50 research outputs found
Contribuciones sobre métodos óptimos y subóptimos de aproximaciones poligonales de curvas 2-D
Esta tesis versa sobre el an álisis de la forma de objetos 2D. En visión articial existen
numerosos aspectos de los que se pueden extraer información. Uno de los más usados es la
forma o el contorno de esos objetos. Esta característica visual de los objetos nos permite,
mediante el procesamiento adecuado, extraer información de los objetos, analizar escenas, etc.
No obstante el contorno o silueta de los objetos contiene información redundante. Este
exceso de datos que no aporta nuevo conocimiento debe ser eliminado, con el objeto de agilizar
el procesamiento posterior o de minimizar el tamaño de la representación de ese contorno, para
su almacenamiento o transmisión. Esta reducción de datos debe realizarse sin que se produzca
una pérdida de información importante para representación del contorno original. Se puede
obtener una versión reducida de un contorno eliminando puntos intermedios y uniendo los
puntos restantes mediante segmentos. Esta representación reducida de un contorno se conoce
como aproximación poligonal.
Estas aproximaciones poligonales de contornos representan, por tanto, una versión comprimida
de la información original. El principal uso de las mismas es la reducción del volumen
de información necesario para representar el contorno de un objeto. No obstante, en los últimos años estas aproximaciones han sido usadas para el reconocimiento de objetos. Para ello los algoritmos
de aproximaci ón poligonal se han usado directamente para la extracci ón de los vectores
de caracter ísticas empleados en la fase de aprendizaje.
Las contribuciones realizadas por tanto en esta tesis se han centrado en diversos aspectos de
las aproximaciones poligonales. En la primera contribución se han mejorado varios algoritmos
de aproximaciones poligonales, mediante el uso de una fase de preprocesado que acelera estos algoritmos permitiendo incluso mejorar la calidad de las soluciones en un menor tiempo. En la segunda contribución se ha propuesto un nuevo algoritmo de aproximaciones poligonales que obtiene soluciones optimas en un menor espacio de tiempo que el resto de métodos que aparecen en la literatura. En la tercera contribución se ha propuesto un algoritmo de aproximaciones que
es capaz de obtener la solución óptima en pocas iteraciones en la mayor parte de los casos. Por último, se ha propuesto una versi ón mejorada del algoritmo óptimo para obtener aproximaciones poligonales que soluciona otro problema de optimización alternativo.This thesis focus on the analysis of the shape of objects. In computer vision there are
several sources from which we can extract information. One of the most important source of
information is the shape or contour of objects. This visual characteristic can be used to extract
information, analyze the scene, etc.
However, the contour of the objects contains redundant information. This redundant data
does not add new information and therefore, must be deleted in order to minimize the processing
burden and reducing the amount of data to represent that shape. This reduction of data
should be done without losing important information to represent the original contour. A
reduced version of a contour can be obtained by deleting some points of the contour and linking
the remaining points by using line segments. This reduced version of a contour is known as
polygonal approximation in the literature.
Therefore, these polygonal approximation represent a compressed version of the original
information. The main use of polygonal approximations is to reduce the amount of information
needed to represent the contour of an object. However, in recent years polygonal approximations
have been used to recognize objects. For this purpose, the feature vectors have been extracted
from the polygonal approximations.
The contributions proposed in this thesis have focused on several aspects of polygonal approximations.
The rst contribution has improved several algorithms to obtain polygonal approximations,
by adding a new stage of preprocessing which boost the whole method. The
quality of the solutions obtained has also been improved and the computation time reduced.
The second contribution proposes a novel algorithm which obtains optimal polygonal approximations
in a shorter time than the optimal methods found in the literature. The third contribution
proposes a new method which may obtain the optimal solution after few iterations
in most cases. Finally, an improved version of the optimal polygonal approximation algorithm
has been proposed to solve an alternative optimization problem
Coverage & cooperation: Completing complex tasks as quickly as possible using teams of robots
As the robotics industry grows and robots enter our homes and public spaces, they are increasingly expected to work in cooperation with each other. My thesis focuses on multirobot planning, specifically in the context of coverage robots, such as robotic lawnmowers and vacuum cleaners.
Two problems unique to multirobot teams are task allocation and search. I present a task allocation algorithm which balances the workload amongst all robots in the team with the objective of minimizing the overall mission time. I also present a search algorithm which robots can use to find lost teammates. It uses a probabilistic belief of a target robot’s position to create a planning tree and then searches by following the best path in the tree.
