160,194 research outputs found
Event-based Vision: A Survey
Event cameras are bio-inspired sensors that differ from conventional frame
cameras: Instead of capturing images at a fixed rate, they asynchronously
measure per-pixel brightness changes, and output a stream of events that encode
the time, location and sign of the brightness changes. Event cameras offer
attractive properties compared to traditional cameras: high temporal resolution
(in the order of microseconds), very high dynamic range (140 dB vs. 60 dB), low
power consumption, and high pixel bandwidth (on the order of kHz) resulting in
reduced motion blur. Hence, event cameras have a large potential for robotics
and computer vision in challenging scenarios for traditional cameras, such as
low-latency, high speed, and high dynamic range. However, novel methods are
required to process the unconventional output of these sensors in order to
unlock their potential. This paper provides a comprehensive overview of the
emerging field of event-based vision, with a focus on the applications and the
algorithms developed to unlock the outstanding properties of event cameras. We
present event cameras from their working principle, the actual sensors that are
available and the tasks that they have been used for, from low-level vision
(feature detection and tracking, optic flow, etc.) to high-level vision
(reconstruction, segmentation, recognition). We also discuss the techniques
developed to process events, including learning-based techniques, as well as
specialized processors for these novel sensors, such as spiking neural
networks. Additionally, we highlight the challenges that remain to be tackled
and the opportunities that lie ahead in the search for a more efficient,
bio-inspired way for machines to perceive and interact with the world
Analysis of Software Binaries for Reengineering-Driven Product Line Architecture\^aAn Industrial Case Study
This paper describes a method for the recovering of software architectures
from a set of similar (but unrelated) software products in binary form. One
intention is to drive refactoring into software product lines and combine
architecture recovery with run time binary analysis and existing clustering
methods. Using our runtime binary analysis, we create graphs that capture the
dependencies between different software parts. These are clustered into smaller
component graphs, that group software parts with high interactions into larger
entities. The component graphs serve as a basis for further software product
line work. In this paper, we concentrate on the analysis part of the method and
the graph clustering. We apply the graph clustering method to a real
application in the context of automation / robot configuration software tools.Comment: In Proceedings FMSPLE 2015, arXiv:1504.0301
Understanding requirements engineering process: a challenge for practice and education
Reviews of the state of the professional practice in Requirements Engineering (RE) stress that the RE process is both complex and hard to describe, and suggest there is a significant difference between competent and "approved" practice. "Approved" practice is reflected by (in all likelihood, in fact, has its genesis in) RE education, so that the knowledge and skills taught to students do not match the knowledge and skills required and applied by competent practitioners.
A new understanding of the RE process has emerged from our recent study. RE is revealed as inherently creative, involving cycles of building and major reconstruction of the models developed, significantly different from the systematic and smoothly incremental process generally described in the literature. The process is better characterised as highly creative, opportunistic and insight driven. This mismatch between approved and actual practice provides a challenge to RE education - RE requires insight and creativity as well as technical knowledge. Traditional learning models applied to RE focus, however, on notation and prescribed processes acquired through repetition. We argue that traditional learning models fail to support the learning required for RE and propose both a new model based on cognitive flexibility and a framework for RE education to support this model
Event-Driven Contrastive Divergence for Spiking Neuromorphic Systems
Restricted Boltzmann Machines (RBMs) and Deep Belief Networks have been
demonstrated to perform efficiently in a variety of applications, such as
dimensionality reduction, feature learning, and classification. Their
implementation on neuromorphic hardware platforms emulating large-scale
networks of spiking neurons can have significant advantages from the
perspectives of scalability, power dissipation and real-time interfacing with
the environment. However the traditional RBM architecture and the commonly used
training algorithm known as Contrastive Divergence (CD) are based on discrete
updates and exact arithmetics which do not directly map onto a dynamical neural
substrate. Here, we present an event-driven variation of CD to train a RBM
constructed with Integrate & Fire (I&F) neurons, that is constrained by the
limitations of existing and near future neuromorphic hardware platforms. Our
strategy is based on neural sampling, which allows us to synthesize a spiking
neural network that samples from a target Boltzmann distribution. The recurrent
activity of the network replaces the discrete steps of the CD algorithm, while
Spike Time Dependent Plasticity (STDP) carries out the weight updates in an
online, asynchronous fashion. We demonstrate our approach by training an RBM
composed of leaky I&F neurons with STDP synapses to learn a generative model of
the MNIST hand-written digit dataset, and by testing it in recognition,
generation and cue integration tasks. Our results contribute to a machine
learning-driven approach for synthesizing networks of spiking neurons capable
of carrying out practical, high-level functionality.Comment: (Under review
Shape: A 3D Modeling Tool for Astrophysics
We present a flexible interactive 3D morpho-kinematical modeling application
for astrophysics. Compared to other systems, our application reduces the
restrictions on the physical assumptions, data type and amount that is required
for a reconstruction of an object's morphology. It is one of the first publicly
available tools to apply interactive graphics to astrophysical modeling. The
tool allows astrophysicists to provide a-priori knowledge about the object by
interactively defining 3D structural elements. By direct comparison of model
prediction with observational data, model parameters can then be automatically
optimized to fit the observation. The tool has already been successfully used
in a number of astrophysical research projects.Comment: 13 pages, 11 figures, accepted for publication in the "IEEE
Transactions on Visualization and Computer Graphics
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