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European Conference on Ambient Intelligence (AmI)

作者： Merdivan, Erinc Singh, Deepika Hanke, Sten Holzinger, Andreas AIT Austrian Inst Technol GmbH Wiener Neustadt Austria Cent Supelec Metz France Med Univ Graz Inst Med Informat Stat HCI KDD Holzinger Grp Graz Austria

The most fundamental communication mechanism for interaction is dialogues involving speech, gesture, semantic and pragmatic knowledge. Various researches on dialogue management have been conducted focusing on standardized model for goal oriented applications using machine learning and deep learning models. The paper presents the overview on existing methods for dialogue manager training;their advantages and limitations. Furthermore, a new image-based method is used in Facebook bAbI Task 1 dataset in Out Of Vocabulary setting. The results show that using dialogue as an image performs well and helps dialogue manager in expanding out of vocabulary dialogue tasks in comparison to Memory Networks.

关键词： dialogue system image-based method chatbots

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image-based Position Control of Mobile Robots With a Completely Unknown Fixed Camera

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IEEE TRANSACTIONS ON AUTOMATIC CONTROL 2018年第9期63卷 3016-3023页

作者： Liang, Xinwu Wang, Hesheng Liu, Yun-Hui Chen, Weidong Jing, Zhongliang Shanghai Jiao Tong Univ Sch Aeronaut & Astronaut Shanghai 200240 Peoples R China Shanghai Jiao Tong Univ Dept Automat Shanghai 200240 Peoples R China Minist Educ China Key Lab Syst Control & Informat Proc Shanghai 200240 Peoples R China Chinese Univ Hong Kong Dept Mech & Automat Engn Hong Kong Hong Kong Peoples R China

In this paper, we consider the position control problem of nonholonomic mobile robots, i.e., the regulation of mobile robots to a desired position specified by the image position of a feature point onboard the mobile robot, by using visual feedback information from an overhead fixed camera. Many vision-based control approaches have been proposed for motion control of nonholonomic mobile robots, however, they usually assume that exact or approximate knowledge of full/partial intrinsic and/or extrinsic parameters of the camera can be available, and large or even very small errors in these parameters can deteriorate the control performance, reduce the control accuracy, and even affect the system stability. Hence, it is interesting and highly desirable to develop vision-based controllers without depending on the camera parameters, from both control performance and controller implementation perspectives. With this in mind, we propose novel image-based position control schemes for nonholonomic mobile robots completely without knowing the camera parameters. In the proposed schemes, neither accurate nor approximate knowledge about the camera intrinsic and extrinsic parameters is required, and the totally unknown camera can be mounted on the ceiling with an arbitrary pose, which can make the controller implementation very simple and flexible. Experimental results are provided to show the feasibility and effectiveness of the proposed schemes.

关键词： image-based method nonholonomic mobile robots position control unknown fixed camera visual servoing

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Dialogue Systems for Intelligent Human Computer Interactions

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Electronic Notes in Theoretical Computer Science 2019年 343卷 57-71页

作者： Erinc Merdivan Deepika Singh Sten Hanke Andreas Holzinger AIT Austrian Institute of Technology GmbH Wiener Neustadt Austria CentraleSupelec Metz France Holzinger Group HCI-KDD Institute for Medical Informatics/Statistics Medical University Graz Austria

The most fundamental communication mechanism for interaction is dialogues involving speech, gesture, semantic and pragmatic knowledge. Various researches on dialogue management have been conducted focusing on standardized model for goal oriented applications using machine learning and deep learning models. The paper presents the overview on existing methods for dialogue manager training; their advantages and limitations. Furthermore, a new image-based method is used in Facebook bAbI Task 1 dataset in Out Of Vocabulary setting. The results show that using dialogue as an image performs well and helps dialogue manager in expanding out of vocabulary dialogue tasks in comparison to Memory Networks.

关键词： dialogue system image-based method chatbots

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Performance Evaluation of an image-Space Observer-based Visual Servoing System

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ELECTRICAL ENGINEERING IN JAPAN 2016年第2期196卷 34-43页

作者： Okiyama, Ko Murakami, Toshiyuki Keio Univ Tokyo 108 Japan

In recent years, robots have come to be required to operate in various environments and situations. Therefore, robots have to recognize the environment they are in and adapt to any situations that present themselves. The purpose of this research is to increase the tracking speed and robustness of a visual servoing system. A 3-link planar manipulator provided with a CCD camera is used to track the target. In order to track the target, an image-based tracking method, suitable for high-speed tracking, is used. This paper proposes an image-space observer (IOB), which compensates disturbances in the image space. A zero-order hold is introduced to the IOB to enhance the performance of the visual servoing system. The validity of the proposed method is confirmed through experiments.

