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A flying object using hardware implemented, vision processing and motor control system with adaptive neural network

A flying object using hardware implemented, vision processin...

引用

International conference on Neural Information processing

作者： H. Yamada J. Takeuchi G. Matsumoto M. Ichikawa Laboratory for Brain-Operative Devices RIKEN Brain Science Institute Wako Saitama Japan

We made a flying object with 4 CMOS video cameras and 4 propellers. The processor consists of a visual processing module, attitude calculation module and adaptive module implemented by using neural feedback network. The visual processing modules, which are including 3 CMOS cameras, output displacements of images for each local area using the difference between frames. The attitude calculation module integrates those displacement values and output rotational velocity of each axis (yaw, roll, pitch). The last CMOS camera observes the ground, and its processing module output relative position between the ground and the flying object. The adaptive module finally calculates the motor outputs basically depending on PID feedback control loop with reinforcement learning, and the learning method is weight changes as neural network between derived parameters. A preliminary manual tuning fixes initial parameters of the PID control. An online learning could tune those parameters more precisely during actual fright experiments. We introduce nonlinear response functions and a switching mechanism of those responses into the adaptive module. For instance, nonlinear response functions are as follows: 1) reduce feedback gains to cool down oscillation, 2) add offset value to cancel supposed disturbance, and 3) top all motors to avoid fatal damage.

关键词： Neural network hardware Motor drives Adaptive systems Programmable control Adaptive control Neural networks CMOS image sensors Cameras CMOS process Three-term control

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3D/2D object-based coding of head MRI data

3D/2D object-based coding of head MRI data

引用

IEEE International conference on image processing

作者： G. Menegaz L. Grewe Audiovisual Communications Laboratory Swiss Federal Institute of Technology Lausanne Switzerland

We propose a coding system featuring 3D encoding/2D decoding object-based functionalities. Any object of any 2D image of the dataset can be recovered at a finely graded up to lossless quality. Compression is improved by exploiting the full correlation among data samples by means of 3D DWT. A swift access to 2D images is obtained by enabling 2D decoding. Given the index of the image of interest along the z axis, only the concerned portion of the bitstream is decoded, at the desired quality. The selective access to data can be improved by splitting the image in regions corresponding to the different objects. Then, a suitable ordering of the encoded information within the bitstream enables random access to any object at the desired rate. This enables a pseudo-lossless regime, where the diagnostically relevant parts of the image are represented without loss, while a lower quality is assumed to be acceptable for the others. Results show that the proposed system is a good compromise between the gain in compression efficiency provided by 3D systems and the fast access to the data of 2D ones.

关键词： Magnetic resonance imaging image coding Decoding Discrete wavelet transforms image reconstruction Biomedical imaging Wavelet transforms Arithmetic Head Laboratories

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Parallel shear-warp factorization on THPCS

Parallel shear-warp factorization on THPCS

引用

International conference on communications, Circuits and Systems (ICCCAS)

作者： Wenping Chen Junhui Deng Zesheng Tang Department of Computer Science University of Tsinghua Beijing China

Several approaches have been proposed to visualize 3D volume data on multiprocessor systems in recent years. Most of these algorithms are tailored for special architectures and hard to immigrate to new architectures, such as the Tsinghua High-Performance Cluster System (THPCS). In this paper, a parallel volume rendering algorithm is presented for THPCS. To reduce the communication cost and the complexity of blending local intermediate images, a static subtask distribution strategy is proposed. Combined with a prediction for the subtask load and node performance, our strategy yields a perfect load balance. An asynchronous binary compositing method is adopted to provide flexibility for our algorithm. The experimental results demonstrate the efficiency and practicality of our algorithm. As a result, THPCS using our algorithm achieves performance of rendering 512/sup 2/ color images for 128/sup 2//spl times/197 volume within 1 second.

关键词： Rendering (computer graphics) Partitioning algorithms Clustering algorithms Computer architecture Parallel processing image generation Yarn Computer science Data visualization Multiprocessing systems

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Rapid block-based global motion estimation and its applications

Rapid block-based global motion estimation and its applicati...

