The Cyborg Astrobiologist: Testing a Novelty-Detection Algorithm on Two Mobile Exploration Systems at Rivas Vaciamadrid in Spain and at the Mars Desert Research Station in Utah

(ABRIDGED) In previous work, two platforms have been developed for testing computer-vision algorithms for robotic planetary exploration (McGuire et al. 2004b,2005; Bartolo et al. 2007). The wearable-computer platform has been tested at geological and astrobiological field sites in Spain (Rivas Vaciamadrid and Riba de Santiuste), and the phone-camera has been tested at a geological field site in Malta. In this work, we (i) apply a Hopfield neural-network algorithm for novelty detection based upon color, (ii) integrate a field-capable digital microscope on the wearable computer platform, (iii) test this novelty detection with the digital microscope at Rivas Vaciamadrid, (iv) develop a Bluetooth communication mode for the phone-camera platform, in order to allow access to a mobile processing computer at the field sites, and (v) test the novelty detection on the Bluetooth-enabled phone-camera connected to a netbook computer at the Mars Desert Research Station in Utah. This systems engineering and field testing have together allowed us to develop a real-time computer-vision system that is capable, for example, of identifying lichens as novel within a series of images acquired in semi-arid desert environments. We acquired sequences of images of geologic outcrops in Utah and Spain consisting of various rock types and colors to test this algorithm. The algorithm robustly recognized previously-observed units by their color, while requiring only a single image or a few images to learn colors as familiar, demonstrating its fast learning capability.Comment: 28 pages, 12 figures, accepted for publication in the International Journal of Astrobiolog

Response of an Excitatory-Inhibitory Neural Network to External Stimulation: An Application to Image Segmentation

Neural network models comprising elements which have exclusively excitatory or inhibitory synapses are capable of a wide range of dynamic behavior, including chaos. In this paper, a simple excitatory-inhibitory neural pair, which forms the building block of larger networks, is subjected to external stimulation. The response shows transition between various types of dynamics, depending upon the magnitude of the stimulus. Coupling such pairs over a local neighborhood in a two-dimensional plane, the resultant network can achieve a satisfactory segmentation of an image into ``object'' and ``background''. Results for synthetic and and ``real-life'' images are given.Comment: 8 pages, latex, 5 figure

Research on Beef Skeletal Maturity Determination Based on Shape Description and Neural Network

Physiological maturity is an important indicator for beef quality. In traditional method, the maturity grade is determined by subjectively evaluating the degree of cartilage ossification at the tips of the dorsal spine of the thoracic vertebrae. This paper uses the computer vision to replace the artificial method for extracting object (cartilage and bone) regions. Hu invariant moments of object region were calculated as the regional shape characteristic parameters. A trained Hopfield neural network model was used for recognizing cartilage and bone area in thoracic vertebrae image based on minimum Euclidean distance. The result showed that the accuracy of network recognition for cartilage and bone region was 92.75% and 87.68%, respectively. For automatically maturity prediction, the accuracy of prediction was 86%. Algorithm proposed in this paper proved the image description and neural network modeling was an effective method for extracting image feature regions

NASA JSC neural network survey results

A survey of Artificial Neural Systems in support of NASA's (Johnson Space Center) Automatic Perception for Mission Planning and Flight Control Research Program was conducted. Several of the world's leading researchers contributed papers containing their most recent results on artificial neural systems. These papers were broken into categories and descriptive accounts of the results make up a large part of this report. Also included is material on sources of information on artificial neural systems such as books, technical reports, software tools, etc

A Stereovision Matching Strategy for Images Captured with Fish-Eye Lenses in Forest Environments

We present a novel strategy for computing disparity maps from hemispherical stereo images obtained with fish-eye lenses in forest environments. At a first segmentation stage, the method identifies textures of interest to be either matched or discarded. This is achieved by applying a pattern recognition strategy based on the combination of two classifiers: Fuzzy Clustering and Bayesian. At a second stage, a stereovision matching process is performed based on the application of four stereovision matching constraints: epipolar, similarity, uniqueness and smoothness. The epipolar constraint guides the process. The similarity and uniqueness are mapped through a decision making strategy based on a weighted fuzzy similarity approach, obtaining a disparity map. This map is later filtered through the Hopfield Neural Network framework by considering the smoothness constraint. The combination of the segmentation and stereovision matching approaches makes the main contribution. The method is compared against the usage of simple features and combined similarity matching strategies