An Improved Adaptive Background Mixture Model for Real-time Tracking with Shadow Detection

Real-time segmentation of moving regions in image sequences is a fundamental step in many vision systems including automated visual surveillance, human-machine interface, and very low-bandwidth telecommunications. A typical method is background subtraction. Many background models have been introduced to deal with different problems. One of the successful solutions to these problems is to use a multi-colour background model per pixel proposed by Grimson et al [1, 2,3]. However, the method suffers from slow learning at the beginning, especially in busy environments. In addition, it can not distinguish between moving shadows and moving objects. This paper presents a method which improves this adaptive background mixture model. By reinvestigating the update equations, we utilise different equations at different phases. This allows our system learn faster and more accurately as well as adapts effectively to changing environment. A shadow detection scheme is also introduced in this paper. It is based on a computational colour space that makes use of our background model. A comparison has been made between the two algorithms. The results show the speed of learning and the accuracy of the model using our update algorithm over the Grimson et al’s tracker. When incorporate with the shadow detection, our method results in far better segmentation than The Thirteenth Conference on Uncertainty in Artificial Intelligence that of Grimson et al

Surface mineral crusts: A priority target in search for life on Mars

Mineral crusts are strong candidates in the search for evidence of life during planetary exploration, and should be an important target for examination in impact craters. Crusts in the Haughton crater readily yield a biological signature

Stiffness of Contacts Between Rough Surfaces

The effect of self-affine roughness on solid contact is examined with molecular dynamics and continuum calculations. The contact area and normal and lateral stiffnesses rise linearly with the applied load, and the load rises exponentially with decreasing separation between surfaces. Results for a wide range of roughnesses, system sizes and Poisson ratios can be collapsed using Persson's contact theory for continuous elastic media. The atomic scale response at the interface between solids has little affect on the area or normal stiffness, but can greatly reduce the lateral stiffness. The scaling of this effect with system size and roughness is discussed.Comment: 4 pages, 3 figure

Towards a modeling of the time dependence of contact area between solid bodies

I present a simple model of the time dependence of the contact area between solid bodies, assuming either a totally uncorrelated surface topography, or a self affine surface roughness. The existence of relaxation effects (that I incorporate using a recently proposed model) produces the time increase of the contact area $A(t)$ towards an asymptotic value that can be much smaller than the nominal contact area. For an uncorrelated surface topography, the time evolution of $A(t)$ is numerically found to be well fitted by expressions of the form [$A(\infty)-A(t)]\sim (t+t_0)^{-q}$, where the exponent $q$ depends on the normal load $F_N$ as $q\sim F_N^{\beta}$, with $\beta$ close to 0.5. In particular, when the contact area is much lower than the nominal area I obtain $A(t)/A(0) \sim 1+C\ln(t/t_0+1)$, i.e., a logarithmic time increase of the contact area, in accordance with experimental observations. The logarithmic increase for low loads is also obtained analytically in this case. For the more realistic case of self affine surfaces, the results are qualitatively similar.Comment: 18 pages, 9 figure

Contact area of rough spheres: Large scale simulations and simple scaling laws

We use molecular simulations to study the nonadhesive and adhesive atomic-scale contact of rough spheres with radii ranging from nanometers to micrometers over more than ten orders of magnitude in applied normal load. At the lowest loads, the interfacial mechanics is governed by the contact mechanics of the first asperity that touches. The dependence of contact area on normal force becomes linear at intermediate loads and crosses over to Hertzian at the largest loads. By combining theories for the limiting cases of nominally flat rough surfaces and smooth spheres, we provide parameter-free analytical expressions for contact area over the whole range of loads. Our results establish a range of validity for common approximations that neglect curvature or roughness in modeling objects on scales from atomic force microscope tips to ball bearings.Comment: 2 figures + Supporting Materia

Breakdown of disordered media by surface loads

We model an interface layer connecting two parts of a solid body by N parallel elastic springs connecting two rigid blocks. We load the system by a shear force acting on the top side. The springs have equal stiffness but are ruptured randomly when the load reaches a critical value. For the considered system, we calculate the shear modulus, G, as a function of the order parameter, \phi, describing the state of damage, and also the ``spalled'' material (burst) size distribution. In particular, we evaluate the relation between the damage parameter and the applied force and explore the behaviour in the vicinity of material breakdown. Using this simple model for material breakdown, we show that damage, caused by applied shear forces, is analogous to a first-order phase transition. The scaling behaviour of G with \phi is explored analytically and numerically, close to \phi=0 and \phi=1 and in the vicinity of \phi_c, when the shear load is close but below the threshold force that causes material breakdown. Our model calculation represents a first approximation of a system subject to wear induced loads.Comment: 15 pages, 7 figure

Characterisation of Float Rocks at Ireson Hill, Gale Crater

Float rocks discovered by surface missions on Mars have given unique insights into the sedimentary, diagenetic and igneous processes that have operated throughout the planets history. In addition, Gale sedimentary rocks, both float and in situ, record a combination of source compositions and diagenetic overprints. We examine a group of float rocks that were identified by the Mars Science Laboratory missions Curiosity rover at the Ireson Hill site, circa. sol 1600 using ChemCam LIBS, APXS and images from the MastCam, Mars Hand Lens Imager (MAHLI) and ChemCam Remote Micro-Imager (RMI) cameras. Geochemical data provided by the APXS and ChemCam instruments allow us to compare the compositions of these rocks to known rock types from Gale crater, as well as elsewhere on Mars. Ireson Hill is a 15 m long butte in the Murray formation with a dark cap-ping unit with chemical and stratigraphic consistency with the Stimson formation. A total of 6 float rocks have been studied on the butte