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Efficient 3D vertex detection in range images acquired with a laser sensor 23rd

23rd German Association for pattern recognition Symposium, DAGM 2001

作者： Katsoulas, Dimitrios Bergen, Lothar Institute for Pattern Recognition and Image Processing Computer Science Department Albert-Ludwigs-Universität Freiburg Germany

ISBN: (纸本)3540425969

In many branches of industry, piled box-like objects have to be recognized, grasped and transferred. Unfortunately, existing systems only deal with the most simple configurations (i.e. neatly placed boxes) effectively. It is known that the detection of 3D-vertices is a crucial step towards the solution of the problem, since they reveal essential information about the location of the boxes in space. In this paper we present a technique based on edge detection and robust line fitting, which efficiently detects 3D-vertices. Combining this technique with the advantages of a time of flight laser sensor for data acquisition, we obtain a fast system which can operate in adverse environments independently of lighting conditions. © Springer-Verlag Berlin Heidelberg 2001.

关键词： Edge detection

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Speed estimation for scene objects using stereo visual odometry methods

Speed estimation for scene objects using stereo visual odome...

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2013 IEEE 9th International Conference on Intelligent computer Communication and processing, ICCP 2013

作者： Golban, Catalin Nedevschi, Sergiu Image Processing and Pattern Recognition Group Computer Science Department Technical University of Cluj-Napoca Romania

ISBN: (纸本)9781479914937

This paper proposes a novel method to determine the speed of the surrounding vehicles in traffic scenarios. Relying on the video information obtained from a stereo camera mounted on a moving vehicle, we first determine the vehicle ego motion based on static scene features then we determine the relative motion between objects based on features situated on the moving objects. For robustness to false feature matches everything is plugged into a multi-RANSAC framework. The novelty of the method consist in the fact that the relative motion between the objects can be determined with the same algorithm that was previously used for ego motion estimation, the only difference consisting in the geometric constraints that are imposed to the subset of point features considered for inliers set detection and evaluation. Also, the proposed method does not rely on the fact that objects are detected previously and it does not detect the objects. © 2013 IEEE.

关键词： Vehicles

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SIMBA – Search images by appearance

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23rd German Association for pattern recognition Symposium, DAGM 2001

作者： Siggelkow, Sven Schael, Marc Burkhardt, Hans Institute for Pattern Recognition and Image Processing Computer Science Department Albert-Ludwigs-Universität Freiburg Germany

ISBN: (纸本)3540425969

In this paper we present SIMBA, a content based image retrieval system performing queries based on image appearance. We consider absolute object positions irrelevant for image similarity here and therefore propose to use invariant features. Based on a general construction method (integration over the transformation group), we derive invariant feature histograms that catch different cues of image content: features that are strongly influenced by color and textural features that are robust to illumination changes. By a weighted combination of these features the user can adapt the similarity measure according to his needs, thus improving the retrieval results considerably. The feature extraction does not require any manual interaction, so that it might be used for fully automatic annotation in heavily fluctuating image databases. © Springer-Verlag Berlin Heidelberg 2001.

关键词： Search engines

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Analytic reduction of the Kruppa equations

Analytic reduction of the Kruppa equations

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24th German Association for pattern recognition Symposium, DAGM 2002

作者： Canterakis, Nikos Albert-Ludwigs-Universität Freiburg Computer Science Department Institute for Pattern Recognition and Image Processing FreiburgD-79110 Germany

ISBN: (纸本)354044209X

Given the fundamental matrix between a pair of images taken by a nonstationary projective camera with constant internal parameters, we show how to use the two independent Kruppa equations in order to explicitly cut down the number of parameters of the Kruppa matrix KKT by exactly two. Thus, we derive a procedure which results in a closed formula for the Kruppa matrix that depends on exactly three remaining parameters. This formula allows an easy incorporation of the positivity constraint and admits of an interpretation in terms of the image of the horopter. We focus on the general case where the camera motion is unknown and not restricted to some special type. Solutions of the Kruppa equations given three fundamental matrices have been attempted in the past by iterative numerical methods that are searching in multidimensional spaces. As an application of the reduced Kruppa matrix mentioned above we also outline how this problem can be analytically reduced to the determination of the real, positive roots of a polynomial of 14-th degree in one variable. © Springer-Verlag Berlin Heidelberg 2002.

