Decision Making for Rapid Information Acquisition in the Reconnaissance of Random Fields

Research into several aspects of robot-enabled reconnaissance of random fields is reported. The work has two major components: the underlying theory of information acquisition in the exploration of unknown fields and the results of experiments on how humans use sensor-equipped robots to perform a simulated reconnaissance exercise. The theoretical framework reported herein extends work on robotic exploration that has been reported by ourselves and others. Several new figures of merit for evaluating exploration strategies are proposed and compared. Using concepts from differential topology and information theory, we develop the theoretical foundation of search strategies aimed at rapid discovery of topological features (locations of critical points and critical level sets) of a priori unknown differentiable random fields. The theory enables study of efficient reconnaissance strategies in which the tradeoff between speed and accuracy can be understood. The proposed approach to rapid discovery of topological features has led in a natural way to to the creation of parsimonious reconnaissance routines that do not rely on any prior knowledge of the environment. The design of topology-guided search protocols uses a mathematical framework that quantifies the relationship between what is discovered and what remains to be discovered. The quantification rests on an information theory inspired model whose properties allow us to treat search as a problem in optimal information acquisition. A central theme in this approach is that "conservative" and "aggressive" search strategies can be precisely defined, and search decisions regarding "exploration" vs. "exploitation" choices are informed by the rate at which the information metric is changing.Comment: 34 pages, 20 figure

Optimising Spatial and Tonal Data for PDE-based Inpainting

Some recent methods for lossy signal and image compression store only a few selected pixels and fill in the missing structures by inpainting with a partial differential equation (PDE). Suitable operators include the Laplacian, the biharmonic operator, and edge-enhancing anisotropic diffusion (EED). The quality of such approaches depends substantially on the selection of the data that is kept. Optimising this data in the domain and codomain gives rise to challenging mathematical problems that shall be addressed in our work. In the 1D case, we prove results that provide insights into the difficulty of this problem, and we give evidence that a splitting into spatial and tonal (i.e. function value) optimisation does hardly deteriorate the results. In the 2D setting, we present generic algorithms that achieve a high reconstruction quality even if the specified data is very sparse. To optimise the spatial data, we use a probabilistic sparsification, followed by a nonlocal pixel exchange that avoids getting trapped in bad local optima. After this spatial optimisation we perform a tonal optimisation that modifies the function values in order to reduce the global reconstruction error. For homogeneous diffusion inpainting, this comes down to a least squares problem for which we prove that it has a unique solution. We demonstrate that it can be found efficiently with a gradient descent approach that is accelerated with fast explicit diffusion (FED) cycles. Our framework allows to specify the desired density of the inpainting mask a priori. Moreover, is more generic than other data optimisation approaches for the sparse inpainting problem, since it can also be extended to nonlinear inpainting operators such as EED. This is exploited to achieve reconstructions with state-of-the-art quality. We also give an extensive literature survey on PDE-based image compression methods

Image compression with anisotropic diffusion

Compression is an important field of digital image processing where well-engineered methods with high performance exist. Partial differential equations (PDEs), however, have not much been explored in this context so far. In our paper we introduce a novel framework for image compression that makes use of the interpolation qualities of edge-enhancing diffusion. Although this anisotropic diffusion equation with a diffusion tensor was originally proposed for image denoising, we show that it outperforms many other PDEs when sparse scattered data must be interpolated. To exploit this property for image compression, we consider an adaptive triangulation method for removing less significant pixels from the image. The remaining points serve as scattered interpolation data for the diffusion process. They can be coded in a compact way that reflects the B-tree structure of the triangulation. We supplement the coding step with a number of amendments such as error threshold adaptation, diffusion-based point selection, and specific quantisation strategies. Our experiments illustrate the usefulness of each of these modifications. They demonstrate that for high compression rates, our PDE-based approach does not only give far better results than the widely-used JPEG standard, but can even come close to the quality of the highly optimised JPEG2000 codec

Computational and Theoretical Issues of Multiparameter Persistent Homology for Data Analysis

The basic goal of topological data analysis is to apply topology-based descriptors to understand and describe the shape of data. In this context, homology is one of the most relevant topological descriptors, well-appreciated for its discrete nature, computability and dimension independence. A further development is provided by persistent homology, which allows to track homological features along a oneparameter increasing sequence of spaces. Multiparameter persistent homology, also called multipersistent homology, is an extension of the theory of persistent homology motivated by the need of analyzing data naturally described by several parameters, such as vector-valued functions. Multipersistent homology presents several issues in terms of feasibility of computations over real-sized data and theoretical challenges in the evaluation of possible descriptors. The focus of this thesis is in the interplay between persistent homology theory and discrete Morse Theory. Discrete Morse theory provides methods for reducing the computational cost of homology and persistent homology by considering the discrete Morse complex generated by the discrete Morse gradient in place of the original complex. The work of this thesis addresses the problem of computing multipersistent homology, to make such tool usable in real application domains. This requires both computational optimizations towards the applications to real-world data, and theoretical insights for finding and interpreting suitable descriptors. Our computational contribution consists in proposing a new Morse-inspired and fully discrete preprocessing algorithm. We show the feasibility of our preprocessing over real datasets, and evaluate the impact of the proposed algorithm as a preprocessing for computing multipersistent homology. A theoretical contribution of this thesis consists in proposing a new notion of optimality for such a preprocessing in the multiparameter context. We show that the proposed notion generalizes an already known optimality notion from the one-parameter case. Under this definition, we show that the algorithm we propose as a preprocessing is optimal in low dimensional domains. In the last part of the thesis, we consider preliminary applications of the proposed algorithm in the context of topology-based multivariate visualization by tracking critical features generated by a discrete gradient field compatible with the multiple scalar fields under study. We discuss (dis)similarities of such critical features with the state-of-the-art techniques in topology-based multivariate data visualization

