Efficient fetal-maternal ECG signal separation from two channel maternal abdominal ECG via diffusion-based channel selection

There is a need for affordable, widely deployable maternal-fetal ECG monitors to improve maternal and fetal health during pregnancy and delivery. Based on the diffusion-based channel selection, here we present the mathematical formalism and clinical validation of an algorithm capable of accurate separation of maternal and fetal ECG from a two channel signal acquired over maternal abdomen

Fast and Continuous Foothold Adaptation for Dynamic Locomotion through CNNs

Legged robots can outperform wheeled machines for most navigation tasks across unknown and rough terrains. For such tasks, visual feedback is a fundamental asset to provide robots with terrain-awareness. However, robust dynamic locomotion on difficult terrains with real-time performance guarantees remains a challenge. We present here a real-time, dynamic foothold adaptation strategy based on visual feedback. Our method adjusts the landing position of the feet in a fully reactive manner, using only on-board computers and sensors. The correction is computed and executed continuously along the swing phase trajectory of each leg. To efficiently adapt the landing position, we implement a self-supervised foothold classifier based on a Convolutional Neural Network (CNN). Our method results in an up to 200 times faster computation with respect to the full-blown heuristics. Our goal is to react to visual stimuli from the environment, bridging the gap between blind reactive locomotion and purely vision-based planning strategies. We assess the performance of our method on the dynamic quadruped robot HyQ, executing static and dynamic gaits (at speeds up to 0.5 m/s) in both simulated and real scenarios; the benefit of safe foothold adaptation is clearly demonstrated by the overall robot behavior.Comment: 9 pages, 11 figures. Accepted to RA-L + ICRA 2019, January 201

Structured learning of metric ensembles with application to person re-identification

Matching individuals across non-overlapping camera networks, known as person re-identification, is a fundamentally challenging problem due to the large visual appearance changes caused by variations of viewpoints, lighting, and occlusion. Approaches in literature can be categoried into two streams: The first stream is to develop reliable features against realistic conditions by combining several visual features in a pre-defined way; the second stream is to learn a metric from training data to ensure strong inter-class differences and intra-class similarities. However, seeking an optimal combination of visual features which is generic yet adaptive to different benchmarks is a unsoved problem, and metric learning models easily get over-fitted due to the scarcity of training data in person re-identification. In this paper, we propose two effective structured learning based approaches which explore the adaptive effects of visual features in recognizing persons in different benchmark data sets. Our framework is built on the basis of multiple low-level visual features with an optimal ensemble of their metrics. We formulate two optimization algorithms, CMCtriplet and CMCstruct, which directly optimize evaluation measures commonly used in person re-identification, also known as the Cumulative Matching Characteristic (CMC) curve.Comment: 16 pages. Extended version of "Learning to Rank in Person Re-Identification With Metric Ensembles", at http://www.cv-foundation.org/openaccess/content_cvpr_2015/html/Paisitkriangkrai_Learning_to_Rank_2015_CVPR_paper.html. arXiv admin note: text overlap with arXiv:1503.0154

Data-Driven Shape Analysis and Processing

Data-driven methods play an increasingly important role in discovering geometric, structural, and semantic relationships between 3D shapes in collections, and applying this analysis to support intelligent modeling, editing, and visualization of geometric data. In contrast to traditional approaches, a key feature of data-driven approaches is that they aggregate information from a collection of shapes to improve the analysis and processing of individual shapes. In addition, they are able to learn models that reason about properties and relationships of shapes without relying on hard-coded rules or explicitly programmed instructions. We provide an overview of the main concepts and components of these techniques, and discuss their application to shape classification, segmentation, matching, reconstruction, modeling and exploration, as well as scene analysis and synthesis, through reviewing the literature and relating the existing works with both qualitative and numerical comparisons. We conclude our report with ideas that can inspire future research in data-driven shape analysis and processing.Comment: 10 pages, 19 figure

Enhancing Indoor Localisation: a Bluetooth Low Energy (BLE) Beacon Placement approach

