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2009 2nd International Congress on Image and Signal Processing, CISP'09

作者： Zhongli, Wang Xueshan, Gao Baochang, Zhang Hao, Wu State Key Lab. of Robotics and System Harbin Institute of Technology Harbin China School of Computer Science Beijing Institute of Technology Beijing China Intelligent Robotics Institute Beijing Institute of Technology Beijing China School of Automation Science and Electric Engineering Beihang University Beijing China

ISBN: (纸本)9781424441310

Vision-based motion estimation is a key technique in autonomously mobile robot. This paper presents an integrated method for motion estimation of the mobile robot based on floor plane extraction. The whole processes include floor plane extraction, pose estimation of the onboard stereo vision system and motion estimation of the mobile robot. First, based on disparity map obtained from the onboard real-time stereo vision system, a two-stage method is used for fast floor plane extraction. Then all the points belong to the floor plane are transformed from disparity space to Euclidean space, and a simple least squares method is employed to fit the floor plane. The fitting parameters of the floor plane are used for the pose estimation of the onboard stereo vision system. Finally, the motion of the mobile robot is estimated with the tracking results of the points on floor plane. The proposed motion estimation method is intended to be used in the motion control of a wheeled mobile robot. Experimental results in real environments are presented. ©2009 IEEE.

关键词： Mobile robots

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Shared control for space teleoperation based on BDI agent

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Nanjing Li Gong Daxue Xuebao/Journal of Nanjing University of Science and technology 2009年第SUPPL. 1期33卷 13-17页

作者： Li, Zi-Di Sun, Fu-Chun Liu, Hua-Ping Wang, Yu-Ji Wu, Feng-Ge State Key Lab of Intelligent Technology and System Tsinghua University Beijing 100084 China General Logistics Department Beijing Institute of Petroleum Research Beijing 102300 China

A novel shared control paradigm based on BDI agent (SCBBA) is proposed to extend the human's ability for long-distance control and operation under large communication time delay and micro gravity environments. The SCBBA can augment the command signal from ground operators by using the intelligence, reactivity and interaction of BDI agent. The system architecture of SCBBA is constructed, and the interpreter structure with operator intervention and the selection algorithm of BDI agent's action queue are developed. The paradigm is implemented effectively on a 6-DOF Motoman manipulator. The tests examined on the space teleoperation ground test system show that the SCBBA can overcome the influence of more than 5 second communication time delay, and improve the efficiency and accuracy of the operation remarkably.

关键词： Remote control

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High level architecture evolved modular federation object model

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Chinese Journal of systems Engineering and Electronics 2009年第3期000卷

作者： Wang Wenguang Xu Yongping Chen Xin Li Qun Wang Weiping Coll. of Information System and Management National Univ. of Defense Technology Changsha 410073 P. R. China Beijing Key Lab. of Intelligent Telecommunications Software and Multimedia Beijing Univ. of Posts and Telecommunications Beijing 100876 P. R. China State Key Lab. for Complex Systems Simulation Beijing 100101 P. R. China

To improve the agility, dynamics, composability, reusability, and development efficiency restricted by monolithic federation object model (FOM), a modular FOM is proposed by high level architecture (HLA) evolved product development group. This paper reviews the state-of-the-art of HLA evolved modular FOM. In particular, related concepts, the overall impact on HLA standards, extension principles, and merging processes are discussed. Also permitted and restricted combinations, and merging rules are provided, and the influence on HLA interface specification is given. The comparison between modular FOM and base object model (BOM) is performed to illustrate the importance of their combination. The applications of modular FOM are summarized. Finally, the significance to facilitate compoable simulation both in academia and practice is presented and future directions are pointed out.

关键词： model federation object model review modular federation object model base. object model com-posability high level architecture evolved simulation

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Mining the impact factors of threads and participators on usenet using link analysis

Mining the impact factors of threads and participators on us...

