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Uncalibrated Path Planning in the image Space for the Fixed Camera Configuration

Acta Automatica Sinica 2013年第6期39卷 759-769页

作者： Xin-Wu LIANG Xin-Han HUANG Min WANG Department of Automation Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing of Ministry of Education of China Shanghai 200240 China Department of Control Science and Engineering Huazhong University of Science and Technology Key Laboratory of Image Processing and Intelligent Control of Ministry of Education of China Wuhan 430074 China

image-based visual servoing can be used to efficiently control the motion of robot manipulators. When the initial and the desired configurations are distant, however, as pointed out by many researchers, such a control approach can suffer from the convergence and stability problems due to its local properties. By specifying adequate image feature trajectories to be followed in the image, we can take advantage of the local convergence and stability of image-based visual servoing to avoid these problems. Hence, path planning in the image space has been an active research topic in robotics in recent years. However, almost all of the related results are established for the case of camera-in-hand configuration. In this paper, we propose an uncalibrated visual path planning algorithm for the case of fixed-camera configuration. This algorithm computes the trajectories of image features directly in the projective space such that they are compatible with rigid body motion. By decomposing the projective representations of the rotation and the translation into their respective canonical forms, we can easily interpolate their paths in the projective space. Then, the trajectories of image features in the image plane can be generated via projective paths. In this way, the knowledge of feature point structures and camera intrinsic parameters are not required. To validate the feasibility and performance of the proposed algorithm, simulation results based on the puma560 robot manipulator are given in this paper.

关键词： Visual servoing path planning uncalibrated camera projective space fixed-camera configuration

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Swarm Stability of Heterogeneous Multi-agent systems via Periodically Intermittent Control

Swarm Stability of Heterogeneous Multi-agent Systems via Per...

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第三十二届中国控制会议

作者： Haili Liang Housheng Su Xiaofan Wang Michael Z. Q. Chen Department of Automation Shanghai Jiao Tong University and Key Laboratory of System Control and Information Processing Ministry of Education of China School of Automation Image Processing and Intelligent Control Key Laboratory of Education Ministry of China Huazhong University of Science and Technology Department of Mechanical Engineering The University of Hong Kong

ISBN: (纸本)9789881563835

This paper investigates distributed leader-following swarm stability of heterogeneous multi-agent systems with periodically intermittent control. We assume that the agents in the network are nonidentical and the coupling matrix is balanced. Each heterogeneous follower is assumed to obtain some information from the leader and the neighbors only on a series of periodically time intervals. We show that the system will be exponentially stable. The stability properties are proved via theoretical analysis and verified via numerical simulations. The stability of the heterogeneous multi-agent systems is proved based on matrix theory and the Lyapunov stability theorem. A numerical example is shown to demonstrate the effectiveness of the theoretical result.

关键词： Multi-agent systems, Heterogeneous systems, Intermittent control, Swarm

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Distributed Leader-following Swarm of Heterogeneous Multi-agent systems *

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IFAC Proceedings Volumes 2013年第13期46卷 13-18页

作者： Haili Liang Housheng Su Xiaofan Wang Michael Z.Q. Chen Department of Automation Shanghai Jiao Tong University and Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai 200240 China School of Automation Image Processing and Intelligent Control Key Laboratory of Education Ministry of China Huazhong University of Science and Technology Luoyu Road 1037 Wuhan 430074 China Department of Mechanical Engineering The University of Hong Kong Hong Kong

This paper investigates distributed leader-following swarm of heterogeneous multi-agent systems. Comparing with the existing works on leader-following swarm of homogeneous multi-agent systems, this paper is much more approaching the practical situation because the agents have different dynamics. We show that the heterogeneous followers will gather with a certain error lever under some assumptions and conditions. The stability properties have been proven by theoretical analysis and verified via numerical simulation. The stability of the heterogeneous multi-agent systems has been achieved based on matrix theory and the Lyapunov stability theorem. Numerical simulation is given to demonstrate the effectiveness of the theoretical result.

关键词： Swarm Multi-agent systems Heterogeneous systems Distributed control

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REAL-TIME SUPER-RESOLUTION FOR DIGITAL ZOOMING USING FINITE KERNEL-BASED EDGE ORIENTATION ESTIMATION AND TRUNCATED image RESTORATION

REAL-TIME SUPER-RESOLUTION FOR DIGITAL ZOOMING USING FINITE ...

