33,470 research outputs found
Ground Extraction from 3D Lidar Point Clouds
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Pomares, A., MartĂnez, J.L., Mandow, A., MartĂnez, M.A., Morán, M., Morales, J. Ground extraction from 3D lidar point clouds with the Classification Learner App (2018) 26th Mediterranean Conference on Control and Automation, Zadar, Croatia, June 2018, pp.400-405. DOI: PendingGround extraction from three-dimensional (3D)
range data is a relevant problem for outdoor navigation
of unmanned ground vehicles. Even if this problem has received attention with specific heuristics and segmentation approaches, identification of ground and non-ground points can benefit from state-of-the-art classification methods, such as those included in the Matlab Classification Learner App. This paper proposes a comparative study of the machine learning methods included in this tool in terms of training times as well as in their predictive performance. With this purpose, we have combined three suitable features for ground detection, which has been applied to an urban dataset with several labeled 3D point clouds. Most of the analyzed techniques achieve good classification results, but only a few offer low training and prediction times.This work was partially supported by the Spanish project DPI 2015- 65186-R. The publication has received support
from Universidad de Málaga, Campus de Excelencia AndalucĂa Tech
How to Find More Supernovae with Less Work: Object Classification Techniques for Difference Imaging
We present the results of applying new object classification techniques to
difference images in the context of the Nearby Supernova Factory supernova
search. Most current supernova searches subtract reference images from new
images, identify objects in these difference images, and apply simple threshold
cuts on parameters such as statistical significance, shape, and motion to
reject objects such as cosmic rays, asteroids, and subtraction artifacts.
Although most static objects subtract cleanly, even a very low false positive
detection rate can lead to hundreds of non-supernova candidates which must be
vetted by human inspection before triggering additional followup. In comparison
to simple threshold cuts, more sophisticated methods such as Boosted Decision
Trees, Random Forests, and Support Vector Machines provide dramatically better
object discrimination. At the Nearby Supernova Factory, we reduced the number
of non-supernova candidates by a factor of 10 while increasing our supernova
identification efficiency. Methods such as these will be crucial for
maintaining a reasonable false positive rate in the automated transient alert
pipelines of upcoming projects such as PanSTARRS and LSST.Comment: 25 pages; 6 figures; submitted to Ap
Supervised Classification: Quite a Brief Overview
The original problem of supervised classification considers the task of
automatically assigning objects to their respective classes on the basis of
numerical measurements derived from these objects. Classifiers are the tools
that implement the actual functional mapping from these measurements---also
called features or inputs---to the so-called class label---or output. The
fields of pattern recognition and machine learning study ways of constructing
such classifiers. The main idea behind supervised methods is that of learning
from examples: given a number of example input-output relations, to what extent
can the general mapping be learned that takes any new and unseen feature vector
to its correct class? This chapter provides a basic introduction to the
underlying ideas of how to come to a supervised classification problem. In
addition, it provides an overview of some specific classification techniques,
delves into the issues of object representation and classifier evaluation, and
(very) briefly covers some variations on the basic supervised classification
task that may also be of interest to the practitioner
Multiscale Discriminant Saliency for Visual Attention
The bottom-up saliency, an early stage of humans' visual attention, can be
considered as a binary classification problem between center and surround
classes. Discriminant power of features for the classification is measured as
mutual information between features and two classes distribution. The estimated
discrepancy of two feature classes very much depends on considered scale
levels; then, multi-scale structure and discriminant power are integrated by
employing discrete wavelet features and Hidden markov tree (HMT). With wavelet
coefficients and Hidden Markov Tree parameters, quad-tree like label structures
are constructed and utilized in maximum a posterior probability (MAP) of hidden
class variables at corresponding dyadic sub-squares. Then, saliency value for
each dyadic square at each scale level is computed with discriminant power
principle and the MAP. Finally, across multiple scales is integrated the final
saliency map by an information maximization rule. Both standard quantitative
tools such as NSS, LCC, AUC and qualitative assessments are used for evaluating
the proposed multiscale discriminant saliency method (MDIS) against the
well-know information-based saliency method AIM on its Bruce Database wity
eye-tracking data. Simulation results are presented and analyzed to verify the
validity of MDIS as well as point out its disadvantages for further research
direction.Comment: 16 pages, ICCSA 2013 - BIOCA sessio
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