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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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Evaluation of fast 2D and 3D medical image retrieval approaches based on image miniatures

Evaluation of fast 2D and 3D medical image retrieval approac...

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2nd MICCAI International Workshop on Medical Content-Based Retrieval for Clinical Decision Support, MCBR-CDS 2011

作者： Donner, René Haas, Sebastian Burner, Andreas Holzer, Markus Bischof, Horst Langs, Georg Computational Image Analysis and Radiology Lab. Department of Radiology Medical University of Vienna Austria Institute for Computer Graphics and Vision Graz University of Technology Austria Computer Science and Artificial Intelligence Laboratory Massachusetts Institute of Technology Cambridge MA United States

ISBN: (纸本)9783642284595

The present work evaluates four medical image retrieval approaches based on features derived from image miniatures. We argue that due to the restricted domain of medical image data, the standardized acquisition protocols and the absence of a potentially cluttered background a holistic image description is sufficient to capture high-level image similarities. We compare four different miniature 2D and 3D descriptors and corresponding metrics, in terms of their retrieval performance: (A) plain miniatures together with euclidean distances in a k Nearest Neighbor based retrieval backed by kD-trees;(B) correlations of rigidly aligned miniatures, initialized using the kD-tree;(C) distribution fields together with the l1-norm;(D) SIFT-like histogram of gradients using the χ2-distance. We evaluate the approaches on two data sets: the ImageClef 2009 benchmark of 2D radiographs with the aim to categorize the images and a large set of 3D-CTs representing a realistic sample in a hospital PACS with the objective to estimate the location of the query volume. © 2012 Springer-Verlag.

关键词： Medical imaging

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Task-based grasp adaptation on a humanoid robot

Task-based grasp adaptation on a humanoid robot

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10th IFAC Symposium on Robot Control, SYROCO 2012

作者： Bohg, Jeannette Welke, Kai León, Beatriz Do, Martin Song, Dan Wohlkinger, Walter Madry, Marianna Aldóma, Aitor Przybylski, Markus Asfour, Tamim Martí, Higinio Kragic, Danica Morales, Antonio Vincze, Markus Humanoids and Intelligence Systems Lab. Institute for Anthropomatics KIT Germany Autonomous Motion Lab. MPI for Intelligent Systems Germany Robotic Intelligence Laboratory Department of Computer Science and Engineering UJI Spain Computer Vision and Active Perception Lab. KTH Sweden Automation and Control Institute TUW Austria

ISBN: (纸本)9783902823113

In this paper, we present an approach towards autonomous grasping of objects according to their category and a given task. Recent advances in the field of object segmentation and categorization as well as task-based grasp inference have been leveraged by integrating them into one pipeline. This allows us to transfer task-specific grasp experience between objects of the same category. The effectiveness of the approach is demonstrated on the humanoid robot ARMAR-IIIa. © 2012 IFAC.

关键词： Anthropomorphic robots

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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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Hybrid rule-based algorithm for coreference resolution

Hybrid rule-based algorithm for coreference resolution

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2012 Joint Conference on Empirical Methods in Natural Language Processing and Computational Natural Language Learning, EMNLP-CoNLL 2012 - Shared Task: Modeling Multilingual Unrestricted Coreference in OntoNotes

作者： Shou, Heming Zhao, Hai Center for Brain-Like Computing and Machine Intelligence Department of Computer Science and Engineering Shanghai Jiao Tong University China MOE-Microsoft Key Laboratory for Intelligent Computing and Intelligent Systems Shanghai Jiao Tong University China

ISBN: (纸本)9781937284459

This paper describes our coreference resolution system for the CoNLL-2012 shared task. Our system is based on the Stanford's dcoref deterministic system which applies multiple sieves with the order from high precision to low precision to generate coreference chains. We introduce the newly added constraints and sieves and discuss the improvement on the original system. We evaluate the system using OntoNotes data set and report our results of average F-score 58.25 in the closed track. © 2012 Association for Computational Linguistics.

关键词： Sieves

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Chinese coreference resolution via ordered filtering

Chinese coreference resolution via ordered filtering

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作者： Zhang, Xiaotian Wu, Chunyang Zhao, Hai Center for Brain-Like Computing and Machine Intelligence Department of Computer Science and Engineering Shanghai Jiao Tong University China MOE-Microsoft Key Laboratory for Intelligent Computing and Intelligent Systems Shanghai Jiao Tong University China

ISBN: (纸本)9781937284459

We in this paper present the model for our participation (BCMI) in the CoNLL-2012 Shared Task. This paper describes a pure rule-based method, which assembles different filters in a proper order. Different filters handle different situations and the filtering strategies are designed manually. These filters are assigned to different ordered tiers from general to special cases. We participated in the Chinese and English closed tracks, scored 51.83 and 59.24 respectively. © 2012 Association for Computational Linguistics.

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Spectral correspondence method for fingerprint minutia matching

Spectral correspondence method for fingerprint minutia match...

