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Proceedings of the twenty-seventh annual ACM symposium on Theory of computing

作者： Lydia E. Kavraki Jean-Claude Latombe Rajeev Motwani Prabhakar Raghavan Robotics Laboratory Department of Computer Science Stanford University Stanford CA Department of Computer Science Stanford University Stanford CA IBM Research Division T.J. Watson Research Center Yorktown Heights NY

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A 3D local energy surface detector for confocal microscope images

A 3D local energy surface detector for confocal microscope i...

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Australian and New Zealand Conference on Intelligent Information Systems

作者： C. Pudney P. Kovesi B. Robbins Biomedical Confocal Microscopy Research Centre Department of Pharmacology University of Western Australia Nedlands WA Australia Robotics and Vision Research Group Department of Computer Science University of Western Australia Nedlands WA Australia

The ability to detect features within confocal microscope images is important for the interpretation and analysis of such data. Most detectors are gradient based, and so are sensitive to noise, and fail to accurately locate some feature types that are important in confocal microscopy. The local energy feature detector developed by M.C. Morrone and R.A. Omens (1987) marks locations where there is maximal congruence of phase in the Fourier components of an image. Points of maximal phase congruency occur at all common feature profiles: step and roof edges, line features and Mach bands. A 3D implementation of the local energy feature detector, suitable for confocal microscope data, is presented. The detector computes local energy by convolving an image with oriented pairs of 3D filters. The filters are 3D versions of Morlet wavelets. To increase the speed of the convolution, the filters are designed in frequency space and multiplied by the image's Fourier transform. Results are presented for real confocal images and synthetic 3D image volumes.

关键词： Detectors Microscopy computer vision Filters Data analysis Image analysis Image edge detection Convolution Frequency Fourier transforms

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Tactical route planning: new algorithms for decomposing the map

Tactical route planning: new algorithms for decomposing the ...

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International Conference on Tools for Artificial Intelligence (ICTAI)

作者： J. Benton S.S. Iyengar W. Deng N. Brener V.S. Subrahmanian Simulation and Visualization Laboratory U.S. Army Topographic Engineering Center Alexandria VA USA Department of Computer Science & Robotics Research Laboratory Louisiana State University Baton Rouge LA USA Department of Computer Science & Institute for Advanced Computer Studies University of Maryland College Park MD USA

The paper defines a new approach and investigates a fundamental problem in route planners. This capability is important for robotic vehicles (Martian Rovers, etc.) and for planning off road military manoeuvres. The emphasis throughout the paper is on the design and analysis and hierarchical implementation of our route planner. The work was motivated by anticipation of the need to search a grid of a trillion points for optimum routes. This cannot be done simply by scaling upward from the algorithms used to search a grid of 10,000 points. Algorithms sufficient for the small grid are totally inadequate for the large grid. Soon, the challenge will be to compute off road routes more then 100 km long and with a one or two meter grid. Previous efforts are reviewed and the data structures, decomposition methods and search algorithms are analyzed and limitations are discussed. A detailed discussion of a hierarchical implementation is provided and the experimental results are analyzed. The principal contributions of the paper are: new algorithms for decomposing the map and new search methods; analysis of new approaches; and the use of expert systems, deductive databases and mediators. Experimental results are included of a detailed implementation.

关键词： Roads Vehicles computer science Laboratories Robots Military computing Algorithm design and analysis Constraint optimization Computational modeling computer simulation

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Laboratory investigation: Automatic identification of gray matter structures from MRI to improve the segmentation of white matter lesions

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computer Aided Surgery 1995年第6期1.0卷 326-338页

作者： Warfield, Simon Dengler, Joachim Zaers, Joachim Guttmann, Charles R.G. Wells, William M. Ettinger, Gil J. Hiller, John Kikinis, Ron School of Computer Science and Engineering University of New South Wales Sydney Australia Vision Systems Neckargemuend Germany German Cancer Research Center Heidelberg Germany Department of Radiology Harvard Medical School and Brigham and Women's Hospital Boston MA United States AI Lab NE43-771 Massachusetts Institute of Technology Cambridge MA United States Department of Radiological Sciences UCLA School of Medicine Los Angeles CA United States

