Continuous Iterative Guided Spectral Class Rejection Classification Algorithm: Part 1

This paper outlines the changes necessary to convert the iterative guided spectral class rejection (IGSCR) classification algorithm to a soft classification algorithm. IGSCR uses a hypothesis test to select clusters to use in classification and iteratively refines clusters not yet selected for classification. Both steps assume that cluster and class memberships are crisp (either zero or one). In order to make soft cluster and class assignments (between zero and one), a new hypothesis test and iterative refinement technique are introduced that are suitable for soft clusters. The new hypothesis test, called the (class) association significance test, is based on the normal distribution, and a proof is supplied to show that the assumption of normality is reasonable. Soft clusters are iteratively refined by creating new clusters using information contained in a targeted soft cluster. Soft cluster evaluation and refinement can then be combined to form a soft classification algorithm, continuous iterative guided spectral class rejection (CIGSCR)

Continuous Iterative Guided Spectral Class Rejection Classification Algorithm: Part 2

This paper describes in detail the continuous iterative guided spectral class rejection (CIGSCR) classification method based on the iterative guided spectral class rejection (IGSCR) classification method for remotely sensed data. Both CIGSCR and IGSCR use semisupervised clustering to locate clusters that are associated with classes in a classification scheme. In CIGSCR and IGSCR, training data are used to evaluate the strength of the association between a particular cluster and a class, and a statistical hypothesis test is used to determine which clusters should be associated with a class and used for classification and which clusters should be rejected and possibly refined. Experimental results indicate that the soft classification output by CIGSCR is reasonably accurate (when compared to IGSCR), and the fundamental algorithmic changes in CIGSCR (from IGSCR) result in CIGSCR being less sensitive to input parameters that influence iterations. Furthermore, evidence is presented that the semisupervised clustering in CIGSCR produces more accurate classifications than classification based on clustering without supervision

Enrichment Procedures for Soft Clusters: A Statistical Test and its Applications

Clusters, typically mined by modeling locality of attribute spaces, are often evaluated for their ability to demonstrate ‘enrichment’ of categorical features. A cluster enrichment procedure evaluates the membership of a cluster for significant representation in pre-defined categories of interest. While classical enrichment procedures assume a hard clustering definition, in this paper we introduce a new statistical test that computes enrichments for soft clusters. We demonstrate an application of this test in refining and evaluating soft clusters for classification of remotely sensed images

Past, Present, and Future of Simultaneous Localization And Mapping: Towards the Robust-Perception Age

Simultaneous Localization and Mapping (SLAM)consists in the concurrent construction of a model of the environment (the map), and the estimation of the state of the robot moving within it. The SLAM community has made astonishing progress over the last 30 years, enabling large-scale real-world applications, and witnessing a steady transition of this technology to industry. We survey the current state of SLAM. We start by presenting what is now the de-facto standard formulation for SLAM. We then review related work, covering a broad set of topics including robustness and scalability in long-term mapping, metric and semantic representations for mapping, theoretical performance guarantees, active SLAM and exploration, and other new frontiers. This paper simultaneously serves as a position paper and tutorial to those who are users of SLAM. By looking at the published research with a critical eye, we delineate open challenges and new research issues, that still deserve careful scientific investigation. The paper also contains the authors' take on two questions that often animate discussions during robotics conferences: Do robots need SLAM? and Is SLAM solved

Observer-biased bearing condition monitoring: from fault detection to multi-fault classification

Bearings are simultaneously a fundamental component and one of the principal causes of failure in rotary machinery. The work focuses on the employment of fuzzy clustering for bearing condition monitoring, i.e., fault detection and classification. The output of a clustering algorithm is a data partition (a set of clusters) which is merely a hypothesis on the structure of the data. This hypothesis requires validation by domain experts. In general, clustering algorithms allow a limited usage of domain knowledge on the cluster formation process. In this study, a novel method allowing for interactive clustering in bearing fault diagnosis is proposed. The method resorts to shrinkage to generalize an otherwise unbiased clustering algorithm into a biased one. In this way, the method provides a natural and intuitive way to control the cluster formation process, allowing for the employment of domain knowledge to guiding it. The domain expert can select a desirable level of granularity ranging from fault detection to classification of a variable number of faults and can select a specific region of the feature space for detailed analysis. Moreover, experimental results under realistic conditions show that the adopted algorithm outperforms the corresponding unbiased algorithm (fuzzy c-means) which is being widely used in this type of problems. (C) 2016 Elsevier Ltd. All rights reserved.Grant number: 145602

