in multispectral image compression

Wavelet filter selection in multispectral image compression

引用

International conference on pattern recognition

作者： A. Kaarna J. Parkkinen Department of Inforimtion Technology Lappeenranta University of Technology Finland Department of Computer Science University of Joensuu Joensuu Finland

ISBN: (纸本)0769507506

The problem of selecting an appropriate wavelet filter is always present in the wavelet based compression. Different mother wavelets are characterized by their regularity, which describes the smoothness of the wavelet. Digital signals should be characterized similarly to enable the selection of a good wavelet filter. In this paper certain features and cooccurrence matrix are used in characterizing the spectra. Bayesian classification is used to classify the spectra into the classes defined by the best wavelet filter obtained from the compression of the training spectra. A training set is obtained from three multispectral images. The results show, that our method gives the correct result in wavelet filter selection for multispectral image compression.

关键词： Multispectral imaging image coding Pixel Euclidean distance Information technology Digital filters Bayesian methods remote sensing Libraries Computer science

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A unified view of rank-based decision combination

A unified view of rank-based decision combination

引用

International conference on pattern recognition

作者： A. Saranli M. Demirekler Dept. of Electr. & Electron. Eng. Middle East Tech. Univ. Ankara Turkey Department of Electrical and Electronics Engineering Middle East Technical University Ankara Turkey

ISBN: (纸本)0769507506

This study presents a theoretical investigation of the rank-based multiple classifier decision problem for closed-set pattern classification. The case with classifier raw outputs in the form of candidate class rankings is considered and formulated as a discrete optimization problem with the objective function being the total probability of correct decision. The problem has a global optimum solution but is of prohibitive dimensionality. We present a partitioning formalism under which this dimensionality can be reduced by incorporating our prior knowledge about the problem domain and the structure of the training data. The formalism can effectively explain a number of rank-based combination approaches successfully used in the literature, one of which is discussed.

关键词： Character recognition Diversity reception pattern classification Training data Handwriting recognition Text recognition Speaker recognition remote sensing Biomedical signal processing Neural networks

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Design of filter banks for data fusion by spectrum substitution

Design of filter banks for data fusion by spectrum substitut...

引用

European Signal processing conference (EUSIPCO)

作者： Fabrizio Argenti Luciano Alparone Department of Electronics and Telecommunications University of Florence Via S. Marta 3 I-50139 Firenze Italy

In this work, we investigate on the design of filter banks that allow to substitute part of the spectrum of one signal with that of another signal. One application of this technique is fusion of data collected by sensors having different resolutions, that is a a typical problem encountered in remote sensing, when data from low-resolution multi-spectral sensors and high-resolution panchromatic sensors are to be merged, either to alleviate visual identification tasks, or to expedite automatic detection and recognition. The approach that is proposed here is based on the use of cosine-modulated uniform filter banks. We assume that the ratio of the sampling periods of the input data is not integer and show how to design the filter banks so that spectra from different signals can be integrated with minimum distortion.

关键词： Prototypes image reconstruction Spatial resolution Data integration Sensors remote sensing

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Multispectral image fusion using local mapping techniques

Multispectral image fusion using local mapping techniques

引用

International conference on pattern recognition

作者： P. Scheunders Vision Laboratory University of Antwerp Antwerp Belgium

ISBN: (纸本)0769507506

In this paper, fusion of multispectral images for visualization is aimed at, based on the projection of the scatter-diagrams onto a one-dimensional space. Linear as well as nonlinear projection techniques are used. In contrast with existing mapping techniques which work globally, a local mapping technique is constructed. In this technique, the images are subdivided into blocks, where each block of pixels is visualized through a different map. Then, for each pixel, a locally adapted map is created by weighting the maps of the surrounding blocks using Euclidean distance measure. A linear local mapping, based on local PCA and a nonlinear local mapping, based on Kohonen's SOM map are generated and compared to the global procedures. Experiments are conducted on multispectral LANDSAT imagery.

关键词： Multispectral imaging Principal component analysis Visualization remote sensing Biomedical imaging Scattering Satellites image segmentation Humans Euclidean distance

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Integrating aspects of active vision into a knowledge-based system

Integrating aspects of active vision into a knowledge-based ...

