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Autonomous optical navigation for interplanetary exploration based on information of earth-moon

Journal of Harbin Institute of Technology(New Series) 2003年第3期10卷 343-348页

作者：吴伟仁田玉龙黄翔宇 Institute for Pattern Recognition and Artificial Intelligence State Key Lab. for Image Processing and Intelligent Control Huazhong University of Science and Technology Wuhan 430074 China Deep Space Exploration Research Center Harbin Institute of Technology Harbin 150001 Chinahe image elements of earth-center and moon-center are obtained by processing the images of earth and moon these image elements in combination with the inertial attitude information and the moon ephemeris are utilized to obtain the probe initial position relative to earth and the Levenberg-Marquardt algorithm is used to determine the accurate probe position relative to earth and the probe orbit relative to earth is estimated by using the extended Kalman filter. The autonomous optical navigation algorithm is validated using the digital simulation.

The image elements of earth-center and moon-center are obtained by processing the images of earthand moon, these image elements in combination with the inertial attitude information and the moon ephemerisare utilized to obtain the probe initial position relative to earth, and the Levenberg-Marquardt algorithm is usedto determine the accurate probe position relative to earth, and the probe orbit relative to earth is estimated by u-sing the extended Kalman filter. The autonomous optical navigation algorithm is validated using the digital simu-lation.

关键词： autonomous optical navigation interplanetary exploration Levenberg-Marquardt algorithm

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Hierarchical matching of panoramic images

Hierarchical matching of panoramic images

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International Conference on image Analysis and processing

作者： R. Glantz M. Pelillo W.G. Kropatsch Dipartimento di Informatica Università Ca Foscari di Venezia Venezia-Mestre Italy Pattern Recognition and Image Processing Group Institute of Computer Aided Automation University of Technology Vienna Vienna Austria

When matching regions from "similar" images, one typically has the problem of missing counterparts due to local or even global variations of segmentation fineness. Matching segmentation hierarchies, however, not only increases the chances of finding counterparts, but also allows us to exploit the manifold constraints coming from the topological relations between the regions in a hierarchy. In this paper we match hierarchies from panoramic images by constructing an association graph G/sub A/ whose vertices represent potential matches and whose edges indicate topological consistency. Specifically, a maximal [maximum] weight clique of GA corresponds to a topologically consistent mapping with maximal [maximum] total similarity. To find "heavy" cliques, we adapt a greedy pivoting-based heuristic to the weighted case. Experiments on pairs of panoramic images demonstrate the reliability of the results.

关键词： image segmentation pattern recognition image processing Automation pattern matching Topology image edge detection

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Virtual Vessel Reconstruction from a Fragment's Profile

Virtual Vessel Reconstruction from a Fragment's Profile

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4th International Symposium on Virtual Reality, Archaeology and Intelligent Cultural Heritage, VAST 2003

作者： Kampel, M. Melero, F.J. Vienna University of Technology Institute of Computer Aided Automation Pattern Recognition and Image Processing Group Favoritenstr. 9 183-2 ViennaA-1040 Austria Universidad de Granada E.T.S. Ingeniería Informática Dpt. Lenguajes y Sistemas Informáticos C/. Daniel Saucedo Aranda s/n GranadaE-18071 Spain

ISBN: (纸本)3905673088

Every archaeological excavation must deal with a vast number of ceramic fragments. The documentation, administration and scientific processing of these fragments represent a temporal, personnel, and financial problem. Up to now documentation and classification have been done manually which means a lot of routine work for archaeologists and a very inconsistent representation of the real object. First, there may be errors in the measuring process (diameter or height may be inaccurate). Second, the drawing of the fragment should be in a consistent style, which is not possible since a drawing of an object without interpreting it is very hard to do. We are developing a documentation system for archaeological fragments based on their profile, which is the cross-section of the fragment in the direction of the rotational axis of symmetry. Hence the position of a fragment (orientation) on a vessel is important, since it allows a good profile to be obtained. This paper presents two different approaches to the estimation of the orientation of archaeological fragments and the profile extraction. One method is based on a Hough inspired approach and the other is based on genetic algorithms and expert interaction. We compare the methods and show results with respect to robustness, applicability, and accuracy. © The Eurographics Association 2003.

关键词： Genetic algorithms

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Abstraction pyramids on discrete representations 10th

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10th International Conference on Discrete Geometry for Computer imagery, DGCI 2002

作者： Kropatsch, Walter G. Institute for Computer-Aided Automation Pattern Recognition and Image Processing Group Vienna Univ. of Technology Austria

ISBN: (纸本)3540433805

We review multilevel hierarchies under two special aspects: their potential for abstraction and for storing discrete representations. Motivated by claims to ‘bridge the representational gap between image and model features’ and by the growing importance of topological properties we discuss several extensions to dual graph pyramids and to topological maps: structural simplification should preserve important topological properties and content abstraction could be guided by an external knowledge base. © Springer-Verlag Berlin Heidelberg 2002.