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IEEE International Conference on image processing

作者： Wonseok Kang Jaehwan Jeon Eunsung Lee Changhun Cho Junghoon Jung Taechan Kim Aggelos K. Katsaggelos Joonki Paik Image Processing and Intelligent Systems Laboratory Graduate School of Advanced Imaging Science Multimedia and Film Chung-Ang University Seoul Korea System LSI Samsung Electronics Co. Ltd Suwon Korea Department of Electrical Engineering and Computer Science Northwestern University Evanston IL 60208 USA

ISBN: (纸本)9781479923427

This paper presents a novel real-time super-resolution (SR) method using directionally adaptive image interpolation and image restoration. The proposed interpolation method estimates the edge orientation using steerable filters and performs edge refinement along the estimated edge orientation. Bi-linear and bi-cubic interpolation filters are then selectively used according to the estimated edge orientation for reducing jagging artifacts in slanting edge regions. The proposed restoration method can effectively remove image degradation caused by interpolation using the directionally adaptive truncated constrained least-squares (TCLS) filter. The proposed method provides high-quality magnified images which are similar to or better than the result of advanced interpolation or SR methods without high computational load. Experimental results indicate that the proposed system gives higher peak-to-peak signal-to-noise ratio (PSNR) and structural similarity (SSIM) values than the state-of-the-art image interpolation methods.

关键词： Super-resolution image interpolation image restoration digital zooming

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FREQUENCY-DOMAIN ANALYSIS OF DISCRETE WAVELET TRANSFORM COEFFICIENTS AND THEIR ADAPTIVE SHRINKAGE FOR ANTI-ALIASING

FREQUENCY-DOMAIN ANALYSIS OF DISCRETE WAVELET TRANSFORM COEF...

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IEEE International Conference on image processing

作者： Eunjung Chae Eunsung Lee Wonseok Kang Younghoon Lim Junghoon Jung Taechan Kim Aggelos K. Katsaggelos Joonki Paik Image Processing and Intelligent Systems Laboratory Graduate School of Advanced Imaging Science Multimedia and Film Chung-Ang University Seoul Korea System LSI Samsung Electronics Co. Ltd Suwon Korea Department of Electrical Engineering and Computer Science Northwestern University Evanston IL 60208 USA

ISBN: (纸本)9781479923427

We present an antialiasing method using combined wavelet-Fourier transform and spatially adaptive shrinkage of the transform coefficients. Traditional antialiasing methods employ a simple low-pass filter onto the entire image, so the resulting image loses not only aliasing artifacts but also high-frequency components such as edges and ridges. The proposed algorithm analyzes the property of the LL subband of the discrete wavelet transform (DWT), and reduces aliasing artifacts using patch-adaptive shrinkage of the DWT coefficients. More specifically, an antialiased LL subband is obtained using adaptive patch-based aliasing reduction. To detect an aliased region, we subtract the discrete Fourier transform (DFT) coefficients of the LL subband from the DFT coefficients of antialiased LL subband. The detected aliasing artifacts in the LH, HL, and HH subbands are reduced by patch-wise adaptive shrinkage of the transform coefficients. The resulting antialiased image is obtained using the inverse DWT. The aliasing artifacts can be efficiently reduced by adaptively shrinking wavelet transform coefficients for preserving high-frequency image details. The proposed antialiasing algorithm is suitable for removing aliasing artifacts which frequently occur in imaging sensors with limited resolution.

关键词： Anti-aliasing wavelet-Fourier transform image enhancement patch-adaptive shrinkage antialiasing image enhancement Aliasing shrinkage Artifacts subband domain analysis Coefficients Sensors (image) Frequency-domain analysis discrete Fourier transform

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An overview about pinning control of complex networks

An overview about pinning control of complex networks

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2012 International Conference on Modelling, Identification and Control, ICMIC 2012

作者： Chen, Xi Zhang, Lan Li, Wei Institute of System Engineering Huazhong University of Science and Technology Image Processing Ministry of China Wuhan Hubei 430074 China Department of Control Science and Engineering Image Processing and Intelligent Control Key Laboratory Education Ministry of China China

ISBN: (纸本)9780956715715

Synchronization and pinning control of complex networks is to regulate the agents' behavior and improve network performance. In this article, we review some recent developments in pinning control. Stability algorithms and pining strategies in different types of complex networks are presented and compared. Adaptive pinning control is also summarized. In addition, the research extended to discrete-time case is reviewed. As some related research, the development in consensus and flocking of multi-agent system are introduced briefly. At last, we give some ideas about pinning control in social networks. © 2012 Huazhong Univ of Sci & Tec.

关键词： Complex networks

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An overview of Hierarchical Temporal Memory: A new neocortex algorithm

An overview of Hierarchical Temporal Memory: A new neocortex...

