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Rapid shallow coastal coral reef mapping using the teardrop system

Rapid shallow coastal coral reef mapping using the teardrop ...

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OCEANS 2012 MTS/IEEE Hampton Roads Conference: Harnessing the Power of the Ocean

作者： Corpuz, Francis James Naval Jr., Prospero Capili, Eusebio Jauod, Jaylord Judilla, Roel John Soriano, Maricor Vision and Image Processing Group National Institute of Physics University of the Philippines Diliman Quezon City Philippines Computer Vision and Machine Intelligence Group Department of Computer Science University of the Philippines Diliman Quezon City Philippines Mapua Robotics Center Institutional Laboratory Mgmt Office Mapua Institute of Technology Intramuros Manila Philippines

ISBN: (纸本)9781467308298

We present a rapid shallow coastal reef mapping system using a previously developed inexpensive diver less video capture system coupled with a fast-image mosaicking technique, using an affordable GPS logging device. The system replaces the traditional manta tow system of assessing and monitoring large areas of coastal coral reefs and at the same time provides historical visual record for future references. The system utilizes Teardrop, a hollow, teardrop-shaped that houses a commercial underwater point-and-shoot camera. The camera is set to video mode and captures video of the reef while the Teardrop is being towed by a wooden fishing boat. The resulting video is parsed into frames and mosaicked by using fast image labeling. The approximate location of the mosaicked images is recorded by using an inexpensive GPS logger. The coordinates are embedded on the mosaicked images and overlaid on mapping software such as Google Earth for visual record and spatial information integration. The same points are used to compute for the total distance covered by the capturing process. The whole process from coral reef video capture to mosaicking the images and finally embedding the mosaics in mapping software can be done in as short as 1 day, providing coastal managers and local government units with a tool to rapidly visualize and monitor shallow coral reefs. © 2012 IEEE.

关键词： Mapping

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A network based vulnerability scanner for detecting SQLI attacks in web applications

A network based vulnerability scanner for detecting SQLI att...

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International Conference on Recent Advances in Information Technology (RAIT)

作者： Avinash Kumar Singh Sangita Roy Robotics and Artificial Intelligence Laboratory Indian Institute of Information Technology Allahabad India Department of Computer Science & Engineering Indian Institute of Technology Patna India

Today is the world of information era, where information is available on just our single click. Web applications are playing a magnificent role in this, every organizations are mapping their business from a room to the world with the help of these Web Apps. Web applications generally consist of a three tier architecture where database is in the third pole, which is the most valuable assets in any organization, as the adaptation of web applications are increases day by day, various attacks are possible against this. SQL injection is an attack in which an attacker directly compromises the database, that's why this is a most threatening attack. Various Vulnerability scanners has been proposed to deal with this, but none of them are able to detect SQLI completely, the existing tools have the accuracy ratio very less as well as they produce a high rate of false positive, apart from that all these tools take much time to scan. So here we are presenting a network based vulnerability scanner approach which provides a better coverage and with no false positive within a short span of time.

关键词： Databases Servers Testing Payloads Information technology Security Libraries

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Coral reef mosaicking using Teardrop and Fast Image Labeling

Coral reef mosaicking using Teardrop and Fast Image Labeling

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OCEANS - Europe

作者： Francis James Corpuz Prospero Naval Eusebio Capili Jaylord Jauod Roel John Judilla Maricor Soriano Vision and Image Processing Group Instrumentation Physics Laboratory National Institute of Physics Computer Vision and Machine Intelligence Group Department of Computer Science College of Engineering University of Philippines Quezon Philippines Computer Vision and Machine Intelligence Group Department of Computer Science College of Engineering University of Philippines Quezon Philippines Mapua Robotics Center Special Projects Laboratory Institutional Laboratory Mgmt Office Mapua Institute of Technology Manila Philippines Vision and Image Processing Group Instrumentation Physics Laboratory National Institute of Physics University of Philippines Quezon Philippines

