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A generalized Hermite pyramid for ultrasonic image analysis .2. Gallstone

ULTRASONIC IMAGING 1996年第4期18卷 305-327页

作者： Venkatesh, YV Computer Vision and Artificial Intelligence Laboratory Department of Electrical Engineering Indian Institute of Science

This paper deals with the problem of extracting information regarding the chemical composition of stones in the human gallbladder from in vitro and in vivo B-scan ultrasonic images. The images are subjected to the Hermite pyramid decomposition technique described in Part I (Venkatesh, Y. V., Ultrasonic Imaging, 18, 261-301, 1996). In an attempt to determine the chemical composition of the gallstones, the gradients of the decomposed images are input to an unsupervised classifier. The outputs of the classifier exhibit some interesting patterns that appear to be related to the chemical composition of the gallstones contained in these images. (C) 1996 Academic Press.

关键词： gallstones Hermite polynomials image decomposition medical imaging multiscale image analysis ultrasonic image analysis unsupervised classification

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Internal force-based impedance control for cooperating manipulators

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IEEE TRANSACTIONS ON robotics AND AUTOMATION 1996年第1期12卷 78-89页

作者： Bonitz, RG Hsia, TC Systems Controland Robotics LaboratoryDepartment of Electrical and Computer Engineering University of California Davis CA USA

An internal force-based impedance control scheme for cooperating manipulators is introduced which controls the motion of the objects being manipulated and the internal force on the objects. The controller enforces a relationship between the velocity of each manipulator and the internal force on the manipulated objects. Each manipulator is directly given the properties of an impedance by the controller;thus, eliminating the gain limitation inherent in the structure of previously proposed schemes. The controller uses the forces sensed at the robot end effecters to compensate for the effects of the objects' dynamics and to compute the internal force using only kinematic relationships. Thus, knowledge of the objects' dynamics is not required. Stability of the system is proven using Lyapunov theory and simulation results are presented validating the proposed concepts. The effect of computational delays in digital control implementations is analyzed vis-a-vis stability and a lower bound derived on the size of the desired manipulator inertia relative to the actual manipulator endpoint inertia. The bound is independent of the sample time.

关键词： Impedance Force control Motion control Manipulator dynamics Velocity control Robot sensing systems End effectors Kinematics Stability Computational modeling

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A study of neural network control of robot manipulators

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ROBOTICA 1996年第1期14卷 7-15页

作者： Jung, S Hsia, TC [a1 ]Robotics Research Laboratory Department of Electrical and Computer Engineering University of California at Davis Davis CA 95615 (USA)

The basic robot control technique is the model based computer-torque control which is known to suffer performance degradation due to model uncertainties. Adding a neural network (NN) controller in the control system is one effective way to compensate for the ill effects of these uncertainties. In this paper a systematic study of NN controller for a robot manipulator under a unified computed-torque control framework is presented. Both feedforward and feedback NN control schemes are studied and compared using a common back-propagation training algorithm. Effects on system performance for different choices of NN input types, hidden neurons, weight update rates, and initial weight values are also investigated. Extensive simulation studies for trajectory tracking are carried out and compared with other established robot control schemes.

关键词： neural networks simulation studies robot control

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Designing stereo heads using task domain constraints

Designing stereo heads using task domain constraints

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13th International Conference on Pattern Recognition, ICPR 1996

作者： Thayer, Scott M. Gourley, Christopher S. Electrical and Computer Engineering Department Computer Vision and Robotics Research Laboratory University of Tennessee Knoxville TN 37996-2100 United States

ISBN: (纸本)081867282X

A novel paradigm for the synthesis of convergent-axis stereo geometries is presented. This paradigm incorporates constraints that represent task-oriented properties that can be easily derived in many applications of stereo-ranging, particularly those involving manipulation. Given these properties, a solution that selects the set of optimal design parameters, in the sense of accuracy, under the given constraints is presented. Results of this algorithm are discussed and analyzed in terms of the optimality of the minimum-area technique used in the derivation. © 1996 IEEE.

关键词： Pattern recognition

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A focal plane architecture for motion computation

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REAL-TIME IMAGING 1996年第6期2卷 351-360页

作者： AriasEstrada, M Tremblay, M Poussart, D Computer Vision and Systems Laboratory Department of Electrical and Computer Engineering Laval University Quebec Canada G1K 7P4[f1]

A new focal plane architecture for motion computation is presented. The design is based on the Smart Sensor paradigm: combining transduction and early processing at sensor level. The sensor computes focal plane motion and direction in a subsampled space, with programmable spatiotemporal bandwidth. The architecture is designed around an array of neuromorphic analog processing cells with local photo-transduction, computation of temporal variations in the image and correlation between neighbor pixels. The inherent process of serial read-out is used for further integration of low-level processing and reduction of complexity of each pixel. An external dedicated digital processor controls the system, interprets, and integrates the information from sets of four processing pixels in order to create a motion-based medium-level description of the image. The approach developed for VLSI implementation offers an excellent combination of small pixel area and a computationally efficient method for image motion measurement. The architecture is being implemented in a standard 1.5 mu m CMOS process. (C) 1996 Academic Press Limited

关键词： computer vision

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Image processing techniques for crowd density estimation using a reference image 2nd

Image processing techniques for crowd density estimation usi...

