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Medium level scene representation using a VLSI smart hexagonal sensor with multiresolution edge extraction capability and scale space integration processing

Medium level scene representation using a VLSI smart hexagon...

引用

IEEE computer Society Conference on computer vision and Pattern Recognition Workshops (CVPRW)

作者： Tremblay Savard Poussart Computer Vision and Digital Systems Laboratory Department of Electrical Engineering Laval University QUE Canada

This paper presents a sensing approach where photo-transduction, multi-resolution feature extraction, scale-space integration and edge tracking are performed on a mixed (digital-analog) VLSI architecture in order to generate medium-level scene description. The proposed system is mainly targeted for robot vision applications where feature description is preferred to a set of raw or raster 2D images and edge maps. The Multiport Access photo-Receptor (MAR) is a CMOS sensor and represents the main sensory part of this integrated image acquisition system. VLSI also provides means to integrate analog computing, digital controller and DSP co-processor modules which define a powerful sensory chip set for focal plane image processing. A current version of the MAR sensor which implements 256/spl times/256 pixels includes 16 analog spatial filters which simultaneously compute multiresolution edge maps. This unique 2D hexagonal smart sensor approach which performs up to 8.5/spl times/10/sup 9/ arithmetic Op/sec during the acquisition/filtering phase and 25/spl times/10/sup 9/ Logical Op/sec for scale-space integration allows high resolution image capability. It represents a significant improvement for passive sensory units in a compact assembly for computer vision applications.< >

关键词： Very-large-scale integration Image edge analysis Feature extraction Robots, vision systems Spatial filters CMOS integrated circuits Image sensors

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Registration of multiple range views for automatic 3-D model building

Registration of multiple range views for automatic 3-D model...

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IEEE computer Society Conference on computer vision and Pattern Recognition Workshops (CVPRW)

作者： Gagnon Soucy Bergevin Laurendeau Computer Vision and Digital Systems Laboratory Department of Electrical Engineering Laval University QUE Canada

Building integrated models of existing 3-D objects is a key requirement for both reverse engineering and object recognition systems. An automatic 3-D model builder goes through three main steps: i) surface sampling from many views, ii) registration of the sampled views, and iii) integration of the registered views. The accuracy obtained depends on the acquisition and registration errors. The latter is critical since a misalignment of the range views causes their noise distributions to be centered around different means, which makes it difficult to reduce the effect of the acquisition error by simple averaging. In this paper, we propose a general algorithm that reduces significantly the level of the registration errors between all pairs in a set of range views. This algorithm refines initial estimates of the transformation matrices obtained from the calibrated acquisition setup. It considers the network of views as a whole and minimizes the registration errors of all views simultaneously. This leads to a well-balanced network of views in which the registration errors are equally distributed. Experimental results show an improvement of both the calibrated registrations and integrated models.< >

关键词： Image registration Image sampling Object recognition

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The Texas active vision testbed

The Texas active vision testbed

引用

IEEE International Conference on Systems, Man and Cybernetics

作者： W.N. Klarquist A.C. Bovik Laboratory for Vision Systems Department of Electrical & Computer Engineering University of Texas Austin Austin TX USA

The Texas active vision testbed (TAVT) represents the most recent stage of an ongoing design process that weighed a large number of alternatives, for both hardware and software to create a flexible and precise tool for active vision research. In this paper, we describe this platform and our ongoing research employing this tool. The platform is used in the development of depth recovery algorithms to extend conventional active vision techniques, such as variable baseline stereo and active focus control, as well as support research in the active control of a vergent stereo geometry.< >

关键词： Software testing Process design Hardware Software tools Geometry

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Sensorless manipulation using massively parallel microfabricated actuator arrays

Sensorless manipulation using massively parallel microfabric...

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IEEE International Conference on robotics and Automation (ICRA)

作者： K.-F. Bohringer B.R. Donald R. Mihailovich N.C. MacDonald Robotics & Vision Laboratory Department of Computer Science Cornell University Ithaca NY USA School of Electrical Engineering and The National Nanofabrication Facility Cornell University Ithaca NY USA

This paper investigates manipulation tasks with arrays of microelectromechanical structures (MEMS). We develop a geometric model for the mechanics of microactuators and a theory of sensorless, parallel manipulation, and we describe efficient algorithms for their evaluation. The theory of limit surfaces offers a purely geometric characterization of microscale contacts between actuator and moving object, which can be used to efficiently predict the motion of the object on an actuator array. It is shown how simple actuator control strategies can be used to uniquely align a part up to symmetry without sensor feedback. This theory is applicable to a wide range of microactuator arrays. Our actuators are oscillating structures of single-crystal silicon fabricated in a IC-compatible process. Calculations show that these actuators are strong enough to levitate and move, for example, a piece of paper.< >

关键词： Sensor arrays Actuators Microactuators Fabrication Micromechanical devices Laboratories Solid modeling Sensorless control Nanofabrication Robots

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Piecewise and local class models for image restoration

Piecewise and local class models for image restoration

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IEEE International Conference on Image Processing

作者： S.T. Acton A.C. Bovik School of Electrical Computer Engineering Oklahoma State University Stillwater OK USA Laboratory for Vision SystemsCenter for Vision and Image Science Department of Electrical Computer Engineering University of Texas Austin Austin TX USA

In this paper, we present a new approach to image restoration based on a flexible constraint framework that encapsulates structural assumptions about the uncorrupted image. Piecewise and local class (PALC) models are defined and utilized to restore images degraded by linear blurring and additive noise. The restoration process is accomplished by iteratively deconvolving the solution image while simultaneously optimizing local image characteristics defined by the PALC models. Solution images to this ill-posed, combinatorial problem are computed using the novel generalized deterministic annealing (GDA) optimization technique. The results demonstrate high quality image restoration as measured by local feature integrity, improvement in signal-to-noise ratio, and reduction of restoration artifacts, especially in the presence of heavy-tailed additive noise.< >

