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Mobile robot localization under varying illumination

Mobile robot localization under varying illumination

引用

作者： Jogan, Matjaž Leonardis, Aleš Wildenauer, Horst Bischof, Horst Faculty of Computer and Information Science University of Ljubljana Tržaška 25 1001 Ljubljana Slovenia Pattern Recognition and Image Processing Group Institute for Computer Aided Automation Vienna University of Technology Favoritenstrasse 9/1832 A-1040 Vienna Austria Institute for Computer Graphics and Vision Graz University of Technology Inffeldgasse 16 2. OG A-8010 Graz Austria

Methods for mobile robot localization that use eigenspaces of panoramic snapshots of the environment are in general sensitive to changes in the illumination of the environment. Therefore, we propose an approach which achieves a reliable localization under severe illumination conditions. The method uses gradient filtering of the eigenspace. After testing the approach on images obtained by a mobile robot, we show that it outperforms the standard eigenspace-based recognition method. © 2002 IEEE.

关键词： Mobile robots

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Mobile robot localization under varying illumination

Mobile robot localization under varying illumination

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16th International Conference on Pattern Recognition, ICPR 2002

作者： Jogan, Matjaž Leonardis, Aleš Wildenauer, Horst Bischof, Horst Faculty of Computer and Information Science University of Ljubljana Tržaška 25 Ljubljana1001 Slovenia Pattern Recognition and Image Processing Group Institute for Computer Aided Automation Vienna University of Technology Favoritenstrasse 9/1832 ViennaA-1040 Austria Institute for Computer Graphics and Vision Graz University of Technology Inffeldgasse 16 2. OG GrazA-8010 Austria

ISBN: (纸本)0769516963

Methods for mobile robot localization that use eigen spaces of panoramic snapshots of the environment are in general sensitive to changes in the illumination of the environment. Therefore, we propose an approach which achieves a reliable localization under severe illumination conditions. The method uses gradient filtering of the eigen space. After testing the approach on images obtained by a mobile robot, we show that it outperforms the standard eigen space-based recognition method. © 2002 IEEE.

关键词： Mobile robots

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Mobile robot localization under varying illumination

Mobile robot localization under varying illumination

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International Conference on Pattern Recognition

作者： M. Jogan A. Leonardis H. Wildenauer H. Bischof Faculty of Computer and Information Science University of Ljubljana Ljubljana Slovenia Pattern Recognition and Image Processing Group Institute for Computer Aided Automation University of Technology Vienna Vienna Austria Institute for Computer Graphics and Vision Graz University of Technology Graz Austria

关键词： Mobile robots Lighting computer vision Filter bank image recognition Indoor environments Pattern recognition image processing computer graphics Information science

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Supervised training based hand gesture recognition system

Supervised training based hand gesture recognition system

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作者： Licsár, Attila Szirányi, Tamás University of Veszprém Department of Image Processing and Neurocomputing Egyetem u. 10 H-8200 Veszprém Hungary Analogical and Neural Computing Laboratory Computer and Automation Research Institute Hungarian Academy of Sciences Kende u. 13-17 H-1111 Budapest Hungary

We have developed a hand gesture recognition system, based on the shape analysis of static gestures, for Human computer Interaction purposes. Our appearance-based recognition uses modified Fourier descriptors for the classification, of hand shapes. As always found in literature, such recognition systems consist of two phases: training and recognition. In our new practical approach, following the chosen appearance-based model, training and recognition is done in an interactive supervised way: the adaptation for untrained gestures is also solved by hand signals. Our experimental results with three different users are reported. In this paper, besides describing the recognition itself, we demonstrate our interactive training method in a practical application. © 2002 IEEE.

关键词： Gesture recognition

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Supervised training based hand gesture recognition system

Supervised training based hand gesture recognition system

引用

International Conference on Pattern Recognition

作者： A. Licsar T. Sziranyi Department of Image Processing and Neurocomputing University of Veszprém Veszprem Hungary Analogical & Neural Computing Laboratory Computer & Automation Research Institute Hungarian Academy of Sciences (ATOMKI) Budapest Hungary

We have developed a hand gesture recognition system, based on the shape analysis of static gestures, for human computer interaction purposes. Our appearance-based recognition uses modified Fourier descriptors for the classification of hand shapes. As always found in literature, such recognition systems consist of two phases: training and recognition. In our new practical approach, following the chosen appearance-based model, training and recognition is done in an interactive supervised way: the adaptation for untrained gestures is also solved by hand signals. Our experimental results with three different users are reported. Besides describing the recognition itself we demonstrate our interactive training method in a practical application.

关键词： Shape Character recognition image processing Laboratories Automation Human computer interaction Application software Control systems Virtual environment Cameras

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System for automatic registration of remote sensing images

System for automatic registration of remote sensing images

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IEEE International Symposium on Geoscience and Remote Sensing (IGARSS)

作者： D. Fedorov L.M.G. Fonseca C. Kenney B.S. Manjunath Image Processing Division National Institute of Space Research (INPE) Sao Paulo Brazil Department of Electrical and Computer Engineering University of California슠Santa Barbara Santa Barbara CA USA

Describes a system for automatic and semi-automatic registration/mosaic of remote sensing images. Information provided by the user can be used to speed up processing or to avoid mismatched control points. A statistical procedure is used to characterize good and bad registrations. Based on this "good fit-bad fit" statistical test the user can stop, modify the parameters, or continue the processing. Several tests have been performed by registering optical, radar, multi-sensor, high-resolution images and video sequences. We have included very difficult image registration examples in order to show the strengths and limits of our system. An online registration system demo containing several examples can be executed using a Web browser.

