View generated database

This document represents the final report for the View Generated Database (VGD) project, NAS7-1066. It documents the work done on the project up to the point at which all project work was terminated due to lack of project funds. The VGD was to provide the capability to accurately represent any real-world object or scene as a computer model. Such models include both an accurate spatial/geometric representation of surfaces of the object or scene, as well as any surface detail present on the object. Applications of such models are numerous, including acquisition and maintenance of work models for tele-autonomous systems, generation of accurate 3-D geometric/photometric models for various 3-D vision systems, and graphical models for realistic rendering of 3-D scenes via computer graphics

Visual Perception for Manipulation and Imitation in Humanoid Robots

This thesis deals with visual perception for manipulation and imitation in humanoid robots. In particular, real-time applicable methods for object recognition and pose estimation as well as for markerless human motion capture have been developed. As only sensor a small baseline stereo camera system (approx. human eye distance) was used. An extensive experimental evaluation has been performed on simulated as well as real image data from real-world scenarios using the humanoid robot ARMAR-III

Pattern Recognition

Pattern recognition is a very wide research field. It involves factors as diverse as sensors, feature extraction, pattern classification, decision fusion, applications and others. The signals processed are commonly one, two or three dimensional, the processing is done in real- time or takes hours and days, some systems look for one narrow object class, others search huge databases for entries with at least a small amount of similarity. No single person can claim expertise across the whole field, which develops rapidly, updates its paradigms and comprehends several philosophical approaches. This book reflects this diversity by presenting a selection of recent developments within the area of pattern recognition and related fields. It covers theoretical advances in classification and feature extraction as well as application-oriented works. Authors of these 25 works present and advocate recent achievements of their research related to the field of pattern recognition

An object-based approach to retrieval of image and video content

Promising new directions have been opened up for content-based visual retrieval in recent years. Object-based retrieval which allows users to manipulate video objects as part of their searching and browsing interaction, is one of these. It is the purpose of this thesis to constitute itself as a part of a larger stream of research that investigates visual objects as a possible approach to advancing the use of semantics in content-based visual retrieval. The notion of using objects in video retrieval has been seen as desirable for some years, but only very recently has technology started to allow even very basic object-location functions on video. The main hurdles to greater use of objects in video retrieval are the overhead of object segmentation on large amounts of video and the issue of whether objects can actually be used efficiently for multimedia retrieval. Despite this, there are already some examples of work which supports retrieval based on video objects. This thesis investigates an object-based approach to content-based visual retrieval. The main research contributions of this work are a study of shot boundary detection on compressed domain video where a fast detection approach is proposed and evaluated, and a study on the use of objects in interactive image retrieval. An object-based retrieval framework is developed in order to investigate object-based retrieval on a corpus of natural image and video. This framework contains the entire processing chain required to analyse, index and interactively retrieve images and video via object-to-object matching. The experimental results indicate that object-based searching consistently outperforms image-based search using low-level features. This result goes some way towards validating the approach of allowing users to select objects as a basis for searching video archives when the information need dictates it as appropriate

Information Preserving Processing of Noisy Handwritten Document Images

Many pre-processing techniques that normalize artifacts and clean noise induce anomalies due to discretization of the document image. Important information that could be used at later stages may be lost. A proposed composite-model framework takes into account pre-printed information, user-added data, and digitization characteristics. Its benefits are demonstrated by experiments with statistically significant results. Separating pre-printed ruling lines from user-added handwriting shows how ruling lines impact people\u27s handwriting and how they can be exploited for identifying writers. Ruling line detection based on multi-line linear regression reduces the mean error of counting them from 0.10 to 0.03, 6.70 to 0.06, and 0.13 to 0.02, com- pared to an HMM-based approach on three standard test datasets, thereby reducing human correction time by 50%, 83%, and 72% on average. On 61 page images from 16 rule-form templates, the precision and recall of form cell recognition are increased by 2.7% and 3.7%, compared to a cross-matrix approach. Compensating for and exploiting ruling lines during feature extraction rather than pre-processing raises the writer identification accuracy from 61.2% to 67.7% on a 61-writer noisy Arabic dataset. Similarly, counteracting page-wise skew by subtracting it or transforming contours in a continuous coordinate system during feature extraction improves the writer identification accuracy. An implementation study of contour-hinge features reveals that utilizing the full probabilistic probability distribution function matrix improves the writer identification accuracy from 74.9% to 79.5%

Shape classification: towards a mathematical description of the face

Recent advances in biostereometric techniques have led to the quick and easy acquisition of 3D data for facial and other biological surfaces. This has led facial surgeons to express dissatisfaction with landmark-based methods for analysing the shape of the face which use only a small part of the data available, and to seek a method for analysing the face which maximizes the use of this extensive data set. Scientists working in the field of computer vision have developed a variety of methods for the analysis and description of 2D and 3D shape. These methods are reviewed and an approach, based on differential geometry, is selected for the description of facial shape. For each data point, the Gaussian and mean curvatures of the surface are calculated. The performance of three algorithms for computing these curvatures are evaluated for mathematically generated standard 3D objects and for 3D data obtained from an optical surface scanner. Using the signs of these curvatures, the face is classified into eight 'fundamental surface types' - each of which has an intuitive perceptual meaning. The robustness of the resulting surface type description to errors in the data is determined together with its repeatability. Three methods for comparing two surface type descriptions are presented and illustrated for average male and average female faces. Thus a quantitative description of facial change, or differences between individual's faces, is achieved. The possible application of artificial intelligence techniques to automate this comparison is discussed. The sensitivity of the description to global and local changes to the data, made by mathematical functions, is investigated. Examples are given of the application of this method for describing facial changes made by facial reconstructive surgery and implications for defining a basis for facial aesthetics using shape are discussed. It is also applied to investigate the role played by the shape of the surface in facial recognition

Mobile Robots Navigation

Mobile robots navigation includes different interrelated activities: (i) perception, as obtaining and interpreting sensory information; (ii) exploration, as the strategy that guides the robot to select the next direction to go; (iii) mapping, involving the construction of a spatial representation by using the sensory information perceived; (iv) localization, as the strategy to estimate the robot position within the spatial map; (v) path planning, as the strategy to find a path towards a goal location being optimal or not; and (vi) path execution, where motor actions are determined and adapted to environmental changes. The book addresses those activities by integrating results from the research work of several authors all over the world. Research cases are documented in 32 chapters organized within 7 categories next described

Recent Advances in Signal Processing

The signal processing task is a very critical issue in the majority of new technological inventions and challenges in a variety of applications in both science and engineering fields. Classical signal processing techniques have largely worked with mathematical models that are linear, local, stationary, and Gaussian. They have always favored closed-form tractability over real-world accuracy. These constraints were imposed by the lack of powerful computing tools. During the last few decades, signal processing theories, developments, and applications have matured rapidly and now include tools from many areas of mathematics, computer science, physics, and engineering. This book is targeted primarily toward both students and researchers who want to be exposed to a wide variety of signal processing techniques and algorithms. It includes 27 chapters that can be categorized into five different areas depending on the application at hand. These five categories are ordered to address image processing, speech processing, communication systems, time-series analysis, and educational packages respectively. The book has the advantage of providing a collection of applications that are completely independent and self-contained; thus, the interested reader can choose any chapter and skip to another without losing continuity