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检索条件"主题词=Algorithm Development"

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Road detection and tracking for autonomous mobile robots

Road detection and tracking for autonomous mobile robots

引用

Conference on Unmanned Ground Vehicle Technology IV

作者： Hong, TH Rasmussen, C Chang, T Shneier, M Natl Inst Stand & Technol Intelligent Syst Div Gaithersburg MD 20899 USA

ISBN: (纸本)0819444650

As part of the Army's Demo III project, a sensor-based system has been developed to identify roads and to enable a mobile robot to drive along them. A ladar sensor, which produces range images, and a color camera are used in conjunction to locate the road surface and its boundaries. Sensing is used to constantly update an internal world model of the road surface. The world model is used to predict the future position of the road and to focus the attention of the sensors on the relevant regions in their respective images. The world model also determines the most suitable algorithm for locating and tracking road features in the images based on the current task and sensing information. The planner uses information from the world model to determine the best path for the vehicle along the road. Several different algorithms have been developed and tested on a diverse set of road sequences. The road types include some paved roads with lanes, but most of the sequences are of unpaved roads, including dirt and gravel roads. The algorithms compute various features of the road images including smoothness in the world model map and in the range domain, and color features and texture in the color domain. Performance in road detection and tracking are described and examples are shown of the system in action.

关键词： Roads Sensors LIDAR Detection and tracking algorithms Cameras Image segmentation Data modeling Sensory processes Mobile robots algorithm development

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Image reconstruction from cone-beam data on a circular short-scan

Image reconstruction from cone-beam data on a circular short...

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Medical Imaging 2002 Conference

作者： Noo, F Heuscher, DJ Univ Utah Dept Radiol Salt Lake City UT 84108 USA

ISBN: (纸本)0819444294

3D image reconstruction from cone-beam projections on a circular short-scan is analyzed using the tools of CB reconstruction theory. By definition, CB Data on a circular short-scan do not provide enough information for exact reconstruction outside the plane, of the source path. However, circular short-scans are attractive in many applications due to practical constraints on the data acquisition geometry. This work attemps at determining the optimal tomographic capabilities of CB imaging with circular short-scan. Two new algorithms are suggested for reconstruction and tested on the FORBILD head phantom with a large cone angle. The results are very encouraging.

关键词： Reconstruction algorithms Sensors Data acquisition Image restoration Tomography Head Radon transform 3D image reconstruction algorithm development Discretization errors

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Enhancement of the downhill simplex method of optimization

Enhancement of the downhill simplex method of optimization

引用

International Optical Design Conference

作者： Koshel, RJ Breault Res Org Inc Tucson AZ 85715 USA

ISBN: (纸本)0819446084

The downhill simplex method of optimization is a "geometric" method to achieve function minimization. The standard algorithm uses arbitrary values for the deterministic factors that describe the "movement" of the simplex in the merit space. While it is a robust method of optimization, it is relatively slow to converge to local minima. However, its stability and the lack of use of derivates make it useful for optical design optimization, especially for the field of illumination. This paper. describes preliminary efforts of optimizing the performance of the simplex optimizer. This enhancement is accomplished by optimizing the various control factors: alpha (reflection), beta (contraction), and gamma (expansion). This effort is accomplished by investigating the "end game" of optimal design, i.e., the shape of the figure of merit space is parabolic in N-dimensions near local minima. The figure of merit for, the control factor optimization is the number of iterations to achieve a solution in comparison to the same case using the standard control factors. This optimization is done for parabolic wells of order N = 2 to 15. In this study it is shown that with the correct choice of the control factors, one can achieve up to a 35% improvement in convergence. Techniques using gradient weighting and the inclusion of additional control factors are proposed.

