53,818 research outputs found
Adaptive Digital Scan Variable Pixels
The square and rectangular shape of the pixels in the digital images for
sensing and display purposes introduces several inaccuracies in the
representation of digital images. The major disadvantage of square pixel shapes
is the inability to accurately capture and display the details in the objects
having variable orientations to edges, shapes and regions. This effect can be
observed by the inaccurate representation of diagonal edges in low resolution
square pixel images. This paper explores a less investigated idea of using
variable shaped pixels for improving visual quality of image scans without
increasing the square pixel resolution. The proposed adaptive filtering
technique reports an improvement in image PSNR.Comment: 4th International Conference on Advances in Computing, Communications
and Informatics, August, 201
Bayesian computation for statistical models with intractable normalizing constants
This paper deals with some computational aspects in the Bayesian analysis of
statistical models with intractable normalizing constants. In the presence of
intractable normalizing constants in the likelihood function, traditional MCMC
methods cannot be applied. We propose an approach to sample from such posterior
distributions. The method can be thought as a Bayesian version of the MCMC-MLE
approach of Geyer and Thompson (1992). To the best of our knowledge, this is
the first general and asymptotically consistent Monte Carlo method for such
problems. We illustrate the method with examples from image segmentation and
social network modeling. We study as well the asymptotic behavior of the
algorithm and obtain a strong law of large numbers for empirical averages.Comment: 20 pages, 4 figures, submitted for publicatio
Active model learning and diverse action sampling for task and motion planning
The objective of this work is to augment the basic abilities of a robot by
learning to use new sensorimotor primitives to enable the solution of complex
long-horizon problems. Solving long-horizon problems in complex domains
requires flexible generative planning that can combine primitive abilities in
novel combinations to solve problems as they arise in the world. In order to
plan to combine primitive actions, we must have models of the preconditions and
effects of those actions: under what circumstances will executing this
primitive achieve some particular effect in the world?
We use, and develop novel improvements on, state-of-the-art methods for
active learning and sampling. We use Gaussian process methods for learning the
conditions of operator effectiveness from small numbers of expensive training
examples collected by experimentation on a robot. We develop adaptive sampling
methods for generating diverse elements of continuous sets (such as robot
configurations and object poses) during planning for solving a new task, so
that planning is as efficient as possible. We demonstrate these methods in an
integrated system, combining newly learned models with an efficient
continuous-space robot task and motion planner to learn to solve long horizon
problems more efficiently than was previously possible.Comment: Proceedings of the 2018 IEEE/RSJ International Conference on
Intelligent Robots and Systems (IROS), Madrid, Spain.
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