41722021
Correction of bias for motion estimation algorithms
Ego motion can be estimated by epipolar equations from point correspondences using statistically unbiased method. Such technique involves a positive weight being added to the fraction of residuals. The side effect of introduction of positive weights is that additional computation is required. We propose three algorithms: Two are derived from the statistically unbiased method, the third one has been derived based on minimising the error defined as distance between the image point and the corresponding epipolar line. It is proven that the errors are Gaussian distributed and comparable performance is achieved without the positive weights. Verified with experiments using real and synthetic data, the findings agree with the theory and the new algorithms outperform analytical solutions.
35155949
Constrained nonlinear models of fingerprint orientations with prediction
In this paper, we developed an algorithm to model the fingerprint orientation field. The algorithm comprises two steps, orientation prediction and model computation. Orientation prediction is based on piece-wise first-order phase portrait model. It is used to estimate the orientation in areas where there is no ridge information in the input image or the coherence of the orientation field is low. In the model computation, a constrained nonlinear phase portrait algorithm is proposed, which aims to get an accurate mathematical model of the fingerprint orientation field. Compared to the prior works, this algorithm is able to predict orientation even in noisy regions and it integrates the global and local orientation description into a unified mathematical form. Experiments conducted on the first 500 images of the NIST-4 database showed that the proposed algorithm is able to model all the fingerprint orientation patterns except those with very poor quality images where the orientation information cannot be clearly extracted.
7829422
Fast Relative Depth Computation for an Active Stereo Vision System
Real-time computation of exact depth is not feasible in an active vision setup. Instead, reliable relative depth information which can be rapidly computed is preferred. In this paper, a stereo cue for computing relative depth obtained from an active stereo vision system is proposed. The proposed stereo cue can be computed purely from the coordinates of points in the stereo pair. The computational cost required is very low. No camera calibration or prior knowledge of the parameters of the stereo vision system is required. We show that the relationship between the relative depth cue and the actual depth in the three-dimensional (3D) space is monotonic. Such a relation is maintained even when the focal length and the vergence angle are changed, so long as the focal lengths of the two cameras are similar. Therefore, real-time implementation in an active vision setup can be realized. Stability analysis shows that the proposed method will be stable in practical situations, unless the stereo camera diverges. Experimental results are presented to highlight the properties and advantages of the proposed method.
14477369
Markov random field modeled range image segmentation
In this paper, range image segmentation is studied in the framework of the maximum a posteriori estimation and Markov random field modeling. A novel range image segmentation model is proposed. The model serves as an evaluator for a small number of segmentation candidates obtained through a fast edge detection algorithm. A local method is employed to search for the optimal segmentation from the candidates. Experimental results show that such combination of heuristics and model-based evaluation leads to a fast and accurate segmentation.
270876
Feature Extraction with Genetic Algorithms Based Nonlinear Principal Component Analysis for Face Recognition
Principal component analysis (PCA) and linear discriminant analysis (LDA) are two commonly used feature extraction techniques. In this paper, a nonlinear evolutionary weighted principal component analysis (EWPCA) based on genetic algorithms is proposed. Similar to LDA, the EWPCA maximizes the ratio of between-class variations to that of within-class variations, and achieves better classification performance than that of traditional PCA. Genetic algorithms are chosen as the searching method to select optimal weights for the EWPCA. In face recognition, evolutionary facial feature obtained by performing EWPCA is used as the representation of original face images. Experimental results on ORL and combo face databases prove that EWPCA outperforms both PCA, kernel PCA and LDA
31566264
Cooperation-Based Behavior Design
Robot soccer explores such a research topic that multiple agents work together in a Real-time, Cooperative and Adversarial (RCA) environment to achieve specific objectives. It requires that each agent can not only deal with situations individually, but also present cooperation with its teammates. In this paper, we describe a robot architecture, which addresses "scaling cooperation" among robots, and meanwhile allows each robot to make decisions independently in real-time case. The architecture is based on "ideal cooperation" principle and implemented for Small Robot League in RoboCup. Experimental results prove its effectiveness and reveal several primary characteristics of behaviors in robot soccer.
7484569
The design of intelligent workflow monitoring with agent technology
In recent years, workflow technology has been widely used in business process management. With the increased complexity, uncertainty and risks in business operations, workflow monitoring is gaining growing attention in business process controlling and supervision. However, monitoring functions provided in traditional workflow systems lack flexibility, and provide little support for managing complex and dynamical changes in business process. In this paper, we propose a novel workflow monitoring approach, in which various intelligent agents work together to perform flexible monitoring tasks in an autonomous and collaborative way. By using customized monitoring plan and proactive monitoring process, the workflow monitoring activities can be executed flexibly and efficiently. The application of intelligent agents for such flexible, adaptive and collaborative workflow monitoring is investigated through an intelligent monitoring system in securities trading.
1492261
Object Tracking with Particle Filter Using Color Information
Color-based particle filter for object tracking has been an active research topic in recent years. Despite great efforts of many researchers, there still remains to be solved the problem of contradiction between efficiency and robustness. The paper makes an attempt to partially solve this problem. Firstly, the Integral Histogram Image is introduced by which histogram of any rectangle region can be computed at negligible cost. However, straightforward application of the Integral Histogram Images causes the problem of “curse of dimensionality”. In addition, traditional histogram is inefficient and inaccurate. Thus we propose to adaptively determine histogram bins based on K-Means clustering, which can represent color distribution of object more compactly and accurately with as a small number of bins. Thanks to the Integral Histogram Images and the clustering based color histogram, we finally achieve a fast and robust particle filter algorithm for object tracking. Experiments show that the performance of the algorithm is encouraging.
10425343
Applications of secure electronic voting to automated privacy-preserving troubleshooting
Recent work [27, 15] introduced a novel peer-to-peer application that leverages content sharing and aggregation among the peers to diagnose misconfigurations on a desktop PC. This application poses interesting challenges in preserving privacy of user configuration data and in maintaining integrity of troubleshooting results. In this paper, we provide a much more rigorous cryptographic and yet practical solution for preserving privacy, and we investigate and analyze solutions for ensuring integrity.
46507144
FARM: a framework for exploring mining spaces with multiple attributes
Mining for frequent itemsets typically involves a preprocessing step in which data with multiple attributes are grouped into transactions, and items are defined based on attribute values. We hake observed that such fixed attribute mining can severely constrain the patterns that are discovered. Herein, we introduce mining spaces, a new framework for mining multi-attribute data that includes the discovery of transaction and item definitions (with the exploitation of taxonomies and functional dependencies if they are available). We prove that special downward closure properties (or anti-monotonic property) hold for mining spaces, a result that allows us to construct efficient algorithms for mining patterns without the constraints of fixed attribute mining. We apply our algorithms to real world data collected from a production computer network. The results show that by exploiting the special kinds of downward closure in mining spaces, execution times for mining can be reduced by a factor of three to four.
6238577
Labeling Scheme and Structural Joins for Graph-Structured XML Data
When XML documents are modeled as graphs, many challenging research issues arise. In particular, query processing for graph-structured XML data brings new challenges because traditional structural join methods cannot be directly applied. In this paper, we propose a labeling scheme for graph-structured XML data. With this labeling scheme, the reachability relationship of two nodes can be judged efficiently without accessing other nodes. Based on this labeling scheme, we design efficient structural join algorithms to evaluate reachability queries. Experiments show that our algorithms have high efficiency and good scalability.