Biologically Inspired Approaches to Automated Feature Extraction and Target Recognition

Ongoing research at Boston University has produced computational models of biological vision and learning that embody a growing corpus of scientific data and predictions. Vision models perform long-range grouping and figure/ground segmentation, and memory models create attentionally controlled recognition codes that intrinsically cornbine botton-up activation and top-down learned expectations. These two streams of research form the foundation of novel dynamically integrated systems for image understanding. Simulations using multispectral images illustrate road completion across occlusions in a cluttered scene and information fusion from incorrect labels that are simultaneously inconsistent and correct. The CNS Vision and Technology Labs (cns.bu.edulvisionlab and cns.bu.edu/techlab) are further integrating science and technology through analysis, testing, and development of cognitive and neural models for large-scale applications, complemented by software specification and code distribution.Air Force Office of Scientific Research (F40620-01-1-0423); National Geographic-Intelligence Agency (NMA 201-001-1-2016); National Science Foundation (SBE-0354378; BCS-0235298); Office of Naval Research (N00014-01-1-0624); National Geospatial-Intelligence Agency and the National Society of Siegfried Martens (NMA 501-03-1-2030, DGE-0221680); Department of Homeland Security graduate fellowshi

Object segmentation in depth maps with one user click and a synthetically trained fully convolutional network

With more and more household objects built on planned obsolescence and consumed by a fast-growing population, hazardous waste recycling has become a critical challenge. Given the large variability of household waste, current recycling platforms mostly rely on human operators to analyze the scene, typically composed of many object instances piled up in bulk. Helping them by robotizing the unitary extraction is a key challenge to speed up this tedious process. Whereas supervised deep learning has proven very efficient for such object-level scene understanding, e.g., generic object detection and segmentation in everyday scenes, it however requires large sets of per-pixel labeled images, that are hardly available for numerous application contexts, including industrial robotics. We thus propose a step towards a practical interactive application for generating an object-oriented robotic grasp, requiring as inputs only one depth map of the scene and one user click on the next object to extract. More precisely, we address in this paper the middle issue of object seg-mentation in top views of piles of bulk objects given a pixel location, namely seed, provided interactively by a human operator. We propose a twofold framework for generating edge-driven instance segments. First, we repurpose a state-of-the-art fully convolutional object contour detector for seed-based instance segmentation by introducing the notion of edge-mask duality with a novel patch-free and contour-oriented loss function. Second, we train one model using only synthetic scenes, instead of manually labeled training data. Our experimental results show that considering edge-mask duality for training an encoder-decoder network, as we suggest, outperforms a state-of-the-art patch-based network in the present application context.Comment: This is a pre-print of an article published in Human Friendly Robotics, 10th International Workshop, Springer Proceedings in Advanced Robotics, vol 7. The final authenticated version is available online at: https://doi.org/10.1007/978-3-319-89327-3\_16, Springer Proceedings in Advanced Robotics, Siciliano Bruno, Khatib Oussama, In press, Human Friendly Robotics, 10th International Workshop,

An Unsupervised Neural Network for Real-Time Low-Level Control of a Mobile Robot: Noise Resistance, Stability, and Hardware Implementation

We have recently introduced a neural network mobile robot controller (NETMORC). The controller is based on earlier neural network models of biological sensory-motor control. We have shown that NETMORC is able to guide a differential drive mobile robot to an arbitrary stationary or moving target while compensating for noise and other forms of disturbance, such as wheel slippage or changes in the robot's plant. Furthermore, NETMORC is able to adapt in response to long-term changes in the robot's plant, such as a change in the radius of the wheels. In this article we first review the NETMORC architecture, and then we prove that NETMORC is asymptotically stable. After presenting a series of simulations results showing robustness to disturbances, we compare NETMORC performance on a trajectory-following task with the performance of an alternative controller. Finally, we describe preliminary results on the hardware implementation of NETMORC with the mobile robot ROBUTER.Sloan Fellowship (BR-3122), Air Force Office of Scientific Research (F49620-92-J-0499

A mosaic of eyes

Autonomous navigation is a traditional research topic in intelligent robotics and vehicles, which requires a robot to perceive its environment through onboard sensors such as cameras or laser scanners, to enable it to drive to its goal. Most research to date has focused on the development of a large and smart brain to gain autonomous capability for robots. There are three fundamental questions to be answered by an autonomous mobile robot: 1) Where am I going? 2) Where am I? and 3) How do I get there? To answer these basic questions, a robot requires a massive spatial memory and considerable computational resources to accomplish perception, localization, path planning, and control. It is not yet possible to deliver the centralized intelligence required for our real-life applications, such as autonomous ground vehicles and wheelchairs in care centers. In fact, most autonomous robots try to mimic how humans navigate, interpreting images taken by cameras and then taking decisions accordingly. They may encounter the following difficulties

Generating Contour Maps for Dynamic Fields Monitored by Sensor Networks

Wireless sensor networks provide a new tool that enables researchers and scientists to efficiently monitor dynamic fields. In order to extend the lifetime of the network, it is important for us to minimize network data transmission as much as possible. Previous work proposed many useful aggregation techniques to answer max, min and average questions, and some of them have been employed in real applications. But we cannot get spatial information from these aggregation techniques. This thesis presents an efficient aggregation technique for continuous generation of contour maps for a dynamic field monitored by a wireless sensor network. A contour map is a useful data representation schema that provides an efficient way to visualize an approximation to the monitored field. In this thesis, we discuss an energy-efficient technique, which we call Isovector Aggregation, for generating such contours using an in-network approach. Our technique achieves energy efficiency in two principal ways. Firstly, only a selection of nodes close to contours are chosen to report, and each reported message contains information about a part or all of the contours, rather than any single node’s ID and value pair. Secondly, contours are progressively merged and simplified along the data routing tree, which eliminates many unnecessary contour points from contour vectors before they are transmitted back to the base station. Using Isovector Aggregation, the base station receives a complete representation of the contours that requires no further processing. Analysis shows that for region-related monitoring, Isovector Aggregation is the only technique that has O( n) traffic generation and that considers in-network traffic reduction at the same time. These two factors make Isovector Aggregation highly scalable. Experimental results using simulations also show that Isovector Aggregation involves considerably less data transmission compared to other approaches, such as the no-aggregation approach and the Isolines Aggregation technique, without compromising the accuracy of representations of the baseline maps

Stream network analysis and geomorphic flood plain mapping from orbital and suborbital remote sensing imagery application to flood hazard studies in central Texas

The author has identified the following significant results. Development of a quantitative hydrogeomorphic approach to flood hazard evaluation was hindered by (1) problems of resolution and definition of the morphometric parameters which have hydrologic significance, and (2) mechanical difficulties in creating the necessary volume of data for meaningful analysis. Measures of network resolution such as drainage density and basin Shreve magnitude indicated that large scale topographic maps offered greater resolution than small scale suborbital imagery and orbital imagery. The disparity in network resolution capabilities between orbital and suborbital imagery formats depends on factors such as rock type, vegetation, and land use. The problem of morphometric data analysis was approached by developing a computer-assisted method for network analysis. The system allows rapid identification of network properties which can then be related to measures of flood response