Real-time visual tracking using image processing and filtering methods

The main goal of this thesis is to develop real-time computer vision algorithms in order to detect and to track targets in uncertain complex environments purely based on a visual sensor. Two major subjects addressed by this work are: 1. The development of fast and robust image segmentation algorithms that are able to search and automatically detect targets in a given image. 2. The development of sound filtering algorithms to reduce the effects of noise in signals from the image processing. The main constraint of this research is that the algorithms should work in real-time with limited computing power on an onboard computer in an aircraft. In particular, we focus on contour tracking which tracks the outline of the target represented by contours in the image plane. This thesis is concerned with three specific categories, namely image segmentation, shape modeling, and signal filtering. We have designed image segmentation algorithms based on geometric active contours implemented via level set methods. Geometric active contours are deformable contours that automatically track the outlines of objects in images. In this approach, the contour in the image plane is represented as the zero-level set of a higher dimensional function. (One example of the higher dimensional function is a three-dimensional surface for a two-dimensional contour.) This approach handles the topological changes (e.g., merging, splitting) of the contour naturally. Although geometric active contours prevail in many fields of computer vision, they suffer from the high computational costs associated with level set methods. Therefore, simplified versions of level set methods such as fast marching methods are often used in problems of real-time visual tracking. This thesis presents the development of a fast and robust segmentation algorithm based on up-to-date extensions of level set methods and geometric active contours, namely a fast implementation of Chan-Vese's (active contour) model (FICVM). The shape prior is a useful cue in the recognition of the true target. For the contour tracker, the outline of the target can be easily disrupted by noise. In geometric active contours, to cope with deviations from the true outline of the target, a higher dimensional function is constructed based on the shape prior, and the contour tracks the outline of an object by considering the difference between the higher dimensional functions obtained from the shape prior and from a measurement in a given image. The higher dimensional function is often a distance map which requires high computational costs for construction. This thesis focuses on the extraction of shape information from only the zero-level set of the higher dimensional function. This strategy compensates for inaccuracies in the calculation of the shape difference that occur when a simplified higher dimensional function is used. This is named as contour-based shape modeling. Filtering is an essential element in tracking problems because of the presence of noise in system models and measurements. The well-known Kalman filter provides an exact solution only for problems which have linear models and Gaussian distributions (linear/Gaussian problems). For nonlinear/non-Gaussian problems, particle filters have received much attention in recent years. Particle filtering is useful in the approximation of complicated posterior probability distribution functions. However, the computational burden of particle filtering prevents it from performing at full capacity in real-time applications. This thesis concentrates on improving the processing time of particle filtering for real-time applications. In principle, we follow the particle filter in the geometric active contour framework. This thesis proposes an advanced blob tracking scheme in which a blob contains shape prior information of the target. This scheme simplifies the sampling process and quickly suggests the samples which have a high probability of being the target. Only for these samples is the contour tracking algorithm applied to obtain a more detailed state estimate. Curve evolution in the contour tracking is realized by the FICVM. The dissimilarity measure is calculated by the contour based shape modeling method and the shape prior is updated when it satisfies certain conditions. The new particle filter is applied to the problems of low contrast and severe daylight conditions, to cluttered environments, and to the appearing/disappearing target tracking. We have also demonstrated the utility of the filtering algorithm for multiple target tracking in the presence of occlusions. This thesis presents several test results from simulations and flight tests. In these tests, the proposed algorithms demonstrated promising results in varied situations of tracking.Ph.D.Committee Chair: Eric N. Johnson; Committee Co-Chair: Allen R. Tannenbaum; Committee Member: Anthony J. Calise; Committee Member: Eric Feron; Committee Member: Patricio A. Vel

Novel and simple transformation algorithm for combining microarray data sets

<p>Abstract</p> <p>Background</p> <p>With microarray technology, variability in experimental environments such as RNA sources, microarray production, or the use of different platforms, can cause bias. Such systematic differences present a substantial obstacle to the analysis of microarray data, resulting in inconsistent and unreliable information. Therefore, one of the most pressing challenges in the field of microarray technology is how to integrate results from different microarray experiments or combine data sets prior to the specific analysis.</p> <p>Results</p> <p>Two microarray data sets based on a 17k cDNA microarray system were used, consisting of 82 normal colon mucosa and 72 colorectal cancer tissues. Each data set was prepared from either total RNA or amplified mRNA, and the difference of RNA source between these two data sets was detected by ANOVA (Analysis of variance) model. A simple integration method was introduced which was based on the distributions of gene expression ratios among different microarray data sets. The method transformed gene expression ratios into the form of a reference data set on a gene by gene basis. Hierarchical clustering analysis, density and box plots, and mixture scores with correlation coefficients revealed that the two data sets were well intermingled, indicating that the proposed method minimized the experimental bias. In addition, any RNA source effect was not detected by the proposed transformation method. In the mixed data set, two previously identified subgroups of normal and tumor were well separated, and the efficiency of integration was more prominent in tumor groups than normal groups. The transformation method was slightly more effective when a data set with strong homogeneity in the same experimental group was used as a reference data set.</p> <p>Conclusion</p> <p>Proposed method is simple but useful to combine several data sets from different experimental conditions. With this method, biologically useful information can be detectable by applying various analytic methods to the combined data set with increased sample size.</p

