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International Conference on Pattern Recognition

作者： W.D. Toczyski N.P. Papnikolopoulos Artificial Intelligence Robotics vision laboratory Department of computer science and Engineering University of Minnesota Minneapolis MN USA University of Minnesota Minneapolis MN US

ISBN: (纸本)0769507506

This paper introduces a broadly applicable technique for visibly improving the digitized, grey-level outputs produced by a host of iterative geometric diffusion methods. By replacing standard, central-difference estimates of discrete spatial gradients with alternating image derivative estimates that are offset by known, complementary biases, errors accumulated during iteration are reduced and the quality of geometric diffusions is improved. This unexpected synergy occurs at no added computational cost over central difference methods. Very simple to implement, the innovation is introduced at the level of spatial derivatives; hence, for a given process, any derived higher level mathematical properties-for example, group invariance or scale-space properties-can be preserved.

关键词： Anisotropic magnetoresistance Equations Geometry Image motion analysis Optical filters Pixel Diffusion processes Artificial intelligence Intelligent robots Robot vision systems

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Multimodality image registration and fusion using neural network

Multimodality image registration and fusion using neural net...

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International Conference on Information Fusion

作者： M.G. Mostafa A.A. Farag E. Essock Department of Electrical and Computer Engineering Computer Vision and Image Processing Laboratory University of Louisville Louisville KY USA Department of Psychology University of Louisville Louisville KY USA

Multi-modality image registration and fusion are essential steps in building 3D models from remote sensing data. In this paper, we present a neural network technique for the registration and fusion of multi-modality remote sensing data for the reconstruction of 3D models of terrain regions. A feedforward neural network is used to fuse the intensity data sets with the spatial data set after learning its geometry. Results on real data are presented. Human performance evaluation is assessed on several perceptual tests in order to evaluate the fusion results.

关键词： Image registration Neural networks Hyperspectral sensors Remote sensing Image reconstruction Geometry Remote monitoring Intelligent sensors Satellites Laser radar

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Dense range image smoothing using adaptive regularization

Dense range image smoothing using adaptive regularization

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IEEE International Conference on Image Processing

作者： Yiyong Sun Joon-Ki Paik J.R. Price M.A. Abidi Department of Electrical and Computer Engineering Imaging Robotics and Intelligent Systems Laboratory University of Tennessee Knoxville USA Department of Image Engineering Graduate School of Advanced Imaging Science Chung-Ang University Seoul South Korea

We propose an adaptive regularization algorithm for smoothing dense range images using a novel, first order stabilizing function. The stabilizer we suggest is based upon minimizing the reconstructed surface area and is derived in the native, spherical coordinate system of the range scanner. This allows adjustments to be made along only the direction of measurement, thereby preventing the data overlapping problem that can arise in dense images. Adaptation is achieved by adjusting the regularization parameter according to the results of 2D edge analysis. Results indicate effective noise suppression along with well preserved edges and details in the reconstructed, 3D surfaces.

关键词： Smoothing methods Surface reconstruction Image reconstruction Image edge detection Intelligent robots Robot kinematics Intelligent systems Laboratories Laser noise Noise measurement

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Factorization method for multiple perspective views via iterative depth estimation

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Systems and computers in Japan 2000年第13期31卷 87-95页

作者： Ueshiba, Toshio Tomita, Fumiaki Electrotechnical Laboratory Tsukuba 305-8568 Japan Department of Electrical Engineering University of Tokyo Electrotechnical Laboratory Min. of Intl. Trade and Industry Intelligent Systems Division Canada Nat. Inf. Eng. Lab. Information Processing Society Robotics Society of Japan Soc. of Instrum. Control Engineers Department of Control Engineering Osaka University CMU Department of Computer Science Information Processing Society Robotics Society of Japan

This paper proposes a factorization method that reconstructs camera motion and scene shape based on the matching of multiple images under the condition that the camera captures a perspective view. Starting from the affine projection camera model, the projection depth is iteratively estimated until the measurement matrix has rank 4. Then, the obtained measurement matrix is factorized to restore the three-dimensional information of the scene in the projection space. This approach eliminates noise sensitive processes, such as the calculation of the fundamental matrix, that are required in the factorization for the conventional perspective projection image, and a stable reconstruction is realized. Furthermore, the metric constraint in the conventional affine model is extended, and the metric constraint in the perspective projection condition is derived. It is shown that the reconstruction in Euclidean space is realized if the internal parameters of the camera are given.

关键词： Image reconstruction

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Procedure of system-formation as process of the purpose achievement in manufacturing systems

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IFAC Proceedings Volumes 2000年第20期33卷 499-504页

作者： Peter Groumpos Salavat Kusimov Barry Ilyasov Larisa Ismagilova Roza Valeeva Ilmira Gerasimova University of Patras Department of Electrical and Computer Engineering Laboratory for Automation & Robotics GR-265 OORion Greece Fax: +50 61 997 309 Ufa State Aviation Technical University 12 K.Marx Street Ufa 450000 Russia Fax: (347-2) 22-29-18

There are considered the creation problems of organizational and manufacturing systems as formalized system-formation process according to the construction conception of resource-goal triads. Triad is formed and is used as the base element of description formalization of the purpose achievement procedure by means of system-formation process and connects three components necessary for creation of any system (reasons of system origin, existence purpose, possibility of creation). The proposed procedure of system-formation is a basis for development of theoretical bases for modeling and research of controlled manufacturing systems.