关键词： Remote sensing image processing image edge detection Automatic control image registration Wavelet transforms image sensors Optical sensors Testing Laser radar

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A Study of Transfer Function Generation for Time-Varying Volume Data 2

A Study of Transfer Function Generation for Time-Varying Vol...

引用

2nd IEEE TCVG / Eurographics International Workshop on Volume graphics, VG 2001

作者： Jankun-Kelly, T.J. Ma, Kwan-Liu Visualization And Graphics Research Group Center For Image Processing And Integrated Computing University Of California Department Of Computer Science DavisCA95616 United States

ISBN: (纸本)321183737X

The proper usage and creation of transfer functions for time-varying data sets is an often ignored problem in volume visualization. Although methods and guidelines exist for time-invariant data, little formal study for the timevarying case has been performed. This paper examines this problem, and reports the study that we have conducted to determine how the dynamic behavior of time-varying data may be captured by a single or small set of transfer functions. The criteria which dictate when more than one transfer function is needed were also investigated. Four data sets with different temporal characteristics were used for our study. Results obtained using two different classes of methods are discussed, along with lessons learned. These methods, including a new multiresolution opacity map approach, can be used for semi-automatic generation of transfer functions to explore large-scale time-varying data sets. © VG 2001. All rights reserved.

关键词： Transfer functions

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Virtual colon flattening

Virtual colon flattening

引用

3rd Joint Eurographics - IEEE TCVG Symposium on Visualization, VisSym 2001

作者： Bartrolí, A. Vilanova Wegenkittl, R. König, A. Gröller, E. Sorantin, E. Institute of Computer Graphics and Algorithms Vienna University of Technology Tiani Medgraph Section of Digital Information and Image Processing Department of Radiology University Hospital Graz Austria

ISBN: (纸本)3211836748

We present a new method to visualize virtual endoscopic views. We propose to flatten the organ by the direct projection of the surface onto a set of cylinders. Two sampling strategies are presented and the introduced distortions are studied. A non-photorealistic technique is presented to enhance the perception of the images. Finally, an approximate but real-time endoscopic fly-through is possible by using the data obtained by the projection technique. © 2001 Eurographics Association. All rights reserved.

关键词： image enhancement

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Linear programming concept visualization

Linear programming concept visualization

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International Conference on Information Visualisation (IV)

作者： J.P. Charalambos E. Izquierdo Image Processing and Computer Graphics Research Laboratory Department of Computer Sciences National University Colombia Department of Electronic Engineering Queen Mary University of London London UK

A visualization scheme as a tool to find the solution of any 3D-linear programming problem is introduced. The presented approach is highly suitable to draw and visualize interactively the feasible region of a given 3D-linear programming problem. It can be used for a better understanding of the solution process when different methods devoted to solve the underlying problem are applied, e.g., the simplex method. The proposed technique comprises sensitive analysis during the solution process and interactive visualization of the feasible region. The analysis leading to the introduced schema also shows that the design of an appropriate and simple vertex representation is crucial to manage any order of degeneracy. To deal with this paradigm and to some extent to formalize it, the concept of adjacency invariance is introduced. Several experiments have been conducted to test and assess the performance of the introduced concepts and techniques.

关键词： Linear programming Visualization Testing computer graphics image processing Appropriate technology Stress Algorithm design and analysis

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Reconstructing surfaces using anisotropic basis functions

Reconstructing surfaces using anisotropic basis functions

引用

International Conference on computer Vision (ICCV)

作者： Huong Quynh Dinh G. Turk G. Slabaugh Graphics Visualization and Usability CenterCollege of Computing Georgia Institute of Technology USA School of Electrical and Computer Engineering Center for Signal and Image Processing Georgia Institute of Technology USA

ISBN: (纸本)0769511430

Point sets obtained from computer vision techniques are often noisy and non-uniform. We present a new method of surface reconstruction that can handle such data sets using anisotropic basis functions. Our reconstruction algorithm draws upon the work in variational implicit surfaces for constructing smooth and seamless 3D surfaces. Implicit functions are often formulated as a sum of weighted basis functions that are radially symmetric. Using radially symmetric basis functions inherently assumes, however that the surface to be reconstructed is, everywhere, locally symmetric. Such an assumption is true only at planar regions, and hence, reconstruction using isotropic basis is insufficient to recover objects that exhibit sharp features. We preserve sharp features using anisotropic basis that allow the surface to vary locally. The reconstructed surface is sharper along edges and at corner points. We determine the direction of anisotropy at a point by performing principal component analysis of the data points in a small neighborhood. The resulting field of principle directions across the surface is smoothed through tensor filtering. We have applied the anisotropic basis functions to reconstruct surfaces from noisy synthetic 3D data and from real range data obtained from space carving.

关键词： Surface reconstruction Anisotropic magnetoresistance image reconstruction Surface fitting Optical noise Shape Polynomials computer vision Surface emitting lasers Space technology

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