引用

International conference on pattern recognition

作者： U. Ahlrichs D. Paulus H. Niemann Lehrstuhl für Mustererkennung Universität Erlangen Nurnberg Germany

ISBN: (纸本)0769507506

While the strategy of active vision is well established in early vision, it is not widespread in high-level vision. We suggest an approach for integrating aspects of active vision into a knowledge-based system. One aspect is the selection of optimal camera actions which are chosen to make the recognition process more reliable and efficient. We integrated such camera actions into our knowledge base. In addition, we describe the extensions of the control algorithm which is needed to use the information represented in the knowledge base, closing the loop between acting and sensing. Experiments show the efficiency and flexibility of the systems. As an example, the task of locating objects in an office room is evaluated.

关键词： Knowledge based systems Cameras Knowledge representation Decision making Control systems Layout Optimal control image processing image recognition Object recognition

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Catadioptric sensors that approximate wide-angle perspective projections

Catadioptric sensors that approximate wide-angle perspective...

引用

conference on Computer Vision and pattern recognition (CVPR)

作者： R.A. Hicks R. Bajcsy Department of Mathematics and Computer Science Drexel University USA National Science Foundation CISE Directorate

We present two families of reflective surfaces that are capable of providing a wide field of view, and yet still approximate a perspective projection to a high degree. These surfaces are derived by considering a plane perpendicular to the axis of a surface of revolution and finding the equations governing the distortion of the image of the plane in this surface. We then view this relation as a differential equation and prescribe the distortion term to be linear. By choosing appropriate initial conditions for the differential equation and solving it numerically, we derive the surface shape and obtain a precise estimate as to what degree the resulting sensor can approximate a perspective projection. Thus these surfaces act as computational sensors, allowing for a wide-angle perspective view of a scene without processing the image in software. The applications of such a sensor should be numerous, including surveillance, robotics and tradition photography.

关键词： Mirrors Lenses Cameras Shape Robot sensing systems Photography Robot vision systems Differential equations image sensors Surveillance

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Fusion of 2-D images using their multiscale edges

Fusion of 2-D images using their multiscale edges

引用

International conference on pattern recognition

作者： S.G. Nikolov D.R. Bull C.N. Canagarajah M. Halliwell P.N.T. Wells Image Communications Group Centre for Communications Research University of Bristol Bristol UK Centre for Physics and Engineering Research in Medicine University of Bristol and United Bristol healthcare Trust Bristol General Hospital Bristol UK

ISBN: (纸本)0769507506

A new framework for fusion of 2D images based on their multiscale edges is described in this paper. The new method uses the multiscale edge representation of images proposed by Mallat and Hwang (1992). The input images are fused using their multiscale edges only. Two different algorithms for fusing the point representations and the chain representations of the multiscale edges (wavelet transform modulus maxima) are given. The chain representation has been found to provide numerous new alternatives for image fusion, since edge graph fusion techniques can be employed to combine the images. The new framework encompasses different levels, i.e. pixel and feature levels, of image fusion in the wavelet domain.

关键词： image fusion Wavelet transforms Pixel Humans Biomedical imaging Wavelet coefficients remote sensing Visual system image communication Physics

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A robust algorithm for segmenting deformable linear objects from video image sequences

A robust algorithm for segmenting deformable linear objects ...

引用

International conference on pattern recognition

作者： F. Abegg D. Engel H. Worn Institute for Process Control and Robotics Computer Science Department Universität Karlsruhe Karlsruhe Germany

ISBN: (纸本)0769507506

A new algorithm for segmenting and tracking deformable (shape-changing) linear (thin and long with negligible diameter) objects in video images is presented. The core of algorithm is to detect the two boundary curves of a deformable linear object within adaptive tracking windows. The boundaries are found by analyzing the gray value gradients within the tracking windows. The algorithm allows moderate changes in the image brightness by introducing tolerance parameters to the algorithm. It also provides a robust tracking of the shape- and width-changing object by using a fuzzy estimation of the object's membership function at the tracked points. The result describes the shape of the object and is used to define features for shape change detection.

关键词： Robustness image segmentation image sequences Service robots Robot sensing systems Shape image processing Robot vision systems Active contours Pixel

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