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2012 International Conference on Modelling, Identification and Control, ICMIC 2012

作者： Chen, Xi Wang, Wei Li, Wei Institute of System Engineering Huazhong University of Science and Technology Education Ministry of China Wuhan Hubei 430074 China Department of Control Science and Engineering Image Processing and Intelligent Control Key Laboratory Education Ministry of China China

ISBN: (纸本)9780956715715

The overview presents the development and application of Hierarchical Temporal Memory (HTM). HTM is a new machine learning method which was proposed by Jeff Hawkins in 2005. It is a biologically inspired cognitive method based on the principle of how human brain works. The method invites hierarchical structure and proposes a memory-prediction framework, thus making it able to predict what will happen in the near future. This overview mainly introduces the developing process of HTM, as well as its principle, characteristics, advantages and applications in vision, image processing and robots movement, some potential applications by using HTM, such as thinking process, are also put forward. © 2012 Huazhong Univ of Sci & Tec.

关键词： Forecasting

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An Overview of Hierarchical Temporal Memory: A New Neocortex Algorithm

An Overview of Hierarchical Temporal Memory: A New Neocortex...

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2012 International Conference on Modelling,Identification and Control(建模、辨别与控制国际会议 ICMIC 2012)

作者： Xi Chen Wei Wang Wei Li Institute of System engineering Huazhong University of Science & TechnologyImage Processing and Int Candidate for Master of theInstitute of System engineering Huazhong University of Science &Technolog Department of Control Science &Engineering Image Processing and Intelligent Control Key Laboratory o

ISBN: (纸本)9781467315241

The overview presents the development and application of Hierarchical Temporal Memory (HTM).HTM is a new machine learning method which was proposed by Jeff Hawkins in *** is a biologically inspired cognitive method based on the principle of how human brain *** method invites hierarchical structure and proposes a memory-prediction framework, thus making it able to predict what will happen in the near *** overview mainly introduces the developing process of HTM, as well as its principle, characteristics, advantages and applications in vision, image processing and robots movement, some potential applications by using HTM , such as thinking process, are also put forward.

关键词： hierarchical Bayesian network spatial-temporal memory-prediction temporal sequence pattern recognition

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Automatic segmentation of brain tumors in magnetic resonance images

Automatic segmentation of brain tumors in magnetic resonance...

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IEEE-EMBS International Conference on Biomedical and Health Informatics, BHI 2012. In Conj. with the 8th Int. Symp.on Medical Devices and Biosensors and the 7th Int. Symp. on Biomedical and Health Engineering

作者： Behzadfar, Neda Soltanian-Zadeh, Hamid Control and Intelligent Processing Center of Excellence School of Electrical and Computer Engineering University of Tehran Tehran 14395-515 Iran Pooyandegan Rah Saadat Company Tehran 16756-965 Iran Image Analysis Laboratory Radiology Department HenryFord Healh System Detroit MI 48202 United States

ISBN: (纸本)9781457721779

Segmentation of tumors in magnetic resonance images (MRI) is an important task but is quite time consuming when performed manually by experts. Automating this process is challenging due to the high diversity in appearance of tumor tissue in different patients, and in many cases, similarity between tumor and normal tissues. This paper presents an automatic method for segmentation of brain tumors in MRI. We use images of patients with glioblastoma multiform tumors. After pre-processing and removal of the regions that do not have useful information (e.g., eyes and scalp), we create a projection image for determining the primary location of the tumor. This image provides an overall view of the tumor. Then, we grow the primary region to segment the entire tumor. This method is automatic and independent of the operator. It segments low contrast tumors without requiring their exacta tissue boundaries. The segmentation results obtained by the proposed approach are compared with those of an expert radiologist showing excellent correlations among them (R2=0.97). © 2012 IEEE.

关键词： Tumors

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An overview about pinning control of complex networks

An overview about pinning control of complex networks

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2012 International Conference on Modelling,Identification and Control(建模、辨别与控制国际会议 ICMIC 2012)

作者： Xi Chen Lan Zhang Wei Li Institute of System engineering Huazhong University of Science & TechnologyImage Processing and Int Candidate for Master of Systemengineering Huazhong University of Science & TechnologyImageProcessin Department of Control Science &Engineering Image Processing and Intelligent Control Key Laboratory o

ISBN: (纸本)9781467315241

Synchronization and pinning control of complex networks is to regulate the agents' behavior and improve network *** this article, we review some recent developments in pinning *** algorithms and pining strategies in different types of complex networks are presented and *** pinning control is also *** addition, the research extended to discrete-time case is *** some related research, the development in consensus and flocking of multi-agent system are introduced *** last, we give some ideas about pinning control in social networks.

关键词： Complex network pinning control adaptive control multi-agent systems

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