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IEEE International Conference on Robotics and Automation (ICRA)

作者： Michele Colledanchise Alejandro Marzinotto Petter Ögren Computer Vision and Active Perception Lab. Royal Institute of Technology (KTH) Stockholm Sweden

This paper presents a mathematical framework for performance analysis of Behavior Trees (BTs). BTs are a recent alternative to Finite State Machines (FSMs), for doing modular task switching in robot control architectures. By encoding the switching logic in a tree structure, instead of distributing it in the states of a FSM, modularity and reusability are improved. In this paper, we compute performance measures, such as success/failure probabilities and execution times, for plans encoded and executed by BTs. To do this, we first introduce Stochastic Behavior Trees (SBT), where we assume that the probabilistic performance measures of the basic action controllers are given. We then show how Discrete Time Markov Chains (DTMC) can be used to aggregate these measures from one level of the tree to the next. The recursive structure of the tree then enables us to step by step propagate such estimates from the leaves (basic action controllers) to the root (complete task execution). Finally, we verify our analytical results using massive Monte Carlo simulations, and provide an illustrative example of the results for a complex robotic task.

关键词： Markov processes Robots Probabilistic logic Transient analysis Switches Vectors Reliability

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On Fast Trackers that are Robust to Partial Occlusions

On Fast Trackers that are Robust to Partial Occlusions

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IEEE computer Society Conference on computer vision and Pattern Recognition Workshops (CVPRW)

作者： Lu Zhang Hamdi Dibeklioglu Laurens van der Maaten Computer Vision Lab Delft University of Technology The Netherlands Comput. Vision Lab. Technische Universiteit Delft Delft Zuid-Holland NL

Model-free tracking aims identify the location of particular objects or object parts in each frame of a video based on a single positive example. In our work, we (1) develop online-learning algorithms for part-based models that facilitate the use of these models in model-free tracking in order to improve robustness to partial occlusions, and (2) derive a probabilistic bound that facilitates rapid pruning of candidate locations in many popular trackers. Together with other recent advances in object detection and tracking, we believe these developments will ultimately contribute to solving the long-term tracking problem.

关键词： Target tracking Conferences computer vision Probabilistic logic Object tracking Face Pattern recognition

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International Conference on Pattern Recognition

作者： Gorkem Saygili Laurens Van Der Maaten Emile A. Hendriks Computer Vision Lab Delft University of Technology The Netherlands Comput. Vision Lab. Technische Universiteit Delft Delft Zuid-Holland NL

ISBN: (纸本)9781479952106

Stereo confidence measures are one of the most popular research topics in stereo vision. These measures give an indication about the certainty of the matching. The main aim of using confidence measures is to filter the erroneous disparity estimations at the end of the matching process. However, they can also be incorporated at the initial step of the matching process to obtain accurate estimations before the cost aggregation. In this paper, we propose to utilize stereo confidence measures for fusing different similarity measures in order to obtain robust estimations for aggregation. Since stereo similarity measures perform differently in varying conditions, the confidence-guided fusion of them makes stereo matching more robust against errors. We evaluate the performance of our algorithm in comparison to different similarity measures on the Middleburry benchmark stereo test set. The results show significant improvements on the accuracy of initial disparity estimations with our fusion strategy compared to different similarity measures.

关键词： Stereo vision Accuracy Estimation Fuses Weight measurement Robustness

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A dictionary-based method for tire defect detection

A dictionary-based method for tire defect detection

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International Conference on Information and Automation (ICIA)

作者： Yuanyuan Xiang Caiming Zhang Qiang Guo School of Computer Science and Technology Shandong University of Finance and Economics Jinan China Shandong Key Lab. of Digital Media Technology Jinan China

In this paper, we propose a new tire defect detection algorithm based on dictionary representation. The dictionary learned from normal images is efficient to represent defect-free images while it has low efficiency to represent defect images due to its capability of capturing key information. Unlike the conventional iterative solution with complicated calculation, the representation coefficients are obtained by multiplying the pseudo-inverse matrix of the learned dictionary and image patch. Moreover, the distribution of representation coefficients is very different between defect-free image and defect image. Therefore, the distribution difference of representation coefficients can be used as a discrimination criterion to detect the defective region. Experimental results demonstrate that the proposed method can accurately detect defects.

