11,914 research outputs found
Planar PØP: feature-less pose estimation with applications in UAV localization
© 20xx IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.We present a featureless pose estimation method that, in contrast to current Perspective-n-Point (PnP) approaches, it does not require n point correspondences to obtain the camera pose, allowing for pose estimation from natural shapes that do not necessarily have distinguished features like corners or intersecting edges. Instead of using n correspondences (e.g. extracted with a feature detector) we will use the raw polygonal representation of the observed shape and directly estimate the pose in the pose-space of the camera. This method compared with a general PnP method, does not require n point correspondences neither a priori knowledge of the object model (except the scale), which is registered with a picture taken from a known robot pose. Moreover, we achieve higher precision because all the information of the shape contour is used to minimize the area between the projected and the observed shape contours. To emphasize the non-use of n point correspondences between the projected template and observed contour shape, we call the method Planar PØP. The method is shown both in simulation and in a real application consisting on a UAV localization where comparisons with a precise ground-truth are provided.Peer ReviewedPostprint (author's final draft
Picasso, Matisse, or a Fake? Automated Analysis of Drawings at the Stroke Level for Attribution and Authentication
This paper proposes a computational approach for analysis of strokes in line
drawings by artists. We aim at developing an AI methodology that facilitates
attribution of drawings of unknown authors in a way that is not easy to be
deceived by forged art. The methodology used is based on quantifying the
characteristics of individual strokes in drawings. We propose a novel algorithm
for segmenting individual strokes. We designed and compared different
hand-crafted and learned features for the task of quantifying stroke
characteristics. We also propose and compare different classification methods
at the drawing level. We experimented with a dataset of 300 digitized drawings
with over 80 thousands strokes. The collection mainly consisted of drawings of
Pablo Picasso, Henry Matisse, and Egon Schiele, besides a small number of
representative works of other artists. The experiments shows that the proposed
methodology can classify individual strokes with accuracy 70%-90%, and
aggregate over drawings with accuracy above 80%, while being robust to be
deceived by fakes (with accuracy 100% for detecting fakes in most settings)
How Much is 131 Million Dollars? Putting Numbers in Perspective with Compositional Descriptions
How much is 131 million US dollars? To help readers put such numbers in
context, we propose a new task of automatically generating short descriptions
known as perspectives, e.g. "$131 million is about the cost to employ everyone
in Texas over a lunch period". First, we collect a dataset of numeric mentions
in news articles, where each mention is labeled with a set of rated
perspectives. We then propose a system to generate these descriptions
consisting of two steps: formula construction and description generation. In
construction, we compose formulae from numeric facts in a knowledge base and
rank the resulting formulas based on familiarity, numeric proximity and
semantic compatibility. In generation, we convert a formula into natural
language using a sequence-to-sequence recurrent neural network. Our system
obtains a 15.2% F1 improvement over a non-compositional baseline at formula
construction and a 12.5 BLEU point improvement over a baseline description
generation
Improving Facial Analysis and Performance Driven Animation through Disentangling Identity and Expression
We present techniques for improving performance driven facial animation,
emotion recognition, and facial key-point or landmark prediction using learned
identity invariant representations. Established approaches to these problems
can work well if sufficient examples and labels for a particular identity are
available and factors of variation are highly controlled. However, labeled
examples of facial expressions, emotions and key-points for new individuals are
difficult and costly to obtain. In this paper we improve the ability of
techniques to generalize to new and unseen individuals by explicitly modeling
previously seen variations related to identity and expression. We use a
weakly-supervised approach in which identity labels are used to learn the
different factors of variation linked to identity separately from factors
related to expression. We show how probabilistic modeling of these sources of
variation allows one to learn identity-invariant representations for
expressions which can then be used to identity-normalize various procedures for
facial expression analysis and animation control. We also show how to extend
the widely used techniques of active appearance models and constrained local
models through replacing the underlying point distribution models which are
typically constructed using principal component analysis with
identity-expression factorized representations. We present a wide variety of
experiments in which we consistently improve performance on emotion
recognition, markerless performance-driven facial animation and facial
key-point tracking.Comment: to appear in Image and Vision Computing Journal (IMAVIS
Integrating model checking with HiP-HOPS in model-based safety analysis
The ability to perform an effective and robust safety analysis on the design of modern safety–critical systems is crucial. Model-based safety analysis (MBSA) has been introduced in recent years to support the assessment of complex system design by focusing on the system model as the central artefact, and by automating the synthesis and analysis of failure-extended models. Model checking and failure logic synthesis and analysis (FLSA) are two prominent MBSA paradigms. Extensive research has placed emphasis on the development of these techniques, but discussion on their integration remains limited. In this paper, we propose a technique in which model checking and Hierarchically Performed Hazard Origin and Propagation Studies (HiP-HOPS) – an advanced FLSA technique – can be applied synergistically with benefit for the MBSA process. The application of the technique is illustrated through an example of a brake-by-wire system
Speech vocoding for laboratory phonology
Using phonological speech vocoding, we propose a platform for exploring
relations between phonology and speech processing, and in broader terms, for
exploring relations between the abstract and physical structures of a speech
signal. Our goal is to make a step towards bridging phonology and speech
processing and to contribute to the program of Laboratory Phonology. We show
three application examples for laboratory phonology: compositional phonological
speech modelling, a comparison of phonological systems and an experimental
phonological parametric text-to-speech (TTS) system. The featural
representations of the following three phonological systems are considered in
this work: (i) Government Phonology (GP), (ii) the Sound Pattern of English
(SPE), and (iii) the extended SPE (eSPE). Comparing GP- and eSPE-based vocoded
speech, we conclude that the latter achieves slightly better results than the
former. However, GP - the most compact phonological speech representation -
performs comparably to the systems with a higher number of phonological
features. The parametric TTS based on phonological speech representation, and
trained from an unlabelled audiobook in an unsupervised manner, achieves
intelligibility of 85% of the state-of-the-art parametric speech synthesis. We
envision that the presented approach paves the way for researchers in both
fields to form meaningful hypotheses that are explicitly testable using the
concepts developed and exemplified in this paper. On the one hand, laboratory
phonologists might test the applied concepts of their theoretical models, and
on the other hand, the speech processing community may utilize the concepts
developed for the theoretical phonological models for improvements of the
current state-of-the-art applications
- …