Exploiting Spatio-Temporal Coherence for Video Object Detection in Robotics

This paper proposes a method to enhance video object detection for indoor environments in robotics. Concretely, it exploits knowledge about the camera motion between frames to propagate previously detected objects to successive frames. The proposal is rooted in the concepts of planar homography to propose regions of interest where to find objects, and recursive Bayesian filtering to integrate observations over time. The proposal is evaluated on six virtual, indoor environments, accounting for the detection of nine object classes over a total of ∼ 7k frames. Results show that our proposal improves the recall and the F1-score by a factor of 1.41 and 1.27, respectively, as well as it achieves a significant reduction of the object categorization entropy (58.8%) when compared to a two-stage video object detection method used as baseline, at the cost of small time overheads (120 ms) and precision loss (0.92).</p

Efficient Sparse Approximation Methods for Medical Imaging.

For thousands of years, doctors had to face the daunting task of diagnosing and treating all sorts of medical ailments without the ability to view the insides of their patients. It was not until the 1970's that CT and MRI technology enabled doctors to develop cross-sectional images of internal anatomy. This work discusses the application of sparse approximation theory and the closely related field compressive sensing to medical image processing. We discuss one related theoretical problem and two major practical applications. Orthogonal Matching Pursuit (OMP) is a fast and efficient greedy algorithm that is well known in the sparse approximation community. We prove restricted isometry conditions that guarantee its correctness and establish theoretical error bounds on its performance. Then we prove stronger results for variations of this algorithm where multiple items are allowed to be selected per iteration. The orthogonalized matching pursuit algorithms are then applied to the problem of recovering sparse gradient images from a small number of Fourier samples. In MRI, this translates into reducing patient scan time by eliminating the need to sample the entire spectrum of an image at the Nyquist rate. A novel algorithm called Gradient Matching Pursuit is introduced that uses some variation of OMP to recover an image in the edge domain and then use one of several proposed inverse-filtering techniques to obtain a final reconstruction. Gradient Matching Pursuit is analyzed theoretically and is empirically shown to perform as accurately, but more efficiently, than conventional total-variation minimization routines. The last part of this work will describe how sparse approximation methods can be utilized to correct imperfections in MRI transmission coils. In the general case of an MRI scanner with multiple transmission coils, the MRI Parallel Excitation problem can be recast into a parallel sparse approximation problem, which is basically an interpolation between sparse and simultaneous sparse approximation. An efficient algorithm called Parallel Orthogonal Matching Pursuit is proposed to solve the MRI Parallel Excitation Problem as well as other similar problems.Ph.D.Applied and Interdisciplinary MathematicsUniversity of Michigan, Horace H. Rackham School of Graduate Studieshttp://deepblue.lib.umich.edu/bitstream/2027.42/64764/1/rmaleh_1.pd

ИНТЕЛЛЕКТУАЛЬНЫЙ числовым программным ДЛЯ MIMD-компьютер

For most scientific and engineering problems simulated on computers the solving of problems of the computational mathematics with approximately given initial data constitutes an intermediate or a final stage. Basic problems of the computational mathematics include the investigating and solving of linear algebraic systems, evaluating of eigenvalues and eigenvectors of matrices, the solving of systems of non-linear equations, numerical integration of initial- value problems for systems of ordinary differential equations.Для більшості наукових та інженерних задач моделювання на ЕОМ рішення задач обчислювальної математики з наближено заданими вихідними даними складає проміжний або остаточний етап. Основні проблеми обчислювальної математики відносяться дослідження і рішення лінійних алгебраїчних систем оцінки власних значень і власних векторів матриць, рішення систем нелінійних рівнянь, чисельного інтегрування початково задач для систем звичайних диференціальних рівнянь.Для большинства научных и инженерных задач моделирования на ЭВМ решение задач вычислительной математики с приближенно заданным исходным данным составляет промежуточный или окончательный этап. Основные проблемы вычислительной математики относятся исследования и решения линейных алгебраических систем оценки собственных значений и собственных векторов матриц, решение систем нелинейных уравнений, численного интегрирования начально задач для систем обыкновенных дифференциальных уравнений

