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International Symposium on Multispectral Image Processing and Pattern Recognition

作者： Zhou, LX Liu, JL Gu, WK Zhejiang Univ Dept Informat Sci & Elect Engn Hangzhou 310027 Peoples R China

ISBN: (纸本)0819430064

This paper presents a robust algorithm for detecting and tracking multiple targets in a long video sequence. What differentiate it from previous approaches are the complex environments, the unconstrained camera motion, as well as the comparatively short distance between the sensor and the targets. Firstly the background motion is estimated by a global LMedS algorithm, then on the compensated difference image a graph-like stochastic procedure is applied for tracking multiple moving objects. Real video experiments show its efficiency.

关键词： ATR motion compensation real-time tracking robust algorithms

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Evaluating signs of determinants using single-precision arithmetic

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ALGORITHMICA 1997年第2期17卷 111-132页

作者： Avnaim, F Boissonnat, JD Devillers, O Preparata, FP Yvinec, M BROWN UNIV DEPT COMP SCIPROVIDENCERI 02912 INST NATL RECH INFORMAT & AUTOMAT F-06560 VALBONNEFRANCE CNRS URA 1376 F-06560 VALBONNEFRANCE

We propose a method of evaluating signs of 2 x 2 and 3 x 3 determinants with b-bit integer entries using only b and (b + 1)-bit arithmetic, respectively. This algorithm has numerous applications in geometric computation and provides a general and practical approach to robustness. The algorithm has been implemented and compared with, other exact computation methods.

关键词： computational geometry exact arithmetic precision robust algorithms

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Revisiting a result of Ko

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INFORMATION PROCESSING LETTERS 1997年第4期61卷 189-194页

作者： Cintioli, P Silvestri, R UNIV ROMA LA SAPIENZA DIPARTIMENTO SCI INFORMAZI-00198 ROMEITALY UNIV CAMERINO DIPARTIMENTO MATEMAT & FISI-62032 CAMERINOMCITALY

In this paper we analyze Ko's Theorem 3.4 in [9]. We extend point (b) of Ko's Theorem by showing that P1-help (UP boolean AND co-UP) = UP boolean AND co-UP. As a corollary, we get the equality P-help (UP boolean AND co-UP)= P1-help (UP boolean AND co-UP), which is, to our knowledge, a unique result of type P1-help (C) = P-help (C), for a class C that would not be equal to P. With regard to point (a) of Ko's Theorem, we observe that it also holds for the classes UP( )k and for FewP. In spite of this, we prove that point (b) of Theorem 3.4 fails for such classes in a relativized world. This is obtained by showing the relativized separation of UP2 boolean AND co-UP2 from P1-help (NP boolean AND co-NP). Finally, we suggest a natural line of research arising from these facts.

关键词： theory of computation computational complexity relativizations robust algorithms

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MOTION AND STRUCTURE FROM FEATURE CORRESPONDENCES - A REVIEW

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PROCEEDINGS OF THE IEEE 1994年第2期82卷 252-268页

作者： HUANG, TS NETRAVALI, AN AT&T BELL LABS MURRAY HILL NJ 07974 USA

We present a review of algorithms and their performance for determining three-dimensional (3D) motion and structure of rigid objects when their corresponding features are known at different times or are viewed by different cameras. Three categories of problems are considered, depending upon whether the features are two-(2D) or three-dimensional (3D) and the type of correspondence: a) 3D to 3D (i.e., locations of corresponding features in 3D space are known at two different times), b) 2D to 3D (i.e., locations of features in 3D space and their projection on the camera plane are known), and c) 2D to 2D (i.e., projections of features on the camera plane are known at two different times). Features considered include points, straight lines, curved lines, and corners. Emphasis is on problem formulation, efficient algorithms for solution, existence and uniqueness of solutions, and sensitivity of solutions to noise in the observed data. algorithms described have been used in a variety of applications. Some of these are: a) positioning and navigating 3D objects in a 3D world, b) camera calibration, i.e., determining location and orientation of a camera by observing 3D features whose location is known, c) estimating motion and structure of moving objects relative to a camera. We mention some of the mathematical techniques borrowed from algebraic geometry, projective geometry, and homotopy theory that are required to solve these problems, list unsolved problems, and give some directions for future research.

关键词： 2D to 2D correspondence 2D to 3D correspondence 3D motion determination 3D object navigation 3D to 3D correspondence algebraic geometry algorithms camera calibration computational geometry corners curved lines feature correspondences feature extraction homotopy theory imaging geometry motion estimation noise sensitivity path planning points position control positioning problem formulation projective geometry review reviews rigid object structure determination robust algorithms straight lines

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CONSTRUCTING STRONGLY CONVEX APPROXIMATE HULLS WITH INACCURATE PRIMITIVES

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ALGORITHMICA 1993年第6期9卷 534-560页

作者： GUIBAS, L SALESIN, D STOLFI, J DEC SYST RES CTR PALO ALTOCA 94301

The first half of this paper introduces Epsilon Geometry, a framework for the development of robust geometric algorithms using inaccurate primitives. Epsilon Geometry is based on a very general model of imprecise computations, which includes floating-point and rounded-integer arithmetic as special cases. The second half of the paper introduces the notion of a (-epsilon)-convex polygon, a polygon that remains convex even if its vertices are all arbitrarily displaced by a distance of epsilon of less, and proves some interesting properties of such polygons. In particular, we prove that for every point set there exists a (-epsilon)-convex polygon H such that every point is at most 4epsilon away from H. Using the tools of Epsilon Geometry, we develop robust algorithms for testing whether a polygon is (-epsilon)-convex, for testing whether a point is inside a (-epsilon)-convex polygon, and for computing a (-epsilon)-convex approximate hull for a set of points.