引用

IEEE International conference on Consumer Electronics (ICCE)

作者： Tuan-Kiang Chiew J.T.H. Chung-How D.R. Bull C. Nishan Canagarajah Image Communications Group Centre for Communications Research University of Bristol UK

This paper proposes a novel low-complexity block-based global motion estimation algorithm for real-time digital video processing applications. The algorithm involves an 8/spl times/8 block-based local motion estimation followed by a least square method to obtain the global motion vector parameters. The translation-zoom global motion model with 3 parameters was adopted and least square method computation is done after removing outliers. Blocks are considered outliers if: (i) the block is over-cluttered or (ii) the reference block has too little activity for an accurate motion vector to be estimated. The algorithm is used to estimate the global motion of 3 QCIF test streams at 10 fps and the parameters are used in 5 typical applications Respective simulations have produced favorable results emphasizing the usefulness of the proposed algorithm.

关键词： Motion estimation Least squares methods Error correction Reactive power Equations PSNR image communication Least squares approximation Testing Computational modeling

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An objective distortion measure for binary document images based on human visual perception

An objective distortion measure for binary document images b...

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International conference on Pattern Recognition

作者： Haiping Lu Jian Wang A.C. Kot Y.Q. Shi School of EEE Nanyang Technological University Singapore Department of ECE New Jersey Institute of Technology Newark NJ USA

ISBN: (纸本)076951695X

As we are moving to a digital world, digital document image processing is receiving more and more attention. Digital document images are essentially binary images. In applications related to binary document images, such as data hiding and watermarking in binary images, distortion may be present and it is necessary to measure the distortion for performance comparison. However traditional objective distortion measures cannot describe the distortion in binary images well to have a good match with human visual perception. In this paper we present a novel objective distortion measure for binary document images that well correlates to the subjective distortion perception. This measure is based on the reciprocal of distance that is straight forward to calculate. Our results show that the proposed distortion measure matches well with subjective evaluation found on human visual perception.

关键词： Distortion measurement Humans visual perception Testing Data encapsulation PSNR Degradation Signal to noise ratio Document image processing Watermarking

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Sea of images

Sea of images

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IEEE conference on visualization

作者： D.G. Aliaga T. Funkhouser D. Yanovsky I. Carlbom Lucent Bell Laboratories USA Princeton University USA Harvard University UK

A long-standing research problem in computer graphics is to reproduce the visual experience of walking through a large photorealistic environment interactively. On one hand, traditional geometry-based rendering systems fall short of simulating the visual realism of a complex environment. On the other hand, image-based rendering systems have to date been unable to capture and store a sampled representation of a large environment with complex lighting and visibility effects. In this paper, we present a "sea of images," a practical approach to dense sampling, storage, and reconstruction of the plenoptic function in large, complex indoor environments. We use a motorized cart to capture omnidirectional images every few inches on a eye-height plane throughout an environment. The captured images are compressed and stored in a multiresolution hierarchy suitable for real-time prefetching during an interactive walkthrough. Later, novel images are reconstructed for a simulated observer by resampling nearby captured images. Our system acquires 15,254 images over 1,050 square feet at an average image spacing of 1.5 inches. The average capture and processing time is 7 hours. We demonstrate realistic walkthroughs of real-world environments reproducing specular reflections and occlusion effects while rendering 15-25 frames per second.

关键词： Rendering (computer graphics) image storage image reconstruction Computer graphics Legged locomotion Computational modeling Solid modeling image sampling Indoor environments image coding

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Qualitative modeling of indoor environments from visual landmarks and range data

Qualitative modeling of indoor environments from visual land...