The segmentation of MRI scans of patients with white matter lesions (WML) is difficult because the MRI characteristics of WML are similar to those of gray matter. Intensity-based statistical classification techniques misclassify some WML as gray matter and some gray matter as WML. We developed a fast elastic matching algorithm that warps a reference data set containing information about the location of the gray matter into the approximate shape of the patient's brain. The region of white matter was segmented after segmenting the cortex and deep gray matter structures. The cortex was identified by using a three-dimensional, region-growing algorithm that was constrained by anatomical, intensity gradient, and tissue class parameters. White matter and WML were then segmented without interference from gray matter by using a two-class minimum-distance classifier. Analysis of double-echo spin-echo MRI scans of 16 patients with clinically determined multiple sclerosis (MS) was carried out. The segmentation of the cortex and deep gray matter structures provided anatomical context. This was found to improve the segmentation of MS lesions by allowing correct classification of the white matter region despite the overlapping tissue class distributions of gray matter and MS lesion. © 1995 Informa UK Ltd All rights reserved: reproduction in whole or part not permitted.

关键词： Gray matter MRI MS lesion Segmentation

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APPROXIMATE ORTHOGONAL DISTANCE REGRESSION METHOD FOR FITTING QUADRIC SURFACES TO RANGE DATA

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PATTERN RECOGNITION LETTERS 1994年第8期15卷 781-796页

作者： CAO, XP SHRIKANDE, N HU, GZ Center for Computer Vision and Robotics Research Department of Computer Science Central Michigan University Mt. Pleasant MI 48859 USA

Fitting surfaces to 3-D data is one of the basic methods of surface description for 3-D vision. Most techniques of surface fitting proposed in the literature are ''least-squares''-based that rarely produce satisfactory results if noise level is very high or if the data points are sampled from a small area. A new approach is presented in this paper that minimizes the mean squared approximate orthogonal distances with linearization using Newton's iteration method. This approach usually yields a good fit and the algorithm is reliable and efficient for real applications. Results are reported for synthetic data and several examples of real range data. Experimental results demonstrate that the approximate orthogonal distance performs better than the least squares based methods.

关键词： RANGE DATA LEAST-SQUARES ORTHOGONAL DISTANCE REGRESSION NEWTONS METHOD SURFACE FITTING

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Anisotropic diffusion pyramids for image segmentation

Anisotropic diffusion pyramids for image segmentation

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IEEE International Conference on Image Processing

作者： S.T. Acton A.C. Bovik M.M. Crawford School of Electrical & Computer Engineering Oklahoma State University Stillwater OK USA Department of Electrical & Computer Engineering Laboratory for Vision Systems Center for Vision and Image Science Center for Space Research and Department of Mechanical Engineering University of Texas Austin Austin TX USA

We introduce the Anisotropic Diffusion Pyramid (ADP), a structure for multiresolution image processing. We also develop the ADP for use in region-based segmentation. The pyramid is constructed using the anisotropic diffusion equations, creating an efficient scale-space representation. Segmentation is accomplished using pyramid node linking. Since anisotropic diffusion preserves edge localization as the scale is increased, the region boundaries in the coarse-to-fine ADP segmentation are accurately delineated. An application to segmentation of remotely sensed data is provided. The results of ADP segmentation are compared to Gaussian-based pyramidal segmentation. The examples show that the ADP has a superior ability to subdivide the image into integral groupings, minimizing the error in boundary localization and in pixel intensity.< >

关键词： Anisotropic magnetoresistance Image segmentation Smoothing methods Equations Image resolution Pixel computer vision Machine vision Hemorrhaging Radiometry

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Efficient recognition of rotationally symmetric surfaces and straight homogeneous generalized cylinders

Efficient recognition of rotationally symmetric surfaces and...