Development and Test of Highly Autonomous Unmanned Aerial Vehicles

Published in Journal of Aerospace Computing, Information, and Communication, Vol. 1, Issue 12, December 2004.This paper describes the design, development, and testing of Unmanned Aerial Vehicles (UAV) with highly automated search capabilities. Here, systems are able to respond on their own in the presence of considerable uncertainty utilizing an image processor, tracker/mapper, mission manager, and trajectory generation; and are used to complete a realistic benchmark reconnaissance mission. Subsequent to the selection of the search area, all functions are automated and human operator assistance is not required. The applications of these capabilities include reduction of operator workload in operational UAV systems, new UAV or guided-munition missions conducted without the assistance or availability of human operators, or the enhancement/augmentation of human search capabilities. The resulting system was able to search the 15-building village automatically with speed comparable to a human operator searching on foot or with a conventional remotely piloted vehicle. It was successful in 6 of 7 actual flights over the McKenna Military Operations in Urban Terrain test site over two different days and a variety of lighting conditions and choice of desired building

Trends in Cancer Screening Rates among Korean Men and Women: Results from the Korean National Cancer Screening Survey (KNCSS), 2004-2010

PURPOSE: The Korean National Cancer Screening Survey (KNCSS) is a continuous nationwide survey implemented by the National Cancer Center in Korea since 2004. The purpose of the present study was to report trends in cancer screening rates for the five major cancers (stomach, liver, colorectal, breast, and cervix uteri) in Korean men and women. MATERIALS AND METHODS: The study used KNCSS data collected between 2004 and 2010. The survey was conducted on Korean men aged 40-74 years and Korean women aged 30-74 years with no history of cancer diagnosis. The annual percentage change and corresponding 95% confidence intervals were used to examine changes in annual screening rates. RESULTS: Screening rates with recommendation increased by 4.4% annually for stomach cancer, 1.5% for liver cancer, 2.8% per year for colorectal cancer, 4.5% for breast cancer, and 1.2% for cervix uteri cancer. The increasing trend in cancer screening rates, with the exception of liver cancer, was significant. CONCLUSION: Cancer screening rates have increased consistently from 2004 to 2010 among Korean men and women. Stomach and breast cancer screening rates in particular have increased markedly.ope

Biotechnology for mechanisms that counteract salt stress in extremophile species: A genome-based view

Molecular genetics has confirmed older research and generated new insights into the ways how plants deal with adverse conditions. This body of research is now being used to interpret stress behavior of plants in new ways, and to add results from most recent genomics-based studies. The new knowledge now includes genome sequences of species that show extreme abiotic stress tolerances, which enables new strategies for applications through either molecular breeding or transgenic engineering. We will highlight some physiological features of the extremophile lifestyle, outline emerging features about halophytism based on genomics, and discuss conclusions about underlying mechanisms. © 2012 Korean Society for Plant Biotechnology and Springer

Compositional assessment of carotenoid-biofortified rice using substantial equivalence

One important aspect in assessing the safety of genetically modified (GM) crops for human consumption is characterizing their nutrient composition. A β-carotene-biofortified rice was generated by inserting phytoene synthase (Psy) and carotene desaturase (Crtl) genes isolated from Capsicum and Pantoea into the genome of a conventional variety of rice (Nakdongbyeo). Nutrients (proximates, amino acids, fatty acids, minerals, and vitamins), anti-nutritive components (trypsin inhibitors and phytic acid), and ferulic acid in GM rice were compared with those in the parent line Nakdongbyeo. Statistical comparisons to test for equivalence showed that all of the analyzed components in the GM plants were equivalent to those in its non-transgenic counterpart, and most nutritional components fell within the range of values reported for other commercial lines, indicating the safety of the GM plant.Key words: Genetically modified crop, β-Carotene, Transgenic rice, Nutrient, Substantial equivalence

Combined treatment with silibinin and either sorafenib or gefitinib enhances their growth-inhibiting effects in hepatocellular carcinoma cells

Background/AimsSilibinin, the main component of silymarin, is used as a hepatoprotectant and exhibits anticancer effects against various cancer cells. This study evaluated the effects of a combination of silibinin with either gefitinib or sorafenib on hepatocellular carcinoma (HCC) cells.MethodsSeveral different human HCC cell lines were used to test the growth-inhibiting effects and cell toxicity of silibinin both alone and in combination with either gefitinib or sorafenib. The cell viability and growth inhibition were assessed using the 3-(4,5-dimethylthiazol-2-yl)-2,5-diphenyltetrazolium bromide assay, trypan blue staining, and a colony-forming assay. Furthermore, changes in epidermal growth factor receptor (EGFR)-related signals were evaluated by Western blot analysis.ResultsGefitinib, sorafenib, and silibinin individually exhibited dose-dependent antiproliferative effects on HCC cells. Combined treatment with silibinin enhanced the gefitinib-induced growth-inhibiting effects in some HCC cell lines. The combination effect of gefitinib and silibinin was synergistic in the SNU761 cell line, but was only additive in the Huh-BAT cell line. The combination effect may be attributable to inhibition of EGFR-dependent Akt signaling. Enhanced growth-inhibiting effects were also observed in HCC cells treated with a combination of sorafenib and silibinin.ConclusionsCombined treatment with silibinin enhanced the growth-inhibiting effects of both gefitinib and sorafenib. Therefore, the combination of silibinin with either sorafenib or gefitinib could be a useful treatment approach for HCC in the future