47,512 research outputs found
Vision and Learning for Deliberative Monocular Cluttered Flight
Cameras provide a rich source of information while being passive, cheap and
lightweight for small and medium Unmanned Aerial Vehicles (UAVs). In this work
we present the first implementation of receding horizon control, which is
widely used in ground vehicles, with monocular vision as the only sensing mode
for autonomous UAV flight in dense clutter. We make it feasible on UAVs via a
number of contributions: novel coupling of perception and control via relevant
and diverse, multiple interpretations of the scene around the robot, leveraging
recent advances in machine learning to showcase anytime budgeted cost-sensitive
feature selection, and fast non-linear regression for monocular depth
prediction. We empirically demonstrate the efficacy of our novel pipeline via
real world experiments of more than 2 kms through dense trees with a quadrotor
built from off-the-shelf parts. Moreover our pipeline is designed to combine
information from other modalities like stereo and lidar as well if available
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Dynamic cutting process modelling and its impact on the generation of surface topography and texture in nano/micro cutting
In the nano/micro cutting process, the surface quality is heavily dependent on all the dynamic factors, including those from the material, tooling, process parameters, servo accuracy, mechanical structural stiffness, and non-linear factors as well. The machined surface is generated based on the tool profile and the real tool path combining with the various external and internal disturbances. To bridge the gap between the cutting process and the surface topography/texture generation, an integrated simulation-based approach is presented involving the dynamic cutting process, control/drive system, and the surface generation. The simulations take account of all the intricate aspects of the cutting process resulting in the surface topography and texture formation, such as material heterogeneity, regenerative chatter, built-up edge (BUE), tool wear, spindle runout, environmental vibration, tool interference, etc. Both the frequency ratio method and sampling theoremare used to interpret the surface topography and texture formation. The effects of non-linear factors on the surface generation are simulated and analysed through the power spectral density (PSD) and significance on surface texture. The relationships among cutting force, tool path, and surface profile are discussed in detail. Furthermore, the proposed systematic modelling approach is verified by cutting trials, which provide the coincident results of the surface topography and areal power spectral density (APSD)
Review of the mathematical foundations of data fusion techniques in surface metrology
The recent proliferation of engineered surfaces, including freeform and structured surfaces, is challenging current metrology techniques. Measurement using multiple sensors has been proposed to achieve enhanced benefits, mainly in terms of spatial frequency bandwidth, which a single sensor cannot provide. When using data from different sensors, a process of data fusion is required and there is much active research in this area. In this paper, current data fusion methods and applications are reviewed, with a focus on the mathematical foundations of the subject. Common research questions in the fusion of surface metrology data are raised and potential fusion algorithms are discussed
Modeling of evolving textures using granulometries
This chapter describes a statistical approach to classification of dynamic texture images, called parallel evolution functions (PEFs). Traditional classification methods predict texture class membership using comparisons with a finite set of predefined texture classes and identify the closest class. However, where texture images arise from a dynamic texture evolving over time, estimation of a time state in a continuous evolutionary process is required instead. The PEF approach does this using regression modeling techniques to predict time state. It is a flexible approach which may be based on any suitable image features. Many textures are well suited to a morphological analysis and the PEF approach uses image texture features derived from a granulometric analysis of the image. The method is illustrated using both simulated images of Boolean processes and real images of corrosion. The PEF approach has particular advantages for training sets containing limited numbers of observations, which is the case in many real world industrial inspection scenarios and for which other methods can fail or perform badly. [41] G.W. Horgan, Mathematical morphology for analysing soil structure from images, European Journal of Soil Science, vol. 49, pp. 161ā173, 1998. [42] G.W. Horgan, C.A. Reid and C.A. Glasbey, Biological image processing and enhancement, Image Processing and Analysis, A Practical Approach, R. Baldock and J. Graham, eds., Oxford University Press, Oxford, UK, pp. 37ā67, 2000. [43] B.B. Hubbard, The World According to Wavelets: The Story of a Mathematical Technique in the Making, A.K. Peters Ltd., Wellesley, MA, 1995. [44] H. Iversen and T. Lonnestad. An evaluation of stochastic models for analysis and synthesis of gray-scale texture, Pattern Recognition Letters, vol. 15, pp. 575ā585, 1994. [45] A.K. Jain and F. Farrokhnia, Unsupervised texture segmentation using Gabor filters, Pattern Recognition, vol. 24(12), pp. 1167ā1186, 1991. [46] T. Jossang and F. Feder, The fractal characterization of rough surfaces, Physica Scripta, vol. T44, pp. 9ā14, 1992. [47] A.K. Katsaggelos and T. Chun-Jen, Iterative image restoration, Handbook of Image and Video Processing, A. Bovik, ed., Academic Press, London, pp. 208ā209, 2000. [48] M. KĀØoppen, C.H. Nowack and G. RĀØosel, Pareto-morphology for color image processing, Proceedings of SCIA99, 11th Scandinavian Conference on Image Analysis 1, Kangerlussuaq, Greenland, pp. 195ā202, 1999. [49] S. Krishnamachari and R. Chellappa, Multiresolution Gauss-Markov random field models for texture segmentation, IEEE Transactions on Image Processing, vol. 6(2), pp. 251ā267, 1997. [50] T. Kurita and N. Otsu, Texture classification by higher order local autocorrelation features, Proceedings of ACCV93, Asian Conference on Computer Vision, Osaka, pp. 175ā178, 1993. [51] S.T. Kyvelidis, L. Lykouropoulos and N. Kouloumbi, Digital system for detecting, classifying, and fast retrieving corrosion generated defects, Journal of Coatings Technology, vol. 73(915), pp. 67ā73, 2001. [52] Y. Liu, T. Zhao and J. Zhang, Learning multispectral texture features for cervical cancer detection, Proceedings of 2002 IEEE International Symposium on Biomedical Imaging: Macro to Nano, pp. 169ā172, 2002. [53] G. McGunnigle and M.J. Chantler, Modeling deposition of surface texture, Electronics Letters, vol. 37(12), pp. 749ā750, 2001. [54] J. McKenzie, S. Marshall, A.J. Gray and E.R. Dougherty, Morphological texture analysis using the texture evolution function, International Journal of Pattern Recognition and Artificial Intelligence, vol. 17(2), pp. 167ā185, 2003. [55] J. McKenzie, Classification of dynamically evolving textures using evolution functions, Ph.D. Thesis, University of Strathclyde, UK, 2004. [56] S.G. Mallat, Multiresolution approximations and wavelet orthonormal bases of L2(R), Transactions of the American Mathematical Society, vol. 315, pp. 69ā87, 1989. [57] S.G. Mallat, A theory for multiresolution signal decomposition: the wavelet representation, IEEE Transactions on Pattern Analysis and Machine Intelligence, vol. 11, pp. 674ā693, 1989. [58] B.S. Manjunath and W.Y. Ma, Texture features for browsing and retrieval of image data, IEEE Transactions on Pattern Analysis and Machine Intelligence, vol. 18, pp. 837ā842, 1996. [59] B.S. Manjunath, G.M. Haley and W.Y. Ma, Multiband techniques for texture classification and segmentation, Handbook of Image and Video Processing, A. Bovik, ed., Academic Press, London, pp. 367ā381, 2000. [60] G. Matheron, Random Sets and Integral Geometry, Wiley Series in Probability and Mathematical Statistics, John Wiley and Sons, New York, 1975
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