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Conference on computer vision and Pattern Recognition (CVPR)

作者： J. Liu J. Mundy D. Forsyth A. Zisserman C. Rothwell Geneal Electric Corporate Research and Development Center Schenectady NY USA Department of Computer Science University of Iowa Iowa IA USA Robotics Research Group Department of Engineering Science University of Oxford Oxford UK

It is known that rotationally symmetric surfaces can be recognized from their outlines alone, using cross-ratios of bitangent intersections. A successful implementation of this technique is demonstrated using a novel bitangent finder which works on images of real scenes. The stability of the cross-ratios is reported and compared to affine invariants. The recognition technique is shown to extend to the case of straight homogeneous generalized cylinders.< >

关键词： Cameras Engine cylinders Indexing Geometry research and development Rivers computer science Cities and towns Robots Layout

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Determination of object location via decomposition of movement

Determination of object location via decomposition of moveme...

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1992 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 1992

作者： Cao, Xingping Hu, Gongzhu Shrikhande, N. Center for Computer Vision and Robotics Research Department of Computer Science Central Michigan University Mount PleasantMI48859 United States

ISBN: (纸本)0780307372

A method for the determination of the location of an object is presented in this paper. The method uses correspondences of three or more 3-D points with their 2-D images. The object to be located is initially calibrated in a known fixed position. The actual location of the object is obtained by decomposing the total displacement from its calibrated position into a series of small movements each of which can be obtained by solving linear equations. Result is then improved iteratively. Experiments for synthetic and real objects show that the method is accurate, efficient, and robust. © 1992 Institute of Electrical and Electronics Engineers Inc. All rights reserved.

关键词： Location

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ACTIVE EGOMOTION ESTIMATION - A QUALITATIVE APPROACH 2nd

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2ND EUROPEAN CONF ON computer vision ( ECCV 92 )

作者： ALOIMONOS, Y DURIC, Z Computer Vision Laboratory Center for Automation Research Department of Computer Science Institute for Advanced Computer Studies University of Maryland College Park 20742-3411 MD United States

ISBN: (纸本)3540554262

Passive navigation refers to the ability of an organism or a robot that moves in its environment to determine its own motion precisely on the basis of some perceptual input, for the purposes of kinetic stabilization. The problem has been treated, for the most part, as a general recovery from dynamic imagery problem, and it has been formulated as the general 3-D motion estimation (or structure from motion) module. Consequently, if a robust solution to the passive navigation problem—as it has been formulated in the recovery paradigm—is achieved, we will immediately be able to solve many other important problems, as simple applications of the general principle. However, despite numerous theoretical results, no technique has found applications in systems that can perform well in the real world. In this paper, we outline some of the reasons behind this and we develop a robust solution to the passive navigation problem which is – purposive, in the sense that it does not claim any generality. It just solves the kinetic stabilization problem and cannot be used as it is for other problems related to 3-D motion. – qualitative, in the sense that the solution comes as the answer to a series of simple yes/no questions and not as the result of complicated numerical processing. – active, in the sense that the activity of the observer (in this case “sac-cades”) is essential for the solution of the problem. The input to the perceptual process of kinetic stabilization that we have developed is the normal flow, i.e. the projection of the optic flow along the direction of the image gradient. Contributions of this work are the fact that translation can be estimated reliably from a normal flow field that also contains rotation. © Springer-Verlag Berlin Heidelberg 1992.

关键词： Motion estimation

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The geometry of visual interception

The geometry of visual interception

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1992 IEEE computer Society Conference on computer vision and Pattern Recognition, CVPR 1992

作者： Huang, L. Aloimonos, Y. Computer Vision Laboratory Center for Automation Research Computer Science Department Institute for Advanced Computer Studies University of Maryland College ParkMD20742-3411 United States

ISBN: (纸本)0818628553

Under the traditional paradigm of considering vision as a recovery problem, visual interception is just another application of the structure-from-motion module. However, the inherent difficulties of three-dimensional reconstruction have delayed any real-time applications. The authors offer a robust solution under the active qualitative vision paradigm. From the image intensity function, they obtain the locomotive intrinsics of the agent and the target. Based on this relative information, they present a control strategy that decides in real time whether the velocity of the agent should be increased or decreased at any time instant, thus guiding the agent to intercept the target. The problem of visual interception can thus be solved by simple computation without correspondence. © 1992 IEEE.

关键词： computer vision

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