Compressive Parameter Estimation for Sparse Translation-Invariant Signals Using Polar Interpolation

We propose new compressive parameter estimation algorithms that make use of polar interpolation to improve the estimator precision. Our work extends previous approaches involving polar interpolation for compressive parameter estimation in two aspects: (i) we extend the formulation from real non-negative amplitude parameters to arbitrary complex ones, and (ii) we allow for mismatch between the manifold described by the parameters and its polar approximation. To quantify the improvements afforded by the proposed extensions, we evaluate six algorithms for estimation of parameters in sparse translation-invariant signals, exemplified with the time delay estimation problem. The evaluation is based on three performance metrics: estimator precision, sampling rate and computational complexity. We use compressive sensing with all the algorithms to lower the necessary sampling rate and show that it is still possible to attain good estimation precision and keep the computational complexity low. Our numerical experiments show that the proposed algorithms outperform existing approaches that either leverage polynomial interpolation or are based on a conversion to a frequency-estimation problem followed by a super-resolution algorithm. The algorithms studied here provide various tradeoffs between computational complexity, estimation precision, and necessary sampling rate. The work shows that compressive sensing for the class of sparse translation-invariant signals allows for a decrease in sampling rate and that the use of polar interpolation increases the estimation precision.Comment: 13 pages, 5 figures, to appear in IEEE Transactions on Signal Processing; minor edits and correction

Improving the precision of dynamic forest parameter estimates using Landsat

The use of satellite-derived classification maps to improve post-stratified forest parameter estimates is well established.When reducing the variance of post-stratification estimates for forest change parameters such as forest growth, it is logical to use a change-related strata map. At the stand level, a time series of Landsat images is ideally suited for producing such a map. In this study, we generate strata maps based on trajectories of Landsat Thematic Mapper-based normalized difference vegetation index values, with a focus on post-disturbance recovery and recent measurements. These trajectories, from1985 to 2010, are converted to harmonic regression coefficient estimates and classified according to a hierarchical clustering algorithm from a training sample. The resulting strata maps are then used in conjunction with measured plots to estimate forest status and change parameters in an Alabama, USA study area. These estimates and the variance of the estimates are then used to calculate the estimated relative efficiencies of the post-stratified estimates. Estimated relative efficiencies around or above 1.2 were observed for total growth, total mortality, and total removals, with different strata maps being more effective for each. Possible avenues for improvement of the approach include the following: (1) enlarging the study area and (2) using the Landsat images closest to the time of measurement for each plot. Multitemporal satellite-derived strata maps show promise for improving the precision of change parameter estimates

Improving the precision of dynamic forest parameter estimates using Landsat

The use of satellite-derived classification maps to improve post-stratified forest parameter estimates is well established.When reducing the variance of post-stratification estimates for forest change parameters such as forest growth, it is logical to use a change-related strata map. At the stand level, a time series of Landsat images is ideally suited for producing such a map. In this study, we generate strata maps based on trajectories of Landsat Thematic Mapper-based normalized difference vegetation index values, with a focus on post-disturbance recovery and recent measurements. These trajectories, from1985 to 2010, are converted to harmonic regression coefficient estimates and classified according to a hierarchical clustering algorithm from a training sample. The resulting strata maps are then used in conjunction with measured plots to estimate forest status and change parameters in an Alabama, USA study area. These estimates and the variance of the estimates are then used to calculate the estimated relative efficiencies of the post-stratified estimates. Estimated relative efficiencies around or above 1.2 were observed for total growth, total mortality, and total removals, with different strata maps being more effective for each. Possible avenues for improvement of the approach include the following: (1) enlarging the study area and (2) using the Landsat images closest to the time of measurement for each plot. Multitemporal satellite-derived strata maps show promise for improving the precision of change parameter estimates

Automatic template-guided classification of remnant trees

Spectral features within satellite images change so frequently and unpredictably that spectral definitions of land cover are often only accurate for a single image. Consequently, land-cover maps are expensive, because the superior pattern recognition skills of human analysts are required to manually tune spectral definitions of land cover to individual images. To reduce mapping costs, this study developed the Template-Guided Classification (TGC) algorithm, which classifies land cover automatically by reusing class information embedded in freely available large-area land-cover maps. TGC was applied to map remnant forest within six 10-m resolution SPOT images of the Vermilion River watershed in Alberta, Canada. Although the accuracy of the resulting forest maps was low (58% forest user's accuracy and 67% forest producer's accuracy), there were 25% and 8% fewer errors of omission and commission than the original maps, respectively. This improvement would be very useful if it could be obtained automatically over large-areas