112,757 research outputs found
3D environment mapping using the Kinect V2 and path planning based on RRT algorithms
This paper describes a 3D path planning system that is able to provide a solution trajectory for the automatic control of a robot. The proposed system uses a point cloud obtained from the robot workspace, with a Kinect V2 sensor to identify the interest regions and the obstacles of the environment. Our proposal includes a collision-free path planner based on the Rapidly-exploring Random Trees variant (RRT*), for a safe and optimal navigation of robots in 3D spaces. Results on RGB-D segmentation and recognition, point cloud processing, and comparisons between different RRT* algorithms, are presented.Peer ReviewedPostprint (published version
Knowledge-based segmentation of SAR data with learned priors
©2000 IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or distribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE. This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. In most cases, these works may not be reposted without the explicit permission of the copyright holder.DOI: 10.1109/83.821747An approach for the segmentation of still and video synthetic aperture radar (SAR) images is described in this note. A priori knowledge about the objects present in the image, e.g., target, shadow, and background terrain, is introduced via Bayes' rule. Posterior probabilities obtained in this way are then anisotropically smoothed, and the image segmentation is obtained via MAP classifications of the smoothed data. When segmenting sequences of images, the smoothed posterior probabilities of past frames are used to learn the prior distributions in the succeeding frame. We show with examples from public data sets that this method provides an efficient and fast technique for addressing the segmentation of SAR data
Robot navigation control based on monocular images: An image processing algorithm for obstacle avoidance decisions
This paper covers the use of monocular vision to control autonomous navigation for a robot in a dynamically changing environment. The solution focused on using colour segmentation against a selected floor plane to distinctly separate obstacles from traversable space, this is then supplemented with canny edge detection to separate similarly coloured boundaries to the floor plane. The resulting binary map (where white identifies an obstacle-free area and black identifies an obstacle) could then be processed by fuzzy logic or neural networks to control the robot’s next movements. Findings shows that the algorithm performed strongly on solid coloured carpets, wooden and concrete floors but had difficulty in separating colours in multi-coloured floor types such as patterned carpets
Distributed Low-rank Subspace Segmentation
Vision problems ranging from image clustering to motion segmentation to
semi-supervised learning can naturally be framed as subspace segmentation
problems, in which one aims to recover multiple low-dimensional subspaces from
noisy and corrupted input data. Low-Rank Representation (LRR), a convex
formulation of the subspace segmentation problem, is provably and empirically
accurate on small problems but does not scale to the massive sizes of modern
vision datasets. Moreover, past work aimed at scaling up low-rank matrix
factorization is not applicable to LRR given its non-decomposable constraints.
In this work, we propose a novel divide-and-conquer algorithm for large-scale
subspace segmentation that can cope with LRR's non-decomposable constraints and
maintains LRR's strong recovery guarantees. This has immediate implications for
the scalability of subspace segmentation, which we demonstrate on a benchmark
face recognition dataset and in simulations. We then introduce novel
applications of LRR-based subspace segmentation to large-scale semi-supervised
learning for multimedia event detection, concept detection, and image tagging.
In each case, we obtain state-of-the-art results and order-of-magnitude speed
ups
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Shedding light on melanins within in situ human eye melanocytes using 2-photon microscopy profiling techniques.
Choroidal melanocytes (HCMs) are melanin-producing cells in the vascular uvea of the human eye (iris, ciliary body and choroid). These cranial neural crest-derived cells migrate to populate a mesodermal microenvironment, and display cellular functions and extracellular interactions that are biologically distinct to skin melanocytes. HCMs (and melanins) are important in normal human eye physiology with roles including photoprotection, regulation of oxidative damage and immune responses. To extend knowledge of cytoplasmic melanins and melanosomes in label-free HCMs, a non-invasive 'fit-free' approach, combining 2-photon excitation fluorescence lifetimes and emission spectral imaging with phasor plot segmentation was applied. Intracellular melanin-mapped FLIM phasors showed a linear distribution indicating that HCM melanins are a ratio of two fluorophores, eumelanin and pheomelanin. A quantitative histogram of HCM melanins was generated by identifying the image pixel fraction contributed by phasor clusters mapped to varying eumelanin/pheomelanin ratio. Eumelanin-enriched dark HCM regions mapped to phasors with shorter lifetimes and longer spectral emission (580-625 nm) and pheomelanin-enriched lighter pigmented HCM regions mapped to phasors with longer lifetimes and shorter spectral emission (550-585 nm). Overall, we demonstrated that these methods can identify and quantitatively profile the heterogeneous eumelanins/pheomelanins within in situ HCMs, and visualize melanosome spatial distributions, not previously reported for these cells
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