关键词： Image restoration Additive noise Degradation Image edge detection Deconvolution Bismuth computer vision Machine vision Image enhancement Maximum likelihood estimation

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Hierarchical hybrid control: an IVHS case study

Hierarchical hybrid control: an IVHS case study

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IEEE Conference on Decision and Control

作者： D.N. Godbole J. Lygeros S. Sastry Department of Electrical Engineering & Computer Sciences Intelligent Machines and Robotics Laboratory University of California Berkeley CA USA

A case study of the difficulties associated with the design of hybrid control systems is presented. The authors use an intelligent vehicle highway system (IVHS) architecture as their example of a hierarchical hybrid system. The authors point out that, even though conventional analysis tools suggest that the proposed design should fulfill certain performance requirements, the simulation results show that it does not. The authors consider this as an indication that the conventional tools currently in use for the design and verification of control systems may be inadequate for the design of hierarchical control of hybrid systems.< >

关键词： computer aided software engineering Control systems Intelligent vehicles Road transportation Intelligent robots Road safety Vehicle safety Road vehicles Machine intelligence Laboratories

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Handwritten character recognition by an adaptive fuzzy clustering algorithm

Handwritten character recognition by an adaptive fuzzy clust...

引用

IEEE International Conference on Fuzzy Systems (FUZZ-IEEE)

作者： A. Sharan S. Mitra Computer Vision and Image Analysis Laboratory Department of Electrical Engineering Texas Tech University Lubbock TX USA

Unconstrained handwritten characters pose a serious challenge to the development of a recognition algorithm. Many approaches have been studied over the years for such a recognition algorithm. We use an adaptive neuro-fuzzy clustering algorithm for classification and recognition of handwritten characters of a variety of styles and investigate the effectiveness of Fourier coefficients as representative features of handwritten characters in the presence of noise. Our results indicate that the adaptive clustering algorithm outperforms k-means clustering in handwritten character recognition for the same data representation. However some misclassifications cannot be avoided due to inherent problems associated with large variability in handwriting styles and the presence of excessive noise in practice.< >

关键词： Character recognition Clustering algorithms Handwriting recognition Writing Humans Euclidean distance computer vision Image analysis Laboratories Image recognition

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New morphological operators: BERD and BDRE

New morphological operators: BERD and BDRE

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IEEE Southwest Symposium on Image Analysis and Interpretation

作者： A. Kher S. Mitra Computer Vision and Image Analysis Laboratory Department of Electrical Engineering Texas Tech University Lubbock TX USA

The authors briefly describe their new morphological operators of "boundary erosion region dilation (BERD)" and "boundary dilation region erosion (BDRE)". The paper covers definitions, properties, and some of the applications of these operators. BERD and BDRE operations may be used to approximately perform the job of various common morphological filtering operations with lesser computational times. BERD and BDRE operations with 2-D structuring elements may be used to construct robust connectivity preserving filters. Unlike commonly used median closing and opening operators/sup 1,5,6/, these filters do not destroy thin regions which rapidly change their direction or the regions which can not be probed by straight lines in limited directions. They have used these connectivity preserving filters for removing speckle noise from SAR images while retaining thin regions and fine details of regions boundaries.< >

关键词： Morphological operations Filters Image analysis Image processing Filtering Morphology Pixel computer vision Laboratories Noise robustness

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Fuzzy inferencing with ART networks

Fuzzy inferencing with ART networks

引用

International Joint Conference on Neural Networks (IJCNN)

作者： S. Mitra Computer Vision and Image Analysis Laboratory Department of Electrical Engineering Texas Tech University Lubbock TX USA

A recent trend in developing adaptive decision models has been to integrate the concept of fuzzy membership functions of data samples with adaptive learning inherent to neural nets. Several different approaches have been suggested for such integration involving Adaptive Resonance Theory (ART) as well as Kohonen self-organizing neural networks. Such neuro-fuzzy models appear to be quite effective in successful clustering of complex data samples encountered in many pattern recognition and control applications where traditional decision models fail due to lack of knowledge of data distributions and unavailability of training data sets. The strengths and weaknesses of currently existing ART-based neuro-fuzzy models are described.< >

关键词： Subspace constraints Clustering algorithms Neural networks Fuzzy neural networks Euclidean distance computer vision Image sequence analysis Laboratories Resonance Pattern recognition

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Model based fuzzy logic control

Model based fuzzy logic control

引用

IEEE Conference on Decision and Control

作者： J. Lygeros D.N. Godbole C.P. Coleman Intelligent Machines and Robotics Laboratory Department of Electrical Engineering & Computer Sciences University of California Berkeley CA USA

In this paper, we introduce a general formalism for generating a fuzzy plant model. We provide a description of fuzzification, inference rules, and defuzzification in terms of mappings from the set of real numbers to the fuzzy set domain; We demonstrate the use of this formalism by developing a general fuzzy logic, rule based plant model for a stable, discrete-time, linear time-invariant system, with rational coefficients. We prove that the fuzzy plant model exactly duplicates the behavior of the discrete-time linear system. A worked example and simulation results are also presented. Finally, we outline a method for control design using fuzzy rule base plant models. Possible application of this method for regulation and tracking is considered.< >

关键词： Fuzzy logic Fuzzy control Control system synthesis Fuzzy sets Control design Intelligent robots Ear Control systems Machine intelligence Laboratories

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