25,602 research outputs found

    Image Segmentation with Eigenfunctions of an Anisotropic Diffusion Operator

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    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

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    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

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    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

    Deformable part models for object detection in medical images

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