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A comparative study of invariant descriptors for shape retrieval

A comparative study of invariant descriptors for shape retri...

引用

IEEE International Workshop on Imaging Systems and Techniques (IST)

作者： A. Amanatiadis V.G. Kaburlasos A. Gasteratos S.E. Papadakis Laboratory of Electronics Department of Electrical and Computer Engineering Democritus University of Thrace Xanthi Greece Division of Computing Systems Department of Industrial Informatics Technological Educational Institute of Kavala Kavala Greece Laboratory of Robotics and Automation Department of Production and Management Engineering Democritus University of Thrace Xanthi Greece

This paper presents a comparative study between scale, rotation and translation invariant descriptors for shape representation and retrieval. Specifically, we studied Fourier, angular radial transform and image moment descriptors for shape representation. Since shape is one of the most widely used image feature exploited in content-based image retrieval systems, we studied for each descriptor, the number of coefficients needed for indexing and their retrieval performance. Results showed that moment descriptors present the best performance in both terms of shape representation quality as well as in the amount of required coefficients.

关键词： Shape Fourier transforms Image retrieval Subspace constraints Laboratories Character recognition Content based retrieval Data mining Computer industry Electrical products industry

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Learning Under Social Influence

Learning Under Social Influence

引用

Joint 48th IEEE Conference on Decision and Control and 28th Chinese Control Conference

作者： Alireza Tahbaz-Salehi Alvaro Sandroni Ali Jadbabaie Department of Economics and Department of Electrical and Systems Engineering University of Pennsylvania Department of Managerial Economics and Decision Sciences Kellogg School of ManagementNorthwestern University the General Robotics AutomationSensing and Perception(GRASP) LaboratoryDepartment of Electrical and Systems EngineeringUniversity of Pennsylvania

In this paper,we study a model of social learning where individuals are under influence of others in their social *** our model,each agent receives private noisy signals about an unobservable,underlying state of the *** the end of each time period,the belief of an individual is equal to the convex combination of her posterior beliefs derived from the signal observed,and the priors of her *** model reduces to the well-known consensus model when private signals are *** show that if the network of social influences is strongly connected,then all agents will have asymptotically correct *** other words,all individuals will be able to asymptotically learn the true state of the world,as far as their observations are ***,we show that all agents assign asymptotically equal beliefs to the true state of the world.

关键词： agent Learning Under Social Influence

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Fuzzy Vergence Control for an Active Binocular Vision System

Fuzzy Vergence Control for an Active Binocular Vision System

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IEEE International Conference on Cybernetic Intelligent Systems

作者： Nikolaos Kyriakoulis Antonios Gasteratos Spyridon G. Mouroutsos Laboratory of Robotics and Automation Department of Production and Management Engineering School of Engineering Democritus University of Thrace Laboratory of Special Engineering Department of Electrical and Computer Engineering School of Engineering Democritus University of Thrace

ISBN: (纸本)9781424429141

Vergence control in binocular vision systems involves the adjustment of the angle between the two cameras' axes so that they are both fixated at the same point of interest. Vergence enables stereo vision systems to perceive depth and to acquire obstacle maps. Vergence movement is directly related to the binocular fusion. Additionally, the decision for convergence or divergence is extracted either by motion affine models or by mathematical ones. In this paper, a new method for extracting the cameras' movement direction, for verge or diverge, is presented. The movement decision is performed by a fuzzy control system, the inputs of which are the zero-mean normalized cross correlation (ZNCC) and the depth estimations at each time step. The suggested system can be used in any active binocular system and is computationally inexpensive. Moreover, the proposed system is independent to a priori camera calibration.

关键词： Vergence angle Zero mean normalized cross correlation Fuzzy logic binocular convergence Fuzzy logic computer vision Binocular vision fuzzy control systems new methods camera calibration Diverge BINOCULARS Cameras

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Development of a stereo vision system for remotely operated robots: A control and video streaming architecture

Development of a stereo vision system for remotely operated ...

