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International Conference on Multisensor Fusion and Integration for intelligent systems (MFI)

作者： Frederik Beutler Marco F. Huber Uwe D. Hanebeck Intelligent Sensor-Actuator-Systems Laboratory (ISAS) Institute of Anthropomatics Karlsruhe Institute of Technology Karlsruhe Germany Variable Image Acquisition and Processing Research Group Fraunhofer Institute of Optronics System Technologies and Image Exploitation Karlsruhe Germany

In range-based pose tracking, the translation and rotation of an object with respect to a global coordinate system has to be estimated. The ranges are measured between the target and the global frame. In this paper, an intelligent decomposition is introduced in order to reduce the computational effort for pose tracking. Usually, decomposition procedures only exploit conditionally linear models. In this paper, this principle is generalized to conditionally integrable substructures and applied to pose tracking. Due to a modified measurement equation, parts of the problem can even be solved analytically.

关键词： Mathematical model Equations Noise Noise measurement Coordinate measuring machines Target tracking Covariance matrix

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Optimal stochastic linearization for range-based localization

Optimal stochastic linearization for range-based localizatio...

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2010 IEEE/RSJ International Conference on intelligent Robots and systems

In range-based localization, the trajectory of a mobile object is estimated based on noisy range measurements between the object and known landmarks. In order to deal with this uncertain information, a Bayesian state estimator is presented, which exploits optimal stochastic linearization. Compared to standard state estimators like the Extended or Unscented Kalman Filter, where a point-based Gaussian approximation is used, the proposed approach considers the entire Gaussian density for linearization. By employing the common assumption that the state and measurements are jointly Gaussian, the linearization can be calculated in closed form and thus analytic expressions for the range-based localization problem can be derived.

关键词： Noise Noise level Mathematical model Covariance matrix Noise measurement Kalman filters Position measurement

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Improved learning in grid-to-grid neural network via clustering

Improved learning in grid-to-grid neural network via cluster...

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International Joint Conference on Neural Networks (IJCNN)

作者： W. White K. Iftekharuddin A. Bouzerdoum Intelligent Systems and Image Processing Laboratory Department of Electrical and Computer Engineering University of Memphis TN USA Department of Electrical and Computer Engineering University of Memphis TN USA School of Electrical Computer and Telecommunications Engineering University of Wollongong Wollongong NSW Australia

The maze traversal problem involves finding the shortest distance to the goal from any position in a maze. Such maze solving problems have been an interesting challenge in computational intelligence. Previous work has shown that grid-to-grid neural networks such as the cellular simultaneous recurrent neural network (CSRN) can effectively solve simple maze traversing problems better than other iterative algorithms such as the feedforward multi layer perceptron (MLP). In this work, we investigate improved learning for the CSRN maze solving problem by exploiting relevant information about the maze. We cluster parts of the maze using relevant state information and show an improvement in learning performance. We also study the effect of the number of clusters on the learning rate for the maze solving problem. Furthermore, we investigate a few code optimization techniques to improve the run time efficiency. The outcome of this research may have direct implication in rapid search and recovery, disaster planning and autonomous navigation among others.

关键词： Euclidean distance Kalman filters Training Navigation Artificial neural networks Testing

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A constructive approach to minimal realization problem of 2D systems

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控制理论与应用（英文版） 2009年第3期7卷 335-343页

作者： Huijin FAN Hua CHENG Li XU The Key Laboratory of Image Processing and Intelligent control and Department of Control Science and Engineering Huazhong University of Science and Technology Wuhan Hubei 430074 China Faculty of Systems Science and Technology Akita Prefectural University Akita 015-0055 Japan

Unlike in the 1D case, it is not always possible to find a minimal state-space realization for a 2D system except for some particular categories. The purpose of this paper is to explore a constructive approach to the minimal Roesser model realization problem for a class of 2D systems which does not belong to the clarified categories. As one of the main results, a constructive realization procedure is first proposed. Based on the proposed procedure, sufficient conditions and explicit construction for minimal realizations of the considered 2D systems are shown. In addition, possible variations and applications of the obtained results are discussed and illustrative examples are presented.

关键词： 2D systems Minimal realization Roesser local state-space model

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Binary image registration using cellular simultaneous recurrent networks

Binary image registration using cellular simultaneous recurr...

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IEEE Symposium on Computational Intelligence for Multimedia Signal and Vision processing, CIMSVP

作者： Keith Anderson Khan Iftekharuddin Eddie White Paul Kim Intelligent Systems and Image Processing Laboratory University of Memphis Memphis TN USA

Cellular simultaneous recurrent networks (CSRN)s have been successfully exploited to solve the conventional maze traversing problem. In this work, for the first time, we investigate the use of CSRNs for image registration under affine transformations. In our simulations, we consider binary images with in-plane rotations between plusmn20deg. First, we experiment with a readily available CSRN with generalized multilayer perceptrons (GMLP)s as the basic core. We identify performance criteria for such CSRNs in affine correction. We then propose a modified MLP architecture with multi-layered feedback as the core for a CSRN to improve binary image registration performance. Simulation results show that while both the GMLP network and our modified network are able to achieve localized image registration, our modified architecture is more effective in moving pixels for registration. Finally, we use sub-image processing with our modified MLP architecture, to reduce training time and increase global registration accuracy. Overall, both CSRN architectures show promise for correctly registering a binary image.

关键词： image registration Cellular networks Artificial neural networks Cellular neural networks Multilayer perceptrons Network topology Neural networks Geometry Function approximation Biological materials

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Active shape model-based gait recognition using infrared images

Active shape model-based gait recognition using infrared ima...