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11th Pacific-Asia Conference on Knowledge Discovery and Data Mining, PAKDD 2007

作者： Hongbo, Liu Jiaxin, Wang Yannan, Zhao Zehong, Yang State Key Lab. of Intelligent Technology and System Department of Computer Science and Technology Tsinghua University Beijing China

ISBN: (纸本)9783540717003

Usenet is a world-wide distributed discussion system, and it is one of the representative resources on Internet. The structure of newsgroup on Usenet forms gradually along with the evolution of the newsgroup and could provide helpful information for the users. In this paper, we present a method to evaluate the impact factors of participators and threads based on the structure of newsgroup. Some analysis and experimental results on real data sets are also provided. The impact factors could provide useful intrinsic information of the newsgroup and can be used in some applications to help access information more efficiently on the Usenet. The method can be also applied on other discussion systems, such as web forums, bulletin board systems, and so on. © Springer-Verlag Berlin Heidelberg 2007.

关键词： Data mining

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The feature and spatial covariant kernel: Adding implicit spatial constraints to histogram

The feature and spatial covariant kernel: Adding implicit sp...

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6th ACM International Conference on Image and Video Retrieval, CIVR 2007

作者： Liu, Xiaobing Wang, Dong Li, Jianmin Zhang, Bo State Key Lab. of Intelligent Technology and System Department of Computer Science and Technology Tsinghua University Beijing 100084 China

ISBN: (纸本)1595937331

In this paper, we are motivated to augment the holistic histogram representation with implicit spatial constrains. To be more concrete, we aim atending a good match function for the problem of object/scene categorization which considers the spatial constraints against heavy clutter and occlusion. Our solution is a partial match kernel under the histogram representation which varies simultaneously at both the feature and spatial resolutions, named as the Feature and Spatial Covariant (FESCO) kernel. Both the FESCO kernel and its late fusion alternative achieve better match accuracy than Spatial Pyramid Match[13] and Pyramid Match[11]. We also apply the keypoint features to video indexing. And on a large scale TRECVID data sets of over 300 hours videos, to our best knowledge, this approach achieves the state-of-the-art result for a single feature. Copyright 2007 ACM.

关键词： Image matching

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Adaptive multiple subtraction based on constrained independent component analysis 77

Adaptive multiple subtraction based on constrained independe...

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77th Society of Exploration Geophysicists International Exposition and Annual Meeting, SEG 2007

作者： Lu, Wen-Kai Liu, Lei Li, Yan-Dong Key State Lab. of Intelligent Technology and System Institute of Information Processing Department of Automation Tsinghua University China

ISBN: (纸本)9781604238976

Adaptive multiple subtraction is a critical and challenging procedure for the widely-used surface-related multiple attenuation (SRMA) techniques. The problem encountered in this field is that a good result is usually hard to obtain when primaries and multiples have overlap. In this paper, we propose a new adaptive multiple subtraction method based on constrained independent component analysis (CICA). In this method, the prediction error obtained by multidimensional prediction error filters (PEFs), which measure the lateral continuity of the primaries, is adopted as a constraint term in the objective function of CICA. The proposed method is demonstrated on two synthetic datasets. © 2007 Society of Exploration Geophysicists. All rights reserved.

关键词： Independent component analysis

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Random noise suppression based on discrete cosine transform 77

Random noise suppression based on discrete cosine transform

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77th Society of Exploration Geophysicists International Exposition and Annual Meeting, SEG 2007

作者： Lu, Wen-Kai Liu, Jun Key State Lab. of Intelligent Technology and System Institute of Information Processing Department of Automation Tsinghua University China

ISBN: (纸本)9781604238976

This paper illustrates the advantages of using the Discrete Cosine Transform (DCT) as compared to the standard Discrete Fourier Transform (DFT) for the purpose of removing random noise embedded in seismic data. The prediction filter is adopted in the DCT domain. Comparisons of the results between our method and the prediction filter in f-x domain show that the new method achieved better performance. © 2007 Society of Exploration Geophysicists. All rights reserved.