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IEEE International Workshop on Intelligent Robots and Systems (IROS)

作者： J.-B. Hayet C. Esteves M. Devy F. Lerasle Labomtoire dE28099Analyse et dE28099Architecture des Systdmes-LAAS-CNRS Toulouse France

This article describes the integration in a complete navigation system of an environment modeling method based on a Generalized Voronoi Graph (GVG), relying on laser data, on the one hand, and of a localization method based on monocular vision landmark learning and recognition framework, on the other hand. Such a system is intended to work in structured environments. It is shown that the two corresponding modules - laser GVG construction and visual landmarks learning and recognition - can cooperate to complete each other, as image processing can be enhanced by some structural knowledge about the scene, whereas the GVG is annotated, even as far as its edges are concerned, by qualitative visual information.

关键词： Indoor environments Navigation Laser modes Robot sensing systems Mobile robots image sensors Orbital robotics Network topology Robustness Modular construction

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Region tracking via local statistics and level set PDEs

Region tracking via local statistics and level set PDEs

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IEEE International conference on image processing

作者： A.-R. Mansouri A. Mitiche INRS-Télécommunications Institut National de la Recherche Scientifique Place Bonaventure Montreal QUE Canada

Tracking of regions in image sequences plays a fundamental role in applications (search and retrieval in video databases, object based coding such as in MPEG-4, surveillance), and although numerous approaches to region tracking have been developed, they all suffer from severe constraints imposed on the nature of the image sequence. Some assume a particular motion model or constrain the range of interframe motion, while others constrain both the region tracked and the background to have uniform and contrasting intensities. As a result, these tracking algorithms become byproducts of algorithms for motion or intensity boundary detection, and thus have limited applicability. We propose a novel algorithm for region tracking that uses the Bayesian framework for tracking previously developed. We extend this framework by re-expressing tracking in terms of Kullback-Leibler divergence of specific probability distributions and generalizing these to empirical distributions computed over image neighborhoods, leading to level set equations in terms of local image statistics. The main novelty of our proposed algorithm is that contrary to other tracking algorithms which are expressed as level set PDEs, the motion is not assumed to be small, nor is the background assumed to be stationary, nor is the region supposed to be uniform and have strong contrast with the background. We illustrate the performance of our algorithm on real image sequences with natural motion.

关键词： Statistics Level set image sequences Tracking Information retrieval image retrieval image databases image coding MPEG 4 Standard Surveillance

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On learning perceptual distance function for image retrieval

On learning perceptual distance function for image retrieval

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

作者： Edward Chang Beitao Li Electrical & Computer Engineering University of California Santa Barbara USA

For almost a decade, Content-Based Information Retrieval has been an active research area, yet two fundamental problems remain largely unsolved: how best to learn users' query concepts, and how to measure perceptual similarity. To learn subjective query concepts, most systems use relevance feedback techniques. However, these traditional techniques often require a large number of training instances to converge to a concept, and a typical online user may be too impatient to provide much feedback. Thus traditional relevance feedback techniques are ineffective. To measure perceptual similarity, most researchers employ the Minkowski metric or the L-norm distance function. Our extensive data-mining experiments on visual data show that, unfortunately, the Minkowski-type metric is ineffective in modeling perceptual similarity. In this paper, we report the progress we have made recently in developing more effective methods for learning and measuring perceptual similarity, and our future research plans.

关键词： Support vector machines Multimedia communication

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Video fade detection by discrete line identification

Video fade detection by discrete line identification

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International conference on Pattern Recognition

作者： S.J.F. Guimaraes A. de Albuquerque Araujo M. Couprie N.J. Leite NPDI/DCC UFMG Brazil A2SI ESIEE France IC-UNICAMP Brazil

The video segmentation problem can be regarded as a problem of detecting the fundamental video units (shots). Due to different ways of linking two consecutive shots this task turns out to be difficult. In this work, we propose a method to detect a type of gradual transition, the fade, by image segmentation tools instead of using dissimilarity measures or mathematical models. Firstly, the video is transformed into a 2D image considering the histogram information, called visual rhythm by histogram. Afterwards, we apply image processing tools to detect specified patterns in this image.

关键词： Gunshot detection systems Histograms image edge detection image segmentation image processing image analysis Rhythm Joining processes Mathematical model X-ray imaging

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