Data analysis and navigation in high-dimensional chemical and biological spaces

The goal of this master thesis is to develop and validate a visual data-mining approach suitable for the screening of chemicals in the context of REACH [Registration, Evaluation, Authorization and Restriction of Chemicals]. The proposed approach will facilitate the development and validation of non-testing methods via the exploration of environmental endpoints and their relationship with the chemical structure and physicochemical properties of chemicals. The use of an interactive chemical space data exploration tool using 3D visualization and navigation will enrich the information available with additional variables like size, texture and color of the objects of the scene (compounds). The features that distinguish this approach and make it unique are (i) the integration of multiple data sources allowing the recovery in real time of complementary information of the studied compounds, (ii) the integration of several algorithms for the data analysis (dimensional reduction, generation of composite variables and clustering) and (iii) direct user interaction with the data through the virtual navigation mechanism. All this is achieved without the need for specialized hardware or the use of specific devices and high-cost virtual reality and mixed reality

A game-based approach towards human augmented image annotation.

PhDImage annotation is a difficult task to achieve in an automated way. In this thesis, a human-augmented approach to tackle this problem is discussed and suitable strategies are derived to solve it. The proposed technique is inspired by human-based computation in what is called “human-augmented” processing to overcome limitations of fully automated technology for closing the semantic gap. The approach aims to exploit what millions of individual gamers are keen to do, i.e. enjoy computer games, while annotating media. In this thesis, the image annotation problem is tackled by a game based framework. This approach combines image processing and a game theoretic model to gather media annotations. Although the proposed model behaves similar to a single player game model, the underlying approach has been designed based on a two-player model which exploits the player’s contribution to the game and previously recorded players to improve annotations accuracy. In addition, the proposed framework is designed to predict the player’s intention through Markovian and Sequential Sampling inferences in order to detect cheating and improve annotation performances. Finally, the proposed techniques are comprehensively evaluated with three different image datasets and selected representative results are reported

CONTENT BASED IMAGE RETRIEVAL (CBIR) SYSTEM

Advancement in hardware and telecommunication technology has boosted up creation and distribution of digital visual content. However this rapid growth of visual content creations has not been matched by the simultaneous emergence of technologies to support efficient image analysis and retrieval. Although there are attempt to solve this problem by using meta-data text annotation but this approach are not practical when it come to the large number of data collection. This system used 7 different feature vectors that are focusing on 3 main low level feature groups (color, shape and texture). This system will use the image that the user feed and search the similar images in the database that had similar feature by considering the threshold value. One of the most important aspects in CBIR is to determine the correct threshold value. Setting the correct threshold value is important in CBIR because setting it too low will result in less image being retrieve that might exclude relevant data. Setting to high threshold value might result in irrelevant data to be retrieved and increase the search time for image retrieval. Result show that this project able to increase the image accuracy to average 70% by combining 7 different feature vector at correct threshold value. ii

Defect Detection for Patterned Fabric Images Based on GHOG and Low-Rank Decomposition

In contrast to defect-free fabric images with macro-homogeneous textures and regular patterns, the fabric images with the defect are characterized by the defect regions that are salient and sparse among the redundant background. Therefore, as an effective tool for separating an image into a redundant part (the background) and sparse part (the defect), the low-rank decomposition model provides an ideal solution for patterned fabric defect detection. In this paper, a novel patterned method for fabric defect detection is proposed based on a novel texture descriptor and the low-rank decomposition model. First, an efficient second-order orientation-aware descriptor, denoted as GHOG, is designed by combining Gabor and histogram of oriented gradient (HOG). In addition, a spatial pooling strategy based on human vision mechanism is utilized to further improve the discrimination ability of the proposed descriptor. The proposed texture descriptor can make the defect-free image blocks lay in a low-rank subspace, while the defective image blocks have deviated from this subspace. Then, a constructed low-rank decomposition model divides the feature matrix generated from all the image blocks into a low-rank part, which represents the defect-free background, and a sparse part, which represents sparse defects. In addition, a non-convex log det as a smooth surrogate function is utilized to improve the efficiency of the constructed low-rank model. Finally, the defects are localized by segmenting the saliency map generated by the sparse matrix. The qualitative results and quantitative evaluation results demonstrate that the proposed method improves the detection accuracy and self-adaptivity comparing with the state-of-the-art methods

A Review of Wavelet Based Fingerprint Image Retrieval

A digital image is composed of pixels and information about brightness of image and RGB triples are used to encode color information. Image retrieval problem encountered when searching and retrieving images that is relevant to a user’s request from a database. In Content based image retrieval, input goes in the form of an image. In these images, different features are extracted and then the other images from database are retrieved accordingly. Biometric distinguishes the people by their physical or behavioral qualities. Fingerprints are viewed as a standout amongst the most solid for human distinguishment because of their uniqueness and ingenuity. To retrieve fingerprint images on the basis of their textural features,by using different wavelets. From the input fingerprint image, first of all center point area is selected and then its textural features are extracted and stored in database. When a query image comes then again its center point is selected and then its texture feature are extracted. Then these features are matched for similarity and then resultant image is displayed. DOI: 10.17762/ijritcc2321-8169.15026