关键词： Abstracting

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Receptive fields within the combinatorial pyramid framework 10th

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10th International Conference on Discrete Geometry for Computer imagery, DGCI 2002

作者： Brun, Luc Kropatsch, Walter G. Université de Reims France Institute for Computer-aided Automation Pattern Recognition and Image Processing Group Vienna Univ. of Technology Austria

ISBN: (纸本)3540433805

A hierarchical structure is a stack of successively reduced image representations. Each basic element of a hierarchical structure is the father of a set of elements in the level below. The transitive closure of this father-child relationship associates to each element of the hierarchy a set of basic elements in the base level image representation. Such a set, called a receptive field, defines the embedding of one element of the hierarchy on the original image. Using the father-child relationship, global properties of a receptive field may be computed in O(log(m)) parallel processing steps where m is the diameter of the receptive field. Combinatorial pyramids are defined as a stack of successively reduced combinatorial maps, each combinatorial map being defined by two permutations acting on a set of half edges named darts. The basic element of a combinatorial pyramid is thus the dart. This paper defines the receptive field of each dart within a combinatorial pyramid and study the main properties of these sets. © Springer-Verlag Berlin Heidelberg 2002.

关键词： image representation

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Combining shape from silhouette and shape from structured light for volume estimation of archaeological vessels

Combining shape from silhouette and shape from structured li...

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International Conference on pattern recognition

作者： R. Sablatnig S. Tosovic M. Kampel Institute of Computer Aided Automation Pattern Recognition and Image Processing Group University of Technology Vienna Vienna Austria

An algorithm for the automatic construction of a 3d model of archaeological vessels using two different 3d algorithms is presented. In archeology the determination of the exact volume of arbitrary vessels is of importance since this provides information about the manufacturer and the usage of the vessel. To acquire the 3d shape of objects with handles is complicated, since occlusions of the object's surface are introduced by the handle and can only be resolved by taking multiple views. Therefore, the 3d reconstruction is based on a sequence of images of the object taken from different viewpoints with two different algorithms; shape from silhouette and shape from structured light. The output of both algorithms are then used to construct a single 3d model. Results of the algorithm developed are presented for both synthetic and real input images.

关键词： Shape image reconstruction Automation pattern recognition image processing Manufacturing Ceramics Planing Rain Cameras

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Automated segmentation of archaeological profiles for classification

Automated segmentation of archaeological profiles for classi...

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International Conference on pattern recognition

作者： M. Kampel R. Sablatnig Institute of Computer Aided Automation Pattern Recognition and Image Processing Group University of Technology Vienna Vienna Austria

Classification and reconstruction of archaeological fragments is based on the profile, which is the cross-section of the fragment in the direction of the rotational axis of symmetry. In order to segment the profile into primitives like rim, wall, and base, rules based on expert knowledge are created. The input data for the estimation of the profile is a set of points produced by the acquisition system. A function fitting this set is constructed and later on processed to find the characteristic points necessary to classify the original fragment. The one we propose is based on B-splines or bell-shaped splines.

关键词： Shape image segmentation Ceramics Documentation Automation pattern recognition image processing Containers Graphics Orifices

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Hierarchical top down enhancement of robust PCA 9th

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Joint IAPR 9th International Workshop on Structural and Syntactic pattern recognition, SSPR 2002 and 4th International Workshop on Statistical Techniques in pattern recognition, SPR 2002

作者： Langs, Georg Bischof, Horst Kropatsch, Walter G. Pattern Recognition and Image Processing Group 183/2 Institute for Computer Aided Automation Vienna University of Technology Favoritenstr. 9 ViennaA-1040 Austria Institute for Computer Graphics and Vision TU Graz Inffeldgasse 16 2.OG GrazA-8010 Austria

ISBN: (纸本)3540440119

In this paper we deal with performance improvement of robust PCA algorithms by replacing regular subsampling of images by an irregular image pyramid adapted to the expected image content. The irregular pyramid is a structure built based on knowledge gained from the training set of images. It represents different regions of the image with different level of detail, depending on their importance for reconstruction. This strategy enables us to improve reconstruction results and therefore the recognition significantly. The training algorithm works on the data necessary to perform robust PCA and therefore requires no additional input. © Springer-Verlag Berlin Heidelberg 2002.

关键词： image enhancement

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Automated segmentation of archaeological profiles for classification

Proceedings - International Conference on Pattern Recognitio...

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Proceedings - International Conference on pattern recognition 2002年第1期16卷 57-60页

作者： Kampel, Martin Sablatnig, Robert Vienna University of Technology Institute of Computer Aided Automation Pattern Recognition and Image Processing Group Favoritenstr.9/183-2 A-1040 Vienna Austria

关键词： image segmentation

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Combining shape from silhouette and shape from structured light for volume estimation of archaeological vessels

Proceedings - International Conference on Pattern Recognitio...

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Proceedings - International Conference on pattern recognition 2002年第1期16卷 364-367页

作者： Sablatnig, Robert Tosovic, Srdan Kampel, Martin Vienna University of Technology Institute of Computer Aided Automation Pattern Recognition and Image Processing Group Favoritenstr. 9 183-2 A-1040 Vienna Austria

An algorithm for the automatic construction of a 3d model of archaeological vessels using two different 3d algorithms is presented. In archeology the determination of the exact volume of arbitrary vessels is of importance since this provides information about the manufacturer and the usage of the vessel. To acquire the 3d shape of objects with handles is complicated, since occlusions of the object's surface are introduced by the handle and can only be resolved by taking multiple views. Therefore, the 3d reconstruction is based on a sequence of images of the object taken from different viewpoints with two different algorithms;shape from silhouette and shape from structured light. The output of both algorithms are then used to construct a single 3d model. Results of the algorithm developed are presented for both synthetic and real input images. © 2002 IEEE.

关键词： Parameter estimation

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