Safe Trajectory Planning for Multiple Aerial Vehicles with Segmentation-Adaptive Pseudospectral Collocation

IEEE International Conference on Robotics and Automation (ICRA), 26-30 May 2015 Seattle, WA, USAThis paper proposes a method called Segmentation-adaptive Pseudospectral collocation to address the problem of safe trajectory generation in missions with cooperating multiple aerial vehicles. Pseudospectral collocation can generate optimized collision-free trajectories, but for multiple aerial vehicles it cannot guarantee that the safety separation distance is maintained in the whole trajectories, since the constraints are only enforced in discrete points in the trajectory (collocation points). Hp-adaptive pseudospectral collocation increases iteratively the number of collocation points and the degree of the approximating polynomial, but this may lead to an exponential increase of the computational load. The proposed method solves the problem by selectively adding new collocation points where they are needed, only in the segments with conflicts in each iteration, thus effectively reducing the number of collocation points and the computation time with respect to other pseudospectral collocation formulations. The proposed method allows both changes of speed and changes of heading for each aerial vehicle to guarantee the safety distance between them. Its computational load and scalability are studied in randomly generated scenarios. Moreover, a comparison with other method is presented. Several experiments to test the validity of the approach have been also carried out in the multivehicle aerial testbed of the Center for Advanced Aerospace Technologies.Comisión europea FP7 ICT (288082)Junta de Andalucía P11-TIC-706

A Survey of the methods on fingerprint orientation field estimation

Fingerprint orientation field (FOF) estimation plays a key role in enhancing the performance of the automated fingerprint identification system (AFIS): Accurate estimation of FOF can evidently improve the performance of AFIS. However, despite the enormous attention on the FOF estimation research in the past decades, the accurate estimation of FOFs, especially for poor-quality fingerprints, still remains a challenging task. In this paper, we devote to review and categorization of the large number of FOF estimation methods proposed in the specialized literature, with particular attention to the most recent work in this area. Broadly speaking, the existing FOF estimation methods can be grouped into three categories: gradient-based methods, mathematical models-based methods, and learning-based methods. Identifying and explaining the advantages and limitations of these FOF estimation methods is of fundamental importance for fingerprint identification, because only a full understanding of the nature of these methods can shed light on the most essential issues for FOF estimation. In this paper, we make a comprehensive discussion and analysis of these methods concerning their advantages and limitations. We have also conducted experiments using publically available competition dataset to effectively compare the performance of the most relevant algorithms and methods

Rate-distortion optimized geometrical image processing

Since geometrical features, like edges, represent one of the most important perceptual information in an image, efficient exploitation of such geometrical information is a key ingredient of many image processing tasks, including compression, denoising and feature extraction. Therefore, the challenge for the image processing community is to design efficient geometrical schemes which can capture the intrinsic geometrical structure of natural images. This thesis focuses on developing computationally efficient tree based algorithms for attaining the optimal rate-distortion (R-D) behavior for certain simple classes of geometrical images, such as piecewise polynomial images with polynomial boundaries. A good approximation of this class allows to develop good approximation and compression schemes for images with strong geometrical features, and as experimental results show, also for real life images. We first investigate both the one dimensional (1-D) and two dimensional (2-D) piecewise polynomials signals. For the 1-D case, our scheme is based on binary tree segmentation of the signal. This scheme approximates the signal segments using polynomial models and utilizes an R-D optimal bit allocation strategy among the different signal segments. The scheme further encodes similar neighbors jointly and is called prune-join algorithm. This allows to achieve the correct exponentially decaying R-D behavior, D(R) ~ 2-cR, thus improving over classical wavelet schemes. We also show that the computational complexity of the scheme is of O(N logN). We then extend this scheme to the 2-D case using a quadtree, which also achieves an exponentially decaying R-D behavior, for the piecewise polynomial image model, with a low computational cost of O(N logN). Again, the key is an R-D optimized prune and join strategy. We further analyze the R-D performance of the proposed tree algorithms for piecewise smooth signals. We show that the proposed algorithms achieve the oracle like polynomially decaying asymptotic R-D behavior for both the 1-D and 2-D scenarios. Theoretical as well as numerical results show that the proposed schemes outperform wavelet based coders in the 2-D case. We then consider two interesting image processing problems, namely denoising and stereo image compression, in the framework of the tree structured segmentation. For the denoising problem, we present a tree based algorithm which performs denoising by compressing the noisy image and achieves improved visual quality by capturing geometrical features, like edges, of images more precisely compared to wavelet based schemes. We then develop a novel rate-distortion optimized disparity based coding scheme for stereo images. The main novelty of the proposed algorithm is that it performs the joint coding of disparity information and the residual image to achieve better R-D performance in comparison to standard block based stereo image coder

Rate-Distortion Optimized Tree-Structured Compression Algorithms for Piecewise Polynomial Images

This paper presents novel coding algorithms based on tree-structured segmentation, which achieve the correct asymp- totic rate-distortion (R-D) behavior for a simple class of signals, known as piecewise polynomials, by using an R-D based prune and join scheme. For the one-dimensional case, our scheme is based on binary-tree segmentation of the signal. This scheme approximates the signal segments using polynomial models and utilizes an R-D optimal bit allocation strategy among the different signal segments. The scheme further encodes similar neighbors jointly to achieve the correct exponentially decaying R-D be- havior (D(R) ~ C02^-c1 R), thus improving over classic wavelet schemes. We also prove that the computational complexity of the scheme is of 0(NlogN). We then show the extension of this scheme to the two-dimensional case using a quadtree. This quadtree-coding scheme also achieves an exponentially decaying R-D behavior, for the polygonal image model composed of a white polygon-shaped object against a uniform black background, with low computational cost of 0(NlogN). Again, the key is an R-D optimized prune and join strategy. Finally, we conclude with numerical results, which show that the proposed quadtree-coding scheme outperforms JPEG2000 by about 1 dB for real images, like cameraman, at low rates of around 0.15 bpp

Time-varying model identification for time-frequency feature extraction from EEG data

A novel modelling scheme that can be used to estimate and track time-varying properties of nonstationary signals is investigated. This scheme is based on a class of time-varying AutoRegressive with an eXogenous input (ARX) models where the associated time-varying parameters are represented by multi-wavelet basis functions. The orthogonal least square (OLS) algorithm is then applied to refine the model parameter estimates of the time-varying ARX model. The main features of the multi-wavelet approach is that it enables smooth trends to be tracked but also to capture sharp changes in the time-varying process parameters. Simulation studies and applications to real EEG data show that the proposed algorithm can provide important transient information on the inherent dynamics of nonstationary processes