Robot Navigation in Human Environments

For the near future, we envision service robots that will help us with everyday chores in home, office, and urban environments. These robots need to work in environments that were designed for humans and they have to collaborate with humans to fulfill their tasks. In this thesis, we propose new methods for communicating, transferring knowledge, and collaborating between humans and robots in four different navigation tasks. In the first application, we investigate how automated services for giving wayfinding directions can be improved to better address the needs of the human recipients. We propose a novel method based on inverse reinforcement learning that learns from a corpus of human-written route descriptions what amount and type of information a route description should contain. By imitating the human teachers' description style, our algorithm produces new route descriptions that sound similarly natural and convey similar information content, as we show in a user study. In the second application, we investigate how robots can leverage background information provided by humans for exploring an unknown environment more efficiently. We propose an algorithm for exploiting user-provided information such as sketches or floor plans by combining a global exploration strategy based on the solution of a traveling salesman problem with a local nearest-frontier-first exploration scheme. Our experiments show that the exploration tours are significantly shorter and that our system allows the user to effectively select the areas that the robot should explore. In the second part of this thesis, we focus on humanoid robots in home and office environments. The human-like body plan allows humanoid robots to navigate in environments and operate tools that were designed for humans, making humanoid robots suitable for a wide range of applications. As localization and mapping are prerequisites for all navigation tasks, we first introduce a novel feature descriptor for RGB-D sensor data and integrate this building block into an appearance-based simultaneous localization and mapping system that we adapt and optimize for the usage on humanoid robots. Our optimized system is able to track a real Nao humanoid robot more accurately and more robustly than existing approaches. As the third application, we investigate how humanoid robots can cover known environments efficiently with their camera, for example for inspection or search tasks. We extend an existing next-best-view approach by integrating inverse reachability maps, allowing us to efficiently sample and check collision-free full-body poses. Our approach enables the robot to inspect as much of the environment as possible. In our fourth application, we extend the coverage scenario to environments that also include articulated objects that the robot has to actively manipulate to uncover obstructed regions. We introduce algorithms for navigation subtasks that run highly parallelized on graphics processing units for embedded devices. Together with a novel heuristic for estimating utility maps, our system allows to find high-utility camera poses for efficiently covering environments with articulated objects. All techniques presented in this thesis were implemented in software and thoroughly evaluated in user studies, simulations, and experiments in both artificial and real-world environments. Our approaches advance the state of the art towards universally usable robots in everyday environments.Roboternavigation in menschlichen Umgebungen In naher Zukunft erwarten wir Serviceroboter, die uns im Haushalt, im Büro und in der Stadt alltägliche Arbeiten abnehmen. Diese Roboter müssen in für Menschen gebauten Umgebungen zurechtkommen und sie müssen mit Menschen zusammenarbeiten um ihre Aufgaben zu erledigen. In dieser Arbeit schlagen wir neue Methoden für die Kommunikation, Wissenstransfer und Zusammenarbeit zwischen Menschen und Robotern bei Navigationsaufgaben in vier Anwendungen vor. In der ersten Anwendung untersuchen wir, wie automatisierte Dienste zur Generierung von Wegbeschreibungen verbessert werden können, um die Beschreibungen besser an die Bedürfnisse der Empfänger anzupassen. Wir schlagen eine neue Methode vor, die inverses bestärkendes Lernen nutzt, um aus einem Korpus von von Menschen geschriebenen Wegbeschreibungen zu lernen, wie viel und welche Art von Information eine Wegbeschreibung enthalten sollte. Indem unser Algorithmus den Stil der Wegbeschreibungen der menschlichen Lehrer imitiert, kann der Algorithmus neue Wegbeschreibungen erzeugen, die sich ähnlich natürlich anhören und einen ähnlichen Informationsgehalt vermitteln, was wir in einer Benutzerstudie zeigen. In der zweiten Anwendung untersuchen wir, wie Roboter von Menschen bereitgestellte Hintergrundinformationen nutzen können, um eine bisher unbekannte Umgebung schneller zu erkunden. Wir schlagen einen Algorithmus vor, der Hintergrundinformationen wie Gebäudegrundrisse oder Skizzen nutzt, indem er eine globale Explorationsstrategie basierend auf der Lösung eines Problems des Handlungsreisenden kombiniert mit einer lokalen Explorationsstrategie. Unsere Experimente zeigen, dass die Erkundungstouren signifikant kürzer werden und dass der Benutzer mit unserem System effektiv die zu erkundenden Regionen spezifizieren kann. Der zweite Teil dieser Arbeit konzentriert sich auf humanoide Roboter in Umgebungen zu Hause und im Büro. Der menschenähnliche Körperbau ermöglicht es humanoiden Robotern, in Umgebungen zu navigieren und Werkzeuge zu benutzen, die für Menschen gebaut wurden, wodurch humanoide Roboter für vielfältige Aufgaben einsetzbar sind. Da Lokalisierung und Kartierung Grundvoraussetzungen für alle Navigationsaufgaben sind, führen wir zunächst einen neuen Merkmalsdeskriptor für RGB-D-Sensordaten ein und integrieren diesen Baustein in ein erscheinungsbasiertes simultanes Lokalisierungs- und Kartierungsverfahren, das wir an die Besonderheiten von humanoiden Robotern anpassen und optimieren. Unser System kann die Position eines realen humanoiden Roboters genauer und robuster verfolgen, als es mit existierenden Ansätzen möglich ist. Als dritte Anwendung untersuchen wir, wie humanoide Roboter bekannte Umgebungen effizient mit ihrer Kamera abdecken können, beispielsweise zu Inspektionszwecken oder zum Suchen eines Gegenstands. Wir erweitern ein bestehendes Verfahren, das die nächstbeste Beobachtungsposition berechnet, durch inverse Erreichbarkeitskarten, wodurch wir kollisionsfreie Ganzkörperposen effizient generieren und prüfen können. Unser Ansatz ermöglicht es dem Roboter, so viel wie möglich von der Umgebung zu untersuchen. In unserer vierten Anwendung erweitern wir dieses Szenario um Umgebungen, die auch bewegbare Gegenstände enthalten, die der Roboter aktiv bewegen muss um verdeckte Regionen zu sehen. Wir führen Algorithmen für Teilprobleme ein, die hoch parallelisiert auf Grafikkarten von eingebetteten Systemen ausgeführt werden. Zusammen mit einer neuen Heuristik zur Schätzung von Nutzenkarten ermöglicht dies unserem System Beobachtungspunkte mit hohem Nutzen zu finden, um Umgebungen mit bewegbaren Objekten effizient zu inspizieren. Alle vorgestellten Techniken wurden in Software implementiert und sorgfältig evaluiert in Benutzerstudien, Simulationen und Experimenten in künstlichen und realen Umgebungen. Unsere Verfahren bringen den Stand der Forschung voran in Richtung universell einsetzbarer Roboter in alltäglichen Umgebungen

