A Knowledge Integration Framework for 3D Shape Reconstruction

The modern emergence of automation in many industries has given impetus to extensive research into mobile robotics. Novel perception technologies now enable cars to drive autonomously, tractors to till a field automatically and underwater robots to construct pipelines. An essential requirement to facilitate both perception and autonomous navigation is the analysis of the 3D environment using sensors like laser scanners or stereo cameras. 3D sensors generate a very large number of 3D data points in sampling object shapes within an environment, but crucially do not provide any intrinsic information about the environment in which the robots operate with. This means unstructured 3D samples must be processed by application-specific models to enable a robot, for instance, to detect and identify objects and infer the scene geometry for path-planning more efficiently than by using raw 3D data. This thesis specifically focuses on the fundamental task of 3D shape reconstruction and modelling by presenting a new knowledge integration framework for unstructured 3D samples. The novelty lies in the representation of surfaces by algebraic functions with limited support, which enables the extraction of smooth consistent shapes from noisy samples with a heterogeneous density. Moreover, many surfaces in urban environments can reasonably be assumed to be planar, and the framework exploits this knowledge to enable effective noise suppression without loss of detail. This is achieved by using a convex optimization technique which has linear computational complexity. Thus is much more efficient than existing solutions. The new framework has been validated by critical experimental analysis and evaluation and has been shown to increase the accuracy of the reconstructed shape significantly compared to state-of-the-art methods. Applying this new knowledge integration framework means that less accurate, low-cost 3D sensors can be employed without sacrificing the high demands that 3D perception must achieve. This links well into the area of robotic inspection, as for example regarding small drones that use inaccurate and lightweight image sensors

Models of Neuronal Stimulus-Response Functions: Elaboration, Estimation, and Evaluation

Rich, dynamic, and dense sensory stimuli are encoded within the nervous system by the time-varying activity of many individual neurons. A fundamental approach to understanding the nature of the encoded representation is to characterize the function that relates the moment-by-moment firing of a neuron to the recent history of a complex sensory input. This review provides a unifying and critical survey of the techniques that have been brought to bear on this effort thus far—ranging from the classical linear receptive field model to modern approaches incorporating normalization and other nonlinearities. We address separately the structure of the models; the criteria and algorithms used to identify the model parameters; and the role of regularizing terms or “priors.” In each case we consider benefits or drawbacks of various proposals, providing examples for when these methods work and when they may fail. Emphasis is placed on key concepts rather than mathematical details, so as to make the discussion accessible to readers from outside the field. Finally, we review ways in which the agreement between an assumed model and the neuron's response may be quantified. Re-implemented and unified code for many of the methods are made freely available

Image Restoration

This book represents a sample of recent contributions of researchers all around the world in the field of image restoration. The book consists of 15 chapters organized in three main sections (Theory, Applications, Interdisciplinarity). Topics cover some different aspects of the theory of image restoration, but this book is also an occasion to highlight some new topics of research related to the emergence of some original imaging devices. From this arise some real challenging problems related to image reconstruction/restoration that open the way to some new fundamental scientific questions closely related with the world we interact with

Object Detection in High Resolution Aerial Images and Hyperspectral Remote Sensing Images

With rapid developments in satellite and sensor technologies, there has been a dramatic increase in the availability of remotely sensed images. However, the exploration of these images still involves a tremendous amount of human interventions, which are tedious, time-consuming, and inefficient. To help imaging experts gain a complete understanding of the images and locate the objects of interest in a more accurate and efficient way, there is always an urgent need for developing automatic detection algorithms. In this work, we delve into the object detection problems in remote sensing applications, exploring the detection algorithms for both hyperspectral images (HSIs) and high resolution aerial images. In the first part, we focus on the subpixel target detection problem in HSIs with low spatial resolutions, where the objects of interest are much smaller than the image pixel spatial resolution. To this end, we explore the detection frameworks that integrate image segmentation techniques in designing the matched filters (MFs). In particular, we propose a novel image segmentation algorithm to identify the spatial-spectral coherent image regions, from which the background statistics were estimated for deriving the MFs. Extensive experimental studies were carried out to demonstrate the advantages of the proposed subpixel target detection framework. Our studies show the superiority of the approach when comparing to state-of-the-art methods. The second part of the thesis explores the object based image analysis (OBIA) framework for geospatial object detection in high resolution aerial images. Specifically, we generate a tree representation of the aerial images from the output of hierarchical image segmentation algorithms and reformulate the object detection problem into a tree matching task. We then proposed two tree-matching algorithms for the object detection framework. We demonstrate the efficiency and effectiveness of the proposed tree-matching based object detection framework. In the third part, we study object detection in high resolution aerial images from a machine learning perspective. We investigate both traditional machine learning based framework and end-to-end convolutional neural network (CNN) based approach for various object detection tasks. In the traditional detection framework, we propose to apply the Gaussian process classifier (GPC) to train an object detector and demonstrate the advantages of the probabilistic classification algorithm. In the CNN based approach, we proposed a novel scale transfer module that generates enhanced feature maps for object detection. Our results show the efficiency and competitiveness of the proposed algorithms when compared to state-of-the-art counterparts

