The Beowulf cluster approach to parallel computation offers a potentially cheap and robust source of computational power for high complexity algorithms in robotics. The challenge is to integrate this approach with the...
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The Beowulf cluster approach to parallel computation offers a potentially cheap and robust source of computational power for high complexity algorithms in robotics. The challenge is to integrate this approach with the mobility and time critical response constraints of many robotic algorithms. The key contributions of this paper are: (1) introduction of a computational architecture for integrating a cluster into the control architecture of one or more robots, (2) a cluster implementation of Thrun et al's Concurrent Localization and Mapping (CML) algorithm, and (3) presentation of results to illustrate the performance of the implemented CML algorithm and validate the architectural approach.
We present a novel technique for the detection of thrown objects and other free-flying bodies in video sequences. Our method runs in real-time and was designed to be used as a component in a deployed surveillance syst...
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We present a novel technique for the detection of thrown objects and other free-flying bodies in video sequences. Our method runs in real-time and was designed to be used as a component in a deployed surveillance system. We detect regions of interesting motion that fit certain size, compactness and speed criteria, and use the expectation maximization algorithm to detect objects on parabolic trajectories over a short time window. The system was shown to successfully detect thrown objects of various sizes in a large test set of indoor and outdoor videos.
In April 2006, a terrain-relative navigation experiment successfully flew on a sounding rocket mission at White Sands Missile Range. The mission was designated by NASA/Wallops Flight Facility as 41.068 NT/Seybold (&qu...
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ISBN:
(纸本)1563478935
In April 2006, a terrain-relative navigation experiment successfully flew on a sounding rocket mission at White Sands Missile Range. The mission was designated by NASA/Wallops Flight Facility as 41.068 NT/Seybold ("41.068") and was flown as part of the New Millennium Program ST9 Terrain-Relative Guidance System (TRGS) Project's competitive Phase A effort. The TRN experiment had two objectives: 1) To demonstrate the viability of a navigation filter for precision landing that uses on-board IMU and descent image data to achieve position knowledge errors of less than 100m, validated with GPS data recorded during flight;and 2) To establish that commercial off-the-shelf cameras can be packaged sufficiently well to survive the sounding rocket launch environment. Both objectives were met. The 13 min flight provided a data set that was processed post-flight through the prototype algorithms to bring the ST9 TRGS Project to a technology readiness level of 4 in TRN. This paper describes the flight system development and operations of the TRN experiment on 41.068.
We present a new approach to model and classify breast parenchymal tissue. Given a mammogram, first, we will discover the distribution of the different tissue densities in an unsupervised manner, and second, we will u...
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In this paper we present a framework for tracking non-rigid facial landmarks by combining various visual cues at multiple levels of detail. Using a probabilistic framework consisting of a hierarchy of particle filters...
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In this paper we introduce the NDS-Forest data structure, which can be used for the calculation and representation of Maximally Stable Extremal Regions in real-time video. In contrast to the standard MSER algorithm, t...
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ISBN:
(纸本)1904410146
In this paper we introduce the NDS-Forest data structure, which can be used for the calculation and representation of Maximally Stable Extremal Regions in real-time video. In contrast to the standard MSER algorithm, the NDS-Forest stores information about the extremal regions as they are formed, making it unnecessary to regrow the regions from seed pixels. Using the NDS-Forest structure, we describe a system that uses MSERs in an automobile for face registration, segmentation, and pose estimation of the driver.
In this paper, we present a new method to deal with specular high-lights in correspondence search. The proposed method is essentially based on the specular-free two-band image that we introduce to deal with specular r...
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In many useful video tracking situations, targets move through repeated mutual occlusions. As targets undergo occlusions, the feature subsets and combinations of those features that are effective in identifying the ta...
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ISBN:
(纸本)1424409535
In many useful video tracking situations, targets move through repeated mutual occlusions. As targets undergo occlusions, the feature subsets and combinations of those features that are effective in identifying the target and improving tracking performance may change. We use Combinatorial Fusion Analysis to select and evaluate criteria by which to identify the combination of features that will produce the most accurate tracking. In particular we show that the combination of a pair of features A and B will improve the accuracy only if (a) A and B have relative high performance, and (b) A and B are diverse. We present experimental results from three diverse video sequences to illustrate the performance of the proposed criteria.
This paper presents an efficient and robust paradigm for analysis and query of moving-object interactions in planar homography *** and vehicle activities/interactions are analyzed for situational awareness by using a ...
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ISBN:
(纸本)1595934960
This paper presents an efficient and robust paradigm for analysis and query of moving-object interactions in planar homography *** and vehicle activities/interactions are analyzed for situational awareness by using a multi-perspective *** homography constraints are exploited to extract view-invariant object features including footage area and velocity of objects on the ground plane. Spatio-temporal relationships between person-and vehicle-tracks are represented by a semantic event grammar. Semantic-level information of the situation is achieved with the anticipation of possible directions of near-future tracks using piecewise velocity history. An efficient query paradigm is proposed by histogram-based approximation of probability density functions of objects and by quad-tree indexing. Experimental data show promising *** framework can be applied to applications for enhanced situational awareness such as disaster prevention,human interactions in structured environments,and crowd movement analysis in wide-view areas. Copyright 2006 ACM.
This paper presents a method for registering multimodal imagery in short range surveillance situations when the differences in object depths preclude any global registration techniques. An analysis of multimodal regis...
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