Evaluating color texture descriptors under large variations of controlled lighting conditions

The recognition of color texture under varying lighting conditions is still an open issue. Several features have been proposed for this purpose, ranging from traditional statistical descriptors to features extracted with neural networks. Still, it is not completely clear under what circumstances a feature performs better than the others. In this paper we report an extensive comparison of old and new texture features, with and without a color normalization step, with a particular focus on how they are affected by small and large variation in the lighting conditions. The evaluation is performed on a new texture database including 68 samples of raw food acquired under 46 conditions that present single and combined variations of light color, direction and intensity. The database allows to systematically investigate the robustness of texture descriptors across a large range of variations of imaging conditions.Comment: Submitted to the Journal of the Optical Society of America

Colour-based image retrieval algorithms based on compact colour descriptors and dominant colour-based indexing methods

Content based image retrieval (CBIR) is reported as one of the most active research areas in the last two decades, but it is still young. Three CBIR’s performance problem in this study is inaccuracy of image retrieval, high complexity of feature extraction, and degradation of image retrieval after database indexing. This situation led to discrepancies to be applied on limited-resources devices (such as mobile devices). Therefore, the main objective of this thesis is to improve performance of CBIR. Images’ Dominant Colours (DCs) is selected as the key contributor for this purpose due to its compact property and its compatibility with the human visual system. Semantic image retrieval is proposed to solve retrieval inaccuracy problem by concentrating on the images’ objects. The effect of image background is reduced to provide more focus on the object by setting weights to the object and the background DCs. The accuracy improvement ratio is raised up to 50% over the compared methods. Weighting DCs framework is proposed to generalize this technique where it is demonstrated by applying it on many colour descriptors. For reducing high complexity of colour Correlogram in terms of computations and memory space, compact representation of Correlogram is proposed. Additionally, similarity measure of an existing DC-based Correlogram is adapted to improve its accuracy. Both methods are incorporated to produce promising colour descriptor in terms of time and memory space complexity. As a result, the accuracy is increased up to 30% over the existing methods and the memory space is decreased to less than 10% of its original space. Converting the abundance of colours into a few DCs framework is proposed to generalize DCs concept. In addition, two DC-based indexing techniques are proposed to overcome time problem, by using RGB and perceptual LUV colour spaces. Both methods reduce the search space to less than 25% of the database size with preserving the same accuracy