关键词： Discrete cosine transforms

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Video diver: Generic video indexing with diverse features

Video diver: Generic video indexing with diverse features

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International Multimedia Conference, MM'07 - 9th ACM SIG Multimedia International Workshop on Multimedia Information Retrieval, MIR'07

作者： Wang, Dong Liu, Xiaobing Luo, Linjie Li, Jianmin Zhang, Bo State Key Lab. of Intelligent Tech. and System Department of Computer Science and Technology Tsinghua University Beijing 100084 China

ISBN: (纸本)9781595937780

Semantic video indexing is critical for practical video retrieval systems and a generic and scalable indexing framework is a must for indexing a large semantic lexicon with over 1000 concepts present. This paper fully explores the idea of incorporating many kinds of diverse features into a single framework, combining them altogether to obtain larger degree of invariance which is absent in any of the component features, and thus achieves genericness and scalability. We scale down the formidable computational expense with a clever design of the classification and fusion schemes. To be specific, ~20 kinds of diverse features are extracted to capture limited yet complementary variance in color, texture and edge with spatial constraints implicitly integrated, and over 100 classifiers are built subsequently and fused to produce a generic detector. The extensive experiments on a total of 310 hours of TRECVID news videos show that the proposed framework yields significantly improved performance over that of the best single feature across a variety of concepts. Moreover, a benchmark comparison demonstrates that this approach is state-of-the-art. Meanwhile, the proposed approach generalizes well over previously unseen programs and stations and scales well to a lexicon of over 300 concepts in the LSCOM [18] ontology. Copyright 2007 ACM.

关键词： Indexing (of information)

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Video search in concept subspace: A text-like paradigm 07

Video search in concept subspace: A text-like paradigm

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6th ACM International Conference on Image and Video Retrieval, CIVR 2007

作者： Li, Xirong Wang, Dong Li, Jianmin Zhang, Bo State Key Lab. of Intelligent Tech. and System Department of Computer Science and Technology Tsinghua University Beijing 100084 China

ISBN: (纸本)1595937331

Though both quantity and quality of semantic concept detection in video are continuously improving, it still remains unclear how to exploit these detected concepts as semantic indices in video search, given a specific query. In this paper, we tackle this problem and propose a video search framework which operates like searching text documents. Noteworthy for its adoption of the well-founded text search principles, this framework first selects a few related concepts for a given query, by employing a tf-idf like scheme, called c-tf-idf, to measure the informativeness of the concepts to this query. These selected concepts form a concept subspace. Then search can be conducted in this concept subspace, either by a Vector Model or a Language Model. Further, two algorithms, i.e., Linear Summation and Random Walk through Concept-Link, are explored to combine the concept search results and other baseline search results in a reranking scheme. This framework is both effective and efficient. Using a lexicon of 311 concepts from the LSCOM concept ontology, experiments conducted on the TRECVID 2006 search data set show that: when used solely, search within the concept subspace achieves the state-of-the-art concept search result;when used to rerank the baseline results, it can improve over the top 20 automatic search runs in TRECVID 2006 on average by approx. 20%, on the most significant one by approx. 50%, all within 180 milliseconds on a normal PC. Copyright 2007 ACM.

关键词： Semantics

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The importance of query-concept-mapping for automatic video retrieval

The importance of query-concept-mapping for automatic video ...

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15th ACM International Conference on Multimedia, MM'07

作者： Wang, Dong Li, Xirong Li, Jianmin Zhang, Bo State Key Lab. of Intelligent Tech. and System Department of Computer Science and Technology Tsinghua University Beijing 100084 China

ISBN: (纸本)9781595937025

A new video retrieval paradigm of query-by-concept emerges recently. However, it remains unclear how to exploit the detected concepts in retrieval given a multimedia query. In this paper, we point out that it is important to map the query to a few relevant concepts instead of search with all concepts. In addition, we show that solving this problem through both text and image inputs are effective for search, and it is possible to determine the number of related concepts by a language modeling approach. Experimental evidence is obtained on the automatic search task of TRECVID 2006 using a large lexicon of 311 learned semantic concept detectors. Copyright 2007 ACM.

关键词： Image retrieval

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