25,602 research outputs found
Image Segmentation with Eigenfunctions of an Anisotropic Diffusion Operator
We propose the eigenvalue problem of an anisotropic diffusion operator for
image segmentation. The diffusion matrix is defined based on the input image.
The eigenfunctions and the projection of the input image in some eigenspace
capture key features of the input image. An important property of the model is
that for many input images, the first few eigenfunctions are close to being
piecewise constant, which makes them useful as the basis for a variety of
applications such as image segmentation and edge detection. The eigenvalue
problem is shown to be related to the algebraic eigenvalue problems resulting
from several commonly used discrete spectral clustering models. The relation
provides a better understanding and helps developing more efficient numerical
implementation and rigorous numerical analysis for discrete spectral
segmentation methods. The new continuous model is also different from
energy-minimization methods such as geodesic active contour in that no initial
guess is required for in the current model. The multi-scale feature is a
natural consequence of the anisotropic diffusion operator so there is no need
to solve the eigenvalue problem at multiple levels. A numerical implementation
based on a finite element method with an anisotropic mesh adaptation strategy
is presented. It is shown that the numerical scheme gives much more accurate
results on eigenfunctions than uniform meshes. Several interesting features of
the model are examined in numerical examples and possible applications are
discussed
Closed-loop Bayesian Semantic Data Fusion for Collaborative Human-Autonomy Target Search
In search applications, autonomous unmanned vehicles must be able to
efficiently reacquire and localize mobile targets that can remain out of view
for long periods of time in large spaces. As such, all available information
sources must be actively leveraged -- including imprecise but readily available
semantic observations provided by humans. To achieve this, this work develops
and validates a novel collaborative human-machine sensing solution for dynamic
target search. Our approach uses continuous partially observable Markov
decision process (CPOMDP) planning to generate vehicle trajectories that
optimally exploit imperfect detection data from onboard sensors, as well as
semantic natural language observations that can be specifically requested from
human sensors. The key innovation is a scalable hierarchical Gaussian mixture
model formulation for efficiently solving CPOMDPs with semantic observations in
continuous dynamic state spaces. The approach is demonstrated and validated
with a real human-robot team engaged in dynamic indoor target search and
capture scenarios on a custom testbed.Comment: Final version accepted and submitted to 2018 FUSION Conference
(Cambridge, UK, July 2018
Director Field Model of the Primary Visual Cortex for Contour Detection
We aim to build the simplest possible model capable of detecting long, noisy
contours in a cluttered visual scene. For this, we model the neural dynamics in
the primate primary visual cortex in terms of a continuous director field that
describes the average rate and the average orientational preference of active
neurons at a particular point in the cortex. We then use a linear-nonlinear
dynamical model with long range connectivity patterns to enforce long-range
statistical context present in the analyzed images. The resulting model has
substantially fewer degrees of freedom than traditional models, and yet it can
distinguish large contiguous objects from the background clutter by suppressing
the clutter and by filling-in occluded elements of object contours. This
results in high-precision, high-recall detection of large objects in cluttered
scenes. Parenthetically, our model has a direct correspondence with the Landau
- de Gennes theory of nematic liquid crystal in two dimensions.Comment: 9 pages, 7 figure
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