Study of an object recognition algorithm

This project introduces an improvement of the vision capacity of the robot Robotino operating under ROS platform. A method for recognizing object class using binary features has been developed. The proposed method performs a binary classification of the descriptors of each training image to characterize the appearance of the object class. It presents the use of the binary descriptor based on the difference of gray intensity of the pixels in the image. It shows that binary features are suitable to represent object class in spite of the low resolution and the weak information concerning details of the object in the image. It also introduces the use of a boosting method (Adaboost) of feature selection al- lowing to eliminate redundancies and noise in order to improve the performance of the classifier. Finally, a kernel classifier SVM (Support Vector Machine) is trained with the available database and applied for predictions on new images. One possible future work is to establish a visual servo-control that is to say the reac- tion of the robot to the detection of the object.

Skeleton based visual pattern recognition. Applications to tabletop interaction

211 p. :il.

Deep learning review and its applications

Deep neural networks have recently gained popularity for improv- ing state-of-the-art machine learning algorithms in diverse areas such as speech recognition, computer vision and bioinformatics. Convolutional networks especially have shown prowess in visual recognition tasks such as object recognition and detection in which this work is focused on. Mod- ern award-winning architectures have systematically surpassed previous attempts at tackling computer vision problems and keep winning most current competitions. After a brief study of deep learning architectures and readily available frameworks and libraries, the LeNet handwriting digit recognition network study case is developed, and lastly a deep learn- ing network for playing simple videogames is reviewed.

Advances towards behaviour-based indoor robotic exploration

215 p.

Discriminating languages in bilingual contexts: the impact of orthographic markedness

Does language-specific orthography help language detection and lexical access in naturalistic bilingual contexts? This study investigates how L2 orthotactic properties influence bilingual language detection in bilingual societies and the extent to which it modulates lexical access and single word processing. Language specificity of naturalistically learnt L2 words was manipulated by including bigram combinations that could be either L2 language-specific or common in the two languages known by bilinguals. A group of balanced bilinguals and a group of highly proficient but unbalanced bilinguals who grew up in a bilingual society were tested, together with a group of monolinguals (for control purposes). All the participants completed a speeded language detection task and a progressive demasking task. Results showed that the use of the information of orthotactic rules across languages depends on the task demands at hand, and on participants' proficiency in the second language. The influence of language orthotactic rules during language detection, lexical access and word identification are discussed according to the most prominent models of bilingual word recognition.

Lo visual como construcción. Desarrollo de un modelo pictórico de representación de la imagen

903 páginas, bibliografía en páginas 854-895, glosario en páginas 896-903

Application of Entropy and Fractal Dimension Analyses to the Pattern Recognition of Contaminated Fish Responses in Aquaculture

The objective of the work was to develop a non-invasive methodology for image acquisition, processing and nonlinear trajectory analysis of the collective fish response to a stochastic event. Object detection and motion estimation were performed by an optical flow algorithm in order to detect moving fish and simultaneously eliminate background, noise and artifacts. The Entropy and the Fractal Dimension (FD) of the trajectory followed by the centroids of the groups of fish were calculated using Shannon and permutation Entropy and the Katz, Higuchi and Katz-Castiglioni's FD algorithms respectively. The methodology was tested on three case groups of European sea bass (Dicentrarchus labrax), two of which were similar (C1 control and C2 tagged fish) and very different from the third (C3, tagged fish submerged in methylmercury contaminated water). The results indicate that Shannon entropy and Katz-Castiglioni were the most sensitive algorithms and proved to be promising tools for the non-invasive identification and quantification of differences in fish responses. In conclusion, we believe that this methodology has the potential to be embedded in online/real time architecture for contaminant monitoring programs in the aquaculture industry.