In this paper, we present an inexpensive system for diverless video capture and fast image stitching of image frames for rapid reef assessment of shallow coral reefs. Our system has two main components: 1) Teardrop, a boat-towable, winged hull apparatus designed to house a commercial digital camera, and 2) a mosaicking algorithm to stitch the coral reef video into mosaics for further appreciation and analysis. The captured reef video is then separated into image frames which are to be stitched sequentially using Fast Image Labeling. The overlap between image frames is estimated using Single-Step DFT, an efficient sub-pixel estimation algorithm. The estimated overlap is used to compute for the area to be added to the mosaic space. The overlapping section between succeeding image-pairs are stitched along a seam determined by a minimal-cost path using dynamic programming. The visibility of the seam boundaries is further minimized by utilizing blending on multi-resolution splines. Experimental results on automated reef mosaics creation from actual coral reef video taken using Teardrop shows the performance of the system described. The main contribution of this work is the demonstration of a rapid reef visualization system using a diverless system and commercially available, non-research-grade imaging equipment.

关键词： Image segmentation Sea measurements Cameras Labeling Discrete Fourier transforms Sea floor

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Towards improving mission execution for autonomous gliders with an ocean model and kalman filter

Towards improving mission execution for autonomous gliders w...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Ryan N. Smith Jonathan Kelly Gaurav S. Sukhatme School of Engineering Systems Queensland University of Technology Brisbane QLD Australia Robust Robotics Group Computer Science and Artificial Intelligence Laboratory Massachusetts Institute of Technology Cambridge MA USA Robotic Embedded Systems Laboratory Department of Computer Science University of Southern California Los Angeles CA USA

Effective execution of a planned path by an underwater vehicle is important for proper analysis of the gathered science data, as well as to ensure the safety of the vehicle during the mission. Here, we propose the use of an unscented Kalman filter to aid in determining how the planned mission is executed. Given a set of waypoints that define a planned path and a dicretization of the ocean currents from a regional ocean model, we present an approach to determine the time interval at which the glider should surface to maintain a prescribed tracking error, while also limiting its time on the ocean surface. We assume practical mission parameters provided from previous field trials for the problem set up, and provide the simulated results of the Kalman filter mission planning approach. The results are initially compared to data from prior field experiments in which an autonomous glider executed the same path without pre-planning. Then, the results are validated through field trials with multiple autonomous gliders implementing different surfacing intervals simultaneously while following the same path.

关键词： Navigation Vehicles Sea surface Trajectory Kalman filters Uncertainty

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Reports of the AAAI 2010 fall symposia

Reports of the AAAI 2010 fall symposia

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作者： Azevedo, Roger Biswas, Gautam Bohus, Dan Carmichael, Ted Finlayson, Mark A. Hadzikadic, Mirsad Havasi, Catherine Horvitz, Eric Kanda, Takayuki Koyejo, Oluwasanmi Lawless, William F. Lenat, Doug Meneguzzi, Felipe Mutlu, Bilge Oh, Jean Pirrone, Roberto Raux, Antoine Sofge, Donald A. Sukthankar, Gita Van Durme, Benjamin Yorke-Smith, Neil Department of Educational and Counseling Psychology McGill University Canada Center for Intelligent Systems Vanderbilt University United States Microsoft Research Redmond United States Department of Software and Information Systems University of North Carolina Charlotte United States Complex Systems Institute United States Computer Science and Artificial Intelligence Laboratory Massachusetts Institute of Technology United States Media Lab. Massachusetts Institute of Technology United States ATR Intelligent Robotics and Communication Laboratories Kyoto Japan Department of Electrical and Computer Engineering University of Texas Austin United States Department of Mathematics Paine College Augusta GA United States Cycorp Austin TX United States Robotics Institute Carnegie Mellon University United States Department of Computer Sciences University of Wisconsin Madison United States University of Palermo Italy Honda Research Institute United States Navy Center for Applied Research in Artificial Intelligence Naval Research Laboratory Washington DC United States Department of Electrical Engineering and Computer Science University of Central Florida United States Department of Computer Science Johns Hopkins University United States American University of Beirut Lebanon SRI International's Artificial Intelligence Center United States

