6,867 research outputs found
From images via symbols to contexts: using augmented reality for interactive model acquisition
Systems that perform in real environments need to bind the internal state to externally
perceived objects, events, or complete scenes. How to learn this correspondence has been a long
standing problem in computer vision as well as artificial intelligence. Augmented Reality provides
an interesting perspective on this problem because a human user can directly relate displayed
system results to real environments. In the following we present a system that is able to bootstrap
internal models from user-system interactions. Starting from pictorial representations it learns
symbolic object labels that provide the basis for storing observed episodes. In a second step, more
complex relational information is extracted from stored episodes that enables the system to react
on specific scene contexts
Detecting Similarity of Rational Plane Curves
A novel and deterministic algorithm is presented to detect whether two given
rational plane curves are related by means of a similarity, which is a central
question in Pattern Recognition. As a by-product it finds all such
similarities, and the particular case of equal curves yields all symmetries. A
complete theoretical description of the method is provided, and the method has
been implemented and tested in the Sage system for curves of moderate degrees.Comment: 22 page
PyCUDA and PyOpenCL: A Scripting-Based Approach to GPU Run-Time Code Generation
High-performance computing has recently seen a surge of interest in
heterogeneous systems, with an emphasis on modern Graphics Processing Units
(GPUs). These devices offer tremendous potential for performance and efficiency
in important large-scale applications of computational science. However,
exploiting this potential can be challenging, as one must adapt to the
specialized and rapidly evolving computing environment currently exhibited by
GPUs. One way of addressing this challenge is to embrace better techniques and
develop tools tailored to their needs. This article presents one simple
technique, GPU run-time code generation (RTCG), along with PyCUDA and PyOpenCL,
two open-source toolkits that support this technique.
In introducing PyCUDA and PyOpenCL, this article proposes the combination of
a dynamic, high-level scripting language with the massive performance of a GPU
as a compelling two-tiered computing platform, potentially offering significant
performance and productivity advantages over conventional single-tier, static
systems. The concept of RTCG is simple and easily implemented using existing,
robust infrastructure. Nonetheless it is powerful enough to support (and
encourage) the creation of custom application-specific tools by its users. The
premise of the paper is illustrated by a wide range of examples where the
technique has been applied with considerable success.Comment: Submitted to Parallel Computing, Elsevie
Exploring Convolutional Networks for End-to-End Visual Servoing
Present image based visual servoing approaches rely on extracting hand
crafted visual features from an image. Choosing the right set of features is
important as it directly affects the performance of any approach. Motivated by
recent breakthroughs in performance of data driven methods on recognition and
localization tasks, we aim to learn visual feature representations suitable for
servoing tasks in unstructured and unknown environments. In this paper, we
present an end-to-end learning based approach for visual servoing in diverse
scenes where the knowledge of camera parameters and scene geometry is not
available a priori. This is achieved by training a convolutional neural network
over color images with synchronised camera poses. Through experiments performed
in simulation and on a quadrotor, we demonstrate the efficacy and robustness of
our approach for a wide range of camera poses in both indoor as well as outdoor
environments.Comment: IEEE ICRA 201
Topology-preserving thinning in 2-D pseudomanifolds
International audiencePreserving topological properties of objects during thinning procedures is an important issue in the field of image analysis. In the case of 2-D digital images (i.e. images defined on Z^2) such procedures are usually based on the notion of simple point. By opposition to the case of spaces of higher dimensions (i.e. Z^n, n ≥ 3), it was proved in the 80’s that the exclusive use of simple points in Z^2 was indeed sufficient to develop thinning procedures providing an output that is minimal with respect to the topological characteristics of the object. Based on the recently introduced notion of minimal simple set (generalising the notion of simple point), we establish new properties related to topology-preserving thinning in 2-D spaces which extend, in particular, this classical result to more general spaces (the 2-D pseudomanifolds) and objects (the 2-D cubical complexes)
Topological properties of thinning in 2-D pseudomanifolds
International audiencePreserving topological properties of objects during thinning procedures is an important issue in the field of image analysis. In the case of 2-D digital images (i.e. images defined on Z^2) such procedures are usually based on the notion of simple point. In contrast to the situation in Z^n , n>=3, it was proved in the 80s that the exclusive use of simple points in Z^2 was indeed sufficient to develop thinning procedures providing an output that is minimal with respect to the topological characteristics of the object. Based on the recently introduced notion of minimal simple set (generalising the notion of simple point), we establish new properties related to topology-preserving thinning in 2-D spaces which extend, in particular, this classical result to cubical complexes in 2-D pseudomanifolds
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