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Filtering of uncertain irregularly sampled multidimensional data

Filtering of uncertain irregularly sampled multidimensional ...

引用

Asilomar Conference on Signals, Systems & computers

作者： H. Knutsson C.-F. Westin C.-J. Westelius Computer Vision Laboratory Department of Electrical Engineering Linköping University Linkoping Sweden

Two new methods are presented: normalized convolution and normalized differential convolution. These methods are examples of the power of the signal/certainty-philosophy, i.e. the separation of both data and operator into a signal part and a certainty part. Missing data is simply handled by setting the certainty to zero. Localization or 'windowing' of operators is done using an applicability function, the operator equivalent to certainty, not by changing the actual operator coefficients. Spatially or temporally limited operators are handled by setting the applicability function to zero outside the window. The present work shows how false operator responses due to missing or uncertain data can be significantly reduced or eliminated. Perhaps the most well-known of such effects are the various 'edge effects' which invariably occur at the edges of the input data set. Examples of the performance of gradient, divergence and curl operators are given and applications to spectrum analysis is discussed. Further important applications are found in robot vision. Results showing that efficient compensation for camera saccades and elimination of visual responses due to robot arm motions can be attained. The theory is based on linear operations and is general in that it allows for both, data and operators to be scalars, vectors or tensors of higher order.< >

关键词： Filtering Multidimensional systems Convolution Robot vision systems Performance analysis Cameras Vectors Tensile stress

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Normalized and differential convolution

Normalized and differential convolution

引用

Conference on computer vision and Pattern Recognition (CVPR)

作者： H. Knutsson C.-F. Westin Computer Vision Laboratory Department of Electrical Engineering Linköping University Linkoping Sweden

It is shown how false operator responses due to missing or uncertain data can be significantly reduced or eliminated. It is shown how operators having a higher degree of selectivity and higher tolerance against noise can be constructed using simple combinations of appropriately chosen convolutions. The theory is based on linear operations and is general in that it allows for both data and operators to be scalars, vectors or tensors of higher order. Three new methods are represented: normalized convolution, differential convolution and normalized differential convolution. All three methods are examples of the power of the signal/certainty-philosophy, i.e., the separation of both data and operator into a signal part and a certainty part. Missing data are handled simply by setting the certainty to zero. In the case of uncertain data, an estimate of the certainty must accompany the data. Localization or windowing of operators is done using an applicability function, the operator equivalent to certainty, not by changing the actual operator coefficients. Spatially or temporally limited operators are handled by setting the applicability function to zero outside the window.< >

关键词： Convolution Tensile stress Interpolation Filtering computer vision Laboratories Vectors Information analysis Signal analysis Performance analysis

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Scene reconstruction and description: geometric primitive extraction from multiple viewed scattered data

Scene reconstruction and description: geometric primitive ex...

引用

Conference on computer vision and Pattern Recognition (CVPR)

作者： P. Hebert D. Laurendeau D. Poussart Computer Vision and Digital Systems Laboratory Department of Electrical Engineering Laval University QUE Canada

Robust extraction of surface parameters from multiple view scattered and noisy 3-D measurements is a delicate task. It is shown that a stable local surface description can be extracted on sections where measurement constraints are redundant with respect to a polynomial model. A segmentation approach is developed to identify these sections. The approach is based on a measurement error model which takes into account the sensor's viewpoint. An application of the approach to the extraction of straight line sections from single scan 3-D surface profiles is presented.< >

关键词： Layout Surface reconstruction Image reconstruction Data mining Scattering parameters Q measurement Position measurement Signal reconstruction Sampling methods computer vision

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Hexagonal sensor with imbedded analog image processing for pattern recognition

Hexagonal sensor with imbedded analog image processing for p...

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Custom Integrated Circuits Conference (CICC)

作者： M. Tremblay M. d'Anjou D. Poussart Computer Vision and Digital Systems Laboratory Department of Electrical Engineering Laval University QUE Canada

The authors present a multimodule focal plane processing sensor architecture which provides high-resolution (up to 512 /spl times/ 512 pixels) multiscale real-time analog edge extraction for robot vision. The hexagonal CMOS sensor uses a multiport addressing architecture of the pixel array to apply external multiscale analog spatial convolution followed by edge detection. The sensor architecture and its peripheral analog filtering modules are described, and results obtained from a 256 /spl times/ 256 prototype are presented. This analog satellite processing approach may be extended to various types of computational sensors, including a 3-D rangefinder, motion sensors, and tactile perception devices.

关键词： Image sensors Image processing Sensor arrays Image edge detection computer architecture Tactile sensors Robot sensing systems Robot vision systems CMOS image sensors Convolution

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Glass fragments detector for a jar filling process

Glass fragments detector for a jar filling process

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Canadian Conference on electrical and computer engineering (CCECE)

作者： M. Arsenault J. Bentz J.-L. Bouchard D. Cotnoir S. Verreault X. Maldague Computer Vision and Digital Systems Laboratory Electrical Engineering Department Université Laval QUE Canada

The inspection system presented in this paper is a glass fragments detector for a jar filling process. It is based on an important optical property of glass. Namely, intense specular reflections which are produced when the glass is illuminated with proper lighting. Careful control of the lighting environment allows these reflections to occur only when glass fragments are present in the jars. A standard black and white camera is used to measure the luminous intensity of the scene. An electronic circuit processes the video signal in real-time and detects the presence of glass fragments from input images.< >

关键词： Glass Detectors Filling Optical reflection Inspection Lighting control Measurement standards Cameras Layout Electronic circuits

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Obstacle avoidance inverse kinematics solution of redundant manipulators by neural networks

Obstacle avoidance inverse kinematics solution of redundant ...