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International Conference on Pattern Recognition

作者： Xiang Fu Chongjin Liu Junjie Bian Jufu Feng Key Laboratory of Machine Perception (MOE) Department of Machine Intelligence School of Electronics Engineering and Computer Science Peking University China

ISBN: (纸本)9781467322164

This paper presents a spectral correspondence method for fingerprint matching. Minutia matching is formulated as recovering the dense sub-block in the corresponding matrix. And then the spectral correspondence method is used for searching the dense sub-block. First, we propose the pairwise adjacency matrix (PAM), whose diagonal elements represent similarities of minutia structures and other elements represent pairwise compatibilities between local minutia structure pair. Second, correct minutia pairs are likely to establish both large similarities and large compatibilities among each other and they form a dense sub-block. Then minutia matching is formulated as recovering the dense sub-block in the PAM. It gives a clear mathematical meaning for “optimal matching minutia pairs”. Third, we recover the dense sub-block based on spectral correspondence method, by using the principal eigenvector of PAM and imposing the one-to-one mapping constraints. Proposed method has stronger description ability and better robustness. Experiments conducted on FVC database demonstrate the effectiveness and the efficiency.

关键词： Fingerprint recognition Robustness Optimal matching Noise Databases Vectors

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Query based hybrid learning models for adaptively adjusting locality

Query based hybrid learning models for adaptively adjusting ...

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International Joint Conference on Neural Networks (IJCNN)

作者： Yuanchun Zhu Guyue Mi Ying Tan Key Laboratory of Machine Perception (Ministry of Education) Department of Machine Intelligence School of Electronics Engineering and Computer Science Peking University Beijing China

Local learning employs locality adjusting mechanisms to give local function estimation for each query, while global learning tries to capture the global distribution characteristics of the entire training set. When fitting well with local characteristics of each individual region, the locality parameter may help local learning to improve performance. However, the real data distribution is impossible to get for a real-world problem, and thus an optimal locality is hard to get for each query. In addition, it is quite time-consuming to build an independent local model for each query. To solve these problems, we present strategies for estimating and tuning locality according to local distribution. Based on local distribution estimation, global learning and local learning are combined to achieve a good compromise between capacity and locality. In addition, multi-objective learning principles for the combination are also given. In implementation, a unique global model is first built on the entire training set based on empirical minimization principle. For each query, it is measured that whether the global model can well fit the vicinity space of the query. When an uneven local distribution is found, the locality of the model is tuned, and a specific local model will be built on the local region. To investigate the performance of hybrid models, we apply them to a typical learning problem-spam filtering, in which data are always found to be unevenly distributed. Experiments were conducted on five real-world corpora, namely PU1, PU2, PU3, PUA, and TREC07. It is shown that the hybrid models can achieve a better compromise between capacity and locality, and hybrid models outperform both global learning and local learning.

关键词： Adaptation models Training Data models Tuning Buildings Computational modeling Support vector machines

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Task-based Grasp Adaptation on a Humanoid Robot

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IFAC Proceedings Volumes 2012年第22期45卷 779-786页

作者： Jeannette Bohg Kai Welke Beatriz León Martin Do Dan Song Walter Wohlkinger Marianna Madry Aitor Aldóma Markus Przybylski Tamim Asfour Higinio Martí Danica Kragic Antonio Morales Markus Vincze Humanoids and Intelligence Systems Lab Institute for Anthropomatics KIT DE Autonomous Motion Lab MPI for Intelligent Systems DE Robotic Intelligence Laboratory Department of Computer Science and Engineering UJI ES Computer Vision and Active Perception lab KTH SE Automation and Control Institute TUW AT

关键词： Robotic Grasping and Manipulation Task-based Grasp Synthesis Visual Servoing Attention Segmentation Object categorization System Integration

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Learning the terrain and planning a collision-free trajectory for indoor post-disaster environments

Learning the terrain and planning a collision-free trajector...

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IEEE International Workshop on Safety, Security, and Rescue Robotics (SSRR)

作者： Ioannis Kostavelis Antonios Gasteratos Evangelos Boukas Lazaros Nalpantidis Laboratory of Robotics and Automation Department of Production and Management Engineering Democritus University of Thrace Xanthi Greece Laboratory of Computer Vision and Machine Intelligence Department of Mechanical and Manufacturing Engineering Aalborg University Copenhagen Copenhagen Denmark

Mobile robots dedicated in post-disaster missions should be capable of moving arbitrarily in unknown cluttered environments so as to accomplish their assigned security task. The paper in hand describes such an agent equipped with collision risk assessment capabilities, while it is able to trace an obstacle-free path in the scene as well. The robot exploits machine learning techniques for the traversability evaluation of the environment by making use of geometrical features, which derive from a postprocessing step of the depth map, obtained by an RGBD sensor. Then, the traversable scenes, are assessed by the likelihood the robot to collide on any arbitrary direction in front of it. Besides, the collision risk likelihood is combined with a path tracing algorithm based on Cellular Automata so that an obstacle-free route is then detected. The proposed method has been examined for several indoor scenarios revealing remarkable efficiency.

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