Model-Based Environmental Visual Perception for Humanoid Robots

The visual perception of a robot should answer two fundamental questions: What? and Where? In order to properly and efficiently reply to these questions, it is essential to establish a bidirectional coupling between the external stimuli and the internal representations. This coupling links the physical world with the inner abstraction models by sensor transformation, recognition, matching and optimization algorithms. The objective of this PhD is to establish this sensor-model coupling

Geospatial Narratives and their Spatio-Temporal Dynamics: Commonsense Reasoning for High-level Analyses in Geographic Information Systems

The modelling, analysis, and visualisation of dynamic geospatial phenomena has been identified as a key developmental challenge for next-generation Geographic Information Systems (GIS). In this context, the envisaged paradigmatic extensions to contemporary foundational GIS technology raises fundamental questions concerning the ontological, formal representational, and (analytical) computational methods that would underlie their spatial information theoretic underpinnings. We present the conceptual overview and architecture for the development of high-level semantic and qualitative analytical capabilities for dynamic geospatial domains. Building on formal methods in the areas of commonsense reasoning, qualitative reasoning, spatial and temporal representation and reasoning, reasoning about actions and change, and computational models of narrative, we identify concrete theoretical and practical challenges that accrue in the context of formal reasoning about `space, events, actions, and change'. With this as a basis, and within the backdrop of an illustrated scenario involving the spatio-temporal dynamics of urban narratives, we address specific problems and solutions techniques chiefly involving `qualitative abstraction', `data integration and spatial consistency', and `practical geospatial abduction'. From a broad topical viewpoint, we propose that next-generation dynamic GIS technology demands a transdisciplinary scientific perspective that brings together Geography, Artificial Intelligence, and Cognitive Science. Keywords: artificial intelligence; cognitive systems; human-computer interaction; geographic information systems; spatio-temporal dynamics; computational models of narrative; geospatial analysis; geospatial modelling; ontology; qualitative spatial modelling and reasoning; spatial assistance systemsComment: ISPRS International Journal of Geo-Information (ISSN 2220-9964); Special Issue on: Geospatial Monitoring and Modelling of Environmental Change}. IJGI. Editor: Duccio Rocchini. (pre-print of article in press

Vision Science and Technology at NASA: Results of a Workshop

A broad review is given of vision science and technology within NASA. The subject is defined and its applications in both NASA and the nation at large are noted. A survey of current NASA efforts is given, noting strengths and weaknesses of the NASA program

Workshop on Antarctic Glaciology and Meteorites

The state of knowledge of meteorites and glaciology is summarized, and directions for research are suggested

Automatic object classification for surveillance videos.

PhDThe recent popularity of surveillance video systems, specially located in urban scenarios, demands the development of visual techniques for monitoring purposes. A primary step towards intelligent surveillance video systems consists on automatic object classification, which still remains an open research problem and the keystone for the development of more specific applications. Typically, object representation is based on the inherent visual features. However, psychological studies have demonstrated that human beings can routinely categorise objects according to their behaviour. The existing gap in the understanding between the features automatically extracted by a computer, such as appearance-based features, and the concepts unconsciously perceived by human beings but unattainable for machines, or the behaviour features, is most commonly known as semantic gap. Consequently, this thesis proposes to narrow the semantic gap and bring together machine and human understanding towards object classification. Thus, a Surveillance Media Management is proposed to automatically detect and classify objects by analysing the physical properties inherent in their appearance (machine understanding) and the behaviour patterns which require a higher level of understanding (human understanding). Finally, a probabilistic multimodal fusion algorithm bridges the gap performing an automatic classification considering both machine and human understanding. The performance of the proposed Surveillance Media Management framework has been thoroughly evaluated on outdoor surveillance datasets. The experiments conducted demonstrated that the combination of machine and human understanding substantially enhanced the object classification performance. Finally, the inclusion of human reasoning and understanding provides the essential information to bridge the semantic gap towards smart surveillance video systems

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

Statistical Fusion of Multi-aspect Synthetic Aperture Radar Data for Automatic Road Extraction

In this dissertation, a new statistical fusion for automatic road extraction from SAR images taken from different looking angles (i.e. multi-aspect SAR data) was presented. The main input to the fusion is extracted line features. The fusion is carried out on decision-level and is based on Bayesian network theory

Synchrotron Based Infrared Microspectroscopy of Carbonaceous Chondrites.

Relationships between organic molecules and inorganic minerals are investigated in five carbonaceous chondrites, Northwest Africa 852 (CR2), Tagish Lake (C2-ungroupped), Orgueil (CI1), Sutter\u27s Mill (CM), and Murchison (CM2), with micron spatial resolution using synchrotron-based imaging micro-FTIR spectroscopy. Correlations based on absorption strength for various constituents are determined using statistical correlation analysis. Silicate band is found to be positively correlated with stretching modes of aliphatic hydrocarbons in NWA 852 and Tagish Lake. The former is highly correlated with the hydration band in all meteorites. Negative correlation is observed between water+organics and carbonate bands in all meteorites. Two dimensional infrared maps for NWA 852 and Orgueil show that carbonates are spatially separated from water+organic combination, silicates, OH, and CH distributions. Overlapping of the latter three in NWA 852 and Tagish Lake suggests a possible catalytic role of phyllosilicates in the formation of organics. Additionally, spectroscopic analyses on Sutter\u27s Mill meteorite fragments present multiple distinct mineralogies. Spatial and spectral evidences on this regolith breccia suggest mixing of multiple parent bodies. Ratios of asymmetric CH2 and CH3 band strengths for NWA 852, Tagish Lake, and Sutter\u27s Mill are similar to the average ratio of interplanetary dust particles and Wild 2 cometary dust particles, however significantly exceeds that of interstellar medium objects and several aqueously altered carbonaceous chondrites such as Orgueil. This suggests distinct formation regions and/or parent body processing of organics for these meteorites. Our infrared spectro-microtomography measurements on Murchison meteorite, representing the first such measurement on any kind of meteorite, comprise of three-dimensional reconstructions of specific molecular functional groups for understanding the spatial distributions of these groups