117576
Transforming pixel signatures into an improved metric space
Abstract We address the problem of using scale-orientation pixel signatures to characterise local structure in X-ray mammograms, though the method we report is of general application. When signatures are treated as vectors for statistical analysis, the Euclidean metric is not well behaved. We have previously described a Best Partial Match (BPM) metric that measures signature similarity more naturally, but at high computational cost. We present a method for transforming signatures into a new space in which Euclidean distance approximates BPM distance, allowing BPM distance to be estimated at low computational cost. The new space is constructed using multi-dimensional scaling. The nonlinear transformation between the old and new spaces is learned using support vector regression. We present experimental results for mammographic data.
11355264
Automatic Model Selection by Modelling the Distribution of Residuals
Many problems in computer vision involve a choice of the most suitable model for a set of data. Typically one wishes to choose a model which best represents the data in a way that generalises to unseen data without overfitting. We propose an algorithm in which the quality of a model match can be determined by calculating how well the distribution of model residuals matches a distribution estimated from the noise on the data. The distribution of residuals has two components - the measurement noise, and the noise caused by the uncertainty in the model parameters. If the model is too complex to be supported by the data, then there will be large uncertainty in the parameters. We demonstrate that the algorithm can be used to select appropriate model complexity in a variety of problems, including polynomial fitting, and selecting the number of modes to match a shape model to noisy data.
29977859
Measuring similarity between pixel signatures
3881938
A Comparison of Face Verification Algorithms using Appearance Models
Statistical models of shape and appearance have been successfully used in face modeling, tracking and synthesis. In this paper we describe experiments using appearance models for face verification. We compare a variety of different algorithms on a standard face database (XM2VTS). We demonstrate that simple methods of correction for head pose and face expression can significantly improve results.
626048
Corresponding Articular Cartilage Thickness Measurements in the Knee Joint by Modelling the Underlying Bone
We present a method for corresponding and combining cartilage thickness readings from a population of patients using the underlying bone structure as a reference. Knee joint femoral bone and cartilage surfaces are constructed from a set of parallel slice segmentations of MR scans. Correspondence points across a population of bone surfaces are defined and refined by minimising an objective function based on the Minimum Description Length of the resulting statistical shape model. The optimised bone model defines a set of corresponding locations from which 3D measurements of the cartilage thickness can be taken and combined for a population of patients. Results are presented for a small group of patients demonstrating the feasibility and potential of the approach as a means of detecting sub-millimetre cartilage thickness changes due to disease progression.
14993996
3D Statistical Shape Models Using Direct Optimisation of Description Length
We describe an automatic method for building optimal 3D statistical shape models from sets of training shapes. Although shape models show considerable promise as a basis for segmenting and interpreting images, a major drawback of the approach is the need to establish a dense correspondence across a training set of example shapes. It is important to establish the correct correspondence, otherwise poor models can result. In 2D, this can be achieved using manual 'landmarks', but in 3D this becomes impractical. We show it is possible to establish correspondences automatically, by casting the correspondence problem as one of finding the 'optimal' parameterisation of each shape in the training set. We describe an explicit representation of surface parameterisation, that ensures the resulting correspondences are legal, and show how this representation can be manipulated to minimise the description length of the training set using the model. This results in compact models with good generalisation properties. Results are reported for two sets of biomedical shapes, showing significant improvement in model properties compared to those obtained using a uniform surface parameterisation.
2497525
Structure and Motion from Line Segments in Multiple Images
This paper presents a new method for recovering the three dimensional structure of a scene composed of straight line segments using the image data obtained from a moving camera. The recovery algorithm is formulated in terms of an objective function which measures the total squared distance in the image plane between the observed edge segments and the projections (perspective) of the reconstructed lines. This objective function is minimized with respect to the line parameters and the camera positions to obtain an estimate for the structure of the scene. The effectiveness of this approach is demonstrated quantitatively through extensive simulations and qualitatively with actual image sequences. The implementation is being made publicly available. >
14456844
Exploration strategies for mobile robots
The problem of programming a robot to carry out a systematic exploration of its environment using realistic sensors is considered. The robot is modeled as a single point moving in a two-dimensional configuration space populated with visually opaque and transparent obstacles. The robot is equipped with proximity sensors, a vision-based recognition system, and a method of odometry, all of which have some uncertainty associated with their measurements. By using visually distinctive configurations of features in the world as natural landmarks, a series of local maps is constructed. The geometrical relationships between mutually visible landmarks are used to build a relational map from this collection of local maps. This representation forms the basis for a systematic exploration algorithm. The approach is implemented in simulation, and results are presented.<<ETX>>
3993976
A Software Framework for Creating Patient Specific Geometric Models from Medical Imaging Data for Simulation Based Medical Planning of Vascular Surgery
The primary purpose of vascular surgery is to restore blood flow to organs and tissues. Current methods of vascular treatment planning rely solely on diagnostic and empirical data to guide the decision-making process. This paper details a simulation-based medical planning system for cardiovascular disease that use computational methods to evaluate alternative surgical options prior to treatment using patient-specific models of the vascular system. A software framework, called Geodesic, is mtroduced that reduces the time required to build patient-specific models from medical imaging data from several weeks to less than one day.
8867506
Robust vision-based pose control
The problem of controlling the spatial position and orientation of a robotic platform based on the image data obtained from a video camera mounted on that platform is considered. More specifically, we propose control laws that will cause the robot to achieve and maintain a fixed position and orientation with respect to a set of feature points in the scene. We demonstrate analytically that the proposed control scheme is globally convergent even in the presence of large calibration errors in both the intrinsic parameters of the camera and in the extrinsic parameters which relate the frame of reference of the camera to the body frame of the robot platform which is being controlled. Furthermore, no a priori knowledge about the structure of the scene is assumed.
207655806
Environmental time series analysis and forecasting with the Captain toolbox
The Data-Based Mechanistic (DBM) modelling philosophy emphasises the importance of parametrically efficient, low order, 'dominant mode' models, as well as the development of stochastic methods and the associated statistical analysis required for their identification and estimation. Furthermore, it stresses the importance of explicitly acknowledging the basic uncertainty in the process, which is particularly important for the characterisation and forecasting of environmental and other poorly defined systems. The paper focuses on a Matlab^(R) compatible toolbox that has evolved from this DBM modelling research. Based around a state space and transfer function estimation framework, Captain extends Matlab^(R) to allow, in the most general case, for the identification and estimation of a wide range of unobserved components models. Uniquely, however, Captain focuses on models with both time variable and state dependent parameters and has recently been implemented with the latest methodological developments in this regard. Here, the main innovations are: the automatic optimisation of the hyper-parameters, which define the statistical properties of the time variable parameters; the provision of smoothed as well as filtered parameter estimates; the robust and statistically efficient identification and estimation of both discrete and continuous time transfer function models; and the availability of various special model structures that have wide application potential in the environmental sciences.