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Learning the terrain and planning a collision-free trajectory for indoor post-disaster environments

Learning the terrain and planning a collision-free trajector...

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IEEE International Workshop on Safety, Security, and Rescue Robotics (SSRR)

作者： Ioannis Kostavelis Antonios Gasteratos Evangelos Boukas Lazaros Nalpantidis Laboratory of Robotics and Automation Department of Production and Management Engineering Democritus University of Thrace Xanthi Greece Laboratory of Computer Vision and Machine Intelligence Department of Mechanical and Manufacturing Engineering Aalborg University Copenhagen Copenhagen Denmark

Mobile robots dedicated in post-disaster missions should be capable of moving arbitrarily in unknown cluttered environments so as to accomplish their assigned security task. The paper in hand describes such an agent equipped with collision risk assessment capabilities, while it is able to trace an obstacle-free path in the scene as well. The robot exploits machine learning techniques for the traversability evaluation of the environment by making use of geometrical features, which derive from a postprocessing step of the depth map, obtained by an RGBD sensor. Then, the traversable scenes, are assessed by the likelihood the robot to collide on any arbitrary direction in front of it. Besides, the collision risk likelihood is combined with a path tracing algorithm based on Cellular Automata so that an obstacle-free route is then detected. The proposed method has been examined for several indoor scenarios revealing remarkable efficiency.

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Regional variance dependant sub-frame reduction for face detection in high definition video frames

Regional variance dependant sub-frame reduction for face det...

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2007 Applied Imagery Pattern Recognition Workshop, AIPR 2007

作者： Livingston, Adam R. Asari, Vijayan K. Computational Intelligence and Machine Vision Laboratory Electrical and Computer Engineering Department Old Dominion University Norfolk VA 23529 United States

ISBN: (纸本)9780769530666

Statistical learning based face detection systems search multiple scale sub-frames of an image or frame of a video stream with a trained classifier to detect face objects. If the frame is large there will be a large number of these sub-frames. Sections of the frame with a regional variance below a predefined threshold do not need to be searched as it is not possible for a face to exist in these spaces. A preprocessing system to eliminate these low variance regions of a frame is presented in this paper. A top down quad-tree deconstruction of the frame is used to accomplish this task. Regional variance is computed and tested to determine if a given quadrant should be further broken down. If below a predefined threshold that region will be eliminated in a mask image. This procedure is continued until all sections are eliminated or a defined tree depth is reached. The resulting mask image is then smoothed and subjected to thresholding, merging the remaining valid search areas. The resulting filled mask is then used to determine whether a given sub-frame should be sent to a Viola-Jones face detection cascade. Preliminary results show promise in reducing the number of sub-frames that must be considered for detection, increasing the speed of the detection system. © 2007 IEEE.

关键词： Face recognition

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A robust method for multiple face tracking using Kalman filter

A robust method for multiple face tracking using Kalman filt...

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2007 Applied Imagery Pattern Recognition Workshop, AIPR 2007

作者： Shaik, Zaheer Asari, Vijayan Computational Intelligence and Machine Vision Laboratory Department of Electrical and Computer Engineering Old Dominion University Norfolk VA 23529-0246 United States

ISBN: (纸本)9780769530666

A robust method for tracking faces of multiple people moving in a scene using Kalman filter is proposed in this paper. To distinguish faces of people during partial occlusion the proposed method uses the non-parametric cloth distribution. To overcome the problem of total occlusion, faces are tracked using the values generated by Kalman prediction algorithm. The size, top-left coordinate and velocity of motion of the detected face being the parameters of the Kalman vector;the predicted values are used to locate faces in the next frame. The faces are redetected and the templates are updated at discrete time intervals when the similarity measures, between the faces detected and respective face templates, are less than a preset threshold. Skin segmentation based face detection makes the algorithm computationally simple, and updating the face template makes it invariant to pose changes. The proposed method is experimented to be invariant to lightning conditions, change of pose, and works well in the case of partial and total occlusion for a short period. © 2007 IEEE.

关键词： Kalman filters

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On the problem of determination of spring stiffness parameters for spring-mesh models

On the problem of determination of spring stiffness paramete...