For robust multirobot coverage, I use both the task allocation and search algorithms. First the coverage region is divided into a set of small coverage tasks which minimize the number of turns the robots will need to take. These tasks are then allocated to individual robots. During the mission, robots replan with nearby robots to rebalance the workload and, once a robot has finished its tasks, it searches for teammates to help them finish their tasks faster
A multi-agent system for on-the-fly web map generation and spatial conflict resolution
Résumé Internet est devenu un moyen de diffusion de l’information géographique par excellence. Il offre de plus en plus de services cartographiques accessibles par des milliers d’internautes à travers le monde. Cependant, la qualité de ces services doit être améliorée, principalement en matière de personnalisation. A cette fin, il est important que la carte générée corresponde autant que possible aux besoins, aux préférences et au contexte de l’utilisateur. Ce but peut être atteint en appliquant les transformations appropriées, en temps réel, aux objets de l’espace à chaque cycle de génération de la carte. L’un des défis majeurs de la génération d’une carte à la volée est la résolution des conflits spatiaux qui apparaissent entre les objets, essentiellement à cause de l’espace réduit des écrans d’affichage. Dans cette thèse, nous proposons une nouvelle approche basée sur la mise en œuvre d’un système multiagent pour la génération à la volée des cartes et la résolution des conflits spatiaux. Cette approche est basée sur l’utilisation de la représentation multiple et la généralisation cartographique. Elle résout les conflits spatiaux et génère les cartes demandées selon une stratégie innovatrice : la génération progressive des cartes par couches d’intérêt. Chaque couche d’intérêt contient tous les objets ayant le même degré d’importance pour l’utilisateur. Ce contenu est déterminé à la volée au début du processus de génération de la carte demandée. Notre approche multiagent génère et transfère cette carte suivant un mode parallèle. En effet, une fois une couche d’intérêt générée, elle est transmise à l’utilisateur. Dans le but de résoudre les conflits spatiaux, et par la même occasion générer la carte demandée, nous affectons un agent logiciel à chaque objet de l’espace. Les agents entrent ensuite en compétition pour l’occupation de l’espace disponible. Cette compétition est basée sur un ensemble de priorités qui correspondent aux différents degrés d’importance des objets pour l’utilisateur. Durant la résolution des conflits, les agents prennent en considération les besoins et les préférences de l’utilisateur afin d’améliorer la personnalisation de la carte. Ils améliorent la lisibilité des objets importants et utilisent des symboles qui pourraient aider l’utilisateur à mieux comprendre l’espace géographique. Le processus de génération de la carte peut être interrompu en tout temps par l’utilisateur lorsque les données déjà transmises répondent à ses besoins. Dans ce cas, son temps d’attente est réduit, étant donné qu’il n’a pas à attendre la génération du reste de la carte. Afin d’illustrer notre approche, nous l’appliquons au contexte de la cartographie sur le web ainsi qu’au contexte de la cartographie mobile. Dans ces deux contextes, nous catégorisons nos données, qui concernent la ville de Québec, en quatre couches d’intérêt contenant les objets explicitement demandés par l’utilisateur, les objets repères, le réseau routier et les objets ordinaires qui n’ont aucune importance particulière pour l’utilisateur. Notre système multiagent vise à résoudre certains problèmes liés à la génération à la volée des cartes web. Ces problèmes sont les suivants : 1. Comment adapter le contenu des cartes, à la volée, aux besoins des utilisateurs ? 2. Comment résoudre les conflits spatiaux de manière à améliorer la lisibilité de la carte tout en prenant en considération les besoins de l’utilisateur ? 3. Comment accélérer la génération et le transfert des données aux utilisateurs ? Les principales contributions de cette thèse sont : 1. La résolution des conflits spatiaux en utilisant les systèmes multiagent, la généralisation cartographique et la représentation multiple. 2. La génération des cartes dans un contexte web et dans un contexte mobile, à la volée, en utilisant les systèmes multiagent, la généralisation cartographique et la représentation multiple. 3. L’adaptation des contenus des cartes, en temps réel, aux besoins de l’utilisateur à la source (durant la première génération de la carte). 4. Une nouvelle modélisation de l’espace géographique basée sur une architecture multi-couches du système multiagent. 5. Une approche de génération progressive des cartes basée sur les couches d’intérêt. 6. La génération et le transfert, en parallèle, des cartes aux utilisateurs, dans les contextes web et mobile.Abstract Internet is a fast growing medium to get and disseminate geospatial information. It provides more and more web mapping services accessible by thousands of users worldwide. However, the quality of these services needs to be improved, especially in term of personalization. In order to increase map flexibility, it is important that the map corresponds as much as possible to the user’s needs, preferences and context. This may be possible by applying the suitable transformations, in real-time, to spatial objects at each map generation cycle. An underlying challenge of such on-the-fly map generation is to solve spatial conflicts that may appear between objects especially due to lack of space on display screens. In this dissertation, we propose a multiagent-based approach to address the problems of on-the-fly web map generation and spatial conflict resolution. The approach is based upon the use