引用

IEEE International Symposium on Virtual Environments, Human-Computer Interfaces and Measurement Systems (VECIMS)

作者： A. Amanatiadis A. Gasteratos C. Georgoulas L. Kotoulas I. Andreadis Laboratory of Electronics Department of Electrical and Computer Engineering Democritus University of Thrace Xanthi Greece Laboratory of Robotics and Automation Department of Production and Management Engineering Democritus University of Thrace Xanthi Greece

This paper describes the open and flexible architecture of a stereo vision system prototype, using open source software. The system is designed for teleoperated robots and includes a four degrees of freedom stereo head mechanism, a pair of high performance digital cameras, a head tracker and a head mounted display. All processes for the head control and video streaming are performed in Linux-based Real-time Operating Systems using open source libraries under GPL license. Experimental results showed that our system is capable of satisfying the hard-real time requirements for the head control, with great precision, and a low latency for the stereo video streaming. The video streaming management is particularly sophisticated resulting in a flexible, efficient and reliable service.

关键词： Streaming media Robots Computers Kernel Cameras Real time systems Stereo vision

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Evolutionary path planning and navigation of autonomous underwater vehicles

Evolutionary path planning and navigation of autonomous unde...

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2007 Mediterranean Conference on Control and automation, MED

作者： Kanakakis, V. Tsourveloudis, N. Technical University of Crete Department of Production Engineering and Management Intelligent Systems and Robotics Laboratory 73100 Chania Crete Greece

ISBN: (纸本)142441282X

This paper presents a complete methodology for mission planning and navigation of Autonomous Underwater Vehicles (AUVs) in ocean environment. Path planning near the ocean floor is accomplished via genetic algorithms and B-Splines based on known data of the ocean floor. In addition, collision free navigation is achieved in unknown environments. Prior to vehicle's launch, a genetic algorithm based on ocean floor data and on mission restrictions calculates the optimal path. Once the path is calculated, the vehicle is navigated through the predefined path by a set of fuzzy controllers. A second evolutionary algorithm optimizes the membership functions of these controllers so as the vehicle has the minimum error through its course. Extensive simulations were performed in order to evaluate the methodology and the derived optimized controller. ©2007 IEEE.

关键词： Navigation

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A rotational and translational image stabilization system for remotely operated robots

A rotational and translational image stabilization system fo...

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2007 IEEE International Workshop on Imaging Systems and Techniques, IST'07

作者： Amanatiadis, A. Andreadis, I. Gasteratos, A. Kyriakoulis, N. Laboratory of Electronics Department of Electrical and Computer Engineering Democritus University of Thrace 12 Vas. Sofias Str. GR-67100 Xanthi Greece Laboratory of Robotics and Automation Department of Production and Management Engineering Democritus University of Thrace GR-67100 Xanthi Greece

ISBN: (纸本)1424409659

Remotely operated robots equipped with on board cameras, apart from providing video input to operators, perform optical measurements to assist their navigation as well. Such image processing algorithms require image sequences, free of high frequency unwanted movements, in order to generate their optimal results. Image stabilization is the process which removes the undesirable position fluctuations of a video sequence improving, therefore, its visual quality. In this paper, we introduce the implementation of an image stabilization system that utilizes input from an on board camera and a gyrosensor. The frame sequence is processed by an optic flow algorithm and the inertial data is processed by a discrete Kalman filter. The compensation is performed using two servo motors for the pan and tilt movements and frame shifting for the vertical and horizontal movements, Experimental results of the robot head, have shown fine stabilized image sequences and a system capable of processing 320 × 240 Pixel image sequences at approximately 10 frames/ sec, with a maximum acceleration of 4 deg/sec2. © 2007 IEEE.

关键词： Image analysis

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A log-polar interpolation applied to image scaling

A log-polar interpolation applied to image scaling

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2007 IEEE International Workshop on Imaging Systems and Techniques, IST'07

作者： Amanatiadis, A. Andreadis, I. Gasteratos, A. Laboratory of Electronics Department of Electrical and Computer Engineering Democritus University of Thrace 12 Vas. Sofias Str. GR-67100 Xanthi Greece Laboratory of Robotics and Automation Department of Production and Management Engineering Democritus University of Thrace GR-67100 Xanthi Greece

ISBN: (纸本)1424409659

This paper proposes a bio-inspired interpolation algorithm suitable for image scaling. A log-polar neighbor model is adopted, utilizing the feature of applying larger weights to pixels at the center of the interpolation region and logarithmically decreasing weights to pixels away from the center, The interpolation is performed in the Cartesian plane without requiring the full transformation of the image to the log-polar plane, Experiments show that in both visual comparisons and quantitative analysis, the results extracted by the proposed log-polar neighbor model are better than those extracted from pixel repetition, bilinear and bicubic interpolation, ©2007 IEEE.

