324,462 research outputs found

    Robust similarity registration technique for volumetric shapes represented by characteristic functions

    No full text
    This paper proposes a novel similarity registration technique for volumetric shapes implicitly represented by their characteristic functions (CFs). Here, the calculation of rotation parameters is considered as a spherical crosscorrelation problem and the solution is therefore found using the standard phase correlation technique facilitated by principal components analysis (PCA).Thus, fast Fourier transform (FFT) is employed to vastly improve efficiency and robustness. Geometric moments are then used for shape scale estimation which is independent from rotation and translation parameters. It is numericallydemonstrated that our registration method is able to handle shapes with various topologies and robust to noise and initial poses. Further validation of our method is performed by registering a lung database

    Estimation rapide des paramètres d'un signal à phase polynomiale

    No full text
    National audiencePolynomial phase signals belong to a wide class of non-stationary signals used for modeling and engineering applications. In this paper, we take benefits of some advances in robust estimation in order to propose a new algorithm for estimating the parameters of a polynomial phase signal. The advantages of this algorithm are being fast and being robust to the shape of the noise

    Parameter Estimation for Polynomial Phase Signals With a Fast and Robust Algorithm

    No full text
    International audiencePolynomial phase signals belong to a wide class of nonstationary signals used for modeling and engineering applications. In this paper, we take benefits of some advances in robust estimation in order to propose a new algorithm for estimating the parameters of a polynomial phase signal. This algorithm has the advantages to be fast and its structure is robust to the shape of the noise

    Optimal Pose and Shape Estimation for Category-level 3D Object Perception

    Full text link
    We consider a category-level perception problem, where one is given 3D sensor data picturing an object of a given category (e.g. a car), and has to reconstruct the pose and shape of the object despite intra-class variability (i.e. different car models have different shapes). We consider an active shape model, where -- for an object category -- we are given a library of potential CAD models describing objects in that category, and we adopt a standard formulation where pose and shape estimation are formulated as a non-convex optimization. Our first contribution is to provide the first certifiably optimal solver for pose and shape estimation. In particular, we show that rotation estimation can be decoupled from the estimation of the object translation and shape, and we demonstrate that (i) the optimal object rotation can be computed via a tight (small-size) semidefinite relaxation, and (ii) the translation and shape parameters can be computed in closed-form given the rotation. Our second contribution is to add an outlier rejection layer to our solver, hence making it robust to a large number of misdetections. Towards this goal, we wrap our optimal solver in a robust estimation scheme based on graduated non-convexity. To further enhance robustness to outliers, we also develop the first graph-theoretic formulation to prune outliers in category-level perception, which removes outliers via convex hull and maximum clique computations; the resulting approach is robust to 70%-90% outliers. Our third contribution is an extensive experimental evaluation. Besides providing an ablation study on a simulated dataset and on the PASCAL3D+ dataset, we combine our solver with a deep-learned keypoint detector, and show that the resulting approach improves over the state of the art in vehicle pose estimation in the ApolloScape datasets

    Fast joint detection-estimation of evoked brain activity in event-related fMRI using a variational approach

    Get PDF
    In standard clinical within-subject analyses of event-related fMRI data, two steps are usually performed separately: detection of brain activity and estimation of the hemodynamic response. Because these two steps are inherently linked, we adopt the so-called region-based Joint Detection-Estimation (JDE) framework that addresses this joint issue using a multivariate inference for detection and estimation. JDE is built by making use of a regional bilinear generative model of the BOLD response and constraining the parameter estimation by physiological priors using temporal and spatial information in a Markovian modeling. In contrast to previous works that use Markov Chain Monte Carlo (MCMC) techniques to approximate the resulting intractable posterior distribution, we recast the JDE into a missing data framework and derive a Variational Expectation-Maximization (VEM) algorithm for its inference. A variational approximation is used to approximate the Markovian model in the unsupervised spatially adaptive JDE inference, which allows fine automatic tuning of spatial regularisation parameters. It follows a new algorithm that exhibits interesting properties compared to the previously used MCMC-based approach. Experiments on artificial and real data show that VEM-JDE is robust to model mis-specification and provides computational gain while maintaining good performance in terms of activation detection and hemodynamic shape recovery

