Giving eyes to ICT!, or How does a computer recognize a cow?

Het door Schouten en andere onderzoekers op het CWI ontwikkelde systeem berust op het beschrijven van beelden met behulp van fractale meetkunde. De menselijke waarneming blijkt mede daardoor zo efficiënt omdat zij sterk werkt met gelijkenissen. Het ligt dus voor de hand het te zoeken in wiskundige methoden die dat ook doen. Schouten heeft daarom beeldcodering met behulp van 'fractals' onderzocht. Fractals zijn zelfgelijkende meetkundige figuren, opgebouwd door herhaalde transformatie (iteratie) van een eenvoudig basispatroon, dat zich daardoor op steeds kleinere schalen vertakt. Op elk niveau van detaillering lijkt een fractal op zichzelf (Droste-effect). Met fractals kan men vrij eenvoudig bedrieglijk echte natuurvoorstellingen maken. Fractale beeldcodering gaat ervan uit dat het omgekeerde ook geldt: een beeld effectief opslaan in de vorm van de basispatronen van een klein aantal fractals, samen met het voorschrift hoe het oorspronkelijke beeld daaruit te reconstrueren. Het op het CWI in samenwerking met onderzoekers uit Leuven ontwikkelde systeem is mede gebaseerd op deze methode. ISBN 906196502

Retrieval of Spatially Similar Images using Quadtree-based Indexing

Multimedia applications involving image retrieval demand fast response, which requires efficient database indexing. Generally, a two-level indexing scheme in an image database can help to reduce the search space against a given query image. The first level is required to significantly reduce the search space for the second-stage of comparisons and must be computationally efficient. It is also required to guarantee that no new false negatives may result. In this thesis, we propose a new image signature representation for the first level of a two-level image indexing scheme that is based on hierarchical decomposition of image space into spatial arrangement of image features (quadtrees). We also formally prove that the proposed signature representation scheme not only results in fewer number of matching signatures but also does not result in any new false negative. Further, the performance of the retrieval scheme with proposed ignature representation is evaluated for various feature point detection algorithms

6 Access Methods and Query Processing Techniques

The performance of a database management system (DBMS) is fundamentally dependent on the access methods and query processing techniques available to the system. Traditionally, relational DBMSs have relied on well-known access methods, such as the ubiquitous B +-tree, hashing with chaining, and, in som

Query processing of spatial objects: Complexity versus Redundancy

The management of complex spatial objects in applications, such as geography and cartography, imposes stringent new requirements on spatial database systems, in particular on efficient query processing. As shown before, the performance of spatial query processing can be improved by decomposing complex spatial objects into simple components. Up to now, only decomposition techniques generating a linear number of very simple components, e.g. triangles or trapezoids, have been considered. In this paper, we will investigate the natural trade-off between the complexity of the components and the redundancy, i.e. the number of components, with respect to its effect on efficient query processing. In particular, we present two new decomposition methods generating a better balance between the complexity and the number of components than previously known techniques. We compare these new decomposition methods to the traditional undecomposed representation as well as to the well-known decomposition into convex polygons with respect to their performance in spatial query processing. This comparison points out that for a wide range of query selectivity the new decomposition techniques clearly outperform both the undecomposed representation and the convex decomposition method. More important than the absolute gain in performance by a factor of up to an order of magnitude is the robust performance of our new decomposition techniques over the whole range of query selectivity

Using Raster Sketches for Digital Image Retrieval

This research addresses the problem of content-based image retrieval using queries on image-object shape, completely in the raster domain. It focuses on the particularities of image databases encountered in typical topographic applications and presents the development of an environment for visual information management that enables such queries. The query consists of a user-provided raster sketch of the shape of an imaged object. The objective of the search is to retrieve images that contain an object sufficiently similar to the one specified in the query. The new contribution of this work combines the design of a comprehensive digital image database on-line query access strategy through the development of a feature library, image library and metadata library and the necessary matching tools. The matching algorithm is inspired by least-squares matching (lsm), and represents an extension of lsm to function with a variety of raster representations. The image retrieval strategy makes use of a hierarchical organization of linked feature (image-object) shapes within the feature library. The query results are ranked according to statistical scores and the user can subsequently narrow or broaden his/her search according to the previously obtained results and the purpose of the search

Using Raster Sketches for Digital Image Retrieval

This research addresses the problem of content-based image retrieval using queries on image-object shape, completely in the raster domain. It focuses on the particularities of image databases encountered in typical topographic applications and presents the development of an environment for visual information management that enables such queries. The query consists of a user-provided raster sketch of the shape of an imaged object. The objective of the search is to retrieve images that contain an object sufficiently similar to the one specified in the query. The new contribution of this work combines the design of a comprehensive digital image database on-line query access strategy through the development of a feature library, image library and metadata library and the necessary matching tools. The matching algorithm is inspired by least-squares matching (lsm), and represents an extension of lsm to function with a variety of raster representations. The image retrieval strategy makes use of a hierarchical organization of linked feature (image-object) shapes within the feature library. The query results are ranked according to statistical scores and the user can subsequently narrow or broaden his/her search according to the previously obtained results and the purpose of the search

A Novel Approach To Intelligent Navigation Of A Mobile Robot In A Dynamic And Cluttered Indoor Environment

The need and rationale for improved solutions to indoor robot navigation is increasingly driven by the influx of domestic and industrial mobile robots into the market. This research has developed and implemented a novel navigation technique for a mobile robot operating in a cluttered and dynamic indoor environment. It divides the indoor navigation problem into three distinct but interrelated parts, namely, localization, mapping and path planning. The localization part has been addressed using dead-reckoning (odometry). A least squares numerical approach has been used to calibrate the odometer parameters to minimize the effect of systematic errors on the performance, and an intermittent resetting technique, which employs RFID tags placed at known locations in the indoor environment in conjunction with door-markers, has been developed and implemented to mitigate the errors remaining after the calibration. A mapping technique that employs a laser measurement sensor as the main exteroceptive sensor has been developed and implemented for building a binary occupancy grid map of the environment. A-r-Star pathfinder, a new path planning algorithm that is capable of high performance both in cluttered and sparse environments, has been developed and implemented. Its properties, challenges, and solutions to those challenges have also been highlighted in this research. An incremental version of the A-r-Star has been developed to handle dynamic environments. Simulation experiments highlighting properties and performance of the individual components have been developed and executed using MATLAB. A prototype world has been built using the WebotsTM robotic prototyping and 3-D simulation software. An integrated version of the system comprising the localization, mapping and path planning techniques has been executed in this prototype workspace to produce validation results

indexing and querying moving objects databases

Ph.DDOCTOR OF PHILOSOPH