Image Processing Application Development: From Rapid Prototyping to SW/HW Co-simulation and Automated Code Generation

Nowadays, the market-place offers quite powerful and low cost reconfigurable hardware devices and a wide range of software tools which find application in the image processing field. However, most of the image processing application designs and their latter deployment on specific hardware devices is still carried out quite costly by hand. This paper presents a new approach to image processing application development, which tackles the historic question of how filling the gap existing between rapid throwaway software designs and final software/hardware implementations. A new graphical component-based tool has been implemented which allows to comprehensively develop this kind of applications, from functional and architectural prototyping stages to software/hardware co-simulation and final code generation. Building this tool has been possible thanks to the synergy that arises from the integration of several of the pre-existent software and hardware image processing libraries and tools.COSIVA (TIC 2000-1765-C03-02),EFTCOR (DPI2002-11583-E), PMPDI-UPCT-2004Escuela Técnica Superior de Ingeniería de Telecomunicació

Scale Space Smoothing, Image Feature Extraction and Bessel Filters

The Green function of Mumford-Shah functional in the absence of discontinuities is known to be a modified Bessel function of the second kind and zero degree. Such a Bessel function is regularized here and used as a filter for feature extraction. It is demonstrated in this paper that a Bessel filter does not follow the scale space smoothing property of bounded linear filters such as Gaussian filters. The features extracted by the Bessel filter are therefore scale invariant. Edges, blobs, and junctions are features considered here to show that the extracted features remain unchanged by varying the scale of a Bessel filter. The scale invariance property of Bessel filters for edges is analytically proved here. We conjecture that Bessel filters also enjoy this scale invariance property for other kinds of features. The experimental results presente

Optimal path planning for nonholonomic robotics systems via parametric optimisation

Abstract. Motivated by the path planning problem for robotic systems this paper considers nonholonomic path planning on the Euclidean group of motions SE(n) which describes a rigid bodies path in n-dimensional Euclidean space. The problem is formulated as a constrained optimal kinematic control problem where the cost function to be minimised is a quadratic function of translational and angular velocity inputs. An application of the Maximum Principle of optimal control leads to a set of Hamiltonian vector field that define the necessary conditions for optimality and consequently the optimal velocity history of the trajectory. It is illustrated that the systems are always integrable when n = 2 and in some cases when n = 3. However, if they are not integrable in the most general form of the cost function they can be rendered integrable by considering special cases. This implies that it is possible to reduce the kinematic system to a class of curves defined analytically. If the optimal motions can be expressed analytically in closed form then the path planning problem is reduced to one of parameter optimisation where the parameters are optimised to match prescribed boundary conditions.This reduction procedure is illustrated for a simple wheeled robot with a sliding constraint and a conventional slender underwater vehicle whose velocity in the lateral directions are constrained due to viscous damping

A visual category filter for Google images

We extend the constellation model to include heterogeneous parts which may represent either the appearance or the geometry of a region of the object. The pans and their spatial configuration are learnt simultaneously and automatically, without supervision, from cluttered images. We describe how this model can be employed for ranking the output of an image search engine when searching for object categories. It is shown that visual consistencies in the output images can be identified, and then used to rank the images according to their closeness to the visual object category. Although the proportion of good images may be small, the algorithm is designed to be robust and is capable of learning in either a totally unsupervised manner, or with a very limited amount of supervision. We demonstrate the method on image sets returned by Google's image search for a number of object categories including bottles, camels, cars, horses, tigers and zebras

The Complexity of Nash Equilibria in Simple Stochastic Multiplayer Games

We analyse the computational complexity of finding Nash equilibria in simple stochastic multiplayer games. We show that restricting the search space to equilibria whose payoffs fall into a certain interval may lead to undecidability. In particular, we prove that the following problem is undecidable: Given a game G, does there exist a pure-strategy Nash equilibrium of G where player 0 wins with probability 1. Moreover, this problem remains undecidable if it is restricted to strategies with (unbounded) finite memory. However, if mixed strategies are allowed, decidability remains an open problem. One way to obtain a provably decidable variant of the problem is restricting the strategies to be positional or stationary. For the complexity of these two problems, we obtain a common lower bound of NP and upper bounds of NP and PSPACE respectively.Comment: 23 pages; revised versio