    Curved Gabor Filters for Fingerprint Image Enhancement

    Full text link
    Gabor filters play an important role in many application areas for the enhancement of various types of images and the extraction of Gabor features. For the purpose of enhancing curved structures in noisy images, we introduce curved Gabor filters which locally adapt their shape to the direction of flow. These curved Gabor filters enable the choice of filter parameters which increase the smoothing power without creating artifacts in the enhanced image. In this paper, curved Gabor filters are applied to the curved ridge and valley structure of low-quality fingerprint images. First, we combine two orientation field estimation methods in order to obtain a more robust estimation for very noisy images. Next, curved regions are constructed by following the respective local orientation and they are used for estimating the local ridge frequency. Lastly, curved Gabor filters are defined based on curved regions and they are applied for the enhancement of low-quality fingerprint images. Experimental results on the FVC2004 databases show improvements of this approach in comparison to state-of-the-art enhancement methods

    Shape constrained additive models

    Get PDF
    A framework is presented for generalized additive modelling under shape constraints on the component functions of the linear predictor of the GAM. We represent shape constrained model components by mildly non-linear extensions of P-splines. Models can contain multiple shape constrained and unconstrained terms as well as shape constrained multi-dimensional smooths. The constraints considered are on the sign of the first or/and the second derivatives of the smooth terms. A key advantage of the approach is that it facilitates efficient estimation of smoothing parameters as an integral part of model estimation, via GCV or AIC, and numerically robust algorithms for this are presented. We also derive simulation free approximate Bayesian confidence intervals for the smooth components, which are shown to achieve close to nominal coverage probabilities. Applications are presented using real data examples including the risk of disease in relation to proximity to municipal incinerators and the association between air pollution and health

    ViSE: Vision-Based 3D Online Shape Estimation of Continuously Deformable Robots

    Full text link
    The precise control of soft and continuum robots requires knowledge of their shape. The shape of these robots has, in contrast to classical rigid robots, infinite degrees of freedom. To partially reconstruct the shape, proprioceptive techniques use built-in sensors resulting in inaccurate results and increased fabrication complexity. Exteroceptive methods so far rely on placing reflective markers on all tracked components and triangulating their position using multiple motion-tracking cameras. Tracking systems are expensive and infeasible for deformable robots interacting with the environment due to marker occlusion and damage. Here, we present a regression approach for 3D shape estimation using a convolutional neural network. The proposed approach takes advantage of data-driven supervised learning and is capable of real-time marker-less shape estimation during inference. Two images of a robotic system are taken simultaneously at 25 Hz from two different perspectives, and are fed to the network, which returns for each pair the parameterized shape. The proposed approach outperforms marker-less state-of-the-art methods by a maximum of 4.4% in estimation accuracy while at the same time being more robust and requiring no prior knowledge of the shape. The approach can be easily implemented due to only requiring two color cameras without depth and not needing an explicit calibration of the extrinsic parameters. Evaluations on two types of soft robotic arms and a soft robotic fish demonstrate our method's accuracy and versatility on highly deformable systems in real-time. The robust performance of the approach against different scene modifications (camera alignment and brightness) suggests its generalizability to a wider range of experimental setups, which will benefit downstream tasks such as robotic grasping and manipulation

    A convexity approach to dynamic output feedback robust MPC for LPV systems with bounded disturbances

    Get PDF
    International audienceA convexity approach to dynamic output feedback robust model predictive control (OFRMPC) is proposed for linear parameter varying (LPV) systems with bounded disturbances. At each sampling time, the model parameters and disturbances are assumed to be unknown but bounded within pre-specified convex sets. Robust stability conditions on the augmented closed-loop system are derived using the techniques of robust positively invariant (RPI) set and the S-procedure. A convexity method reformulates the non-convex bilinear matrix inequalities (BMIs) problem as a convex optimization one such that the on-line computational burden is significantly reduced. The on-line optimized dynamic output feedback controller parameters steer the augmented states to converge within RPI sets and recursive feasibility of the optimization problem is guaranteed. Furthermore, bounds of the estimation error set are refreshed by updating the shape matrix of the future ellipsoidal estimation error set. The dynamic OFRMPC approach guarantees that the disturbance-free augmented closed-loop system (without consideration of disturbances) converges to the origin. In addition, when the system is subject to bounded disturbances, the augmented closed-loop system converges to a neighborhood of the origin. Two simulation examples are given to verify the effectiveness of the approach
    corecore