The Association for the Advancement of artificial intelligence (AAAI) presented the 2010 Fall Symposium Series on November 11-13, 2010. The eight symposia included Cognitive and Metacognitive Educational Systems, Commonsense Knowledge, Complex Adaptive Systems: Resilience, Robustness, and Evolvability, Computational Models of Narrative, Dialog with Robots, Manifold Learning and Its Applications, Proactive Assistant Agents and Quantum Informatics for Cognitive, Social, and Semantic Processes. Cognitive and Metacognitive Educational Systems aimed to provide a comprehensive definition of metacognitive educational systems that is inclusive of the theoretical, architectural, and educational aspects of this field. The AAAI Commonsense Knowledge Fall Symposium had the goal of bringing together the diverse elements of this community whose work benefits from or contributes to the representation of general knowledge about the world. One of the specific goals of Proactive symposium was to gather the researchers from various projects in assistant agents to share their wisdom in retrospect.

关键词： Semantics

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Persistent Ocean Monitoring with Underwater Gliders: Towards Accurate Reconstruction of Dynamic Ocean Processes

Persistent Ocean Monitoring with Underwater Gliders: Towards...

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2011 IEEE International Conference on robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)

作者： Ryan N. Smith Mac Schwager Daniela Rus Stephen L. Smith Gaurav S. Sukhatme School of Engineering Systems at the Queensland University of Technology BrisbaneQLD4000 Australia GRASP Lab University of PennsylvaniaPhiladelphiaPA 19104USA Distributed Robotics Lab Computer Science and Artificial Intelligence LaboratoryMassachusetts Insti Robotic Embedded Systems Laboratory Department of Computer ScienceUniversity of Southern California

This paper proposes a path planning algorithm and a velocity control algorithm for underwater gliders to persistently monitor a patch of ocean. The algorithms address a pressing need among ocean scientists to collect high-value data for studying ocean events of scientific and environmental interest, such as the occurrence of harmful algal blooms. The path planner optimizes a cost function that blends two competing factors: it maximizes the information value of the path, while minimizing the deviation from the path due to ocean currents. The speed control algorithm then optimizes the speed along the planned path so that higher resolution samples are collected in areas of higher information value. The resulting paths are closed circuits that can be repeatedly traversed to collect long term ocean data in dynamic environments. The algorithms were tested during sea trials on an underwater glider operating off the coast of southern California over the course of several weeks. The results show significant improvements in data resolution and path reliability compared to a sampling path that is typically used in the region.

关键词： Oceans Heuristic algorithms Vehicles Monitoring Sea measurements Vehicle dynamics Read only memory

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Reports of the AAAI 2010 spring symposia

Reports of the AAAI 2010 spring symposia

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作者： Barkowsky, Thomas Bertel, Sven Broz, Frank Chaudhri, Vinay K. Eagle, Nathan Genesereth, Michael Halpin, Harry Hamner, Emily Hoffmann, Gabe Hölscher, Christoph Horvitz, Eric Lauwers, Tom McGuinness, Deborah L. Michalowski, Marek Mower, Emily Shipley, Thomas F. Stubbs, Kristen Vogl, Roland Williams, Mary-Anne Cognitive Systems Group University of Bremen Research Center SFB/TR 8 Spatial Cognition Germany Human Factors Division Beckman Institute for Advanced Science and Technology University of Illinois Urbana-Champaign IL United States Adaptive Systems Research Group Computer Science Department University of Hertfordshire United Kingdom Artificial Intelligence Center at SRI International United States Txteagle Inc. MIT Media Laboratory United States Computer Science Department Stanford University United States University of Edinburgh United Kingdom Robotics Institute Carnegie Mellon University United States Palo Alto Research Center United States Center for Cognitive Science University of Freiburg Germany CREATE lab Carnegie Mellon Robotics Institute United States Rensselaer Polytechnic Institute United States University of Southern California United States Department of Psychology Temple University Spatial Intelligence and Learning Center United States IRobot Corporation United States Stanford Program in Law Science and Technology Stanford University Law School United States Innovation and Enterprise Research Laboratory University of Technology Sydney Australia

The Association for the Advancement of artificial intelligence, in cooperation with Stanford University's department of computer science, presented the 2010 Spring Symposium Series Monday through Wednesday, March 22-24, 2010, at Stanford University. The titles of the seven symposia were artificial intelligence for Development;Cognitive Shape Processing;Educational robotics and Beyond: Design and Evaluation;Embedded Reasoning: intelligence in Embedded Systems;Intelligent Information Privacy Management;It's All in the Timing: Representing and Reasoning about Time in Interactive Behavior;and Linked Data Meets artificial intelligence. Copyright © 2010.