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2nd Asian Conference on computer vision, ACCV 1995

作者： Yin, Jia Hong Velastin, Sergio A. Davies, Anthony C. Vision and Robotics Laboratory Department of Electronic and Electrical Engineering King's College London Strand LondonWC2R 2LS United Kingdom

ISBN: (纸本)9783540607939

There are still significant problems in the planning, design and management of public facilities subject to dense pedestrian traffic. The automation of data collection and analysis of crowd behaviour is increasingly desirable in design of facilities and long-term site management using image processing techniques with existing closed-circuit television systems. We have investigated a number of techniques for crowd density estimation, movement estimation, incident detection and their relative merits using image processing. This paper presents techniques for background generation and calibration to enhance the previously-developed method of crowd density estimation using a reference image. An intensity region related to the average pixel intensity of each image in a sequence of crowd images is used to segment background pixels for generating a background image without pedestrians. The calibration approach, with which a previously-established relationship between image parameters and crowd density at one site can be used to estimate crowd density at various sites, involves calibration of the crowd image as opposed to calibration of the camera. Both techniques may be used in other surveillance systems such as vehicle monitoring. © Springer-Verlag Berlin Heidelberg 1996.

关键词： Calibration

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Designing stereo heads using task domain constraints

Designing stereo heads using task domain constraints

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International Conference on Pattern Recognition

作者： S.M. Thayer C.S. Gourley Electrical and Compute Engineering Department Computer Vision and Robotics Research Laboratory University of Tennessee Knoxville TN USA

关键词： Cameras Stereo vision Solid modeling computer vision Laboratories Lenses Equations Robot vision systems Computational geometry Contracts

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Automated 3D object recognition and dynamic library entry/update system

Automated 3D object recognition and dynamic library entry/up...

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IEEE International Conference on Image Processing

作者： R. Jaitly D.A. Fraser Vision & Robotics Laboratory Department of Electronic and Electrical Engineering King's College University of London London UK

A method for automatic library entry and update of three-dimensional representations of 3D rigid, planar-faced objects is presented in this paper. Geometric and structural information is obtained from multiple monocular 2D image frames and placed in relational tables. Point correspondences are found from the relational tables to reconstruct the 3D scene object. A number of global descriptors, obtained from the reconstructed object, are used as indexes to the model library to select similarly structured models for matching. A probabilistic procedure using the indexes determines whether the scene object is already represented by a library model. If the model is represented, a technique based on the hypothesize-and-test paradigm compares the scene object to the library model to update the model representation with any new geometric and structural information. If the model is not present in the library, the new model representation is added to the model library.

关键词： Object recognition Libraries Layout Cameras Solid modeling Image reconstruction Equations Robot vision systems robotics and automation Laboratories

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Automatic image-to-site model registration

Automatic image-to-site model registration

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International Conference on Acoustics, Speech, and Signal Processing (ICASSP)

作者： X. Zhang P. Burlina Q. Zheng R. Chellappa Computer Vision Laboratory and Department of Electrical Engineering University of Maryland College Park USA

Image-to-site model registration is critical to model supported exploitation of aerial and satellite imagery. This paper presents a fully-automatic registration method. This method uses a multi-resolution image-to-image registration process assuming both affine and projective transformations to determine and refine the locations of 3D control points in the new image. Camera resection is subsequently accomplished. Registration results obtained on real imagery show good performance.

关键词： Cameras computer vision Context modeling Laboratories Image resolution Educational institutions Satellites Multiresolution analysis Focusing Robustness

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Equivariance and invariance-an approach based on Lie groups

Equivariance and invariance-an approach based on Lie groups

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IEEE International Conference on Image Processing

作者： K. Nordberg G. Granlund Computer Vision Laboratory Department of Electrical Engineering Linköping University Linkoping Sweden

The paper discusses the concepts of invariance and equivariance in the context of continuous operator groups, or Lie groups, acting on both the image and a descriptor of some image feature. The theory is illustrated by an example of how a 3D image neighbourhood that contains a linear structure can be mapped to a tensor that represents the orientation of the structure. A second order tensor is defined which represents both local orientation and local phase in a continuous way, the phase is given by the relation between the symmetric and anti-symmetric part of this tensor. By computing a tensor inner product of the tensor, a phase invariant orientations representation is obtained.

关键词： Tensile stress computer vision Laboratories Vectors Ear

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