关键词： visual servoing image-based method image-space observer zero-order hold tracking capability robustness

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Line Segment Grouping and Linking: A Key Step Toward Automated Photogrammetry for Non-Contact Site Surveying

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JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS 2015年第3-4期79卷 371-384页

作者： Dai, Fei Zhu, Zhenhua W Virginia Univ Dept Civil & Environm Engn Morgantown WV 26506 USA Concordia Univ Dept Bldg Civil & Environm Engn Montreal PQ H3G 1M8 Canada

The surveying technique of photogrammetry has been proven to be safe, efficient, and inexpensive to extracting spatial data (i.e. shape, size, position) of infrastructure from collected photos. These data are useful in many infrastructure and construction applications such as quality control and quantity take-off. However, photogrammetry has not been widely used in construction projects because much effort is still needed to convert the image data into a three-dimensional (3D) geometric model in the physical space. More specifically, it demands manually marking object vertices and edges and referencing them across photos. To alleviate this situation, this paper proposes a novel method to group and link line segments in order to automate the object vertices and edges marking process. In the proposed method, small, discontinuous line segments are first detected in an image, and classified into different sets based on the vanishing points they belong to. Within each set, a novel algorithm is created to link the line segments into long line segments. Next, the corner information is derived from the image by a classic corner detector, and utilized to assure the actual locations of endpoints of each obtained long line segment. By removing the remaining ungrouped or unlinked small line segments, the final result is a set of complete and accurate line edges readily to be used in the ensuing step of photogrammetric process. So far, the grouping and classification of line segments have been implemented. The test result from outdoor and indoor images indicates effectiveness and promise of the method in facilitating the automation and broad applications of photogrammetry in construction.

关键词： Non-contact measurement image-based method 3D models Infrastructure Information technology Construction engineering

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Tridimensional Reconstruction Applied to Cultural Heritage with the Use of Camera-Equipped UAV and Terrestrial Laser Scanner

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REMOTE SENSING 2014年第11期6卷 10413-10434页

作者： Xu, Zhihua Wu, Lixin Shen, Yonglin Li, Fashuai Wang, Qiuling Wang, Ran Beijing Normal Univ Key Lab Environm Change & Nat Disaster Minist Educ Beijing 100875 Peoples R China China Univ Min & Technol Ctr Internet Things Xuzhou 221116 Peoples R China China Univ Geosci Fac Informat Engn Wuhan 430074 Peoples R China China Univ Min & Technol Beijing Coll Geosci & Surveying Engn Beijing 100083 Peoples R China

No single sensor can acquire complete information by applying one or several multi-surveys to cultural object reconstruction. For instance, a terrestrial laser scanner (TLS) usually obtains information on building facades, whereas aerial photogrammetry is capable of providing the perspective for building roofs. In this study, a camera-equipped unmanned aerial vehicle system (UAV) and a TLS were used in an integrated design to capture 3D point clouds and thus facilitate the acquisition of whole information on an object of interest for cultural heritage. A camera network is proposed to modify the image-based 3D reconstruction or structure from motion (SfM) method by taking full advantage of the flight control data acquired by the UAV platform. The camera network improves SfM performances in terms of image matching efficiency and the reduction of mismatches. Thus, this camera network modified SfM is employed to process the overlapping UAV image sets and to recover the scene geometry. The SfM output covers most information on building roofs, but has sparse resolution. The dense multi-view 3D reconstruction algorithm is then applied to improve in-depth detail. The two groups of point clouds from image reconstruction and TLS scanning are registered from coarse to fine with the use of an iterative method. This methodology has been tested on one historical monument in Fujian Province, China. Results show a final point cloud with complete coverage and in-depth details. Moreover, findings demonstrate that these two platforms, which integrate the scanning principle and image reconstruction methods, can supplement each other in terms of coverage, sensing resolution, and model accuracy to create high-quality 3D recordings and presentations.

关键词： 3D reconstruction cultural heritage image-based method camera network unmanned aerial vehicle system terrestrial laser scanner

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An image based method for characterising the mechanical behaviour of fabrics. Part I: The measurement of in-plane tensile behaviour

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FIBRES & TEXTILES IN EASTERN EUROPE 2008年第1期16卷 72-75页

作者： Xin, Binjie Hu, Jinlian Hong Kong Polytech Univ Inst Textile & Clothing Kowloon Hong Kong Peoples R China

The characterisation of fabric mechanical properties including tensile, bending, shearing, compressing and fracture was investigated by an image based method In this paper an in-plane strain-stress measurement system was built using the Kawabata Evaluation System (KES) attached to a set of image digitalisation and analysis modules. The trajectory tracking method based on image analysis was used to calculate the displacement and distortion of reference points printed on a fabric surface under a certain load, so as to determine the displacement and strain distribution field of the specimen. The two-dimensional displacement distribution field and related parameters were used to define the in-plane deformation of fabrics instead of the traditional one-dimensional strain-stress curve. The relationship between strain values determined by the Kawabata Evaluation System and those obtained by the image-based method was analysed, and the experimental results show that the image-based method is effective and simple to characterise both the global and local strains two dimensionally.