关键词： system concepts system methodology system design manufacturing systems

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Automated prostate implant seed localization from fluoroscopic images using simulated annealing

Automated prostate implant seed localization from fluoroscop...

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Annual International Conference of the IEEE engineering in Medicine and Biology Society (EMBC)

作者： D. Tubic A. Zaccarin J. Pouliot Department of Electrical Engineering and Computer Engineering Computer Vision and Systems Laboratory Universite Laval QUE Canada Service de Radio-Oncologie. L'Hotel-Dieu de Quebec Centre de recherche en canckrologie de 1'Universitk Laval Centre Hospitalier Universitaire de Quebec QUE Canada

ISBN: (纸本)0780364651

Proposes an algorithm based on simulated annealing for automatic seed matching and reconstruction using either 3 radiographic films or 3 fluoroscopic images. An algorithm for automated seed identification on fluoroscopic images is also proposed. The authors present results obtained for 112 clinical cases, 100 simulated cases and one phantom reconstruction with known seed locations. Results for clinical eases are compared with results obtained using the 3-film technique.

关键词： Implants Simulated annealing Image reconstruction Error correction Radiography Magnetic resonance imaging Computed tomography Cost function computer vision Imaging phantoms

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Multi-modal medical volumes fusion by surface matching

Multi-modal medical volumes fusion by surface matching

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5th International Symposium on Signal Processing and Its Applications, ISSPA 1999

作者： Eldeib, Ayman M. Yamany, Sameh M. Farag, Aly Computer Vision and Image Processing Laboratory University of Louisville Department of Electrical Engineering Louisville KY 40292 United States

ISBN: (纸本)1864354518

Presents a fast, six degrees of freedom, registration technique to accurately locate the position and orientation of medical volumes (e.g. CT, MRI) with respect to each other for the same patient. The technique uses surface registration and maximization of mutual information. We have developed a novel technique for surface registration which produces highly accurate results when registering two different volumes of the same individual generated from the same modality, such as preoperative MR and intraoperative MR volumes. In case surface registration is not able to accurately register the different volumes, the result is enhanced by multi-modal volume registration. The gain of this combination is to have an accurate alignment and to reduce time needed for registration. For the multi-modal volume registration, the maximization of mutual information (MI) as a matching criterion is used based on genetic algorithms (GA) as a search engine. Our results demonstrate that our registration technique allows for fast, accurate, robust and completely automatic registration of multimodality medical volumes. © 1999 IEEE.

关键词： Genetic algorithms

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Recent algorithms for fuzzy and neurofuzzy path planning and navigation of autonomous mobile robots

Recent algorithms for fuzzy and neurofuzzy path planning and...

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1999 European Control Conference, ECC 1999

作者： Tzafestas, Costas S. Tzafestas, Spyros G. Intelligent Robotics and Automation Laboratory Electrical and Computer Engineering Department National Technical University of Athens Zografou Athens157 73 Greece

ISBN: (纸本)9783952417355

This paper reviews a number of recent algorithms for mobile robot path planning, navigation and motion control, which employ fuzzy logic and neuro-fuzzy learning and reasoning. Starting with a discussion of the structure of fuzzy and neuro-fuzzy systems, two fuzzy obstacle avoidance path planning algorithms are presented followed by a 3-level neuro-fuzzy local and global path planning scheme. Then the motion planning and control problem is considered. A fuzzy path tracking strategy is outlined, followed by a fuzzy navigation algorithm among polygonal obstacles and a learning-by-doing neuro-fuzzy motion planning scheme. The paper ends with a hybrid robust motion control technique which combines the minimum interference and sliding mode control principles with fuzzy inference. A representative set of examples are included which illustrate the performance of the algorithms under various realistic conditions. © 1999 EUCA.

关键词： Fuzzy inference

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The mapping of texture on VR polygonal models 2

The mapping of texture on VR polygonal models

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2nd International Conference on 3-D Digital Imaging and Modeling, 3DIM 1999

作者： Laurendeau, Denis Bertrand, Nathalie Houde, Régis Computer Vision and Systems Laboratory Department of Electrical Engineering and Computer Engineering Laval University QuebecQCG1K 7P4 Canada Robotics Division Hydro Quebec Research Institute VarennesQCJ3X 1S1 Canada

ISBN: (纸本)0769500625

The paper addresses the problem of choosing automatically, and without user intervention, the best possible 2D image that should be used to map as a texture on polygons of a geometric model of complex scenes made of several objects. The geometric models and the texture data are obtained separately: the models are built from range data while the texture information is obtained from 2D color images of the scene. The system does not make any assumption on the way the texture data has been acquired. Texture selection results are presented for an indoor scene. © 1999 IEEE.

关键词： Image texture

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The mapping of texture on VR polygonal models

The mapping of texture on VR polygonal models

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International Conference on 3D Imaging, Modeling, Processing, Visualization and Transmission (3DIMPVT)

作者： D. Laurendeau N. Bertrand R. Houde Department of Electrical Engineering and Computer Engineering Computer Vision and Systems Laboratory Laval University QUE Canada Robotics Division Hydro-Quebec Research Institute (IREQ) Varennes QUE Canada

关键词： Virtual reality Layout Solid modeling computer vision Color computer graphics Rendering (computer graphics) Cameras Laboratories Data engineering

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