关键词： Dictionaries Tires Standards Fabrics Equations Matching pursuit algorithms Erbium

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26th Annual Computational Neuroscience Meeting (CNS*2017): Part 3 Antwerp, Belgium. 15-20 July 2017 Abstracts

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BMC NEUROSCIENCE 2017年第SUPPL 1期18卷 95-176页

作者： [Anonymous] Department of Neuroscience Yale University New Haven CT 06520 USA Department Physiology & Pharmacology SUNY Downstate Brooklyn NY 11203 USA NYU School of Engineering 6 MetroTech Center Brooklyn NY 11201 USA Departament de Matemàtica Aplicada Universitat Politècnica de Catalunya Barcelona 08028 Spain Institut de Neurobiologie de la Méditerrannée (INMED) INSERM UMR901 Aix-Marseille Univ Marseille France Center of Neural Science New York University New York NY USA Aix-Marseille Univ INSERM INS Inst Neurosci Syst Marseille France Laboratoire de Physique Théorique et Modélisation CNRS UMR 8089 Université de Cergy-Pontoise 95300 Cergy-Pontoise Cedex France Department of Mathematics and Computer Science ENSAT Abdelmalek Essaadi’s University Tangier Morocco Laboratory of Natural Computation Department of Information and Electrical Engineering and Applied Mathematics University of Salerno 84084 Fisciano SA Italy Department of Medicine University of Salerno 84083 Lancusi SA Italy Dipartimento di Fisica Università degli Studi Aldo Moro Bari and INFN Sezione Di Bari Italy Data Analysis Department Ghent University Ghent Belgium Coma Science Group University of Liège Liège Belgium Cruces Hospital and Ikerbasque Research Center Bilbao Spain BIOtech Department of Industrial Engineering University of Trento and IRCS-PAT FBK 38010 Trento Italy Department of Data Analysis Ghent University Ghent 9000 Belgium The Wellcome Trust Centre for Neuroimaging University College London London WC1N 3BG UK Department of Electronic Engineering NED University of Engineering and Technology Karachi Pakistan Blue Brain Project École Polytechnique Fédérale de Lausanne Lausanne Switzerland Departement of Mathematics Swansea University Swansea Wales UK Laboratory for Topology and Neuroscience at the Brain Mind Institute École polytechnique fédérale de Lausanne Lausanne Switzerland Institute of Mathematics University of Aberdeen Aberdeen Scotland UK Department of Integrativ

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Surface Interpolation to Image with Edge Preserving

Surface Interpolation to Image with Edge Preserving

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International Conference on Pattern Recognition

作者： Ling Zhang Caiming Zhang Yuanfeng Zhou Xuemei Li School of Computer Science and Technology ShanDong University Jinan China Shandong Key Lab. of Digital Media Technology Shandong University of Finance and Economics Jinan China

Based on the assumption that low-resolution image is sampled from an original scene approximated by piecewise polynomial surface, this paper proposes two different constraints to make the fitting surface of the original scene preserve the image's edge characteristics. We first construct a cubic parametric curve to approximate the edge in each local area and obtain an auxiliary pixel set by re-sampling the curve, then introduce a weight function to accord pixels different degrees of effects on surface reconstruction. By re-sampling the constructed surface, the enlarged image can be easily obtained. Extensive experimental results on various types of low-resolution images demonstrate that our method produces generally better results both in terms of quantitative evaluation and subjective visual quality.

关键词： Image edge detection Interpolation Surface reconstruction Image reconstruction Polynomials Surface treatment Surface fitting

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Multi-modal pipeline for comprehensive validation of Mitral Valve geometry and functional computational models

Multi-modal pipeline for comprehensive validation of Mitral ...

