261,861 research outputs found
Video analysis based vehicle detection and tracking using an MCMC sampling framework
This article presents a probabilistic method for vehicle detection and tracking through the analysis of monocular images obtained from a vehicle-mounted camera. The method is designed to address the main shortcomings of traditional particle filtering approaches, namely Bayesian methods based on importance sampling, for use in traffic environments. These methods do not scale well when the dimensionality of the feature space grows, which creates significant limitations when tracking multiple objects. Alternatively, the proposed method is based on a Markov chain Monte Carlo (MCMC) approach, which allows efficient sampling of the feature space. The method involves important contributions in both the motion and the observation models of the tracker. Indeed, as opposed to particle filter-based tracking methods in the literature, which typically resort to observation models based on appearance or template matching, in this study a likelihood model that combines appearance analysis with information from motion parallax is introduced. Regarding the motion model, a new interaction treatment is defined based on Markov random fields (MRF) that allows for the handling of possible inter-dependencies in vehicle trajectories. As for vehicle detection, the method relies on a supervised classification stage using support vector machines (SVM). The contribution in this field is twofold. First, a new descriptor based on the analysis of gradient orientations in concentric rectangles is dened. This descriptor involves a much smaller feature space compared to traditional descriptors, which are too costly for real-time applications. Second, a new vehicle image database is generated to train the SVM and made public. The proposed vehicle detection and tracking method is proven to outperform existing methods and to successfully handle challenging situations in the test sequences
Robot training using system identification
This paper focuses on developing a formal, theory-based design methodology to generate transparent robot control programs using mathematical functions. The research finds its theoretical roots in robot training and system identification techniques such as Armax (Auto-Regressive Moving Average models with eXogenous inputs) and Narmax (Non-linear Armax). These techniques produce linear and non-linear polynomial functions that model the relationship between a robot’s sensor perception and motor response.
The main benefits of the proposed design methodology, compared to the traditional robot programming techniques are: (i) It is a fast and efficient way of generating robot control code, (ii) The generated robot control programs are transparent mathematical functions that can be used to form hypotheses and theoretical analyses of robot behaviour, and (iii) It requires very little explicit knowledge of robot programming where end-users/programmers who do not have any specialised robot programming skills can nevertheless generate task-achieving sensor-motor couplings.
The nature of this research is concerned with obtaining sensor-motor couplings, be it through human demonstration via the robot, direct human demonstration, or other means. The viability of our methodology has been demonstrated by teaching various mobile robots different sensor-motor tasks such as wall following, corridor passing, door traversal and route learning
Reducing “Structure from Motion”: a general framework for dynamic vision. 2. Implementation and experimental assessment
For pt.1 see ibid., p.933-42 (1998). A number of methods have been proposed in the literature for estimating scene-structure and ego-motion from a sequence of images using dynamical models. Despite the fact that all methods may be derived from a “natural” dynamical model within a unified framework, from an engineering perspective there are a number of trade-offs that lead to different strategies depending upon the applications and the goals one is targeting. We want to characterize and compare the properties of each model such that the engineer may choose the one best suited to the specific application. We analyze the properties of filters derived from each dynamical model under a variety of experimental conditions, assess the accuracy of the estimates, their robustness to measurement noise, sensitivity to initial conditions and visual angle, effects of the bas-relief ambiguity and occlusions, dependence upon the number of image measurements and their sampling rate
Real-time human action recognition on an embedded, reconfigurable video processing architecture
Copyright @ 2008 Springer-Verlag.In recent years, automatic human motion recognition has been widely researched within the computer vision and image processing communities. Here we propose a real-time embedded vision solution for human motion recognition implemented on a ubiquitous device. There are three main contributions in this paper. Firstly, we have developed a fast human motion recognition system with simple motion features and a linear Support Vector Machine (SVM) classifier. The method has been tested on a large, public human action dataset and achieved competitive performance for the temporal template (eg. “motion history image”) class of approaches. Secondly, we have developed a reconfigurable, FPGA based video processing architecture. One advantage of this architecture is that the system processing performance can be reconfiured for a particular application, with the addition of new or replicated processing cores. Finally, we have successfully implemented a human motion recognition system on this reconfigurable architecture. With a small number of human actions (hand gestures), this stand-alone system is performing reliably, with an 80% average recognition rate using limited training data. This type of system has applications in security systems, man-machine communications and intelligent environments.DTI and Broadcom Ltd
Convolutional Deblurring for Natural Imaging
In this paper, we propose a novel design of image deblurring in the form of
one-shot convolution filtering that can directly convolve with naturally
blurred images for restoration. The problem of optical blurring is a common
disadvantage to many imaging applications that suffer from optical
imperfections. Despite numerous deconvolution methods that blindly estimate
blurring in either inclusive or exclusive forms, they are practically
challenging due to high computational cost and low image reconstruction
quality. Both conditions of high accuracy and high speed are prerequisites for
high-throughput imaging platforms in digital archiving. In such platforms,
deblurring is required after image acquisition before being stored, previewed,
or processed for high-level interpretation. Therefore, on-the-fly correction of
such images is important to avoid possible time delays, mitigate computational
expenses, and increase image perception quality. We bridge this gap by
synthesizing a deconvolution kernel as a linear combination of Finite Impulse
Response (FIR) even-derivative filters that can be directly convolved with
blurry input images to boost the frequency fall-off of the Point Spread
Function (PSF) associated with the optical blur. We employ a Gaussian low-pass
filter to decouple the image denoising problem for image edge deblurring.
Furthermore, we propose a blind approach to estimate the PSF statistics for two
Gaussian and Laplacian models that are common in many imaging pipelines.
Thorough experiments are designed to test and validate the efficiency of the
proposed method using 2054 naturally blurred images across six imaging
applications and seven state-of-the-art deconvolution methods.Comment: 15 pages, for publication in IEEE Transaction Image Processin
A Bayesian Heteroscedastic GLM with Application to fMRI Data with Motion Spikes
We propose a voxel-wise general linear model with autoregressive noise and
heteroscedastic noise innovations (GLMH) for analyzing functional magnetic
resonance imaging (fMRI) data. The model is analyzed from a Bayesian
perspective and has the benefit of automatically down-weighting time points
close to motion spikes in a data-driven manner. We develop a highly efficient
Markov Chain Monte Carlo (MCMC) algorithm that allows for Bayesian variable
selection among the regressors to model both the mean (i.e., the design matrix)
and variance. This makes it possible to include a broad range of explanatory
variables in both the mean and variance (e.g., time trends, activation stimuli,
head motion parameters and their temporal derivatives), and to compute the
posterior probability of inclusion from the MCMC output. Variable selection is
also applied to the lags in the autoregressive noise process, making it
possible to infer the lag order from the data simultaneously with all other
model parameters. We use both simulated data and real fMRI data from OpenfMRI
to illustrate the importance of proper modeling of heteroscedasticity in fMRI
data analysis. Our results show that the GLMH tends to detect more brain
activity, compared to its homoscedastic counterpart, by allowing the variance
to change over time depending on the degree of head motion
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