1,529 research outputs found
A graph-based mathematical morphology reader
This survey paper aims at providing a "literary" anthology of mathematical
morphology on graphs. It describes in the English language many ideas stemming
from a large number of different papers, hence providing a unified view of an
active and diverse field of research
Configurable 3D-integrated focal-plane sensor-processor array architecture
A mixed-signal Cellular Visual Microprocessor architecture with digital processors is
described. An ASIC implementation is also demonstrated. The architecture is composed of a
regular sensor readout circuit array, prepared for 3D face-to-face type integration, and one or
several cascaded array of mainly identical (SIMD) processing elements. The individual array
elements derived from the same general HDL description and could be of different in size, aspect
ratio, and computing resources
Learning Matchable Image Transformations for Long-term Metric Visual Localization
Long-term metric self-localization is an essential capability of autonomous
mobile robots, but remains challenging for vision-based systems due to
appearance changes caused by lighting, weather, or seasonal variations. While
experience-based mapping has proven to be an effective technique for bridging
the `appearance gap,' the number of experiences required for reliable metric
localization over days or months can be very large, and methods for reducing
the necessary number of experiences are needed for this approach to scale.
Taking inspiration from color constancy theory, we learn a nonlinear
RGB-to-grayscale mapping that explicitly maximizes the number of inlier feature
matches for images captured under different lighting and weather conditions,
and use it as a pre-processing step in a conventional single-experience
localization pipeline to improve its robustness to appearance change. We train
this mapping by approximating the target non-differentiable localization
pipeline with a deep neural network, and find that incorporating a learned
low-dimensional context feature can further improve cross-appearance feature
matching. Using synthetic and real-world datasets, we demonstrate substantial
improvements in localization performance across day-night cycles, enabling
continuous metric localization over a 30-hour period using a single mapping
experience, and allowing experience-based localization to scale to long
deployments with dramatically reduced data requirements.Comment: In IEEE Robotics and Automation Letters (RA-L) and presented at the
IEEE International Conference on Robotics and Automation (ICRA'20), Paris,
France, May 31-June 4, 202
A Cosmic Watershed: the WVF Void Detection Technique
On megaparsec scales the Universe is permeated by an intricate filigree of
clusters, filaments, sheets and voids, the Cosmic Web. For the understanding of
its dynamical and hierarchical history it is crucial to identify objectively
its complex morphological components. One of the most characteristic aspects is
that of the dominant underdense Voids, the product of a hierarchical process
driven by the collapse of minor voids in addition to the merging of large ones.
In this study we present an objective void finder technique which involves a
minimum of assumptions about the scale, structure and shape of voids. Our void
finding method, the Watershed Void Finder (WVF), is based upon the Watershed
Transform, a well-known technique for the segmentation of images. Importantly,
the technique has the potential to trace the existing manifestations of a void
hierarchy. The basic watershed transform is augmented by a variety of
correction procedures to remove spurious structure resulting from sampling
noise. This study contains a detailed description of the WVF. We demonstrate
how it is able to trace and identify, relatively parameter free, voids and
their surrounding (filamentary and planar) boundaries. We test the technique on
a set of Kinematic Voronoi models, heuristic spatial models for a cellular
distribution of matter. Comparison of the WVF segmentations of low noise and
high noise Voronoi models with the quantitatively known spatial characteristics
of the intrinsic Voronoi tessellation shows that the size and shape of the
voids are succesfully retrieved. WVF manages to even reproduce the full void
size distribution function.Comment: 24 pages, 15 figures, MNRAS accepted, for full resolution, see
http://www.astro.rug.nl/~weygaert/tim1publication/watershed.pd
A Parallel Thinning Algorithm for Grayscale Images
International audienceGrayscale skeletonization offers an interesting alternative to traditional skeletonization following a binarization. It is well known that parallel algorithms for skeletonization outperform sequential ones in terms of quality of results, yet no general and well defined framework has been proposed until now for parallel grayscale thinning. We introduce in this paper a parallel thinning algorithm for grayscale images, and prove its topological soundness based on properties of the critical kernels framework. The algorithm and its proof, given here in the 2D case, are also valid in 3D. Some applications are sketched in conclusion
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