245 research outputs found
Geometric Structure Extraction and Reconstruction
Geometric structure extraction and reconstruction is a long-standing problem in research communities including computer graphics, computer vision, and machine learning. Within different communities, it can be interpreted as different subproblems such as skeleton extraction from the point cloud, surface reconstruction from multi-view images, or manifold learning from high dimensional data. All these subproblems are building blocks of many modern applications, such as scene reconstruction for AR/VR, object recognition for robotic vision and structural analysis for big data. Despite its importance, the extraction and reconstruction of a geometric structure from real-world data are ill-posed, where the main challenges lie in the incompleteness, noise, and inconsistency of the raw input data. To address these challenges, three studies are conducted in this thesis: i) a new point set representation for shape completion, ii) a structure-aware data consolidation method, and iii) a data-driven deep learning technique for multi-view consistency. In addition to theoretical contributions, the algorithms we proposed significantly improve the performance of several state-of-the-art geometric structure extraction and reconstruction approaches, validated by extensive experimental results
Advanced Sensing, Fault Diagnostics, and Structural Health Management
Advanced sensing, fault diagnosis, and structural health management are important parts of the maintenance strategy of modern industries. With the advancement of science and technology, modern structural and mechanical systems are becoming more and more complex. Due to the continuous nature of operation and utilization, modern systems are heavily susceptible to faults. Hence, the operational reliability and safety of the systems can be greatly enhanced by using the multifaced strategy of designing novel sensing technologies and advanced intelligent algorithms and constructing modern data acquisition systems and structural health monitoring techniques. As a result, this research domain has been receiving a significant amount of attention from researchers in recent years. Furthermore, the research findings have been successfully applied in a wide range of fields such as aerospace, manufacturing, transportation and processes
A probablistic framework for classification and fusion of remotely sensed hyperspectral data
Reliable and accurate material identification is a crucial component underlying higher-level autonomous tasks within the context of autonomous mining. Such tasks can include exploration, reconnaissance and guidance of machines (e.g. autonomous diggers and haul trucks) to mine sites. This thesis focuses on the problem of classification of materials (rocks and minerals) using high spatial and high spectral resolution (hyperspectral) imagery, collected remotely from mine faces in operational open pit mines. A new method is developed for the classification of hyperspectral data including field spectra and imagery using a probabilistic framework and Gaussian Process regression. The developed method uses, for the first time, the Observation Angle Dependent (OAD) covariance function to classify high-dimensional sets of data. The performance of the proposed method of classification is assessed and compared to standard methods used for the classification of hyperspectral data. This is done using a staged experimental framework. First, the proposed method is tested using high-resolution field spectrometer data acquired in the laboratory and in the field. Second, the method is extended to work on hyperspectral imagery acquired in the laboratory and its performance evaluated. Finally, the method is evaluated for imagery acquired from a mine face under natural illumination and the use of independent spectral libraries to classify imagery is explored. A probabilistic framework was selected because it best enables the integration of internal and external information from a variety of sensors. To demonstrate advantages of the proposed GP-OAD method over existing, deterministic methods, a new framework is proposed to fuse hyperspectral images using the classified probabilistic outputs from several different images acquired of the same mine face. This method maximises the amount of information but reduces the amount of data by condensing all available information into a single map. Thus, the proposed fusion framework removes the need to manually select a single classification among many individual classifications of a mine face as the `best' one and increases the classification performance by combining more information. The methods proposed in this thesis are steps forward towards an automated mine face inspection system that can be used within the existing autonomous mining framework to improve productivity and efficiency. Last but not least the proposed methods will also contribute to increased mine safety
3D data fusion by depth refinement and pose recovery
Refining depth maps from different sources to obtain a refined depth map, and aligning
the rigid point clouds from different views, are two core techniques. Existing depth
fusion algorithms do not provide a general framework to obtain a highly accurate depth