关键词： COMPUTATIONAL GEOMETRY EPSILON GEOMETRY APPROXIMATE COMPUTATIONS robust algorithms STRONGLY CONVEX POLYGONS CONVEX HULL

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EFFICIENT PARALLEL algorithms CAN BE MADE robust

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DISTRIBUTED COMPUTING 1992年第4期5卷 201-217页

作者： KANELLAKIS, PC SHVARTSMAN, AA DIGITAL EQUIPMENT CORP HUDSONMA 01749

The efficient parallel algorithms proposed for many fundamental problems, such as list ranking, integer sorting and computing preorder numberings on trees, are very sensitive to processor failures. The requirement of efficiency (commonly formalized using Parallel-time x Processors as a cost measure) has led to the design of highly tuned PRAM algorithms which, given the additional constraint of simple processor failures, unfortunately become inefficient or even incorrect. We propose a new notion of robustness, that combines efficiency with fault tolerance. For the common case of fail-stop errors, we develop a general and easy to implement technique to make robust many efficient parallel algorithms, e.g., algorithms for all the problems listed above. More specifically, for any dynamic pattern of fail-stop errors on a CRCW PRAM with at least one surviving processor, our method increases the original algorithm cost by at most a log2 multiplicative factor. Our technique is based on a robust solution of the problem of Write-All, i.e., using P processors, write 1's in all locations of an N-sized array. In addition we show that at least a log/log log multiplicative overhead will be incurred for certain patterns of failures by any algorithm that implements robust solutions to Write-All with P = N. However, by exploiting parallel slackness, we obtain an optimal cost algorithm when P less-than-or-equal-to N/log2 N - log N log log N.

关键词： PARALLEL COMPUTATION FAULT TOLERANCE COMPUTATION COMPLEXITY LOWER BOUNDS robust algorithms

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DYNAMIC STEREO WITH SELF-CALIBRATION

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IEEE TRANSACTIONS ON PATTERN ANALYSIS AND MACHINE INTELLIGENCE 1992年第12期14卷 1184-1189页

作者： TIRUMALAI, AP SCHUNCK, BG JAIN, RC UNIV MICHIGAN ARTIFICIAL INTELLIGENCE LABANN ARBORMI 48109

We present an approach for incremental refinement of disparity maps obtained from a dynamic stereo sequence of a static scene. The approach has been implemented using a binocular stereo vision system mounted on a mobile robot. We present a robust least median of squares (LMS)-based algorithm to recover the camera motion between successive viewpoints, which provides a self-calibration mechanism. The recovered motion is utilized for recursive disparity prediction and refinement using a robust Kalman filter model.

关键词： ACTIVE VISION DEPTH RECOVERY DYNAMIC STEREO ENVIRONMENT MODELING KALMAN FILTERING RECURSIVE ESTIMATION robust algorithms SELF-CALIBRATION SENSOR FUSION 3-D SENSING

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robust adaptive parameter estimators in arrhythmia detection

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Journal of Electrocardiology 1992年第SUPPL.期25卷 207-211页

作者： Clarkson, Peter M. Fan, Qi Williamson, Geoffrey A. Arzbaecher, Robert Department of Electrical and Computer Engineering Illinois Institute of Technology Chicago IL United States Pritzker Institute of Medical Engineering Illinois Institute of Technology Chicago IL United States

The authors consider the statistical analysis of threshold crossing intervals, as applied to estimation of tachycardia rates from intracavitary electrograms. The authors developed a class of robust algorithms designed to produce minimum variance estimates for tachycardia rates. The authors formulated the algorithms using order statistic filters, and obtained the minimum variance unbiased order statistic estimator. The potential gain in efficiency achieved by this approach is demonstrated via a representative example. The results indicated that the order statistics operator can produce dramatic reductions for typical errors in error variance as compared to linear estimators. © 1993.

关键词： intracavitary order statistic filters robust algorithms tachycardia

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A HIGH-SPEED ALGORITHM FOR CIRCULAR OBJECT LOCATION

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PATTERN RECOGNITION LETTERS 1987年第5期6卷 323-333页

作者： DAVIES, ER Machine Vision Group Department of Physics Royal Holloway & Bedford New College Egham Hill Egham Surrey TW20 OEX United Kingdom

This paper analyses how the Hough transform approach to circular object location could be speeded up by at least an order of magnitude — e.g. for certain low-cost automated inspection applications. Image sampling is found to be required and an effective but simply implemented strategy is devised which achieves speedup factors of up to ～25 with real images. The algorithm is highly robust against shape defects and partial occlusions, and in addition robustness is easily monitored in practical situations.

关键词： Edge detection edge orientation round object location Hough transform robust algorithms occlusions industrial automation

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Optimal and robust Methods for Unconditional Optimization

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IFAC Proceedings Volumes 1981年第2期14卷 519-523页

作者： B.T. Poljak Ya.Z. Tsypkin Institute for Control Science Moscow USSR

The asymptotic convergence rate of iterative algorithms for unconditional optimization in the presence of random noise is studied. The optimal algorithm is found, which maximaze the rate of convergence. The algorithm involves the nonlinear transformation of the gradient; the form of the transformation depends on the density of the noise. To find the best algorithm in the situation when the density is unknown we apply robust estimation ideology. We provide the algorithm which is asimptotically minimax for the specified class of densities. Some examples of the optimal and robust algorithms are presented. The numerical experiments verify the theoretical conclusions; they also demonstrate the difference between the asymptotic and nonasymptotic behavior of the algorithms in some cases.

关键词： Optimization mathematical programming adaptive systems stochastic systems convergence of numerical methods iterative methods robust algorithms gradient technique

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