of multiple representation and cartographic generalization. It solves conflicts and generates maps according to our innovative progressive map generation by layers of interest approach. A layer of interest contains objects that have the same importance to the user. This content, which depends on the user’s needs and the map’s context of use, is determined on-the-fly. Our multiagent-based approach generates and transfers data of the required map in parallel. As soon as a given layer of interest is generated, it is transmitted to the user. In order to generate a given map and solve spatial conflicts, we assign a software agent to every spatial object. Then, the agents compete for space occupation. This competition is driven by a set of priorities corresponding to the importance of objects for the user. During processing, agents take into account users’ needs and preferences in order to improve the personalization of the final map. They emphasize important objects by improving their legibility and using symbols in order to help the user to better understand the geographic space. Since the user can stop the map generation process whenever he finds the required information from the amount of data already transferred, his waiting delays are reduced. In order to illustrate our approach, we apply it to the context of tourist web and mobile mapping applications. In these contexts, we propose to categorize data into four layers of interest containing: explicitly required objects, landmark objects, road network and ordinary objects which do not have any specific importance for the user. In this dissertation, our multiagent system aims at solving the following problems related to on-the-fly web mapping applications: 1. How can we adapt the contents of maps to users’ needs on-the-fly? 2. How can we solve spatial conflicts in order to improve the legibility of maps while taking into account users’ needs? 3. How can we speed up data generation and transfer to users? The main contributions of this thesis are: 1. The resolution of spatial conflicts using multiagent systems, cartographic generalization and multiple representation. 2. The generation of web and mobile maps, on-the-fly, using multiagent systems, cartographic generalization and multiple representation. 3. The real-time adaptation of maps’ contents to users’ needs at the source (during the first generation of the map). 4. A new modeling of the geographic space based upon a multi-layers multiagent system architecture. 5. A progressive map generation approach by layers of interest. 6. The generation and transfer of web and mobile maps at the same time to users
Problemas de localização-distribuição de serviços semiobnóxios: aproximações e apoio à decisão
Doutoramento em Gestão IndustrialA presente tese resulta de um trabalho de investigação cujo objectivo se
centrou no problema de localização-distribuição (PLD) que pretende abordar,
de forma integrada, duas actividades logísticas intimamente relacionadas: a
localização de equipamentos e a distribuição de produtos.
O PLD, nomeadamente a sua modelação matemática, tem sido estudado na
literatura, dando origem a diversas aproximações que resultam de diferentes
cenários reais. Importa portanto agrupar as diferentes variantes por forma a
facilitar e potenciar a sua investigação. Após fazer uma revisão e propor uma
taxonomia dos modelos de localização-distribuição, este trabalho foca-se na
resolução de alguns modelos considerados como mais representativos. É feita
assim a análise de dois dos PLDs mais básicos (os problema capacitados com
procura nos nós e nos arcos), sendo apresentadas, para ambos, propostas de
resolução. Posteriormente, é abordada a localização-distribuição de serviços
semiobnóxios. Este tipo de serviços, ainda que seja necessário e
indispensável para o público em geral, dada a sua natureza, exerce um efeito
desagradável sobre as comunidades contíguas. Assim, aos critérios
tipicamente utilizados na tomada de decisão sobre a localização destes
serviços (habitualmente a minimização de custo) é necessário adicionar
preocupações que reflectem a manutenção da qualidade de vida das regiões
que sofrem o impacto do resultado da referida decisão.
A abordagem da localização-distribuição de serviços semiobnóxios requer
portanto uma análise multi-objectivo. Esta análise pode ser feita com recurso a
dois métodos distintos: não interactivos e interactivos. Ambos são abordados
nesta tese, com novas propostas, sendo o método interactivo proposto
aplicável a outros problemas de programação inteira mista multi-objectivo.
Por último, é desenvolvida uma ferramenta de apoio à decisão para os
problemas abordados nesta tese, sendo apresentada a metodologia adoptada
e as suas principais funcionalidades. A ferramenta desenvolvida tem grandes
preocupações com a interface de utilizador, visto ser direccionada para
decisores que tipicamente não têm conhecimentos sobre os modelos
matemáticos subjacentes a este tipo de problemas.This thesis main objective is to address the location-routing problem (LRP)
which intends to tackle, using an integrated approach, two highly related
logistics activities: the location of facilities and the distribution of materials.
The LRP, namely its mathematical formulation, has been studied in the
literature, and several approaches have emerged, corresponding to different
real-world scenarios. Therefore, it is important to identify and group the
different LRP variants, in order to segment current research and foster future
studies. After presenting a review and a taxonomy of location-routing models,
the following research focuses on solving some of its variants. Thus, a study of
two of the most basic LRPs (capacitated problems with demand either on the
nodes or on the arcs) is performed, and new approaches are presented.