Compressive Sensing for Microwave and Millimeter-Wave Array Imaging

PhDCompressive Sensing (CS) is a recently proposed signal processing technique that has already found many applications in microwave and millimeter-wave imaging. CS theory guarantees that sparse or compressible signals can be recovered from far fewer measure- ments than those were traditionally thought necessary. This property coincides with the goal of personnel surveillance imaging whose priority is to reduce the scanning time as much as possible. Therefore, this thesis investigates the implementation of CS techniques in personnel surveillance imaging systems with different array configurations. The first key contribution is the comparative study of CS methods in a switched array imaging system. Specific attention has been paid to situations where the array element spacing does not satisfy the Nyquist criterion due to physical limitations. CS methods are divided into the Fourier transform based CS (FT-CS) method that relies on conventional FT and the direct CS (D-CS) method that directly utilizes classic CS formulations. The performance of the two CS methods is compared with the conventional FT method in terms of resolution, computational complexity, robustness to noise and under-sampling. Particularly, the resolving power of the two CS methods is studied under various cir- cumstances. Both numerical and experimental results demonstrate the superiority of CS methods. The FT-CS and D-CS methods are complementary techniques that can be used together for optimized efficiency and image reconstruction. The second contribution is a novel 3-D compressive phased array imaging algorithm based on a more general forward model that takes antenna factors into consideration. Imaging results in both range and cross-range dimensions show better performance than the conventional FT method. Furthermore, suggestions on how to design the sensing con- figurations for better CS reconstruction results are provided based on coherence analysis. This work further considers the near-field imaging with a near-field focusing technique integrated into the CS framework. Simulation results show better robustness against noise and interfering targets from the background. The third contribution presents the effects of array configurations on the performance of the D-CS method. Compressive MIMO array imaging is first derived and demonstrated with a cross-shaped MIMO array. The switched array, MIMO array and phased array are then investigated together under the compressive imaging framework. All three methods have similar resolution due to the same effective aperture. As an alternative scheme for the switched array, the MIMO array is able to achieve comparable performance with far fewer antenna elements. While all three array configurations are capable of imaging with sub-Nyquist element spacing, the phased array is more sensitive to this element spacing factor. Nevertheless, the phased array configuration achieves the best robustness against noise at the cost of higher computational complexity. The final contribution is the design of a novel low-cost beam-steering imaging system using a flat Luneburg lens. The idea is to use a switched array at the focal plane of the Luneburg lens to control the beam-steering. By sequentially exciting each element, the lens forms directive beams to scan the region of interest. The adoption of CS for image reconstruction enables high resolution and also data under-sampling. Numerical simulations based on mechanically scanned data are conducted to verify the proposed imaging system.China Scholarship Council Engineering and Physical Sciences Research Council (EPSRC) funding (EP/I034548/1)

Mixture of Factor Analyzers with Information Criteria and the Genetic Algorithm

In this dissertation, we have developed and combined several statistical techniques in Bayesian factor analysis (BAYFA) and mixture of factor analyzers (MFA) to overcome the shortcoming of these existing methods. Information Criteria are brought into the context of the BAYFA model as a decision rule for choosing the number of factors m along with the Press and Shigemasu method, Gibbs Sampling and Iterated Conditional Modes deterministic optimization. Because of sensitivity of BAYFA on the prior information of the factor pattern structure, the prior factor pattern structure is learned directly from the given sample observations data adaptively using Sparse Root algorithm. Clustering and dimensionality reduction have long been considered two of the fundamental problems in unsupervised learning or statistical pattern recognition. In this dissertation, we shall introduce a novel statistical learning technique by focusing our attention on MFA from the perspective of a method for model-based density estimation to cluster the high-dimensional data and at the same time carry out factor analysis to reduce the curse of dimensionality simultaneously in an expert data mining system. The typical EM algorithm can get trapped in one of the many local maxima therefore, it is slow to converge and can never converge to global optima, and highly dependent upon initial values. We extend the EM algorithm proposed by \cite{Gahramani1997} for the MFA using intelligent initialization techniques, K-means and regularized Mahalabonis distance and introduce the new Genetic Expectation Algorithm (GEM) into MFA in order to overcome the shortcomings of typical EM algorithm. Another shortcoming of EM algorithm for MFA is assuming the variance of the error vector and the number of factors is the same for each mixture. We propose Two Stage GEM algorithm for MFA to relax this constraint and obtain different numbers of factors for each population. In this dissertation, our approach will integrate statistical modeling procedures based on the information criteria as a fitness function to determine the number of mixture clusters and at the same time to choose the number factors that can be extracted from the data