Decision Problems for Nash Equilibria in Stochastic Games

We analyse the computational complexity of finding Nash equilibria in stochastic multiplayer games with $\omega$-regular objectives. While the existence of an equilibrium whose payoff falls into a certain interval may be undecidable, we single out several decidable restrictions of the problem. First, restricting the search space to stationary, or pure stationary, equilibria results in problems that are typically contained in PSPACE and NP, respectively. Second, we show that the existence of an equilibrium with a binary payoff (i.e. an equilibrium where each player either wins or loses with probability 1) is decidable. We also establish that the existence of a Nash equilibrium with a certain binary payoff entails the existence of an equilibrium with the same payoff in pure, finite-state strategies.Comment: 22 pages, revised versio

CCQ: Efficient Local Planning Using Connection Collision Query

Abstract We introduce a novel proximity query, called connection collision query (CCQ), and use it for efficient and exact local planning in sampling-based motion planners. Given two collision-free configurations, CCQ checks whether these con-figurations can be connected by a given continuous path that either lies completely in the free space or penetrates any obstacle by at most ε, a given threshold. Our approach is general, robust, and can handle different continuous path formulations. We have integrated the CCQ algorithm with sampling-based motion planners and can perform reliable local planning queries with little performance degradation, as compared to prior methods. Moreover, the CCQ-based exact local planner is about an order of magnitude faster than prior exact local planning algorithms.

Efficient Recognition of Partially Visible Objects Using a Logarithmic Complexity Matching Technique

An important task in computer vision is the recognition of partially visible two-dimensional objects in a gray scale image. Recent works addressing this problem have attempted to match spatially local features from the image to features generated by models of the objects. However, many algo rithms are considerably less efficient than they might be, typ ically being O(IN) or worse, where I is the number offeatures in the image and N is the number of features in the model set. This is invariably due to the feature-matching portion of the algorithm. In this paper we discuss an algorithm that significantly improves the efficiency offeature matching. In addition, we show experimentally that our recognition algo rithm is accurate and robust. Our algorithm uses the local shape of contour segments near critical points, represented in slope angle-arclength space (θ-s space), as fundamental fea ture vectors. These feature vectors are further processed by projecting them onto a subspace in θ-s space that is obtained by applying the Karhunen-Loève expansion to all such fea tures in the set of models, yielding the final feature vectors. This allows the data needed to store the features to be re duced, while retaining nearly all information important for recognition. The heart of the algorithm is a technique for performing matching between the observed image features and the precomputed model features, which reduces the runtime complexity from O(IN) to O(I log I + I log N), where I and N are as above. The matching is performed using a tree data structure, called a kD tree, which enables multidi mensional searches to be performed in O(log) time.Peer Reviewedhttp://deepblue.lib.umich.edu/bitstream/2027.42/66975/2/10.1177_027836498900800608.pd

Motion Planning via Manifold Samples

We present a general and modular algorithmic framework for path planning of robots. Our framework combines geometric methods for exact and complete analysis of low-dimensional configuration spaces, together with practical, considerably simpler sampling-based approaches that are appropriate for higher dimensions. In order to facilitate the transfer of advanced geometric algorithms into practical use, we suggest taking samples that are entire low-dimensional manifolds of the configuration space that capture the connectivity of the configuration space much better than isolated point samples. Geometric algorithms for analysis of low-dimensional manifolds then provide powerful primitive operations. The modular design of the framework enables independent optimization of each modular component. Indeed, we have developed, implemented and optimized a primitive operation for complete and exact combinatorial analysis of a certain set of manifolds, using arrangements of curves of rational functions and concepts of generic programming. This in turn enabled us to implement our framework for the concrete case of a polygonal robot translating and rotating amidst polygonal obstacles. We demonstrate that the integration of several carefully engineered components leads to significant speedup over the popular PRM sampling-based algorithm, which represents the more simplistic approach that is prevalent in practice. We foresee possible extensions of our framework to solving high-dimensional problems beyond motion planning.Comment: 18 page