Guided Filtering based Pyramidal Stereo Matching for Unrectified Images

Stereo matching deals with recovering quantitative depth information from a set of input images, based on the visual disparity between corresponding points. Generally most of the algorithms assume that the processed images are rectified. As robotics becomes popular, conducting stereo matching in the context of cloth manipulation, such as obtaining the disparity map of the garments from the two cameras of the cloth folding robot, is useful and challenging. This is resulted from the fact of the high efficiency, accuracy and low memory requirement under the usage of high resolution images in order to capture the details (e.g. cloth wrinkles) for the given application (e.g. cloth folding). Meanwhile, the images can be unrectified. Therefore, we propose to adapt guided filtering algorithm into the pyramidical stereo matching framework that works directly for unrectified images. To evaluate the proposed unrectified stereo matching in terms of accuracy, we present three datasets that are suited to especially the characteristics of the task of cloth manipulations. By com- paring the proposed algorithm with two baseline algorithms on those three datasets, we demonstrate that our proposed approach is accurate, efficient and requires low memory. This also shows that rather than relying on image rectification, directly applying stereo matching through the unrectified images can be also quite effective and meanwhile efficien

Developing a compiler for the XeonPhi (TR-2014-341)

The XeonPhi is a highly parallel x86 architecture chip made by Intel. It has a number of novel features which make it a particularly challenging target for the compiler writer. This paper describes the techniques used to port the Glasgow Vector Pascal Compiler (VPC) to this architecture and assess its performance by comparisons of the XeonPhi with 3 other machines running the same algorithms

Comments on the 'China model'

This paper reviews the articles by Pan and by Zhu on the China Model. The review of Pan is critical, that of Zhu sympathetic. Pan is criticised for taking an unquestioning attitude towards state supporting ideologies and failing to adequately account for the effects of changes in family structure and class structure in China over the past 50 years. The reviewer broadly agrees with Zhu's comments about a future steady state economy. The article provides statistical data from the recent economic and demographic histories of China and Japan to back up the general conclusions drawn by Zhu

Linear chemically sensitive electron tomography using DualEELS and dictionary-based compressed sensing

We have investigated the use of DualEELS in elementally sensitive tilt series tomography in the scanning transmission electron microscope. A procedure is implemented using deconvolution to remove the effects of multiple scattering, followed by normalisation by the zero loss peak intensity. This is performed to produce a signal that is linearly dependent on the projected density of the element in each pixel. This method is compared with one that does not include deconvolution (although normalisation by the zero loss peak intensity is still performed). Additionaly, we compare the 3D reconstruction using a new compressed sensing algorithm, DLET, with the well-established SIRT algorithm. VC precipitates, which are extracted from a steel on a carbon replica, are used in this study. It is found that the use of this linear signal results in a very even density throughout the precipitates. However, when deconvolution is omitted, a slight density reduction is observed in the cores of the precipitates (a so-called cupping artefact). Additionally, it is clearly demonstrated that the 3D morphology is much better reproduced using the DLET algorithm, with very little elongation in the missing wedge direction. It is therefore concluded that reliable elementally sensitive tilt tomography using EELS requires the appropriate use of DualEELS together with a suitable reconstruction algorithm, such as the compressed sensing based reconstruction algorithm used here, to make the best use of the limited data volume and signal to noise inherent in core-loss EELS

Profit rates: Their dispersion and long term determination

This chapter introduces Marx's theory of the determination of profit rates. It contrasts this theory with what happened in the late nineteenth century to British profit rates with a detailed statistical account. It identifies missing features in the standard presentation and contrasts these with the overaccumulation hypothesis that he presents elsewhere. A formal mathematical model using the overaccumulation hypothesis is then given and tested against modern empirical data

A Biologically Motivated Software Retina for Robotic Vision Applications

We present work in progress to address current limitations in image analysis by Deep Convolutional Neural Networks. By applying structural constraints based on known properties of the human visual system we propose to facilitate learning simple scale and rotation transformations, which contribute to large computational demands for training and opaqueness of the learned structure. We propose to apply a version of the retino-cortical transform to reduce the dimensionality of the input image space by a factor of e×100, and map this spatially to transform rotations and scale changes into spatial shifts. By reducing the input image size accordingly, and therefore learning requirements, we aim to develop a compact and lightweight robot vision sensor using a smartphone as the target platform. We also consider the visual processing architectural issues that must be addressed to integrate the mobile phone based front-end within a larger robot cognitive vision system