Afterwards, the location-routing of semi-obnoxious facilities is addressed.
These are facilities that, although providing useful and indispensible services,
given their nature, bring about an undesirable effect to adjacent communities.
Consequently, to the usual objectives when considering their location (cost
minimization), new ones must be added that are able to reflect concerns
regarding the quality of life of the communities impacted by the outcome of
these decisions.
The location-routing of semi-obnoxious facilities therefore requires to be
analysed using multi-objective approaches, which can be of two types: noninteractive
or interactive. Both are discussed and new methods proposed in this
thesis; the proposed interactive method is suitable to other multi-objective
mixed integer programming problems.
Finally, a newly developed decision-support tool to address the LRP is
presented (being the adopted methodology discussed, and its main
functionalities shown). This tool has great concerns regarding the user
interface, as it is directed at decision makers who typically don’t have specific
knowledge of the underlying models of this type of problems
Introduction to Facial Micro Expressions Analysis Using Color and Depth Images: A Matlab Coding Approach (Second Edition, 2023)
The book attempts to introduce a gentle introduction to the field of Facial
Micro Expressions Recognition (FMER) using Color and Depth images, with the aid
of MATLAB programming environment. FMER is a subset of image processing and it
is a multidisciplinary topic to analysis. So, it requires familiarity with
other topics of Artifactual Intelligence (AI) such as machine learning, digital
image processing, psychology and more. So, it is a great opportunity to write a
book which covers all of these topics for beginner to professional readers in
the field of AI and even without having background of AI. Our goal is to
provide a standalone introduction in the field of MFER analysis in the form of
theorical descriptions for readers with no background in image processing with
reproducible Matlab practical examples. Also, we describe any basic definitions
for FMER analysis and MATLAB library which is used in the text, that helps
final reader to apply the experiments in the real-world applications. We
believe that this book is suitable for students, researchers, and professionals
alike, who need to develop practical skills, along with a basic understanding
of the field. We expect that, after reading this book, the reader feels
comfortable with different key stages such as color and depth image processing,
color and depth image representation, classification, machine learning, facial
micro-expressions recognition, feature extraction and dimensionality reduction.
The book attempts to introduce a gentle introduction to the field of Facial
Micro Expressions Recognition (FMER) using Color and Depth images, with the aid
of MATLAB programming environment.Comment: This is the second edition of the boo
LIPIcs, Volume 244, ESA 2022, Complete Volume
LIPIcs, Volume 244, ESA 2022, Complete Volum
Rationalization of trusses and yield-line patterns identified using layout optimization
To help engineers to design and analyse structures, various tools exist. However, many of them are complicated and difficult for engineers to master. In industry simple, accurate, and rapid tools are potentially very useful. The development of such tools has thus been the main focus of this thesis.
One application is the design of lightweight truss structures. Although techniques have been available to identify efficient truss designs for more than half a century, these are not widely used in industry. A major problem is that the structures generated are often complex in form, so that manufacturing becomes problematic. To address this, the current research explores two rationalization techniques: (i) introducing joint lengths to control the number of joints that exist in the resulting structure; and (ii) utilising geometry optimization to adjust the locations of joints in a truss. The former involves a minor modification to the standard process such that it retains the linear nature of the original problem, while the latter solves a more challenging non-linear optimization problem that can simultaneously simplify (make less complicated) and improve (make lighter) a given truss layout. To ensure a rapid and reliable process for the latter, analytical expressions of functions and their derivatives are supplied to a general purpose non-linear optimizer and various practical issues are also considered. A number of benchmark problems are solved to show the efficacy of the two rationalization techniques.
Another application is yield-line analysis of reinforced concrete slabs. Even in the modern computer age, with many engineering analysis procedures successfully computerized, a fully automated means of undertaking a yield-line analysis has been lacking, forcing engineers in industry to use hand-calculations in order to benefit from the power of the yield-line method. This thesis is therefore concerned with the development of techniques that automate this method. By utilising the novel discontinuity layout optimization (DLO) method, the process of yield-line analysis has been truly automated at last. In addition, motivated by the outcomes of the rationalization procedure developed for trusses, research has been conducted to rationalize yield-line patterns generated via DLO. Similar to the technique used in trusses, analytical expressions of functions and their derivatives are deduced and then supplied to a non-linear optimizer, leading to a rapid and reliable computational process. To make DLO and the rationalization ready for use in industry, various slab configurations found in practice are also considered, permitting challenging slab problems to be tackled using the method. A number of examples from the literature and industry are analysed to demonstrate the efficacy of DLO and the rationalization technique