关键词： Image analysis

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Introducing Fuzzy Cognitive Maps for decision making in precision agriculture

Introducing Fuzzy Cognitive Maps for decision making in prec...

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6th European Conference on Precision Agriculture, ECPA 2007

作者： Markinos, Ath. Papageorgiou, El. Stylios, Chr. Gemtos, Th. Department of Agriculture Laboratory of Farm Mechanization University of Thessaly Greece Department of Electrical and Computer Engineering Laboratory for Automation and Robotics University of Patras Greece TEI of Epirus Department of Telecommunications Informatics and Management Artas Epirus Greece

ISBN: (纸本)9789086860241

A Fuzzy Cognitive Maps (FCMs) is a modelling methodology based on exploiting knowledge and experience. It comprises the main advantages of fuzzy logic and neural networks, representing a graphical model that consists of nodes-concepts (describing elements of the system) which are connected with weighted edges (representing the cause and effect relationships among the concepts). FCMs have proved to be a promising modeling methodology with many successful applications in different areas especially for simulating system design, modeling and control. In this work, FCMs are introduced to model a decision support system for precision agriculture (PA). The FCM model developed consists of nodes which describe soil properties and cotton yield and of the weighted relationships between these nodes. The nodes of the FCM model represent the main factors influencing cotton crop production i.e. essential soil properties such as texture, pH, OM, K, and P. The proposed FCM model addresses the problem of crop development and spatial variability of cotton yield, taking into consideration the spatial distribution of all the important factors affecting yield. The first results of the study are very promising;our model achieves a 70% average success rate on yield class prediction between two possible categories (low and high) for three different years. This model will be further investigated to achieve better results by introducing learning algorithms into FCMs.

关键词： Crops

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A Rotational and Translational Image Stabilization System for Remotely Operated Robots

A Rotational and Translational Image Stabilization System fo...

引用

IEEE International Workshop on Imaging Systems and Techniques (IST)

作者： A. Amanatiadis I. Andreadis A. Gasteratos N. Kyriakoulis Laboratory of Electronics Department of Electrical and Computer Engineering Democritus University of Thrace Xanthi Greece Laboratory of Robotics and Automation Department of Production and Management Engineering Democritus University of Thrace Xanthi Greece

Remotely operated robots equipped with on board cameras, apart from providing video input to operators, perform optical measurements to assist their navigation as well. Such image processing algorithms require image sequences, free of high frequency unwanted movements, in order to generate their optimal results. Image stabilization is the process which removes the undesirable position fluctuations of a video sequence improving, therefore, its visual quality. In this paper, we introduce the implementation of an image stabilization system that utilizes input from an on board camera and a gyrosensor. The frame sequence is processed by an optic flow algorithm and the inertial data is processed by a discrete Kalman filter. The compensation is performed using two servo motors for the pan and tilt movements and frame shifting for the vertical and horizontal movements. Experimental results of the robot head, have shown fine stabilized image sequences and a system capable of processing 320 times 240 pixel image sequences at approximately 10 frames/sec, with a maximum acceleration of A deg/sec 2 .

关键词： Image sequences Cameras Optical filters Robot vision systems Performance evaluation Navigation Image processing Frequency Fluctuations Video sequences

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A Log-Polar Interpolation Applied to Image Scaling

A Log-Polar Interpolation Applied to Image Scaling

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IEEE International Workshop on Imaging Systems and Techniques (IST)

作者： A. Amanatiadis I. Andreadis A. Gasteratos Laboratory of Electronics Department of Electrical and Computer Engineering Democritus University of Thrace Xanthi Greece Laboratory of Robotics and Automation Department of Production and Management Engineering Democritus University of Thrace Xanthi Greece

This paper proposes a bio-inspired interpolation algorithm suitable for image scaling. A log-polar neighbor model is adopted, utilizing the feature of applying larger weights to pixels at the center of the interpolation region and logarithmically decreasing weights to pixels away from the center. The interpolation is performed in the Cartesian plane without requiring the full transformation of the image to the log-polar plane. Experiments show that in both visual comparisons and quantitative analysis, the results extracted by the proposed log-polar neighbor model are better than those extracted from pixel repetition, bilinear and bicubic interpolation.

关键词： Interpolation Pixel Digital images Hardware Retina Photoreceptors Color Conferences Laboratories robotics and automation

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