关键词： algorithm development Optical design Tolerancing Compound parabolic concentrators Diamond Optimization (mathematics) Standards development Geometrical optics Physics Roads

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Using source separation methods for end-member selection

Using source separation methods for end-member selection

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Conference on algorithms and Technologies for Multispectral, Hyperspectral, and Ultraspectral Imagery VIII

作者： Kuan, CY Healey, G Univ Calif Irvine Dept Elect & Comp Engn Irvine CA 92697 USA

ISBN: (纸本)0819444758

We develop a method for automatic end-member selection in hyperspectral images. The method models a hyperspectral pixel as a linear mixture of an unknown number of materials. In contrast to many end-member selection methods, the new method selects end-members based on the statistics of large numbers of pixels rather than attempting to identify a small number of the purest pixels. The method is based on maximizing the independence of material abundances at each pixel. We show how independent component analysis algorithms can be adapted for use with this problem. We show properties of the method by application to synthetic hyperspectral data.

关键词： Independent component analysis Hyperspectral imaging algorithm development Computer engineering

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Quantum models of Parrondo's games

Quantum models of Parrondo's games

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International Symposium on Smart Materials, Nano-, and Micro-Smart Systems

作者： Flitney, AP Abbott, D Univ Adelaide CBME Adelaide SA 5005 Australia

ISBN: (纸本)0819447315

it is possible to have two games,that are losing when played in isolation but that, because of some form of feedback, produce a winning game when played alternately or even in a random mixture. This effect is known as Parrondo's paradox. Quantum mechanics provides novel methods of combining two games through interference and entanglement. Two models of quantum Parrondo's games have been published and these are reviewed here. We speculate on a model of a quantum Parrondo's game using entanglement. Such games could find a use in the development of algorithms for quantum computers.

关键词： Quantum communications Particles Quantum physics Quantum information algorithm development Quantum computing Quantum mechanics Computing systems Constructive interference Superposition

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Alternating phase shift mask inspection using multiple simultaneous illumination techniques

Alternating phase shift mask inspection using multiple simul...

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Conference on Photomask and Next-Generation Lithography Mask Technology IX

作者： Zurbrick, L Heumann, J Rudzinski, M Stokowski, S Urbach, JP Wang, LT KLA Tencor Corp San Jose CA 95134 USA

ISBN: (纸本)0819445177

This paper discusses the challenges to alternating phase shift mask defect inspection and new approaches for phase defect detection using multiple illumination methods in conjunction with defect detection algorithm modifications. Die-to-die inspection algorithms were developed for the KLA-Tencor 365UV-HR (APS algorithm) and TeraStar SLF27 (TeraPhase algorithm) inspection systems based upon the use of simultaneous transmitted and reflected light signals. The development of an AltPSM programmed test vehicle is described and defect sensitivity characterization results from programmed phase defect reticles are presented. A comparison of the two approaches used for the different inspection systems is discussed. A comparison of TeraPhase to transmitted light only results from a programmed phase defect test mask shows improved phase defect detection results.

关键词： Inspection Phase shift keying Defect detection Phase shifts Photomasks algorithm development Defect inspection Detection and tracking algorithms Quartz Etching

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Encoder-based rate smoothing and quality control for low delay video coding and communication

Encoder-based rate smoothing and quality control for low del...

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Conference on Visual Communications and Image Processing 2002

作者： He, ZH Chen, CW Interact Media Grp Princeton NJ 08543 USA

ISBN: (纸本)0819444111

An encoder-based rate smoothing technique is developed to reduce the rate burstiness in video coding. At first, we propose a new source model to accurately estimate the rate-distortion (R-D) function of each video frame with very low computational complexity. Based on the estimated R-D function, in the second step, we propose a rate smoothing algorithm to make a tradeoff between the constant bit rate and the constant picture quality. The tradeoff forces the output video stream to have both a smoothed rate shape and a consistent video presentation quality, which is highly desirable in video coding and transportation.

关键词： Video Video coding Quantization Computer programming Detection and tracking algorithms Image compression algorithm development Binary data Data modeling Distortion

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Relation between bulk temperature based on in situ temperature profiles and NOAA-AVHRR sea surface temperature data for lake constance

Relation between bulk temperature based on in situ temperatu...