关键词： Embedded systems

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Welcome from the technical program chairs

Welcome from the technical program chairs

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IEEE International Conference on Pervasive Computing and Communications (PerCom)

作者： Jadwiga Indulska Claudio Bettini Roy Campbell Cecilia Mascolo Centro E. Piaggio and the Department of Information Engineering University of Pisa Pisa Italy Computer Science and Artificial Intelligence Laboratory Massachusetts Institute of Technology Cambridge MA USA “Soft Robotics for Human Cooperation and Rehabilitation” Lab Istituto Italiano di Tecnologia Genoa Italy

A warm welcome to the Ninth Annual IEEE International Conference on Pervasive Computing and Communications (PerCom 2011). We are very excited to introduce you to the technical program of our conference that this year includes 27 papers representing high-quality research conducted over the broad spectrum of topics related to pervasive computing.

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Class-specific grasping of 3D objects from a single 2D image

Class-specific grasping of 3D objects from a single 2D image

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2010 IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Han-Pang Chiu Huan Liu Leslie Pack Kaelbling Tomás Lozano-Pérez Vision and Robotics Laboratory Sarnoff Corporation Princeton NJ USA Computer Science and Artificial Intelligence Laboratory Massachusetts Institute of Technology Cambridge MA USA

Our goal is to grasp 3D objects given a single image, by using prior 3D shape models of object classes. The shape models, defined as a collection of oriented primitive shapes centered at fixed 3D positions, can be learned from a few labeled images for each class. The 3D class model can then be used to estimate the 3D shape of a detected object, including occluded parts, from a single image. The estimated 3D shape is used as to select one of the target grasps for the object. We show that our 3D shape estimation is sufficiently accurate for a robot to successfully grasp the object, even in situations where the part to be grasped is not visible in the input image.

关键词： Three dimensional displays Solid modeling Shape Image reconstruction Computational modeling Grasping Training

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Augmented reality approach for paper map visualization

Augmented reality approach for paper map visualization

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International Conference on Communication and Computational intelligence (INCOCCI)

作者： C Adithya K Kowsik D Namrata V S Nageli Sangeeta Shrivastava S Rakshit Department of Information Science B. M. Sreenivasaiah College of Engineering Bangalore India Computer Vision Group Center for Artificial Intelligence and Robotics Bangalore India

Paper map visualization is good value proposition, even in the `everything is digital' world, because of the huge information density and ease of use at any remote or mobile location, especially in the military context. Completely doing away with the paper map brings in a discomfort factor for the military user. In this paper, we present a paper map data visualization solution that augments the information from the digital world onto a spread of a paper map. Augmented Reality techniques are used to enhance paper maps digitally resulting in a 3D visualization space with some interactions. The dynamic information of the terrain, placing virtual objects and interaction are features of the digital world that are superimposed onto a paper map. We have used ARToolkit marker tracking based approach and a see through Head Mounted Device for implementation. The digital elevation data in VRML format is split into smaller bits before rendering. The rendering is done after culling the relevant part of the terrain data and the same is popped up in stereo for enhanced visualization. The user can place virtual objects using markers. The distance between markers (user and reference) is calculated and is used for interactive features. The interaction options are load/select, slice/split and latch/freeze. We have achieved better performance by loading only the region of interest and not the complete terrain. The paper also illustrates the basic hardware set-up required for implementation.

关键词： Augmented reality Data visualization Cameras Three dimensional displays Rendering (computer graphics) Solid modeling Training

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