关键词： fabrics mechanical properties image-based method displacement shape deformation Kawabata Evaluation System

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Comparison of Basic Visual Servoing methods

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IEEE-ASME TRANSACTIONS ON MECHATRONICS 2011年第5期16卷 967-983页

作者： Janabi-Sharifi, Farrokh Deng, Lingfeng Wilson, William J. Ryerson Univ Dept Mech & Ind Engn Robot Mechatron & Mfg Automat Lab Toronto ON M5B 2K3 Canada MDA Robot Brampton ON L6S 4J3 Canada Univ Waterloo Dept Elect & Comp Engn Waterloo ON N2L 3G1 Canada

In this paper, comparison of the position-based and image-based robot visual servoing methods is investigated, with an emphasis on the system stability, robustness, sensitivity, and dynamic performance in the Cartesian and image spaces. A common comparison framework using both predefined and taught references is defined in the context of the sensory task space robot control approach. The camera, target, and robot modeling errors in the system are considered in the comparison. Both methods are shown to be locally asymptotically stable and locally robust with respect to modeling errors. While the two methods are shown to be comparable and sensitive to the camera and target modeling errors when using predefined references, they are insensitive to these errors when using taught references. However, the system Cartesian and image trajectories and time-to-converge are affected by the camera, target, and robot modeling errors regardless of the type of references. Finally, other fundamental characteristics of the two methods including sensory task space singularity and local minima, motion coupling, and implementation issues are also compared. The comparison results are verified in simulations.

关键词： image-based method optomechatronics position-based method robot visual servoing (RVS)

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Study of an image-derived SUV and a modified SUV using mouse FDG-PET

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NUCLEAR MEDICINE AND BIOLOGY 2011年第3期38卷 353-362页

作者： Zheng, Xiujuan Yu, Chin-Lung Sha, Wei Radu, Caius Huang, Sung-Cheng Feng, Dagan Hong Kong Polytech Univ Dept Elect Informat Engn Kowloon Hong Kong Peoples R China Univ Calif Los Angeles David Geffen Sch Med Dept Mol & Med Phamacol Los Angeles CA 90024 USA Univ Sydney Sch Informat Technol Sydney NSW 2006 Australia

Introduction: Standard uptake value (SUV) is calculated without consideration of the differences in plasma 2-deoxy-2-[18F]fluoro-D-glucose (FDG) clearance. Its variability can be affected by changes of the amount of excreted FOG by renal function. Moreover, the estimation of SUV is quite sensitive to errors in the measurements of body weight and injected dose. This study aims to develop an image-based method to obtain an image-derived SUV (iSUV) and a modified SUV (mSUV) to overcome these problems. methods: Thirty-one tumor-planted SCID mice were scanned in micro-positron emission tomography (PET) at similar to 60 min post FDG injection and then scanned in micro-computed tomographic (CT). Using image-based method, the body weight and injected dose were derived from the microPET/CT images to calculate iSUV. The volumes and the total activities of FOG within the bladder and the whole-body were also obtained to calculate mSUV. For the selected targets, the iSUVs and mSUVs were compared against their corresponding SUVs. Results: Compared with SUV factor (injected dose/body weight), iSUV factor had an average percentage error of -0.7%. The linear regressions between SUV and iSUV had a slope of 0.99 with correlation coefficient of 0.95. Compared with SUV and iSUV, coefficient of variation of mSUV decreased while the tumor-to-background separation of mSUV increased. Conclusions: Using this image-based method, the iSUV can replace SUV when the actual measurements were missing or unreliable. The mSUV can reduce the inter-subject variability and enhance the tumor-to-background separation in mouse FDG-PET studies. (C) 2011 Elsevier Inc. All rights reserved.

关键词： FDG-PET Standard uptake value image-based method Tumor-to-background separation

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Measuring BRDF using a single still digital camera

Measuring BRDF using a single still digital camera

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International Conference on Optical Instruments and Technology (OIT) - Optoelectronic Imaging and Processing Technology

作者： Xiong Hanwei Xu Jun Wang Jinming Guangdong Univ Technol Guangzhou Higher Educ Mega Ctr Fac Electromech Engn Guangzhou Guangdong Peoples R China

ISBN: (纸本)9780819488411

BRDF (Bidirectional Reflective Distribution Function) is broadly used in many fields, such as physics, heat transformation, remote sensing, and computer graphics. Traditional methods to measure BRDF are expensive for most peoples, and image based approach becomes a novel direction. Until now, for such an image based system, at least a video camera and a still camera are indispensible, and the operations are not easily carried out under a convenient condition. In this paper, a method using only one still camera is proposed, with the help of a light source, a cylinder support, and a sphere. The material to be measured is painted on the sphere, putting on the cylinder support painted with BRDF-known material. Around the cylinder support, a simple control points nets are distributed. In the measurement process, the light source and the support are fixed, operators goes around the sphere to obtain pictures at different view angles and the rest work is finished automatically by a set of programs. The pictures are first processed by a photogrammetric program to get the geometry in the scene, including the positions, directions, and the shapes of light source, the support, the sphere, and the cameras. The BRDF samples are calculated from the image intensity and the obtained geometric relations, which are approximated by a multivariable spline to get a full BRDF description. Three different materials are tested with the method.

关键词： BRDF (Bidirectional Reflective Distribution Function) image-based method

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