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13th International Conference on Pattern Recognition, ICPR 1996

作者： Bräutigam, Carsten G. Garding, Jonas Eklundh, Jan-Olof Department of Numerical Analysis and Computing Science Royal Institute of Technology S-100 44 Stockholm Sweden DeeMed International Centre Equation 2 AV de Vignate F-3861O Gières France

ISBN: (纸本)081867282X

We propose an approach to determine the occurrence of low-parametric qualitative models from images by a hypothesis-and-test approach based on the coincidence of multiple cues, thereby avoiding complete reconstruction of the scene. A system is presented which applies the approach to finding instances of planar surfaces, as it is important in many tasks for mobile or manipulating robots. The system uses monocularly determined L-junctions and binocular disparities. A notable feature of the approach is that it finds the most conspicuous exemplar of the model first. This property seems quite relevant for an agent using vision to guide its behaviors, since the simplest solution becomes available early on. © 1996 IEEE.

关键词： Computer vision

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Seeing the obvious [robot vision]

Seeing the obvious [robot vision]

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International Conference on Pattern Recognition

作者： C.G. Brautigam J. Garding J.-O. Eklundh Computational Vision and Active Perception Laboratory Department of Numerical Analysis and Computing Science Royal Institute of Technology Stockholm Sweden

关键词： Layout Image reconstruction Surface reconstruction Testing Cameras Computer vision Mobile robots Laboratories numerical analysis Data mining

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Some problems in active vision

Some problems in active vision

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Workshop on Cybernetic Vision

作者： J.-O. Eklundh P. Nordlund T. Uhlin Computational Vision and Active Perception Laboratory Department of Numerical Analysis and Computing Science Royal Institute of Technology Stockholm Sweden

We stress a systems approach for research in active vision. We also argue that design and analysis of seeing agents should be accompanied by experiments, requiring implementations, i.e. a constructive approach. In par... 详细信息

关键词： Computer vision Robot vision systems MONOS devices Cognitive robotics Artificial intelligence Cognitive science Biological system modeling Laboratories numerical analysis Stress

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Genetic programs and co-evolution: Developing robust general purpose controllers using local mating in two 2-dimensional populations 4th

Genetic programs and co-evolution: Developing robust general...

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International Conference on Evolutionary Computation - 4th International Conference on Parallel Problem Solving from Nature, PPSN 1996

作者： Ronge, Andreas Nordahl, Mats G. Studies of Artificial Neural Systems Dept. of Numerical Analysis and Computing Science Royal Institute of Technology StockholmS-100 44 Sweden Institute of Theoretical Physics Chalmers University of Technology GothenburgS-412 96 Sweden Santa Fe Institute 1399 Hyde Park Road Santa FeNM87501 United States

ISBN: (纸本)354061723X

A co-evolutionary approach for developing programs for controlling a very simple "robot-like" simulated vehicle is presented. The main goal is to find programs that can generalize and solve other similar problems. Good results are achieved by coevolving the test cases and the simulated vehicles and using locality in both the reproduction and evaluation phases. The fitness of a controller is determined by its performance in competition with its neighbours in the test case population. The fitness of a test case is similarly determined through competition with its neighbours in the controller population. The co-evolved controllers are more robust and general than a simple hand-designed algorithm or controllers evolved using a fixed training set. © 1996, Springer-Verlag. All rights reserved.

关键词： Controllers

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A computational model of depth-based attention

A computational model of depth-based attention

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International Conference on Pattern Recognition

作者： A. Maki P. Nordlund J.-O. Eklundh TOSHIBA Kansai Research Laboratory Royal Institute of Technology Motoyama Japan Computational Vision and Active Perception Laboratory (CVAP) Department of Numerical Analysis and Computing Science Royal Institute of Technology Stockholm Sweden

We present a computational model for attention. It consists of an early parallel stage with preattentive cues followed by a later serial stage, where the cues are integrated. We base the model on disparity image flow and motion. As one of the several possibilities we choose a depth-based criterion to integrate these cues, in such a way that the attention is maintained to the closest moving object. We demonstrate the technique by experiments in which a moving observer selectively mask our different moving objects in real scenes.

关键词： Computational modeling Computer vision Layout Phase estimation Laboratories numerical analysis Psychology Humans Computational efficiency Stability

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NOISE HANDLING WITH EXTENSION MATRICES

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International Journal on Artificial Intelligence Tools 1996年第1N02期5卷 81-97页

作者： XINDONG WU JOHAN KRISÁR PETTER MÅHLÉN Department of Software Development Monash University 900 Dandenong Road Melbourne VIC 3145 Australia Department of Numerical Analysis and Computer Science Royal Institute of Technology Stockholm Sweden

HCV is a heuristic attribute-based induction algorithm based on the newly-developed extension matrix approach. By dividing the positive examples (PE) of a specific class in a given example set into intersecting groups and adopting a set of strategies to find a heuristic conjunctive formula in each group which covers all the group’s positive examples and none of the negative examples (NE), it can find a covering formula in the form of variable-valued logic for PE against NE in low-order polynomial time. The original algorithm performs quite well with those data sets where noise and continuous data are not of major concern. However, its performance decreases when the data sets are noisy and contain continuous attributes. This paper presents noise handling techniques developed and implemented in HCV (Version 2.0), a noise tolerant version of the HCV algorithm, and provides a performance comparison of HCV with other inductive algorithms C4.5 and NewID in noisy and continuous domains.

