Appearance-based localization for mobile robots using digital zoom and visual compass

This paper describes a localization system for mobile robots moving in dynamic indoor environments, which uses probabilistic integration of visual appearance and odometry information. The approach is based on a novel image matching algorithm for appearance-based place recognition that integrates digital zooming, to extend the area of application, and a visual compass. Ambiguous information used for recognizing places is resolved with multiple hypothesis tracking and a selection procedure inspired by Markov localization. This enables the system to deal with perceptual aliasing or absence of reliable sensor data. It has been implemented on a robot operating in an office scenario and the robustness of the approach demonstrated experimentally

Detection of dirt impairments from archived film sequences : survey and evaluations

Film dirt is the most commonly encountered artifact in archive restoration applications. Since dirt usually appears as a temporally impulsive event, motion-compensated interframe processing is widely applied for its detection. However, motion-compensated prediction requires a high degree of complexity and can be unreliable when motion estimation fails. Consequently, many techniques using spatial or spatiotemporal filtering without motion were also been proposed as alternatives. A comprehensive survey and evaluation of existing methods is presented, in which both qualitative and quantitative performances are compared in terms of accuracy, robustness, and complexity. After analyzing these algorithms and identifying their limitations, we conclude with guidance in choosing from these algorithms and promising directions for future research

Segmentation-assisted detection of dirt impairments in archived film sequences

A novel segmentation-assisted method for film dirt detection is proposed. We exploit the fact that film dirt manifests in the spatial domain as a cluster of connected pixels whose intensity differs substantially from that of its neighborhood and we employ a segmentation-based approach to identify this type of structure. A key feature of our approach is the computation of a measure of confidence attached to detected dirt regions which can be utilized for performance fine tuning. Another important feature of our algorithm is the avoidance of the computational complexity associated with motion estimation. Our experimental framework benefits from the availability of manually derived as well as objective ground truth data obtained using infrared scanning. Our results demonstrate that the proposed method compares favorably with standard spatial, temporal and multistage median filtering approaches and provides efficient and robust detection for a wide variety of test material

Lost in spatial translation - A novel tool to objectively assess spatial disorientation in Alzheimer's disease and frontotemporal dementia

Spatial disorientation is a prominent feature of early Alzheimer's disease (AD) attributed to degeneration of medial temporal and parietal brain regions, including the retrosplenial cortex (RSC). By contrast, frontotemporal dementia (FTD) syndromes show generally intact spatial orientation at presentation. However, currently no clinical tasks are routinely administered to objectively assess spatial orientation in these neurodegenerative conditions. In this study we investigated spatial orientation in 58 dementia patients and 23 healthy controls using a novel virtual supermarket task as well as voxel-based morphometry (VBM). We compared performance on this task with visual and verbal memory function, which has traditionally been used to discriminate between AD and FTD. Participants viewed a series of videos from a first person perspective travelling through a virtual supermarket and were required to maintain orientation to a starting location. Analyses revealed significantly impaired spatial orientation in AD, compared to FTD patient groups. Spatial orientation performance was found to discriminate AD and FTD patient groups to a very high degree at presentation. More importantly, integrity of the RSC was identified as a key neural correlate of orientation performance. These findings confirm the notion that i) it is feasible to assess spatial orientation objectively via our novel Supermarket task; ii) impaired orientation is a prominent feature that can be applied clinically to discriminate between AD and FTD and iii) the RSC emerges as a critical biomarker to assess spatial orientation deficits in these neurodegenerative conditions

Cluster-based reduced-order modelling of a mixing layer

We propose a novel cluster-based reduced-order modelling (CROM) strategy of unsteady flows. CROM combines the cluster analysis pioneered in Gunzburger's group (Burkardt et al. 2006) and and transition matrix models introduced in fluid dynamics in Eckhardt's group (Schneider et al. 2007). CROM constitutes a potential alternative to POD models and generalises the Ulam-Galerkin method classically used in dynamical systems to determine a finite-rank approximation of the Perron-Frobenius operator. The proposed strategy processes a time-resolved sequence of flow snapshots in two steps. First, the snapshot data are clustered into a small number of representative states, called centroids, in the state space. These centroids partition the state space in complementary non-overlapping regions (centroidal Voronoi cells). Departing from the standard algorithm, the probabilities of the clusters are determined, and the states are sorted by analysis of the transition matrix. Secondly, the transitions between the states are dynamically modelled using a Markov process. Physical mechanisms are then distilled by a refined analysis of the Markov process, e.g. using finite-time Lyapunov exponent and entropic methods. This CROM framework is applied to the Lorenz attractor (as illustrative example), to velocity fields of the spatially evolving incompressible mixing layer and the three-dimensional turbulent wake of a bluff body. For these examples, CROM is shown to identify non-trivial quasi-attractors and transition processes in an unsupervised manner. CROM has numerous potential applications for the systematic identification of physical mechanisms of complex dynamics, for comparison of flow evolution models, for the identification of precursors to desirable and undesirable events, and for flow control applications exploiting nonlinear actuation dynamics.Comment: 48 pages, 30 figures. Revised version with additional material. Accepted for publication in Journal of Fluid Mechanic

Sequential spatial processes for image analysis

We give a brief introduction to sequential spatial processes. We discuss their definition, formulate a Markov property, and indicate why such processes are natural tools in tackling high level vision problems. We focus on the problem of tracking a variable number of moving objects through a video stream, and discuss the relationship with the popular Hough transform. A list of pointers to the literature concludes the paper

High accuracy decoding of dynamical motion from a large retinal population

Motion tracking is a challenge the visual system has to solve by reading out the retinal population. Here we recorded a large population of ganglion cells in a dense patch of salamander and guinea pig retinas while displaying a bar moving diffusively. We show that the bar position can be reconstructed from retinal activity with a precision in the hyperacuity regime using a linear decoder acting on 100+ cells. The classical view would have suggested that the firing rates of the cells form a moving hill of activity tracking the bar's position. Instead, we found that ganglion cells fired sparsely over an area much larger than predicted by their receptive fields, so that the neural image did not track the bar. This highly redundant organization allows for diverse collections of ganglion cells to represent high-accuracy motion information in a form easily read out by downstream neural circuits.Comment: 23 pages, 7 figure