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IEEE International Conference on robotics and Automation (ICRA)

作者： T.C. Hsia Z. Mao Robotics Research Laboratory Department of Electrical Engineering and Computer Science University of California Davis CA USA

Summary form only given. A neural network scheme is proposed to solve the inverse kinematic problem for redundant robots in an environment with or without obstacles. The inverse kinematic solution of a four link planar robot is simulated using a multilayer feedforward network with hidden units having sigmoidal functions and output units having linear functions. The results show that the proposed scheme provides very satisfactory solutions.< >

关键词： Neural networks Robot kinematics Manipulators Orbital robotics Q measurement Delta modulation Multi-layer neural network

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The equivalence of second order impedance control and proportional gain explicit force control: Theory and experiments 2nd

The equivalence of second order impedance control and propor...

引用

2nd International Symposium on Experimental robotics, ISER 1991

作者： Volpe, Richard Khosla, Pradeep The Jet Propulsion Laboratory California Institute of Technology 4800 Oak Grove Drive PasadenaCA91109 United States Department of Electrical and Computer Engineering The Robotics Institute Carnegie Mellon University PittsburghPA15213-3890 United States

ISBN: (纸本)9783540198512

This paper reveals the essential equivalence of second order impedance control and proportional gain explicit force control with feed forward. This is first done analytically by reviewing each control method and showing how they mathematically correspond. For stiff environments the correspondence is exact. However, even for softer environments similar response of the system is indicated. Next, the results of an implementation of these control schemes on the CMU DD Arm II are presented, confirming the predictions of the analysis. These results experimentally demonstrate that proportional gain force control and impedance control, with and without dynamics compensation, have equivalent response to commanded force trajectories. © Springer-Verlag London Limited 1993.

关键词： Force control

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Identification of noise outliers in clustering by a fuzzy neural network

Identification of noise outliers in clustering by a fuzzy ne...

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IEEE International Conference on Fuzzy Systems (FUZZ-IEEE)

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

Since most real data sets encountered in cluster analysis are contaminated with background noise or outliers, it is essential to detect and isolate these noise samples from the data set. A few noisy points can affect the clustering procedure by severely biasing the algorithm. An ideal solution to this problem is to identify all the outliers and form a separate noise cluster. To do so, a technique is required by which the noise points are automatically identified and removed from the pattern data. The authors present a modified adaptive fuzzy leader clustering (AFLC) algorithm that has been used to detect and eliminate the outliers from the data structure and create a separate cluster of the outliers. The AFLC algorithm has an adaptive resonance theory (ART) like architecture with fuzzy learning embedded into it. Test results of the algorithm when applied to real and noisy data sets are presented.< >

关键词： Intelligent networks Fuzzy neural networks Clustering algorithms Background noise Subspace constraints Image analysis Data structures Neural networks computer vision Laboratories

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A new method for estimating dimensions and 3-D reconstruction of coronary arterial trees from biplane angiograms

A new method for estimating dimensions and 3-D reconstructio...

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Annual IEEE Symposium on computer-Based Medical Systems

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

The coronary arteries may be represented and visualized efficiently by a generalized cylinder (GC) model with elliptical cross-sections. By using this model and utilizing quadratic expression of an ellipse, the intensity distribution of an ellipse in any image plane, which is perpendicular to the plane of the arterial cross-section, is computed. A nonlinear parametric model for observed intensity distribution of an arterial cross-section is applied to estimate not only cross-sectional areas but also parameters of the ellipse which are essential in 3-D reconstruction of an arterial segment. This model takes into account background intensity, noise and blurring. Performance of this model has been tested on computer-generated and actual data for various background types and noise values and compared to those of other methods for estimating arterial dimensions. The computed cross-sectional areas from our model for computer-generated as well as actual data demonstrate much less variability than those reported in recent literature. 3-D reconstruction of arterial segments from actual biplane angiograms is presented.< >

关键词： Three dimensional displays Arteries Background noise Diseases Parameter estimation Visualization Parametric statistics Image reconstruction Shape Bones

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Integrated adaptive fuzzy clustering (IAFC) algorithm

Integrated adaptive fuzzy clustering (IAFC) algorithm

引用

IEEE International Conference on Fuzzy Systems (FUZZ-IEEE)

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

An integrated adaptive fuzzy clustering (IAFC) algorithm using a structure similar to that found in the Adaptive Resonance Theory (ART-1) neural network, is presented. The IAFC incorporates a new learning rule and a new similarity measure to eliminate some structural problems inherent in other fuzzy ART-type neural networks. The new learning rule utilizes a fuzzy membership value, a function of the number of iterations, and a fuzzy within-cluster membership value. The new similarity measure incorporates a fuzzy membership value to the Euclidean distance. This incorporation of the new learning rule and the new similarity measure guarantees the convergence of weights in the IAFC algorithm and provides more flexibility to the shapes of the clusters formed by this algorithm. The critical parameters in the operation of IAFC are discussed. The performance of IAFC is evaluated in the classification of real data and compared with other recent neuro-fuzzy clustering algorithms.< >

关键词： Clustering algorithms Neural networks Fuzzy neural networks Euclidean distance Partitioning algorithms Fuzzy sets Resonance Shape measurement Convergence Subspace constraints

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