An axiomatic approach to scalar data interpolation on surfaces

We discuss possible algorithms for interpolating data given on a set of curves in a surface of ℝ^3. We propose a set of basic assumptions to be satisfied by the interpolation algorithms which lead to a set of models in terms of possibly degenerate elliptic partial differential equations. The Absolutely Minimizing Lipschitz Extension model (AMLE) is singled out and studied in more detail. We study the correctness of our numerical approach and we show experiments illustrating the interpolation of data on some simple test surfaces like the sphere and the torus

Emergency Landing Spot Detection for Unmanned Aerial Vehicle

The use and research of Unmanned Aerial Vehicle (UAV) have been increasing over the years due to the applicability in several operations such as search and rescue, delivery, surveillance and others. Considering the increased presence of these vehicles in the airspace, it becomes necessary to reflect on the safety issues or failures that UAV may have and what is the appropriate action to take. Furthermore, in many missions the vehicle will not return to its original location and, in case of fail to achieve the landing spot, need to have onboard capability to estimate the best spot to safely land. The vehicles are susceptible to external disturbance or electromechanical malfunction. In this emergency’s scenarios, UAVs must safely land in a way that will minimize damage to the robot and will not cause any human injury. The suitability of a landing site depends on two main factors: the distance of the aircraft to the landing site and the ground conditions. The ground conditions are all the factors that are relevant when the aircraft is in contact with the ground, such as slope, roughness and presence of obstacles. This dissertation addresses the scenario of finding a safe landing spot during operation. Therefore, the algorithm must be able to classify the incoming data and store the location of suitable areas. Specifically, by processing Light Detection and Ranging (LiDAR) data to identify potential landing zones and evaluating the detected spots continuously given certain conditions. In this dissertation, it was developed a method that analyses geometric features on point cloud data and detects potential good spots. The algorithm uses the Principal Component Analysis (PCA) to find planes in point clouds clusters. The planes that have slope less than a threshold are considered potential landing spots. These spots are then evaluated regarding ground and vehicles conditions such as the distance to the UAV, presence of obstacles, roughness of the area, slope of the spot. The output of the algorithm is the optimum spot to land and can vary during operation.O uso e pesquisa de veículos aéreos não tripulados (VANT) têm aumentado ao longo dos anos devido à aplicabilidade em diversas operações, como busca e salvamento, entrega, vigilância e outras. Considerando a crescente presença desses veículos no espaço aéreo, torna-se necessário refletir sobre os problemas ou falhas de segurança que o veículo pode ter e qual é a ação apropriada a ser tomada. Além disso, em muitas missões, o veículo não retornará ao seu local original e, caso não seja possível alcançar a zona de aterragem, precisa ter a capacidade de estimar o melhor ponto para aterrar em segurança. Os veículos são suscetíveis a perturbações externas ou mau funcionamento eletromecânico. Nesses cenários de emergência, os UAVs precisam aterrar com segurança de forma a minimizar os danos ao robô e não causar ferimentos em pessoas. A adequação de um local de pouso depende de dois fatores principais: a distância do veículo aéreo ao local de pouso e as condições do solo. As condições do solo são todos os fatores relevantes quando a aeronave está em contacto com o solo, como declividade, rugosidade e presença de obstáculos. Esta dissertação aborda o cenário de encontrar um local de pouso seguro durante a operação. Portanto, o algoritmo deve ser capaz de classificar os dados recebidos e armazenar a localização de áreas adequadas. Especificamente, processando dados de LiDAR para identificar possíveis zonas de aterragem e avaliando os pontos detetados continuamente, dadas determinadas condições. Nesta dissertação, foi desenvolvido um método que analisa características geométricas em nuvem de pontos e deteta possíveis bons locais de aterragem. O algoritmo usa a Análise de Componente Principal (PCA) para encontrar planos em clusters de nuvens de pontos. Os planos com inclinação menor que um limite são considerados possíveis pontos de aterragem. Esses pontos são então avaliados quanto às condições do solo e dos veículos, como a distância ao UAV, presença de obstáculos, rugosidade da área, inclinação do ponto. A saída do algoritmo é o local ideal para aterrar e pode variar durante a operação