Indoor location-based services have become increasingly vital in various sectors, including industries, healthcare, airports, and crowded infrastructures, facilitating asset tracking and user navigation. This project addresses the critical challenge of optimising beacon placement for indoor location, employing Bluetooth technology as the communication protocol. The significance of this research lies in the effi ciency and accuracy that an optimised beacon layout can provide, enhancing the effectiveness of indoor positioning systems. The algorithm developed takes into con sideration materials attenuation, coverage and Line of Sight (LOS) conditions to optimise its layouts. Experimental validation of the algorithm’s performance was conducted by comparing two beacon layouts: one optimised by the algorithm and the other manually arranged by individuals with empirical knowledge in the field. The experiment considered three distinct positions within the schematic, allowing for a comprehensive assessment of the optimised layout’s superior performance. The results of this research offer insights into the potential of the algorithm to revolu tionise indoor location services, providing a more reliable and cost-effective solution for a multitude of applications.Os serviços de localização em ambientes internos tornaram-se cada vez mais essenciais em vários setores, incluindo indústrias, cuidados de saúde, aeroportos e infraestruturas movimentadas, facilitando o rastreamento de objetos e a navegação de utilizadores. Este projeto aborda o desafio crítico da otimização da colocação de beacons para localização em ambientes internos, utilizando a tecnologia Bluetooth como protocolo de comunicação. A importância desta pesquisa reside na eficiência e precisão que uma disposição otimizada de beacons pode proporcionar, melhorando a eficácia de sistemas de posicionamento em ambientes internos. O algoritmo desenvolvido leva em consideração a atenuação de materiais, a cobertura e as condições de visão direta para otimizar as suas disposições. A validação experimental do desempenho do algoritmo foi realizada ao comparar duas disposições de beacons: uma otimizada pelo algoritmo e outra organizada manualmente por indivíduos com conhecimento empírico na área. A experiência considerou três posições distintas no esquema, permitindo uma avaliação abrangente do desempenho superior da disposição otimizada. Os resultados desta pesquisa oferecem descobertas importantes sobre o potencial do algoritmo para revolucionar os serviços de localização em ambientes internos, proporcionando uma solução mais confiável e econômica para uma variedade de aplicações

Design of a High-Speed Architecture for Stabilization of Video Captured Under Non-Uniform Lighting Conditions

Video captured in shaky conditions may lead to vibrations. A robust algorithm to immobilize the video by compensating for the vibrations from physical settings of the camera is presented in this dissertation. A very high performance hardware architecture on Field Programmable Gate Array (FPGA) technology is also developed for the implementation of the stabilization system. Stabilization of video sequences captured under non-uniform lighting conditions begins with a nonlinear enhancement process. This improves the visibility of the scene captured from physical sensing devices which have limited dynamic range. This physical limitation causes the saturated region of the image to shadow out the rest of the scene. It is therefore desirable to bring back a more uniform scene which eliminates the shadows to a certain extent. Stabilization of video requires the estimation of global motion parameters. By obtaining reliable background motion, the video can be spatially transformed to the reference sequence thereby eliminating the unintended motion of the camera. A reflectance-illuminance model for video enhancement is used in this research work to improve the visibility and quality of the scene. With fast color space conversion, the computational complexity is reduced to a minimum. The basic video stabilization model is formulated and configured for hardware implementation. Such a model involves evaluation of reliable features for tracking, motion estimation, and affine transformation to map the display coordinates of a stabilized sequence. The multiplications, divisions and exponentiations are replaced by simple arithmetic and logic operations using improved log-domain computations in the hardware modules. On Xilinx\u27s Virtex II 2V8000-5 FPGA platform, the prototype system consumes 59% logic slices, 30% flip-flops, 34% lookup tables, 35% embedded RAMs and two ZBT frame buffers. The system is capable of rendering 180.9 million pixels per second (mpps) and consumes approximately 30.6 watts of power at 1.5 volts. With a 1024×1024 frame, the throughput is equivalent to 172 frames per second (fps). Future work will optimize the performance-resource trade-off to meet the specific needs of the applications. It further extends the model for extraction and tracking of moving objects as our model inherently encapsulates the attributes of spatial distortion and motion prediction to reduce complexity. With these parameters to narrow down the processing range, it is possible to achieve a minimum of 20 fps on desktop computers with Intel Core 2 Duo or Quad Core CPUs and 2GB DDR2 memory without a dedicated hardware