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4th International Workshop on Statistical Atlases and Computational Models of the Heart: Imaging and Modelling Challenges, STACOM 2013, Held in Conjunction with MICCAI 2013

作者： Neumann, Dominik Grbic, Sasa Mansi, Tommaso Voigt, Ingmar Rabbah, Jean-Pierre Siefert, Andrew W. Saikrishnan, Neelakantan Yoganathan, Ajit P. Yuh, David D. Ionasec, Razvan Ioan Imaging and Computer Vision Siemens Corporate Technology Princeton NJ United States Pattern Recognition Lab. University of Erlangen-Nuremberg Germany Computer Aided Medical Procedures Technical University Munich Germany Wallace H. Coulter Department of Biomedical Engineering Georgia Institute of Technology Emory University Atlanta GA United States Section of Cardiac Surgery Department of Surgery Yale University New Haven CT United States

ISBN: (纸本)9783642542671

Valvular heart disease affects a high number of patients, exhibiting significant mortality and morbidity rates. Mitral Valve (MV) Regurgitation, a disorder in which the MV does not close properly during systole, is among its most common forms. Traditionally, it has been treated with MV replacement. However, recently there is an increased interest in MV repair procedures, providing better long-term survival, better preservation of heart function, lower risk of complications, and usually eliminating the need for long-term use of blood thinners (anticoagulants). These procedures are complex and require an experienced surgeon and elab.rate pre-operative planning. Hence, there is a need for efficient tools for training and planning of MV repair interventions. Computational models of valve function have been developed for these purposes. Nevertheless, state-of-the-art models remain approximations of real anatomy with considerable simplifications, since current modalities are limited by image quality. Hence, there is an important need to validate such low-fidelity models against comprehensive ex-vivo data to assess their clinical applicability. As a first step towards this aim, we propose an integrated pipeline for the validation of MV geometry and function models estimated in ex-vivo TEE data with respect to ex-vivo microCT data. We utilize a controlled experimental setup for ex-vivo imaging and employ robust machine learning and optimization techniques to extract reproducible geometrical models from both modalities. Using one exemplary case, we demonstrate the validity of our framework. © Springer-Verlag Berlin Heidelberg 2014.

关键词： Pipelines

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Coarse-to-fine correspondence search for classifying ancient coins

Coarse-to-fine correspondence search for classifying ancient...

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11th Asian Conference on computer vision, ACCV 2012

作者： Zambanini, Sebastian Kampel, Martin Computer Vision Lab. Vienna University of Technology Austria

ISBN: (纸本)9783642374838

In this paper, we build upon the idea of using robust dense correspondence estimation for exemplar-based image classification and adapt it to the problem of ancient coin classification. We thus account for the lack of availab.e training data and demonstrate that the matching costs are a powerful dissimilarity metric to establish coin classification for training set sizes of one or two images per class. This is accomplished by using a flexible dense correspondence search which is highly insensitive to local spatial differences between coins of the same class and different coin rotations between images. Additionally, we introduce a coarse-to-fine classification scheme to decrease runtime which would be otherwise linear to the number of classes in the training set. For evaluation, a new dataset representing 60 coin classes of the Roman Republican period is used. The proposed system achieves a classification rate of 83.3 % and a runtime improvement of 93 % through the coarse-to-fine classification. © 2013 Springer-Verlag.

关键词： Classification (of information)

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Supporting ancient coin classification by image-based reverse side symbol recognition

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15th International Conference on computer Analysis of Images and Patterns, CAIP 2013

作者： Anwar, Hafeez Zambanini, Sebastian Kampel, Martin Computer Vision Lab. Vienna University of Technology Vienna Austria

ISBN: (纸本)9783642402456

Coins and currency are studied in the field of Numismatics. Our aim in this article is to use the knowledge of Numismatics for the development of part of a framework for the visual classification of ancient coins. Symbols minted on the reverse side of these coins vary greatly in their shapes and visual structures. Due to this property of symbols, we propose to use them as a discriminative feature for the visual classification of ancient coins. We use dense sampling based bag of visual words (BoVWs) approach for our problem. Due to the fact that BoVWs lack the spatial information, we evaluate three types of schemes to incorporate spatial information. Other parameters of BoVWs such as the size of visual vocabulary, level of detail of the dense sampling grid and number of features per image to construct the visual vocabulary are also investigated. © 2013 Springer-Verlag.