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作者： Kim, Daehee Lee, Seungwon Paik, Joonki Image Processing and Intelligent Systems Laboratory Graduate School of Advanced Imaging Science Multimedia and Film Chung-Ang University 221 Heuksuk-Dong Dongjak-Ku Seoul 156-756 Korea Republic of

ISBN: (纸本)9783642105456

We present a gait recognition system using infra-red (IR) images. Since an IR camera is not affected by the intensity of illumination, it is able to provide constant recognition performance regardless of the amount of illumination. Model-based object tracking algorithms enable robust tracking with partial occlusions or dynamic illumination. However, this algorithm often fails in tracking objects if strong edge exists near the object. Replacement of the input image by an IR image guarantees robust object region extraction because background edges do not affect the IR image. In conclusion, the proposed gait recognition algorithm improves accuracy in object extraction by using IR images and the improvements finally increase the recognition rate of gaits. © 2009 Springer-Verlag Berlin Heidelberg.

关键词： image enhancement

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Comparative analysis of wavelet-based scale-invariant feature extraction using different wavelet bases

Comparative analysis of wavelet-based scale-invariant featur...

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作者： Lim, Joohyun Kim, Youngouk Paik, Joonki Image Processing and Intelligent Systems Laboratory Graduate School of Advanced Imaging Science Multimedia and Film Chung-Ang University 221 Heuksuk-Dong Dongjak-Ku Seoul 156-756 Korea Republic of 401-402 B/D 193 Yakdae-Dong WonMi-Gu Puchon-Si KyungGi-Do 420-140 Korea Republic of

ISBN: (纸本)9783642105456

In this paper, we present comparative analysis of scale-invariant feature extraction using different wavelet bases. The main advantage of the wavelet transform is the multi-resolution analysis. Furthermore, wavelets enable localigation in both space and frequency domains and high-frequency salient feature detection. Wavelet transforms can use various basis functions. This research aims at comparative analysis of Daubechies, Haar and Gabor wavelets for scale-invariant feature extraction. Experimental results show that Gabor wavelets outperform better than Daubechies, Haar wavelets in the sense of both objective and subjective measures. © 2009 Springer-Verlag Berlin Heidelberg.

关键词： Feature extraction

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Ringing artifact removal in digital restored images using multi-resolution edge map

Ringing artifact removal in digital restored images using mu...

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作者： Kim, Sangjin Jun, Sinyoung Lee, Eunsung Shin, Jeongho Paik, Joonki Image Processing and Intelligent Systems Laboratory Graduate School of Advanced Imaging Science Multimedia and Film Chung-Ang University 221 Heuksuk-Dong Dongjak-Ku Seoul 156-756 Korea Republic of Department of Web Information Engineering Hankyong National University 67 Seokjeong-Dong Anseong Kyonggi-Do 456-749 Korea Republic of

ISBN: (纸本)9783642105456

This paper presents a novel approach to reducing ringing artifact in digitally restored images by using multi-resolution edge map. The performance of reducing ringing artifacts depends on the accurate classification of the local features in the image. The discrete wavelet transform (DWT) provides effective insight into both spatial and frequency characteristics of an image. Through the DWT analysis, we show that ringing artifacts can be suppressed to a great extent by using multiple-level edge maps, which provide enhanced matching to local edges. Base on the experimental results, the proposed method can reduce ringing artifacts with minimized edge degradation by using DWT analysis. © 2009 Springer-Verlag Berlin Heidelberg.

关键词： Discrete wavelet transforms

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Decentralized adaptive stabilization of nonlinear interconnected stochastic systems by output feedback

Decentralized adaptive stabilization of nonlinear interconne...

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International Conference on Control and Automation (ICCA)

作者： Huijin Fan Li Xu The Key Laboratory of Image Processing and Intelligent Control Department of Control Science and Engineering Huazhong University of Science and Technology China The Department of Electronics and Information Systems Akita Prefectural University Akita Japan

ISBN: (纸本)9781424447060

This paper studies the stabilization problem for a class of stochastic nonlinear interconnected systems with unknown parameters involved. By employing filtered transformation, the stochastic Lyapunov-like theorem and the back-stepping design technique, a decentralized output-feedback controller and parameter adaptive law are proposed. It is proved that the closed-loop, large-scale, interconnected stochastic systems is globally asymptotically stable in probability.

关键词： Stochastic systems Output feedback Control systems Adaptive control Stochastic processes Interconnected systems Nonlinear systems Programmable control Differential equations Nonlinear control systems

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Blind separation of superimposed images with unknown motions

Blind separation of superimposed images with unknown motions

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Conference on Computer Vision and Pattern Recognition (CVPR)

作者： Kun Gai Zhenwei Shi Changshui Zhang State Key Laboratory on Intelligent Technology and Systems Tsinghua National Laboratory for Information Science and Technology (TNList) Department of Automation Tsinghua University Beijing China Image Processing Center School of Astronautics Beihang University Beijing China

We consider the blind separation of source layers from superimposed mixtures thereof, involving unknown motions and unknown mixing coefficients of layers in each mixture. Previous blind separation approaches for such problems assume motions to be uniform translations, and hence are limited for real world applications. In this paper, we develop a sparse blind separation algorithm to estimate both parameterized motions and mixing coefficients. Then, a novel reconstruction approach is presented to recover all layers, by utilizing not only the mixing model but also the statistical properties of natural images. The whole method can handle more general motions than translations, including scalings, rotations and other transformations. In addition, the number of layers is automatically identified, and all layers can be recovered even in the under-determined case where mixtures are fewer than layers. The effectiveness of this technology is shown in the experiments on two simulated mixtures of four layers, real photos containing transparency and reflections, and real crossfade images from videos.

关键词： image reconstruction Motion estimation Optical reflection Cameras Laboratories Space technology Parameter estimation Videos Glass Layout

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