Fast Distortion Measurement Using Chord-Length Parameterisation within the Vertex-Based Rate-Distortion Optimal Shape Coding Framework

Existing vertex-based operational rate-distortion (ORD) optimal shape coding algorithms can use a number of different distortion measurement techniques, including the shortest absolute distance (SAD), the distortion band (DB), the tolerance band (TB), and the accurate distortion measurement technique for shape coding (ADMSC). From a computational time perspective, an N-point contour requires O(N2 ) time for DB and TB for both polygon and B-spline-based encoding, while SAD and ADMSC incur O(N) time for polygonal encoding but O(N2 ) for B-spline based encoding, thereby rendering the ORD optimal algorithms computationally inefficient. This letter presents a novel distortion measurement strategy based on chord-length parameterization (DMCLP) of a boundary that incurs order O(N) complexity for both polygon and B-spline-based encoding while preserving a comparable rate-distortion performance to the original ORD optimal shape coding algorithm

Geometric distortion measurement for shape coding: a contemporary review

Geometric distortion measurement and the associated metrics involved are integral to the rate-distortion (RD) shape coding framework, with importantly the efficacy of the metrics being strongly influenced by the underlying measurement strategy. This has been the catalyst for many different techniques with this paper presenting a comprehensive review of geometric distortion measurement, the diverse metrics applied and their impact on shape coding. The respective performance of these measuring strategies is analysed from both a RD and complexity perspective, with a recent distortion measurement technique based on arc-length-parameterisation being comparatively evaluated. Some contemporary research challenges are also investigated, including schemes to effectively quantify shape deformation

New Dynamic Enhancements to the Vertex-Based Rate-Distortion Optimal Shape Coding Framework

Existing vertex-based operational rate-distortion (ORD) optimal shape coding algorithms use a vertex band around the shape boundary as the source of candidate control points (CP) usually in combination with a tolerance band (TB) and sliding window (SW) arrangement, as their distortion measuring technique. These algorithms however, employ a fixed vertex-band width irrespective of the shape and admissible distortion (AD), so the full bit-rate reduction potential is not fulfilled. Moreover, despite the causal impact of the SW-length upon both the bit-rate and computational-speed, there is no formal mechanism for determining the most suitable SW-length. This paper introduces the concept of a variable width admissible CP band and new adaptive SW-length selection strategy to address these issues. The presented quantitative and qualitative results analysis endorses the superior performance achieved by integrating these enhancements into the existing vertex-based ORD optimal algorithms

Quasi-Bezier curves integrating localised information

Bezier curves (BC) have become fundamental tools in many challenging and varied applications, ranging from computer-aided geometric design to generic object shape descriptors. A major limitation of the classical Bezier curve, however, is that only global information about its control points (CP) is considered, so there can often be a large gap between the curve and its control polygon, leading to large distortion in shape representation. While strategies such as degree elevation, composite BC, refinement and subdivision reduce this gap, they also increase the number of CP and hence bit-rate, and computational complexity. This paper presents novel contributions to BC theory, with the introduction of quasi-Bezier curves (QBC), which seamlessly integrate localised CP information into the inherent global Bezier framework, with no increase in either the number of CP or order of computational complexity. QBC crucially retains the core properties of the classical BC, such as geometric continuity and affine invariance, and can be embedded into the vertex-based shape coding and shape descriptor framework to enhance rate-distortion performance. The performance of QBC has been empirically tested upon a number of natural and synthetically shaped objects, with both qualitative and quantitative results confirming its consistently superior approximation performance in comparison with both the classical BC and other established BC-based shape descriptor methods

Robust Modular Feature-Based Terrain-Aided Visual Navigation and Mapping

The visual feature-based Terrain-Aided Navigation (TAN) system presented in this thesis addresses the problem of constraining inertial drift introduced into the location estimate of Unmanned Aerial Vehicles (UAVs) in GPS-denied environment. The presented TAN system utilises salient visual features representing semantic or human-interpretable objects (roads, forest and water boundaries) from onboard aerial imagery and associates them to a database of reference features created a-priori, through application of the same feature detection algorithms to satellite imagery. Correlation of the detected features with the reference features via a series of the robust data association steps allows a localisation solution to be achieved with a finite absolute bound precision defined by the certainty of the reference dataset. The feature-based Visual Navigation System (VNS) presented in this thesis was originally developed for a navigation application using simulated multi-year satellite image datasets. The extension of the system application into the mapping domain, in turn, has been based on the real (not simulated) flight data and imagery. In the mapping study the full potential of the system, being a versatile tool for enhancing the accuracy of the information derived from the aerial imagery has been demonstrated. Not only have the visual features, such as road networks, shorelines and water bodies, been used to obtain a position ’fix’, they have also been used in reverse for accurate mapping of vehicles detected on the roads into an inertial space with improved precision. Combined correction of the geo-coding errors and improved aircraft localisation formed a robust solution to the defense mapping application. A system of the proposed design will provide a complete independent navigation solution to an autonomous UAV and additionally give it object tracking capability

Estimating individual muscle forces in human movement

If individual muscle forces could be routinely calculated in vivo, non-invasively, considerable insight could be obtained into the etiology of injuries and the training of muscle for rehabilitation and sport. As there are generally more muscles crossing a joint than there are degrees of freedom at the joint, determining the individual forces in the muscles crossing a joint is a non-trivial problem. This study focused on the development of the procedures necessary to estimate the individual muscle forces during a dumbell curl, and the measurement procedures required for the determination of the necessary input parameters. The procedures developed could easily be applied to other body movements. [Continues.

Accelerating Reinforcement Learning by Composing Solutions of Automatically Identified Subtasks

This paper discusses a system that accelerates reinforcement learning by using transfer from related tasks. Without such transfer, even if two tasks are very similar at some abstract level, an extensive re-learning effort is required. The system achieves much of its power by transferring parts of previously learned solutions rather than a single complete solution. The system exploits strong features in the multi-dimensional function produced by reinforcement learning in solving a particular task. These features are stable and easy to recognize early in the learning process. They generate a partitioning of the state space and thus the function. The partition is represented as a graph. This is used to index and compose functions stored in a case base to form a close approximation to the solution of the new task. Experiments demonstrate that function composition often produces more than an order of magnitude increase in learning rate compared to a basic reinforcement learning algorithm