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3D modeling of real environments by autonomous mobile robot with stereo vision

3D modeling of real environments by autonomous mobile robot ...

引用

IEEE International conference on image processing

作者： S. Futami T. Nagai A. Kurematsu Department of Electronic Engineering University of Electro-Communications Tokyo Japan

The concept of 3-dimensional (3D) modeling by an autonomous mobile robot is presented. The mobile robot is equipped with a stereo camera and explores an unknown environment autonomously. The robot also has encoders and sonars. Information from these sensors are used for 3D modeling, ego-motion, and searching new and unknown objects. The 3D modeling of real environments by a mobile robot is applicable to optimal path planning, object recognition, virtual reality (VR), and so on. A preliminary result of the 3D modeling is also shown.

关键词： Mobile robots Stereo vision Cameras Robot vision systems Virtual reality Path planning Indoor environments Charge coupled devices Charge-coupled image sensors Robotics and automation

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Reconstruction of irregularly-sampled images by regularization in spline spaces

Reconstruction of irregularly-sampled images by regularizati...

引用

IEEE International conference on image processing

作者： C. Vazquez E. Dubois J. Konrad INRS-Telecommunications Institut National de la Recherche Scientifique Place Bonaventure Montreal QC Canada School of Information Technology and Engineering (SITE) University of Ottawa Ottawa Ontario Canada INRS-Télécommunications Institut National de la Recherche Scientifique Montreal QUE Canada Department of Electrical and Computer Engineering Boston University Boston MA USA

We are concerned with the reconstruction of a regularly-sampled image based on irregularly-spaced samples thereof. We propose a new iterative method based on a cubic spline representation of the image. An objective function taking into account the similarity to the known samples and the regularity of the function is minimized in order to obtain a good approximation. We apply the developed algorithm to motion-compensated image interpolation. Under motion compensation, the resulting sampling grids are irregular and require irregular/regular interpolation. We show experimental results on real-world images and we compare our results with other methods proposed in the literature.

关键词： image reconstruction Spline Interpolation image sampling Space technology Polynomials Information technology Iterative methods Iterative algorithms image processing

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A sampling theorem for the Radon transform of finite complexity objects

A sampling theorem for the Radon transform of finite complex...

引用

International conference on Acoustics, Speech, and Signal processing (ICASSP)

作者： Irena Maravić Martin Vetterli Audio-Visual Communications Laboratory Swiss Federal Institute of Technology Lausanne Switzerland Department of Electrical Engineering and Computer Sciences University of California Berkeley Berkeley CA USA

We present sampling results for certain classes of 2-D signals that are not bandlimited, but have a parametric representation with a finite number of degrees of freedom, such as 2-D Diracs, polygons and bilevel signals with piecewise polynomial boundaries. As opposed to standard multidimensional sampling schemes, the proposed methods exploit the properties of the Radon transform of such signals. In particular, we demonstrate that by using an appropriate sampling kernel, one can perfectly reconstruct the signal from a finite set of samples of its Radon transform, and thus significantly reduce a computational load. The novel approach we present in the paper, offers practical algorithmic implementation and is potentially applicable to a large class of two-dimensional signals.

关键词： Complexity theory Transforms

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Pyramid CELP: Embedded speech coding for packet communications

Pyramid CELP: Embedded speech coding for packet communicatio...

引用

International conference on Acoustics, Speech, and Signal processing (ICASSP)

作者： Christoph Erdmann David Bauer Peter Vary Institute of Communication Systems and Data Processing RWTH Aachen University of Technology Aachen Germany

In this paper we present a novel speech coding algorithm for transmission over packet networks based on CELP (Code-Excited-Linear-Prediction). While various CELP type speech coders like the ITU-T G.729 or the Adaptive Multi-Rate (AMR) codec are applicable to packet voice communication systems such as the Internet, there are some fundamental reasons that may limit their Performance in case of packet loss. We investigate the alternative of embedded coding in the CELP framework. focussing on an efficient quantization of the excitation signal to generate a hierarchically-structured bit stream by means of pyramid coding [1]. Thus, the receiver can reconstruct speech at a basic quality by decoding only a subset of the entire bit stream. The quality of the decoded speech increases with the amount of received bits. We demonstrate the performance by an experimental hierarchical wideband (0.05–7 kHz) speech coder, applied to an IP (Internet Protocol) channel simulation.