关键词： Rule induction Noise handling Extension matrix

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LOW SPIKING RATES IN A POPULATION OF MUTUALLY EXCITING PYRAMIDAL CELLS (VOL 6, PG 271, 1995)

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NETWORK-COMPUTATION IN NEURAL SYSTEMS 1995年第3期6卷 511-511页

作者： FRANSEN, E LANSNER, A SANS — Studies of Artificial Neural Systems Department of Numerical Analysis and Computing Science Royal Institute of Technology S-100 44 Stockholm Sweden

In a recurrent artificial neural network, the units active in an attractor state typically reach their maximum activity value while the others are quiescent. In contrast, recordings of cortical cell activity in vivo rarely reveal cells firing at their maximum rate. This discrepancy has been one of the main arguments against using attractor networks as models of cortical associative memory. In this study we show that low-rate sustained after-activity can be obtained in a simulated network of mutually exciting pyramidal cells. This is achieved by assuming that the synapses in the network are of a saturating type. When the application of a monoamine neuromodulator is simulated, after-activity with firing rates around 60?s^?1 can be produced. The firing pattern of the network was found to be similar to that of the experimentally most comparable system, the disinhibited hippocampal slice. The results obtained are robust against simulated biological variation and background noise.

关键词： Primate temporal cortex Computer-based model Neural networks Visual-cortex Realistic simulations Neuronal correlate Dendritic spines Cortical-neurons Firing rates Term-memory FIRING RATE Attractor Neural network Computer based modeling cell activity ignition sequence Network Dendritic Spines realistic simulation Visual Cortex

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Closing the loop: Pursuing a moving object by a moving observer 6th

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6th International Conference on Computer analysis of Images and Patterns, CAIP 1995

作者： Nordlund, Peter Uhlin, Tomas Department of Numerical Analysis Computing Science Royal Institute of Technology StockholmS-10044 Sweden

ISBN: (纸本)3540602682

We present an integrated system, able to pursue a moving object by controlling a robot-head to maintain the moving object centered in the image. This system runs continuously in time and updates the object localization at a frame-rate of 25 Hz. The moving object can be tracked although the observer performs an unknown independent motion, involving both translation and rotation. We focus on a simple algorithm, since computational cost is of major importance for real-time systems with feedback. The algorithm is noniterative and computationally cheap. The running time complexity is O(n) for an image containing n pixels. © Springer-Verlag Berlin Heidelberg 1995.

关键词： Real time systems

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Strong lower bounds on the approximability of some NPO PB-complete maximization problems 20th

Strong lower bounds on the approximability of some NPO PB-co...

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20th International Symposium on Mathematical Foundations of Computer science, MFCS 1995

作者： Kann, Viggo Department of Numerical Analysis and Computing Science Royal Institute of Technology StockholmS-100 44 Sweden

ISBN: (纸本)3540602461

The approximability of several NP maximization problems is investigated and strong lower bounds for the studied problems are proved. For some of the problems the bounds are the best that can be achieved, unless P = NP. For example we investigate the approximabflity of MAX PB 0 - 1 PROGRA1VIMING, the problem of finding a binary vector x that satisfies a set of linear relations such that the objective value ∑cixi is maximized, where cl are binary numbers. We show that, unless P = NP, MAX PB 0 - 1 PROGRAMMING is not approximable within the factor n1-Ε for any Ε > 0, where n is the number of inequalities, and is not approximable within m1/2-Ε for amy Ε > 0, where m is the number of variables. Similar hardness results are shown for other problems on binary linear systems, some problems on the satisfiability of boolean formulas and the longest induced circuit problem. © Springer-Verlag Berlin Heidelberg 1995.

关键词： Linear systems

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Direct obstacle detection and motion from spatio-temporal derivatives 6th

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6th International Conference on Computer analysis of Images and Patterns, CAIP 1995

作者： Fornland, Päir Department of Numerical Analysis and Computing Science Royal Institute of Technology StockholmS-100 44 Sweden

ISBN: (纸本)3540602682

Autonomous vehicles need a means of detecting obstructions on its path, to avoid collision. In this paper, a novel approach to obstacle detection is presented. A camera moves on a visible ground plane with the optical axis parallel to the ground. Camera motion parameters are hnearly related to first order spatio-temporal derivatives of the taken image sequence;image flow is not needed. Motion is robustly estimated using RANSAC. An error measure for each image point corresponds to the likelihood of an obstacle in that point. © Springer-Verlag Berlin Heidelberg 1995.

关键词： Cameras

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