Object recognition using shape-from-shading

This paper investigates whether surface topography information extracted from intensity images using a recently reported shape-from-shading (SFS) algorithm can be used for the purposes of 3D object recognition. We consider how curvature and shape-index information delivered by this algorithm can be used to recognize objects based on their surface topography. We explore two contrasting object recognition strategies. The first of these is based on a low-level attribute summary and uses histograms of curvature and orientation measurements. The second approach is based on the structural arrangement of constant shape-index maximal patches and their associated region attributes. We show that region curvedness and a string ordering of the regions according to size provides recognition accuracy of about 96 percent. By polling various recognition schemes. including a graph matching method. we show that a recognition rate of 98-99 percent is achievable

Approaching the Problem of Time with a Combined Semiclassical-Records-Histories Scheme

I approach the Problem of Time and other foundations of Quantum Cosmology using a combined histories, timeless and semiclassical approach. This approach is along the lines pursued by Halliwell. It involves the timeless probabilities for dynamical trajectories entering regions of configuration space, which are computed within the semiclassical regime. Moreover, the objects that Halliwell uses in this approach commute with the Hamiltonian constraint, H. This approach has not hitherto been considered for models that also possess nontrivial linear constraints, Lin. This paper carries this out for some concrete relational particle models (RPM's). If there is also commutation with Lin - the Kuchar observables condition - the constructed objects are Dirac observables. Moreover, this paper shows that the problem of Kuchar observables is explicitly resolved for 1- and 2-d RPM's. Then as a first route to Halliwell's approach for nontrivial linear constraints that is also a construction of Dirac observables, I consider theories for which Kuchar observables are formally known, giving the relational triangle as an example. As a second route, I apply an indirect method that generalizes both group-averaging and Barbour's best matching. For conceptual clarity, my study involves the simpler case of Halliwell 2003 sharp-edged window function. I leave the elsewise-improved softened case of Halliwell 2009 for a subsequent Paper II. Finally, I provide comments on Halliwell's approach and how well it fares as regards the various facets of the Problem of Time and as an implementation of QM propositions.Comment: An improved version of the text, and with various further references. 25 pages, 4 figure

Problem of Time in Slightly Inhomogeneous Cosmology

The Problem of Time (PoT) is a multi-faceted conceptual incompatibility between various areas of Theoretical Physics. Whilst usually stated as between GR and QM, in fact 8/9ths of it is already present at the classical level. Thus we adopt a `top-down' classical and then quantum approach. I consider a local resolution to the Problem of Time that is Machian, which was previously realized for relational triangle and minisuperspace models. This resolution has three levels: classical, semiclassical and combined semiclassical-histories-records. This article's specific model is a slightly inhomogeneous cosmology considered for now at the classical level. This is motivated by how the inhomogeneous fluctuations that underlie structure formation - galaxies and CMB hotspots - might have been seeded by quantum cosmological fluctuations, as magnified by some inflationary mechanism. In particular, I consider the perturbations about $S^3$ case of this involving up to second order, which has a number of parallels with the Halliwell-Hawking model but has a number of conceptual differences and useful upgrades. The article's main features are that the elimination part of the model's thin sandwich is straightforward, but the modewise split of the constraints fail to be first-class constraints. Thus the elimination part only arises as an intermediate geometry between superspace and Riem. The reduced geometries have surprising singularities influenced by the matter content of the universe, though the N-body problem anticipates these with its collinear singularities. I also give a `basis set' of Kuchar beables for this model arena.Comment: 15 pages including 4 figures. More self-contained explanations include

Problem of Time in Quantum Gravity

The Problem of Time occurs because the `time' of GR and of ordinary Quantum Theory are mutually incompatible notions. This is problematic in trying to replace these two branches of physics with a single framework in situations in which the conditions of both apply, e.g. in black holes or in the very early universe. Emphasis in this Review is on the Problem of Time being multi-faceted and on the nature of each of the eight principal facets. Namely, the Frozen Formalism Problem, Configurational Relationalism Problem (formerly Sandwich Problem), Foliation Dependence Problem, Constraint Closure Problem (formerly Functional Evolution Problem), Multiple Choice Problem, Global Problem of Time, Problem of Beables (alias Problem of Observables) and Spacetime Reconstruction/Replacement Problem. Strategizing in this Review is not just centred about the Frozen Formalism Problem facet, but rather about each of the eight facets. Particular emphasis is placed upon A) relationalism as an underpinning of the facets and as a selector of particular strategies (especially a modification of Barbour relationalism, though also with some consideration of Rovelli relationalism). B) Classifying approaches by the full ordering in which they embrace constrain, quantize, find time/history and find observables, rather than only by partial orderings such as "Dirac-quantize". C) Foliation (in)dependence and Spacetime Reconstruction for a wide range of physical theories, strategizing centred about the Problem of Beables, the Patching Approach to the Global Problem of Time, and the role of the question-types considered in physics. D) The Halliwell- and Gambini-Porto-Pullin-type combined Strategies in the context of semiclassical quantum cosmology.Comment: Invited Review: 26 pages including 2 Figures. This v2 has a number of minor improvements and correction

Graph matching with a dual-step EM algorithm

This paper describes a new approach to matching geometric structure in 2D point-sets. The novel feature is to unify the tasks of estimating transformation geometry and identifying point-correspondence matches. Unification is realized by constructing a mixture model over the bipartite graph representing the correspondence match and by affecting optimization using the EM algorithm. According to our EM framework, the probabilities of structural correspondence gate contributions to the expected likelihood function used to estimate maximum likelihood transformation parameters. These gating probabilities measure the consistency of the matched neighborhoods in the graphs. The recovery of transformational geometry and hard correspondence matches are interleaved and are realized by applying coupled update operations to the expected log-likelihood function. In this way, the two processes bootstrap one another. This provides a means of rejecting structural outliers. We evaluate the technique on two real-world problems. The first involves the matching of different perspective views of 3.5-inch floppy discs. The second example is furnished by the matching of a digital map against aerial images that are subject to severe barrel distortion due to a line-scan sampling process. We complement these experiments with a sensitivity study based on synthetic data