关键词： Image classification

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25th Annual Computational Neuroscience Meeting CNS-2016, Seogwipo City, South Korea, July 2-7, 2016 Abstracts

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BMC NEUROSCIENCE 2016年第1期17卷 1-112页

作者： [Anonymous] Computational Neurobiology Laboratory The Salk Institute for Biological Studies San Diego USA UNIC CNRS Gif sur Yvette France The European Institute for Theoretical Neuroscience (EITN) Paris France ATR Computational Neuroscience Laboratories Kyoto Japan Krembil Research Institute University Health Network Toronto Canada Department of Physiology University of Toronto Toronto Canada Department of Medicine (Neurology) University of Toronto Toronto Canada Department of Physics University of New Hampshire Durham USA Department of Neurophysiology Nencki Institute of Experimental Biology Warsaw Poland Department of Theory Wigner Research Centre for Physics of the Hungarian Academy of Sciences Budapest Hungary Department of Mathematical Sciences KAIST Daejoen Republic of Korea Department of Mathematics University of Houston Houston USA Department of Biochemistry & Cell Biology and Institute of Biosciences and Bioengineering Rice University Houston USA Department of Biology and Biochemistry University of Houston Houston USA Grupo de Neurocomputación Biológica Dpto. de Ingeniería Informática Escuela Politécnica Superior Universidad Autónoma de Madrid Madrid Spain Department of Biological Sciences University of Southern California Los Angeles USA Center for Neuroscience Korea Institute of Science and Technology Seoul South Korea Department of Neurology Albert Einstein College of Medicine Bronx USA Center for Neuroscience KIST Seoul South Korea Department of Neuroscience University of Science and Technology Daejon South Korea Systems Neuroscience Group QIMR Berghofer Medical Research Institute Herston Australia Department of Psychology Yonsei University Seoul South Korea Department of Psychiatry Kyung Hee University Hospital at Gangdong Seoul South Korea Department of Psychiatry Veterans Administration Boston Healthcare System and Harvard Medical School Brockton USA Department of Electrical and Electronic Engineering The University of Melbourne Parkvil

A1 Functional advantages of cell-type heterogeneity in neural circuits Tatyana O. Sharpee A2 Mesoscopic modeling of propagating waves in visual cortex Alain Destexhe A3 Dynamics and biomarkers of mental disorders Mitsuo Kawato F1 Precise recruitment of spiking output at theta frequencies requires dendritic h-channels in multi-compartment models of oriens-lacunosum/moleculare hippocampal interneurons Vladislav Sekulić, Frances K. Skinner F2 Kernel methods in reconstruction of current sources from extracellular potentials for single cells and the whole brains Daniel K. Wójcik, Chaitanya Chintaluri, Dorottya Cserpán, Zoltán Somogyvári F3 The synchronized periods depend on intracellular transcriptional repression mechanisms in circadian clocks. Jae Kyoung Kim, Zachary P. Kilpatrick, Matthew R. Bennett, Kresimir Josić O1 Assessing irregularity and coordination of spiking-bursting rhythms in central pattern generators Irene Elices, David Arroyo, Rafael Levi, Francisco B. Rodriguez, Pablo Varona O2 Regulation of top-down processing by cortically-projecting parvalbumin positive neurons in basal forebrain Eunjin Hwang, Bowon Kim, Hio-Been Han, Tae Kim, James T. McKenna, Ritchie E. Brown, Robert W. McCarley, Jee Hyun Choi O3 Modeling auditory stream segregation, build-up and bistability James Rankin, Pamela Osborn Popp, John Rinzel O4 Strong competition between tonotopic neural ensembles explains pitch-related dynamics of auditory cortex evoked fields Alejandro Tabas, André Rupp, Emili Balaguer-Ballester O5 A simple model of retinal response to multi-electrode stimulation Matias I. Maturana, David B. Grayden, Shaun L. Cloherty, Tatiana Kameneva, Michael R. Ibbotson, Hamish Meffin O6 Noise correlations in V4 area correlate with behavioral performance in visual discrimination task Veronika Koren, Timm Lochmann, Valentin Dragoi, Klaus Obermayer O7 Input-location dependent gain modulation in cerebellar nucleus neurons Maria Psarrou, Maria Schilstra, Neil Davey, Benjamin Torben-Ni

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