关键词： Matrix algebra

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Mem Brain: An Easy-to-Use Online Webserver for Transmembrane Protein Structure Prediction

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Nano-Micro Letters 2018年第1期10卷 12-19页

作者： Xi Yin Jing Yang Feng Xiao Yang Yang Hong-Bin Shen Institute of Image Processing and Pattern Recognition Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Ministry of Education of China Department of Computer Science Shanghai Jiao Tong University Key Laboratory of Shanghai Education Commission for Intelligent Interaction and Cognitive Engineering

Membrane proteins are an important kind of proteins embedded in the membranes of cells and play crucial roles in living organisms, such as ion channels,transporters, receptors. Because it is difficult to determinate the membrane protein's structure by wet-lab experiments,accurate and fast amino acid sequence-based computational methods are highly desired. In this paper, we report an online prediction tool called Mem Brain, whose input is the amino acid sequence. Mem Brain consists of specialized modules for predicting transmembrane helices, residue–residue contacts and relative accessible surface area of a-helical membrane proteins. Mem Brain achieves aprediction accuracy of 97.9% of ATMH, 87.1% of AP,3.2 ± 3.0 of N-score, 3.1 ± 2.8 of C-score. Mem BrainContact obtains 62%/64.1% prediction accuracy on training and independent dataset on top L/5 contact prediction,respectively. And Mem Brain-Rasa achieves Pearson correlation coefficient of 0.733 and its mean absolute error of13.593. These prediction results provide valuable hints for revealing the structure and function of membrane *** Brain web server is free for academic use and available at ***/bioinf/Mem Brain/.

关键词： Transmembrane a-helices Structure prediction Machine learning Contact map prediction Relative accessible surface area

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Building classification of terrestrial images by generic geometric hierarchical cluster analysis features

Building classification of terrestrial images by generic geo...

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9th IAPR Conference on Machine Vision Applications, MVA 2005

作者： Brunner, Gerd Burkhardt, Hans Computer Science Department Institute for Pattern Recognition and Image Processing University of Freiburg Georges-Koehler-Allee 052 79110 Freiburg Germany

ISBN: (纸本)4901122045

The scope of this paper is the challenging task of classifying terrestrial images of buildings, automatically. Straight line segments and their connectivity incorporate significant information about object shapes. Man-made buildings exhibit special generic shapes which are extracted from embedded spatial and angular line segment relationships by cluster analysis. After employing an agglomerative hierarchical cluster analysis we obtain geometrical structure information features on different scales. For the classification process we apply support vector machines (SVM) with polynomial and radial basis function (RBF) kernels to separate the feature space by a hyperplane into 2 classes. The method is applied to an image collection taken from the Corel image database and compared with traditional edge- orientation histogram features. We obtained a 88 % true positive classification rate (recall) with an F-measure value of 81.3 %. Copyright © 2005 by MVA Conference Committee.

关键词： Cluster analysis

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Data classification on multiple manifolds

Data classification on multiple manifolds

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International Conference on pattern recognition

作者： Xiao, Rui Zhao, Qijun Zhang, David Shi, Pengfei Institute of Image Processing and Pattern Recognition Shanghai Jiaotong University China Department of Computer Science Hongkong Polytechnic University Hongkong Hong Kong

ISBN: (纸本)9780769541099

Unlike most previous manifold-based data classification algorithms assume that all the data points are on a single manifold, we expect that data from different classes may reside on different manifolds of possible different dimensions. Therefore, better classification accuracy would be achieved by modeling the data by multiple manifolds each corresponding to a class. To this end, a general framework for data classification on multiple manifolds is presented. The manifolds are firstly learned for each class separately, and a stochastic optimization algorithm is then employed to get the near optimal dimensionality of each manifold from the classification viewpoint. Then, classification is performed under a newly defined minimum reconstruction error based classifier. Our method could be easily extended by involving various manifold learning methods and searching strategies. Experiments on both synthetic data and databases of facial expression images show the effectiveness of the proposed multiple manifold based approach. © 2010 IEEE.

