77,828 research outputs found
CLG for Automatic Image Segmentation
This paper proposes an automatic segmentation method which effectively combines Active Contour Model, Live Wire method and Graph Cut approach (CLG). The aim of Live wire method is to provide control to the user on segmentation process during execution. Active Contour Model provides a statistical model of object shape and appearance to a new image which are built during a training phase. In the graph cut technique, each pixel is represented as a node and the distance between those nodes is represented as edges. In graph theory, a cut is a partition of the nodes that divides the graph into two disjoint subsets. For initialization, a pseudo strategy is employed and the organs are segmented slice by slice through the OACAM (Oriented Active Contour Appearance Model). Initialization provides rough object localization and shape constraints which produce refined delineation. This method is tested with different set of images including CT and MR images (3D image) and produced perfect segmentation results
Twins:Device-free Object Tracking using Passive Tags
Without requiring objects to carry any transceiver, device-free based object
tracking provides a promising solution for many localization and tracking
systems to monitor non-cooperative objects such as intruders. However, existing
device-free solutions mainly use sensors and active RFID tags, which are much
more expensive compared to passive tags. In this paper, we propose a novel
motion detection and tracking method using passive RFID tags, named Twins. The
method leverages a newly observed phenomenon called critical state caused by
interference among passive tags. We contribute to both theory and practice of
such phenomenon by presenting a new interference model that perfectly explains
this phenomenon and using extensive experiments to validate it. We design a
practical Twins based intrusion detection scheme and implement a real prototype
with commercial off-the-shelf reader and tags. The results show that Twins is
effective in detecting the moving object, with low location error of 0.75m in
average
The Correlation Theory of Brain Function
A summary of brain theory is given so far as it is contained within the framework of Localization Theory. Diffculties of this "conventional theory" are traced back to a specific deficiency: there is no way to express relations between active cells (as for instance their representing parts of the same object). A new theory is proposed to cure this deficiency. It introduces a new kind of dynamical control, termed synaptic modulation, according to which synapses switch between a conducting and a non- conducting state. The dynamics of this variable is controlled on a fast time scale by correlations in the temporal fine structure of cellular signals. Furthermore, conventional synaptic plasticity is replaced by a refined version. Synaptic modulation and plasticity form the basis for short-term and long-term memory, respectively. Signal correlations, shaped by the variable network, express structure and relationships within objects. In particular, the figure-ground problem may be solved in this way. Synaptic modulation introduces flexibility into cerebral networks which is necessary to solve the invariance problem. Since momentarily useless connections are deactivated, interference between different memory traces can be reduced, and memory capacity increased, in comparison with conventional associative memory
Past, Present, and Future of Simultaneous Localization And Mapping: Towards the Robust-Perception Age
Simultaneous Localization and Mapping (SLAM)consists in the concurrent
construction of a model of the environment (the map), and the estimation of the
state of the robot moving within it. The SLAM community has made astonishing
progress over the last 30 years, enabling large-scale real-world applications,
and witnessing a steady transition of this technology to industry. We survey
the current state of SLAM. We start by presenting what is now the de-facto
standard formulation for SLAM. We then review related work, covering a broad
set of topics including robustness and scalability in long-term mapping, metric
and semantic representations for mapping, theoretical performance guarantees,
active SLAM and exploration, and other new frontiers. This paper simultaneously
serves as a position paper and tutorial to those who are users of SLAM. By
looking at the published research with a critical eye, we delineate open
challenges and new research issues, that still deserve careful scientific
investigation. The paper also contains the authors' take on two questions that
often animate discussions during robotics conferences: Do robots need SLAM? and
Is SLAM solved
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