Computational Topology Methods for Shape Modelling Applications

This thesis deals with computational topology, a recent branch of research that involves both mathematics and computer science, and tackles the problem of discretizing the Morse theory to functions defined on a triangle mesh. The application context of Morse theory in general, and Reeb graphs in particular, deals with the analysis of geometric shapes and the extraction of skeletal structures that synthetically represents shape, preserving the topological properties and the main morphological characteristics. Regarding Computer Graphics, shapes, that is a one-, two- or higher- dimensional connected, compact space having a visual appearance, are typically approximated by digital models. Since topology focuses on the qualitative properties of spaces, such as the connectedness and how many and what type of holes it has, topology is the best tool to describe the shape of a mathematical model at a high level of abstraction. Geometry, conversely, is mainly related to the quantitative characteristics of a shape. Thus, the combination of topology and geometry creates a new generation of tools that provide a computational description of the most representative features of the shape along with their relationship. Extracting qualitative information, that is the information related to semantic of the shape and its morphological structure, from discrete models is a central goal in shape modeling. In this thesis a conceptual model is proposed which represents a given surface based on topological coding that defines a sketch of the surface, discarding irrelevant details and classifying its topological type. The approach is based on Morse theory and Reeb graphs, which provide a very useful shape abstraction method for the analysis and structuring of the information contained in the geometry of the discrete shape model. To fully develop the method, both theoretical and computational aspects have been considered, related to the definition and the extension of the Reeb graph to the discrete domain. For the definition and automatic construction of the conceptual model, a new method has been developed that analyzes and characterizes a triangle mesh with respect to the behavior of a real and at least continuous function defined on the mesh. The proposed solution handles also degenerate critical points, such as non-isolated critical points. To do that, the surface model is characterized using a contour-based strategy, recognizing critical areas instead of critical points and coding the evolution of the contour levels in a graph-like structure, named Extended Reeb Graph, (ERG), which is a high-level abstract model suitable for representing and manipulating piece-wise linear surfaces. The descriptive power of the (ERG) has been also augmented with the introduction of geometric information together with the topological ones, and it has been also studied the relation between the extracted topological and morphological features with respect to the real characteristics of the surface, giving and evaluation of the dimension of the discarded details. Finally, the effectiveness of our description framework has been evaluated in several application contexts

Exploring 3D Shapes through Real Functions

This thesis lays in the context of research on representation, modelling and coding knowledge related to digital shapes, where by shape it is meant any individual object having a visual appareance which exists in some two-, three- or higher dimensional space. Digital shapes are digital representations of either physically existing or virtual objects that can be processed by computer applications. While the technological advances in terms of hardware and software have made available plenty of tools for using and interacting with the geometry of shapes, to manipulate and retrieve huge amount of data it is necessary to define methods able to effectively code them. In this thesis a conceptual model is proposed which represents a given 3D object through the coding of its salient features and defines an abstraction of the object, discarding irrelevant details. The approach is based on the shape descriptors defined with respect to real functions, which provide a very useful shape abstraction method for the analysis and structuring of the information contained in the discrete shape model. A distinctive feature of these shape descriptors is their capability of combining topological and geometrical information properties of the shape, giving an abstraction of the main shape features. To fully develop this conceptual model, both theoretical and computational aspects have been considered, related to the definition and the extension of the different shape descriptors to the computational domain. Main emphasis is devoted to the application of these shape descriptors in computational settings; to this aim we display a number of application domains that span from shape retrieval, to shape classification and to best view selection.Questa tesi si colloca nell\u27ambito di ricerca riguardante la rappresentazione, la modellazione e la codifica della conoscenza connessa a forme digitali, dove per forma si intende l\u27aspetto visuale di ogni oggetto che esiste in due, tre o pi? dimensioni. Le forme digitali sono rappresentazioni di oggetti sia reali che virtuali, che possono essere manipolate da un calcolatore. Lo sviluppo tecnologico degli ultimi anni in materia di hardware e software ha messo a disposizione una grande quantit? di strumenti per acquisire, rappresentare e processare la geometria degli oggetti; tuttavia per gestire questa grande mole di dati ? necessario sviluppare metodi in grado di fornirne una codifica efficiente. In questa tesi si propone un modello concettuale che descrive un oggetto 3D attraverso la codifica delle caratteristiche salienti e ne definisce una bozza ad alto livello, tralasciando dettagli irrilevanti. Alla base di questo approccio ? l\u27utilizzo di descrittori basati su funzioni reali in quanto forniscono un\u27astrazione della forma molto utile per analizzare e strutturare l\u27informazione contenuta nel modello discreto della forma. Una peculiarit? di tali descrittori di forma ? la capacit? di combinare propriet? topologiche e geometriche consentendo di astrarne le principali caratteristiche. Per sviluppare questo modello concettuale, ? stato necessario considerare gli aspetti sia teorici che computazionali relativi alla definizione e all\u27estensione in ambito discreto di vari descrittori di forma. Particolare attenzione ? stata rivolta all\u27applicazione dei descrittori studiati in ambito computazionale; a questo scopo sono stati considerati numerosi contesti applicativi, che variano dal riconoscimento alla classificazione di forme, all\u27individuazione della posizione pi? significativa di un oggetto