Novel Aggregated Solutions for Robust Visual Tracking in Traffic Scenarios

This work proposes novel approaches for object tracking in challenging scenarios like severe occlusion, deteriorated vision and long range multi-object reidentification. All these solutions are only based on image sequence captured by a monocular camera and do not require additional sensors. Experiments on standard benchmarks demonstrate an improved state-of-the-art performance of these approaches. Since all the presented approaches are smartly designed, they can run at a real-time speed

Computational approaches for improving treatment and prevention of viral infections

The treatment of infections with HIV or HCV is challenging. Thus, novel drugs and new computational approaches that support the selection of therapies are required. This work presents methods that support therapy selection as well as methods that advance novel antiviral treatments. geno2pheno[ngs-freq] identifies drug resistance from HIV-1 or HCV samples that were subjected to next-generation sequencing by interpreting their sequences either via support vector machines or a rules-based approach. geno2pheno[coreceptor-hiv2] determines the coreceptor that is used for viral cell entry by analyzing a segment of the HIV-2 surface protein with a support vector machine. openPrimeR is capable of finding optimal combinations of primers for multiplex polymerase chain reaction by solving a set cover problem and accessing a new logistic regression model for determining amplification events arising from polymerase chain reaction. geno2pheno[ngs-freq] and geno2pheno[coreceptor-hiv2] enable the personalization of antiviral treatments and support clinical decision making. The application of openPrimeR on human immunoglobulin sequences has resulted in novel primer sets that improve the isolation of broadly neutralizing antibodies against HIV-1. The methods that were developed in this work thus constitute important contributions towards improving the prevention and treatment of viral infectious diseases.Die Behandlung von HIV- oder HCV-Infektionen ist herausfordernd. Daher werden neue Wirkstoffe, sowie neue computerbasierte Verfahren benötigt, welche die Therapie verbessern. In dieser Arbeit wurden Methoden zur Unterstützung der Therapieauswahl entwickelt, aber auch solche, welche neuartige Therapien vorantreiben. geno2pheno[ngs-freq] bestimmt, ob Resistenzen gegen Medikamente vorliegen, indem es Hochdurchsatzsequenzierungsdaten von HIV-1 oder HCV Proben mittels Support Vector Machines oder einem regelbasierten Ansatz interpretiert. geno2pheno[coreceptor-hiv2] bestimmt den HIV-2 Korezeptorgebrauch dadurch, dass es einen Abschnitt des viralen Oberflächenproteins mit einer Support Vector Machine analysiert. openPrimeR kann optimale Kombinationen von Primern für die Multiplex-Polymerasekettenreaktion finden, indem es ein Mengenüberdeckungsproblem löst und auf ein neues logistisches Regressionsmodell für die Vorhersage von Amplifizierungsereignissen zurückgreift. geno2pheno[ngs-freq] und geno2pheno[coreceptor-hiv2] ermöglichen die Personalisierung antiviraler Therapien und unterstützen die klinische Entscheidungsfindung. Durch den Einsatz von openPrimeR auf humanen Immunoglobulinsequenzen konnten Primersätze generiert werden, welche die Isolierung von breit neutralisierenden Antikörpern gegen HIV-1 verbessern. Die in dieser Arbeit entwickelten Methoden leisten somit einen wichtigen Beitrag zur Verbesserung der Prävention und Therapie viraler Infektionskrankheiten

Signal and data processing for machine olfaction and chemical sensing: A review

Signal and data processing are essential elements in electronic noses as well as in most chemical sensing instruments. The multivariate responses obtained by chemical sensor arrays require signal and data processing to carry out the fundamental tasks of odor identification (classification), concentration estimation (regression), and grouping of similar odors (clustering). In the last decade, important advances have shown that proper processing can improve the robustness of the instruments against diverse perturbations, namely, environmental variables, background changes, drift, etc. This article reviews the advances made in recent years in signal and data processing for machine olfaction and chemical sensing

Data Mining

The availability of big data due to computerization and automation has generated an urgent need for new techniques to analyze and convert big data into useful information and knowledge. Data mining is a promising and leading-edge technology for mining large volumes of data, looking for hidden information, and aiding knowledge discovery. It can be used for characterization, classification, discrimination, anomaly detection, association, clustering, trend or evolution prediction, and much more in fields such as science, medicine, economics, engineering, computers, and even business analytics. This book presents basic concepts, ideas, and research in data mining

Brain Computer Interfaces and Emotional Involvement: Theory, Research, and Applications

This reprint is dedicated to the study of brain activity related to emotional and attentional involvement as measured by Brain–computer interface (BCI) systems designed for different purposes. A BCI system can translate brain signals (e.g., electric or hemodynamic brain activity indicators) into a command to execute an action in the BCI application (e.g., a wheelchair, the cursor on the screen, a spelling device or a game). These tools have the advantage of having real-time access to the ongoing brain activity of the individual, which can provide insight into the user’s emotional and attentional states by training a classification algorithm to recognize mental states. The success of BCI systems in contemporary neuroscientific research relies on the fact that they allow one to “think outside the lab”. The integration of technological solutions, artificial intelligence and cognitive science allowed and will allow researchers to envision more and more applications for the future. The clinical and everyday uses are described with the aim to invite readers to open their minds to imagine potential further developments