map. Furthermore, existing rigid point cloud registration algorithms do not always align
noisy point clouds robustly and accurately, especially when there are many outliers and
large occlusions. In this thesis, we present a general depth fusion framework based on
supervised, semi-supervised, and unsupervised adversarial network approaches. We
show that the refined depth maps are more accurate than the source depth maps by
depth fusion. We develop a new rigid point cloud registration algorithm by aligning two
uncertainty-based Gaussian mixture models, which represent the structures of the two
point clouds. We show that we can register rigid point clouds more accurately over a
larger range of perturbations. Subsequently, the new supervised depth fusion algorithm
and new rigid point cloud registration algorithm are integrated into the ROS system of a
real gardening robot (called TrimBot) for practical usage in real environments. All the
proposed algorithms have been evaluated on multiple existing datasets to show their
superiority compared to prior work in the field
EVALUATING ARTIFICIAL INTELLIGENCE METHODS FOR USE IN KILL CHAIN FUNCTIONS
Current naval operations require sailors to make time-critical and high-stakes decisions based on uncertain situational knowledge in dynamic operational environments. Recent tragic events have resulted in unnecessary casualties, and they represent the decision complexity involved in naval operations and specifically highlight challenges within the OODA loop (Observe, Orient, Decide, and Assess). Kill chain decisions involving the use of weapon systems are a particularly stressing category within the OODA loop—with unexpected threats that are difficult to identify with certainty, shortened decision reaction times, and lethal consequences. An effective kill chain requires the proper setup and employment of shipboard sensors; the identification and classification of unknown contacts; the analysis of contact intentions based on kinematics and intelligence; an awareness of the environment; and decision analysis and resource selection. This project explored the use of automation and artificial intelligence (AI) to improve naval kill chain decisions. The team studied naval kill chain functions and developed specific evaluation criteria for each function for determining the efficacy of specific AI methods. The team identified and studied AI methods and applied the evaluation criteria to map specific AI methods to specific kill chain functions.Civilian, Department of the NavyCivilian, Department of the NavyCivilian, Department of the NavyCaptain, United States Marine CorpsCivilian, Department of the NavyCivilian, Department of the NavyApproved for public release. Distribution is unlimited
Information Fusion of Magnetic Resonance Images and Mammographic Scans for Improved Diagnostic Management of Breast Cancer
Medical imaging is critical to non-invasive diagnosis and treatment of a wide spectrum
of medical conditions. However, different modalities of medical imaging employ/apply
di erent contrast mechanisms and, consequently, provide different depictions of bodily
anatomy. As a result, there is a frequent problem where the same pathology can be
detected by one type of medical imaging while being missed by others. This problem brings
forward the importance of the development of image processing tools for integrating the
information provided by different imaging modalities via the process of information fusion.
One particularly important example of clinical application of such tools is in the diagnostic
management of breast cancer, which is a prevailing cause of cancer-related mortality in
women. Currently, the diagnosis of breast cancer relies mainly on X-ray mammography and
Magnetic Resonance Imaging (MRI), which are both important throughout different stages
of detection, localization, and treatment of the disease. The sensitivity of mammography,
however, is known to be limited in the case of relatively dense breasts, while contrast enhanced
MRI tends to yield frequent 'false alarms' due to its high sensitivity. Given this
situation, it is critical to find reliable ways of fusing the mammography and MRI scans in
order to improve the sensitivity of the former while boosting the specificity of the latter.
Unfortunately, fusing the above types of medical images is known to be a difficult computational
problem. Indeed, while MRI scans are usually volumetric (i.e., 3-D), digital
mammograms are always planar (2-D). Moreover, mammograms are invariably acquired
under the force of compression paddles, thus making the breast anatomy undergo sizeable
deformations. In the case of MRI, on the other hand, the breast is rarely constrained and
imaged in a pendulous state. Finally, X-ray mammography and MRI exploit two completely
di erent physical mechanisms, which produce distinct diagnostic contrasts which
are related in a non-trivial way. Under such conditions, the success of information fusion
depends on one's ability to establish spatial correspondences between mammograms
and their related MRI volumes in a cross-modal cross-dimensional (CMCD) setting in the
presence of spatial deformations (+SD). Solving the problem of information fusion in the
CMCD+SD setting is a very challenging analytical/computational problem, still in need
of efficient solutions.
