5 research outputs found
Left-invariant evolutions of wavelet transforms on the Similitude Group
Enhancement of multiple-scale elongated structures in noisy image data is
relevant for many biomedical applications but commonly used PDE-based
enhancement techniques often fail at crossings in an image. To get an overview
of how an image is composed of local multiple-scale elongated structures we
construct a multiple scale orientation score, which is a continuous wavelet
transform on the similitude group, SIM(2). Our unitary transform maps the space
of images onto a reproducing kernel space defined on SIM(2), allowing us to
robustly relate Euclidean (and scaling) invariant operators on images to
left-invariant operators on the corresponding continuous wavelet transform.
Rather than often used wavelet (soft-)thresholding techniques, we employ the
group structure in the wavelet domain to arrive at left-invariant evolutions
and flows (diffusion), for contextual crossing preserving enhancement of
multiple scale elongated structures in noisy images. We present experiments
that display benefits of our work compared to recent PDE techniques acting
directly on the images and to our previous work on left-invariant diffusions on
orientation scores defined on Euclidean motion group.Comment: 40 page
Automated Bone Age Assessment: Motivation, Taxonomies, and Challenges
Bone age assessment (BAA) of unknown people is one of the most important topics in clinical procedure for evaluation of biological maturity of children. BAA is performed usually by comparing an X-ray of left hand wrist with an atlas of known sample bones. Recently, BAA has gained remarkable ground from academia and medicine. Manual methods of BAA are time-consuming and prone to observer variability. This is a motivation for developing automated methods of BAA. However, there is considerable research on the automated assessment, much of which are still in the experimental stage. This survey provides taxonomy of automated BAA approaches and discusses the challenges. Finally, we present suggestions for future research
Prediction of Robot Execution Failures Using Neural Networks
In recent years, the industrial robotic systems are designed with abilities to adapt and to learn in a structured or unstructured environment. They are able to predict and to react to the undesirable and uncontrollable disturbances which frequently interfere in mission accomplishment. In order to prevent system failure and/or unwanted robot behaviour, various techniques have been addressed. In this study, a novel approach based on the neural networks (NNs) is employed for prediction of robot execution failures. The training and testing dataset used in the experiment consists of forces and torques memorized immediately after the real robot failed in assignment execution. Two types of networks are utilized in order to find best prediction method - recurrent NNs and feedforward NNs. Moreover, we investigated 24 neural architectures implemented in Matlab software package. The experimental results confirm that this approach can be successfully applied to the failures prediction problem, and that the NNs outperform other artificial intelligence techniques in this domain. To further validate a novel method, real world experiments are conducted on a Khepera II mobile robot in an indoor structured environment. The obtained results for trajectory tracking problem proved usefulness and the applicability of the proposed solution
Neural Extended Kalman Filter for State Estimation of Automated Guided Vehicle in Manufacturing Environment
To navigate autonomously in a manufacturing environment Automated Guided Vehicle (AGV) needs the ability to infer its pose. This paper presents the implementation of the Extended Kalman Filter (EKF) coupled with a feedforward neural network for the Visual Simultaneous Localization and Mapping (VSLAM). The neural extended Kalman filter (NEKF) is applied on-line to model error between real and estimated robot motion. Implementation of the NEKF is achieved by using mobile robot, an experimental environment and a simple camera. By introducing neural
network into the EKF estimation procedure, the quality of performance can be improved