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Conference on Remote Sensing for Agriculture, Ecosystems, and Hydrology III

作者： Thiemann, S Haese, C Heege, T German Aerosp Ctr Remote Sensing Technol Inst D-82230 Wessling Germany

ISBN: (纸本)0819442674

The determination of phytoplankton primary production is one key future application of remote sensing data in Lake Constance. One of the main influencing factors of the maximum photosythetic rate in waters is the bulk temperature. From satellite data like NOAA-AVHRR, the skin temperature can be retrieved at high temporal resolution. However, as parameter for primary production, the bulk temperature in the mixed water layer is needed. In this study, an extensive multi-temporal set of AVHRR data is used to set up a relationship between lake skin temperature from satellite data and the bull: temperature in 0.1 in depth from in situ temperature profiles. Temperature profiles exist for a fixed station in Lake Constance in 20 min intervals over the last twelve years. From 245 cloudless AVHRR-scenes for the years 1995 until 1999, the skin temperature was derived using the split window technique. Different approaches of this technique are intercompared for their accuracy for Lake Constance. In a future step, the bulk temperature in the upper 4 in and the depth of the mixed layer will be determined for input in a primary production model. Multiple regression analysis as well as a neural network approach will be used for the prediction of the bulk temperature from the skin temperature for Lake Constance.

关键词： Satellites algorithm development Temperature metrology Skin Neural networks Calibration Remote sensing Data centers Sensors Temporal resolution

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Unsupervised change detection methods for remote sensing images

Unsupervised change detection methods for remote sensing ima...

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Conference on Image and Signal Processing for Remote Sensing VII

作者： Melgani, F Moser, G Serpico, SB Univ Genoa Dept Biophys & Elect Engn I-16145 Genoa Italy

ISBN: (纸本)0819442666

An unsupervised change detection problem can be viewed as a classification problem with only two classes corresponding to the change and no-change areas, respectively. Due to its simplicity, image differencing represents a popular approach for change detection. It is based on the idea to generate a difference image that represents the modulus of the spectral change vector associated to each pixel in the study area. To separate the change and no-change classes in the difference image, a simple thresholding-based procedure can be applied. However, the selection of the best threshold value is not a trivial problem. In the present work, several simple thresholding methods are investigated and compared. The combination of the Expectation-Maximization algorithm with a thresholding method is also considered with the aim of achieving a better estimation of the optimal threshold value. For experimental purpose, a study area affected by a forest fire is considered. Two Landsat TM images of the area acquired before and after the event are utilized to reveal the burned zones and to assess and compare the above mentioned unsupervised change detection methods.

关键词： Expectation maximization algorithms Principal component analysis Image classification Remote sensing Multispectral imaging Statistical analysis Earth observing sensors Landsat algorithm development Detection and tracking algorithms

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Distributed GA for large system identification problems

Distributed GA for large system identification problems

引用

Conference on Smart Nondestructive Evaluation for Health Monitoring of Structural and Biological Systems

作者： Koh, CG Wu, LP Liaw, CY Natl Univ Singapore Dept Civil Engn Singapore 119260 Singapore

ISBN: (纸本)0819444502

Non-destructive monitoring of structures may be achieved by system identification to evaluate key parameters. Unfortunately many system identification methods that work for small systems do not necessarily give convergence for large systems. In recent years, the use of genetic algorithms (GA) has shown promising potential for parameter identification of complex systems owing to its many inherent advantages. For large systems involving many degrees of freedom and unknown parameters, the computational effort required by the GA approach may still be prohibitive. The main bulk, of computational time lies in the numerous forward analyses that need to be carried out. With rapid advances in computer hardware, especially networking technology, nevertheless, the feasibility of applying the GA approach to large system identification problems has become closer to reality even by using low-cost personal computers. Distributed computing can be easily employed to expedite the GA search, thanks to the high concurrency of the GA approach. In this study, a parallel version of a hybrid algorithm of GA and local search is developed for distributed computing. The implementation involves a manager computer running the main algorithm, which distributes data files to many worker computers connected on the network. Each worker computer carries out the forward analysis with the assigned parameter set and, when completed, sends the output file to the manager computer, Numerical examples are presented to show that this approach is generally workable and robust.

关键词： System identification Distributed computing Computer networks algorithm development Computer hardware Genetic algorithms Nondestructive evaluation Civil engineering Complex systems Computing systems

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