In the literature, there is a lack of a generic and consistent solution to the problem of
fusing mammograms and breast MRIs and using their complementary information. Most
of the existing MRI to mammogram registration techniques are based on a biomechanical
approach which builds a speci c model for each patient to simulate the effect of mammographic
compression. The biomechanical model is not optimal as it ignores the common
characteristics of breast deformation across different cases. Breast deformation is essentially the planarization of a 3-D volume between two paddles, which is common in all
patients. Regardless of the size, shape, or internal con guration of the breast tissue, one
can predict the major part of the deformation only by considering the geometry of the
breast tissue. In contrast with complex standard methods relying on patient-speci c biomechanical
modeling, we developed a new and relatively simple approach to estimate the
deformation and nd the correspondences. We consider the total deformation to consist of
two components: a large-magnitude global deformation due to mammographic compression
and a residual deformation of relatively smaller amplitude. We propose a much simpler
way of predicting the global deformation which compares favorably to FEM in terms of
its accuracy. The residual deformation, on the other hand, is recovered in a variational
framework using an elastic transformation model.
The proposed algorithm provides us with a computational pipeline that takes breast
MRIs and mammograms as inputs and returns the spatial transformation which establishes
the correspondences between them. This spatial transformation can be applied in different
applications, e.g., producing 'MRI-enhanced' mammograms (which is capable of improving
the quality of surgical care) and correlating between different types of mammograms.
We investigate the performance of our proposed pipeline on the application of enhancing
mammograms by means of MRIs and we have shown improvements over the state of the
art
The robot's vista space : a computational 3D scene analysis
Swadzba A. The robot's vista space : a computational 3D scene analysis. Bielefeld (Germany): Bielefeld University; 2011.The space that can be explored quickly from a fixed view point without locomotion is known as the vista space. In indoor environments single rooms and room parts follow this definition. The vista space plays an important role in situations with agent-agent interaction as it is the directly surrounding environment in which the interaction takes place. A collaborative interaction of the partners in and with the environment requires that both partners know where they are, what spatial structures they are talking about, and what scene elements they are going to manipulate. This thesis focuses on the analysis of a robot's vista space. Mechanisms for extracting relevant spatial information are developed which enable the robot to recognize in which place it is, to detect the scene elements the human partner is talking about, and to segment scene structures the human is changing. These abilities are addressed by the proposed holistic, aligned, and articulated modeling approach. For a smooth human-robot interaction, the computed models should be aligned to the partner's representations. Therefore, the design of the computational models is based on the combination of psychological results from studies on human scene perception with basic physical properties of the perceived scene and the perception itself. The holistic modeling realizes a categorization of room percepts based on the observed 3D spatial layout. Room layouts have room type specific features and fMRI studies have shown that some of the human brain areas being active in scene recognition are sensitive to the 3D geometry of a room. With the aligned modeling, the robot is able to extract the hierarchical scene representation underlying a scene description given by a human tutor. Furthermore, it is able to ground the inferred scene elements in its own visual perception of the scene. This modeling follows the assumption that cognition and language schematize the world in the same way. This is visible in the fact that a scene depiction mainly consists of relations between an object and its supporting structure or between objects located on the same supporting structure. Last, the articulated modeling equips the robot with a methodology for articulated scene part extraction and fast background learning under short and disturbed observation conditions typical for human-robot interaction scenarios. Articulated scene parts are detected model-less by observing scene changes caused by their manipulation. Change detection and background learning are closely coupled because change is defined phenomenologically as variation of structure. This means that change detection involves a comparison of currently visible structures with a representation in memory. In range sensing this comparison can be nicely implement as subtraction of these two representations. The three modeling approaches enable the robot to enrich its visual perceptions of the surrounding environment, the vista space, with semantic information about meaningful spatial structures useful for further interaction with the environment and the human partner
Recent Advances in Indoor Localization Systems and Technologies
Despite the enormous technical progress seen in the past few years, the maturity of indoor localization technologies has not yet reached the level of GNSS solutions. The 23 selected papers in this book present the recent advances and new developments in indoor localization systems and technologies, propose novel or improved methods with increased performance, provide insight into various aspects of quality control, and also introduce some unorthodox positioning methods
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