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Medicine Meets Virtual Reality 16 - Parallel, Combinatorial, Convergent: NextMed by Design, MMVR 2008

作者： Quang Huy Viet, Huynh Hirai, Shinichi Shirai, Yoshiaki Yamaguchi, Satoshi Tanaka, Hiromi T. Kawasaki, Hiroshi Kawai, Yukiko Computer Vision and Graphics Laboratory Department of Information and Computer Science Saitama University Saitama Japan Laboratory for Integrated Machine Intelligence Department of Robotics Ritsumeikan University Kusatsu Japan Computer Vision Lab. Department of Human and Computer Intelligence Ritsumeikan University Kusatsu Japan Kawai Lab. Department of Computer Science Kyoto Sangyo University Kyoto Japan

ISBN: (纸本)9781586038229

On account of having real-time behavior and being easy to implement, spring meshes have been used for modeling deformable objects. Determining spring stiffness parameters for simulation of soft objects with high accuracy still remains a challenge. Allen Van Gelder derived an approximate formula for determining spring stiffness parameters based on strain analysis. Even though the experimental result showed the effectiveness, the method has not been investigated from a quantitative point of view. In this paper we propose a quantitative method for determining spring stiffness parameters. Moreover we propose a method to improve the accuracy by way of introducing torsional spring into the conventional spring mesh model. © 2008 The authors. All rights reserved.

关键词： Stiffness matrix

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Parametric HMMs for movement recognition and synthesis

Parametric HMMs for movement recognition and synthesis

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Signal Processing Algorithms, Architectures, Arrangements and Applications (SPA)

作者： Dennis Herzog Volker Küger Computer Vision and Machine Intelligence Laboratory Aalborg University Copenhagen Denmark

A common problem in human movement recognition is the recognition of movements of a particular type (semantic). E.g., grasping movements have a particular semantic (grasping) but the actual movements usually have very different appearances due to, e.g., different grasping directions. In this paper, we develop an exemplar-based parametric hidden Markov model (PHMM) that allows to represent movements of a particular type. Since we use model interpolation to reduce the necessary amount of training data, we had to develop a method to setup local models in a synchronized way. - In our experiments we combine our PHMM approach with a 3D body tracker. Experiments are performed with pointing and grasping movements parameterized by their target positions at a table-top. A systematical evaluation of synthesis and recognition shows the use of our approach. In case of recognition, our approach is able to recover the movement type, and, e.g., the object position a human is pointing at. Our experiments show the flexibility of the PHMMs in terms of the amount of training data and its robustness in terms of noisy observation data. In addition, we compare our PHMM to an other kind of PHMM, which has been introduced by Wilson and Bobick.

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Design of a Low Power Multiply-Accumulator for 2D Convolution in Video Processing Applications

Design of a Low Power Multiply-Accumulator for 2D Convolutio...

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International Conference on Information Technology: New Generations (ITNG)

作者： Hau T. Ngo Vijayan K. Asari Computational Intelligence and Machine Vision Laboratory Department of Electrical and Computer Engineering Old Dominion University Norfolk VA USA

ISBN: (纸本)0769527760;9780769527765

Design of a low power multiply-and-accumulator (MAC) unit for video processing systems exploiting insignificant bits in pixels values and the similarity of neighboring pixels in video streams is presented in this paper. The proposed technique reduces dynamic power consumption by analyzing the bit patterns in the input data to reduce switching activities. Special values of the pixels in the video streams such as zero, one, repeated values or repeated bit combinations are detected and data paths in the architecture design are disabled appropriately to eliminate unnecessary switching in arithmetic units and data buses. It is observed that the proposed scheme helps to reduce operations and switching activities in the MAC unit up to 30% which results in lower power consumption with low hardware overhead

关键词： Convolution Energy consumption Frequency Clocks Arithmetic Capacitance Streaming media Adders Application software Hardware

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Regional Variance Dependant Sub-frame Reduction for Face Detection in High Definition Video Frames

Regional Variance Dependant Sub-frame Reduction for Face Det...

