A Trainable System for Object Detection in Images and Video Sequences

This thesis presents a general, trainable system for object detection in static images and video sequences. The core system finds a certain class of objects in static images of completely unconstrained, cluttered scenes without using motion, tracking, or handcrafted models and without making any assumptions on the scene structure or the number of objects in the scene. The system uses a set of training data of positive and negative example images as input, transforms the pixel images to a Haar wavelet representation, and uses a support vector machine classifier to learn the difference between in-class and out-of-class patterns. To detect objects in out-of-sample images, we do a brute force search over all the subwindows in the image. This system is applied to face, people, and car detection with excellent results. For our extensions to video sequences, we augment the core static detection system in several ways -- 1) extending the representation to five frames, 2) implementing an approximation to a Kalman filter, and 3) modeling detections in an image as a density and propagating this density through time according to measured features. In addition, we present a real-time version of the system that is currently running in a DaimlerChrysler experimental vehicle. As part of this thesis, we also present a system that, instead of detecting full patterns, uses a component-based approach. We find it to be more robust to occlusions, rotations in depth, and severe lighting conditions for people detection than the full body version. We also experiment with various other representations including pixels and principal components and show results that quantify how the number of features, color, and gray-level affect performance

Advances in Intelligent Vehicle Control

This book is a printed edition of the Special Issue Advances in Intelligent Vehicle Control that was published in the journal Sensors. It presents a collection of eleven papers that covers a range of topics, such as the development of intelligent control algorithms for active safety systems, smart sensors, and intelligent and efficient driving. The contributions presented in these papers can serve as useful tools for researchers who are interested in new vehicle technology and in the improvement of vehicle control systems

Mechatronic Systems

Mechatronics, the synergistic blend of mechanics, electronics, and computer science, has evolved over the past twenty five years, leading to a novel stage of engineering design. By integrating the best design practices with the most advanced technologies, mechatronics aims at realizing high-quality products, guaranteeing at the same time a substantial reduction of time and costs of manufacturing. Mechatronic systems are manifold and range from machine components, motion generators, and power producing machines to more complex devices, such as robotic systems and transportation vehicles. With its twenty chapters, which collect contributions from many researchers worldwide, this book provides an excellent survey of recent work in the field of mechatronics with applications in various fields, like robotics, medical and assistive technology, human-machine interaction, unmanned vehicles, manufacturing, and education. We would like to thank all the authors who have invested a great deal of time to write such interesting chapters, which we are sure will be valuable to the readers. Chapters 1 to 6 deal with applications of mechatronics for the development of robotic systems. Medical and assistive technologies and human-machine interaction systems are the topic of chapters 7 to 13.Chapters 14 and 15 concern mechatronic systems for autonomous vehicles. Chapters 16-19 deal with mechatronics in manufacturing contexts. Chapter 20 concludes the book, describing a method for the installation of mechatronics education in schools

Fingerprint-based biometric recognition allied to fuzzy-neural feature classification.

The research investigates fingerprint recognition as one of the most reliable biometrics identification methods. An automatic identification process of humans-based on fingerprints requires the input fingerprint to be matched with a large number of fingerprints in a database. To reduce the search time and computational complexity, it is desirable to classify the database of fingerprints into an accurate and consistent manner so that the input fingerprint is matched only with a subset of the fingerprints in the database. In this regard, the research addressed fingerprint classification. The goal is to improve the accuracy and speed up of existing automatic fingerprint identification algorithms. The investigation is based on analysis of fingerprint characteristics and feature classification using neural network and fuzzy-neural classifiers.The methodology developed, is comprised of image processing, computation of a directional field image, singular-point detection, and feature vector encoding. The statistical distribution of feature vectors was analysed using SPSS. Three types of classifiers, namely, multi-layered perceptrons, radial basis function and fuzzy-neural methods were implemented. The developed classification systems were tested and evaluated on 4,000 fingerprint images on the NIST-4 database. For the five-class problem, classification accuracy of 96.2% for FNN, 96.07% for MLP and 84.54% for RBF was achieved, without any rejection. FNN and MLP classification results are significant in comparison with existing studies, which have been reviewed