关键词： Decoding image reconstruction Synchronization IP networks image resolution Encoding Speech

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Estimation of geometric distortions in digital watermarking

Estimation of geometric distortions in digital watermarking

引用

IEEE International conference on image processing

作者： S. Baudry P. Nguyen H. Maitre Thales Communications Gennevilliers France ENST Paris France

Watermarking can be modeled as transmission through a steganographic channel. Up to now, most of the channels studied in the literature have been additive or substitutive channels where noise modifies the data values. However, other modifications occur frequently during the life of a watermark, namely geometric distortions: images may be cropped, scaled and even non-linearly distorted by digital/analog conversion or by an attacker. We model geometric transformations by a geometric channel and introduce a random variable, the index variable, to model geometric deformations. We propose to use a synchronisation pattern to estimate geometric distortions caused by jitter attack, and describe two estimation algorithms (Viterbi and forward-backward).

关键词： Watermarking Jitter Solid modeling Additive noise Steganography Deformable models Viterbi algorithm image converters

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Multi-user detection for coded multirate OFDM-CDMA systems

Multi-user detection for coded multirate OFDM-CDMA systems

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4th International ITG conference on Source and Channel Coding

作者： Kuhn, Volker Feuersanger, Martin Dept. of Communications Engineering University of Bremen P.O. Box 33 04 40 D-28334 Bremen Germany

This paper analyzes the performance of multi-user detection (MUD) for a quasi-synchronous OF DM-CDMA uplink transmission. OF DM-CDMA has been chosen because it offers a great advantage over single carrier systems due to flat fading conditions on each subcarrier. This leads to ranch lower implementation costs of MUD techniques. In order to allow different data rates for each user, the CDMA spreading factors vary in the range of 4 up to 32. Specifically, we regard linear MUD techniques such as the MMSE approach as well as a combination with the nonlinear parallel interference cancellation (PIC) resulting in a recursive receiver structure. Assuming perfectly known channel impulse responses for each user and a rough synchronization it turns out that decreasing the spreading factors and keeping the number of sub-carriers constant leads to a performance loss due to a smaller diversity gain of each user signal. We will show that the effects of multi-user interference can be mitigated by applying a combination of MMSE and PIC. Thus the performance of the system can be improved.

关键词： Interference cancellation Multi user detection Multirate system OFDM-CDMA

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Accelerating ray-casting for semitransparent image using bi-directional skipped distance transforms

Accelerating ray-casting for semitransparent image using bi-...

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International conference on Signal processing Proceedings (ICSP)

作者： K. Sepsirisuk P. Ungpinitpong P. Lertprasert M. Sangworasil King Mongkut''s Institute of Technology Ladkrabang Chumphon Thailand Department of Electronics Faculty of Engineering King Mongkut''s Institute of Technology Ladkrabang Bangkok Thailand Department of Electronics Faculty of Engineering Research Center for Communications and Information Technology Bangkok Thailand

This paper shows a method for speeding up the ray-traversal process of volume viewing. The algorithm acceleration is achieved by skipping empty regions defined for each background voxel of the volume in pre-processing step. Background voxels are labeled by a value, which is equal to the voxel distance to the nearest foreground voxel. The algorithm starts by backward traverse of the volume to find an existing point of the foreground and follows by forward traverse of the volume from an entry point of volume until it meets the existing point. This method enables a faster ray-traversal time than traditional distance transforms.

关键词： Acceleration Bidirectional control Rendering (computer graphics) Surface reconstruction Pixel visualization Casting Cities and towns Information technology image reconstruction

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Multidimensional RSSE for Gigabit Ethernet over Category 6 copper cabling

Multidimensional RSSE for Gigabit Ethernet over Category 6 c...