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Applied Imagery Pattern Recognition Workshop (AIPR)

作者： Adam R. Livingston Vijayan K. Asari Computational Intelligence & Machine Vision Laboratory Electrical and Computer Engineering Department Old Dominion University Norfolk VA USA

ISBN: (纸本)9781424431625

关键词： Face detection High definition video Image coding Sensor arrays Face recognition Object detection Radar detection Detectors Image recognition Pattern recognition

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Design of an Efficient Architecture for Enhancement of Stream Video Captured in Non-uniform Lighting Conditions

Design of an Efficient Architecture for Enhancement of Strea...

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International Symposium on Signals, Circuits and Systems (ISSCS)

作者： Ming Z. Zhang Ming-Jung Seow Li Tao Vijayan K. Asari Computational Intelligence and Machine Vision Laboratory Department of Electrical and Computer Engineering Old Dominion University Norfolk VA USA

A novel architecture for performing hue-saturation-value (HSV) domain enhancement of digital color images with non-uniform lighting conditions is proposed in this paper for video streaming applications. The approach promotes log-domain computation to eliminate all multiplications, divisions and exponentiations utilizing the effective logarithmic estimation modules. An optimized quadrant symmetric architecture is incorporated into the design of homomorphic filter for the enhancement of intensity value. Efficient modules are also presented for conversion between RGB and HSV color spaces. The design is able to bring out details hidden in shadow regions of the image. It is capable of producing 187.86 million outputs per second (MOPs) on Xilinx's Virtex II XC2V2000-4ff896 field programmable gate array (FPGA) at a clock frequency of 187.86 MHz. It can process over 179.1 (1024 X 1024) frames per second and consumes approximately 70.7% and 76.8% less hardware resource with 127% and 280% performance boost when compared to the designs with machine learning algorithm [10], and with separated dynamic and contrast enhancements [11], respectively.

关键词： Streaming media computer architecture Field programmable gate arrays Color Design optimization Filters Image converters Clocks Frequency Hardware

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An area efficient modular architecture for real- time detection of multiple faces in video stream

An area efficient modular architecture for real- time detect...

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International Conference on Information, Communications and Signal Processing

作者： Hau T. Ngo Richard Cortland Tompkins Jacob Foytik Vijayan K. Asari Computational Intelligence and Machine Vision Laboratory Department of Electrical and Computer Engineering Old Dominion University Norfolk VA USA

Design of an efficient modular architecture for detection of multiple faces in video stream is presented in this paper. Face detection is the first step in many surveillance and security applications such as face recognition, face authentication for banking and security access control, monitoring and tracking, etc. The algorithm used for this hardware design is the Viola-Jones algorithm, which has proven to be very effective and fast. The hardware design employs a modular approach in an efficient memory management strategy for this memory-intensive application. The proposed design is targeted for a low-cost FPGA prototype board from Altera (DE2 board) for a cost-effective face detection system. The proposed approach utilizes the on-chip memory module to reduce accesses to external memory chip for improved performance in the application.

关键词： Face detection Streaming media Security Hardware Surveillance Face recognition Authentication Banking Access control Monitoring

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An adaptive and non linear technique for enhancement of extremely high contrast images

An adaptive and non linear technique for enhancement of extr...

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35th Applied Imagery and Pattern Recognition Workshop, AIPR 2006

作者： Arigela, Saibabu Asari, K. Vijayan Computational Intelligence and Machine Vision Laboratory Department of Electrical and Computer Engineering Old Dominion University Norfolk VA United States

ISBN: (纸本)0769527396

In night time surveillance, there is a possibility of having extremely bright and dark regions in some image frames of a video sequence. A novel non linear image enhancement algorithm for digital images captured under such extremely non-uniform lighting conditions is proposed in this paper. The new technique constitutes three processes viz. adaptive intensity enhancement, contrast enhancement and color restoration. Adaptive intensity enhancement uses a specifically designed nonlinear transfer function which is capable of reducing the intensity of bright regions and at the same time enhancing the intensity of dark regions. Contrast enhancement tunes the intensity of each pixels magnitude based on its surrounding pixels. Finally, a linear color restoration process based on the chromatic information of the input image frame is applied to convert the enhanced intensity image back to a color image. © 2006 IEEE.

关键词： Pixels

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