关键词： Classification (of information)

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Evaluation of a new point clouds registration method based on group averaging features

Evaluation of a new point clouds registration method based o...

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International Conference on pattern recognition

作者： Temerinac-Ott, Maja Keuper, Margret Burkhardt, Hans Department of Pattern Recognition and Image Processing Institute of Computer Science Albert-Ludwigs-University of Freiburg Germany Albert-Ludwigs-University of Freiburg Germany

ISBN: (纸本)9780769541099

Registration of point clouds is required in the processing of large biological data sets. The tradeoff between computation time and accuracy of the registration is the main challenge in this task. We present a novel method for registering point clouds in two and three dimensional space based on Group Averaging on the Euclidean transformation group. It is applied on a set of neighboring points whose size directly controls computing time and accuracy. The method is evaluated regarding dependencies of the computing time and the registration accuracy versus the point density assuming their random distribution. Results are verified in two biological applications on 2D and 3D images. © 2010 IEEE.

关键词： pattern recognition

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Algorithm Research and Real-time Simulation of Neural Network Sliding Mode Position Control

Algorithm Research and Real-time Simulation of Neural Networ...

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第25届中国控制与决策会议

作者： LI Wei ZHANG Yanyu GAO Yong CHAI Xiuli Institute of Image Processing and Pattern Recognition Henan University School of Computer and Information Engineering Henan University School of Automation Science and Engineering Beihang University

ISBN: (纸本)9781467355339

This paper presents a neural network sliding mode control algorithm for position control of modular robot. This method adopts BP neural network to approximate the functional relation between the sliding hyperplane and the exponential approximation rate. At the same time, the saturation function of sliding mode control algorithm is replaced by a hyperbolic tangent function to realize the boundary design method of the sliding mode control. The results of real-time simulation show that the algorithm proposed in this paper has the merits of fast response, strong robustness, and reducing the chattering of sliding mode control. This method solves the problems that conventional PID algorithm can’t solve under some circumstances, such as complicated environment, great load change, etc.

关键词： Robot control actuator sliding mode control neural network control

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A services selection policy for ServiceBSP model with QoS-aware in Grids

A services selection policy for ServiceBSP model with QoS-aw...

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2nd International Conference on Convergent Information Technology, ICCIT 07

作者： Jiang, Yan Tong, Weiqin Zhao, Wentao School of Computer Engineering and Science Shanghai University Image Processing and Pattern Recognition Institute Shanghai Jiao Tong University Shanghai China

ISBN: (纸本)0769530389

ServiceBSP model is presented as an extension of BSP model with a view to the advantages of BSP model in Grid environment where large-scale and geographically distributed resources (abstracted as services) are available. In this paper, we advocate a preferable Service Broker Framework to support the services selection policy that could optimize the services selection for ServiceBSP model. It means that the services selection can increase the level of satisfaction measured by overall quality value and decrease execution time by considering services dependent relation and location in a subtask group. Meanwhile, the policy is preliminary work ensuring reasonable distribution of services and loading balance in ServiceBSP model. In an addition, we give a detailed process of services selection based on heuristic greedy algorithm. Finally, by comparing response time and price using proposed policy with other policy only considering QoS, the experimental simulation shows that our services selection policy possesses superior performance on response time and then provides satisfactory result for users. © 2007 IEEE.

关键词： Grid computing

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