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4th International ITG conference on Source and Channel Coding

作者： Haratsch, Erich F. Azadet, K. Agere Systems High-Speed Communications VLSI Research Holmdel NJ 07733 United States

Gigabit Ethernet over unshielded twisted pair (UTP) copper cabling is a fast growing technology for high-speed communications in local area networks (LANs). Whereas the first Gigabit Ethernet over copper standard, 1000BASE-T was specified for 4 pairs of Category 5 UTP cabling, a transmission scheme with significantly less hardware complexity is possible for 4 pairs of Category 6 UTP cabling due to the better channel characteristics of this medium. In this Category 6 Gigabit Ethernet scheme, only two wire pairs are used to transmit data in a single direction instead of the full-duplex transmission on each of the 4 pairs in the 1000BASE-T standard. The noise margin for Category 6 Gigabit Ethernet can be increased by 4D trellis-coded modulation (4D-TCM), which achieves approximately 4 dB coding gain when the impact of intersymbol interference (ISI) is neglected. As there is significant postcursor ISI in Category 6 Gigabit Ethernet, joint equalization and trellis decoding must be performed to benefit from this potential coding gain. However, an optimum maximum likelihood sequence estimation (MLSE) detector would be far too complex, and the conventional suboptimum reduced-state sequence estimation (RSSE) algorithm cannot be applied, as the number of channels used for data transmission is smaller than the number of dimensions of the 4D-TCM code. This paper develops a modified 4D RSSE algorithm for Category 6 Gigabit Ethernet, which achieves a coding gain of at least 3 dB.

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Combining region-based differential and matching algorithms to obtain accurate motion vectors for moving object in a video sequence

Combining region-based differential and matching algorithms ...

引用

International conference on Distributed Computing Systems Workshop

作者： Chich-Ling Huang Yuh-Ren Choo Pau-Choo Chung Department of Electrical Engineering National Cheng Kung University Tainan Taiwan

Motion estimation plays an important role in image processing, since temporal information has been regarded as a promising feature for both image segmentation and video coding. In this paper a hybrid approach is proposed to integrate a differential (gradient-based) optical flow approach and region-based matching approach to search for accurate object motion vectors. Our method adopts the Horn-Schunck optical flow constraint, in conjunction with several proposed techniques to convert the dense optical flow field to region-based motion field, and thereby suppress noise. The region-based matching approach is a modified version of the traditional block-matching algorithm, so that it can operate in region-based mode, and thereby enhance the visual effectiveness near the edges. Therefore, the proposed hybrid method has the tendency to obtain the estimation of "true" object motion inherited by the gradient-based approach, and also the superior visual effectiveness inherited by the block-matching approach.

关键词： Motion estimation image motion analysis image segmentation Video coding Layout Video sequences image processing Integrated optics image converters Optical noise

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Fuzzy hybrid filter for removal of impulse noise from highly corrupted images

Fuzzy hybrid filter for removal of impulse noise from highly...

引用

IEEE Region 10 International conference TENCON

作者： Minggang Ma Xiao Jiao Xinquan Tan Department of Electronic and Information Engineering Huazhong University of Science and Technology Wuhan China

ISBN: (纸本)0780374908

A fuzzy hybrid filter (FHF) is presented which can remove impulse noise from highly corrupted images while preserving details. Primarily, the noise ratio in the filter window is defined and detected. Then we present a new detection algorithm of the corrupted degree of central pixel in the filter window, and fuzzy decision based on fuzzy rules, construct the fuzzy membership function. Finally, a fuzzy hybrid filter (FHF) is designed for the removal of impulse noise from highly corrupted images. Experimental results indicate that our algorithm impressively outperforms other techniques in terms of noise suppression and detail preservation across a wide range of impulse noise corruption, ranging from 5 % to 80 %. Moreover the FHF can effectively restore images corrupted with mixed Gaussian and impulse noise.

关键词： Signal to noise ratio Gaussian noise Signal processing algorithms Information filtering Information filters Detection algorithms Fuzzy systems image processing image recognition Pixel

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