99,765 research outputs found
Local Stereo Matching Using Adaptive Local Segmentation
We propose a new dense local stereo matching framework for gray-level images based on an adaptive local segmentation using a dynamic threshold. We define a new validity domain of the fronto-parallel assumption based on the local intensity variations in the 4-neighborhood of the matching pixel. The preprocessing step smoothes low textured areas and sharpens texture edges, whereas the postprocessing step detects and recovers occluded and unreliable disparities. The algorithm achieves high stereo reconstruction quality in regions with uniform intensities as well as in textured regions. The algorithm is robust against local radiometrical differences; and successfully recovers disparities around the objects edges, disparities of thin objects, and the disparities of the occluded region. Moreover, our algorithm intrinsically prevents errors caused by occlusion to propagate into nonoccluded regions. It has only a small number of parameters. The performance of our algorithm is evaluated on the Middlebury test bed stereo images. It ranks highly on the evaluation list outperforming many local and global stereo algorithms using color images. Among the local algorithms relying on the fronto-parallel assumption, our algorithm is the best ranked algorithm. We also demonstrate that our algorithm is working well on practical examples as for disparity estimation of a tomato seedling and a 3D reconstruction of a face
Provably safe cruise control of vehicular platoons
We synthesize performance-aware safe cruise control policies for longitudinal motion of platoons of autonomous vehicles. Using set-invariance theories, we guarantee infinite-time collision avoidance in the presence of bounded additive disturbances, while ensuring that the length and the cruise speed of the platoon are bounded within specified ranges. We propose: 1) a centralized control policy and 2) a distributed control policy, where each vehicle's control decision depends solely on its relative kinematics with respect to the platoon leader. Numerical examples are included.NSF; CPS-1446151; CMMI-1400167; FA 9550-15-1-0186 - AFOSR; Schlumberger Foundation Faculty for the Future Fellowship; FA 9550-15-1-0186 - AFOSR; NSF; ECCS-1550016; CNS 123922
Overlap Removal of Dimensionality Reduction Scatterplot Layouts
Dimensionality Reduction (DR) scatterplot layouts have become a ubiquitous
visualization tool for analyzing multidimensional data items with presence in
different areas. Despite its popularity, scatterplots suffer from occlusion,
especially when markers convey information, making it troublesome for users to
estimate items' groups' sizes and, more importantly, potentially obfuscating
critical items for the analysis under execution. Different strategies have been
devised to address this issue, either producing overlap-free layouts, lacking
the powerful capabilities of contemporary DR techniques in uncover interesting
data patterns, or eliminating overlaps as a post-processing strategy. Despite
the good results of post-processing techniques, the best methods typically
expand or distort the scatterplot area, thus reducing markers' size (sometimes)
to unreadable dimensions, defeating the purpose of removing overlaps. This
paper presents a novel post-processing strategy to remove DR layouts' overlaps
that faithfully preserves the original layout's characteristics and markers'
sizes. We show that the proposed strategy surpasses the state-of-the-art in
overlap removal through an extensive comparative evaluation considering
multiple different metrics while it is 2 or 3 orders of magnitude faster for
large datasets.Comment: 11 pages and 9 figure
Project SEMACODE : a scale-invariant object recognition system for content-based queries in image databases
For the efficient management of large image databases, the automated characterization of images and the usage of that characterization for searching and ordering tasks is highly desirable. The purpose of the project SEMACODE is to combine the still unsolved problem of content-oriented characterization of images with scale-invariant object recognition and modelbased compression methods. To achieve this goal, existing techniques as well as new concepts related to pattern matching, image encoding, and image compression are examined. The resulting methods are integrated in a common framework with the aid of a content-oriented conception. For the application, an image database at the library of the university of Frankfurt/Main (StUB; about 60000 images), the required operations are developed. The search and query interfaces are defined in close cooperation with the StUB project “Digitized Colonial Picture Library”. This report describes the fundamentals and first results of the image encoding and object recognition algorithms developed within the scope of the project
Static spectropolarimeter concept adapted to space conditions and wide spectrum constraints
The issues related to moving elements in space and instruments working in
broader wavelength ranges lead to a need for robust polarimeters, efficient on
a wide spectral domain, and adapted to space conditions. As part of the UVMag
consortium, created to develop spectropolarimetric UV facilities in space, such
as the Arago mission project, we present an innovative concept of static
spectropolarimetry. We studied a static and polychromatic method for
spectropolarimetry, applicable to stellar physics. Instead of modulating the
polarization information temporally, as usually done in spectropolarimeters,
the modulation is performed in a spatial direction, orthogonal to the spectral
one. Thanks to the proportionality between phase retardance imposed by a
birefringent material and its thickness, birefringent wedges can be used to
create this spatial modulation. The light is then spectrally cross-dispersed,
and a full-Stokes determination of the polarization over the whole spectrum can
be obtained with a single-shot measurement. The use of Magnesium Fluoride
wedges, for example, could lead to a compact, static polarimeter working at
wavelengths from 0.115 mm up to 7 mm. We present the theory and simulations of
this concept, as well as laboratory validation and a practical application to
Arago.Comment: Article accepted for publication in Applied Optics on 20 July 201
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