A distribution of tumor size at detection and its limiting form.

A distribution of tumor size at detection is derived within the framework of a mechanistic model of carcinogenesis with the object of estimating biologically meaningful parameters of tumor latency. Its limiting form appears to be a generalization of the distribution that arises in the length-biased sampling from stationary point processes. The model renders the associated estimation problems tractable. The usefulness of the proposed approach is illustrated with an application to clinical data on premenopausal breast cancer.

Machine learning techniques for automatic opinion detection in non-traditional textual genres

This paper presents a preliminary study in which Machine Learning experiments applied to Opinion Mining in blogs have been carried out. We created and annotated a blog corpus in Spanish using EmotiBlog. We evaluated the utility of the features labelled firstly carrying out experiments with combinations of them and secondly using the feature selection techniques, we also deal with several problems, such as the noisy character of the input texts, the small size of the training set, the granularity of the annotation scheme and the language object of our study, Spanish, with less resource than English. We obtained promising results considering that it is a preliminary study.

Resolution limits to object tracking with subpixel accuracy

Subpixel methods increase the accuracy and efficiency of image detectors, processing units, and algorithms and provide very cost-effective systems for object tracking. Published methods achieve resolution increases up to three orders of magnitude. In this Letter, we demonstrate that this limit can be theoretically improved by several orders of magnitude, permitting micropixel and submicropixel accuracies. The necessary condition for movement detection is that one single pixel changes its status. We show that an appropriate target design increases the probability of a pixel change for arbitrarily small shifts, thus increasing the detection accuracy of a tracking system. The proposal does not impose severe restriction on the target nor on the sensor, thus allowing easy experimental implementation.

Improving 3D Keypoint Detection from Noisy Data Using Growing Neural Gas

3D sensors provides valuable information for mobile robotic tasks like scene classification or object recognition, but these sensors often produce noisy data that makes impossible applying classical keypoint detection and feature extraction techniques. Therefore, noise removal and downsampling have become essential steps in 3D data processing. In this work, we propose the use of a 3D filtering and down-sampling technique based on a Growing Neural Gas (GNG) network. GNG method is able to deal with outliers presents in the input data. These features allows to represent 3D spaces, obtaining an induced Delaunay Triangulation of the input space. Experiments show how the state-of-the-art keypoint detectors improve their performance using GNG output representation as input data. Descriptors extracted on improved keypoints perform better matching in robotics applications as 3D scene registration.

Three-dimensional planar object tracking with sub-pixel accuracy

Subpixel techniques are commonly used to increase the spatial resolution in tracking tasks. Object tracking with targets of known shape permits obtaining information about object position and orientation in the three-dimensional space. A proper selection of the target shape allows us to determine its position inside a plane and its angular and azimuthal orientation under certain limits. Our proposal is demonstrated both numerical and experimentally and provides an increase the accuracy of more than one order of magnitude compared to the nominal resolution of the sensor. The experiment has been performed with a high-speed camera, which simultaneously provides high spatial and temporal resolution, so it may be interesting for some applications where this kind of targets can be attached, such as vibration monitoring and structural analysis.

Software for "Realistic limits for subpixel movement detection"

Object tracking with subpixel accuracy is of fundamental importance in many fields since it provides optimal performance at relatively low-cost. Although there are many theoretical proposals that lead to resolution increments of several orders of magnitude, in practice, this resolution is limited by the imaging systems. In this paper we propose and demonstrate through numerical models a realistic limit for subpixel accuracy. The final result is that maximum achievable resolution enhancement is connected with the dynamic range of the image, i.e. the detection limit is 1/2^(nr.bits). Results here presented may help to proper design of superresolution experiments in microscopy, surveillance, defense and other fields.

Visual perception for the 3D recognition of geometric pieces in robotic manipulation

During grasping and intelligent robotic manipulation tasks, the camera position relative to the scene changes dramatically because the robot is moving to adapt its path and correctly grasp objects. This is because the camera is mounted at the robot effector. For this reason, in this type of environment, a visual recognition system must be implemented to recognize and “automatically and autonomously” obtain the positions of objects in the scene. Furthermore, in industrial environments, all objects that are manipulated by robots are made of the same material and cannot be differentiated by features such as texture or color. In this work, first, a study and analysis of 3D recognition descriptors has been completed for application in these environments. Second, a visual recognition system designed from specific distributed client-server architecture has been proposed to be applied in the recognition process of industrial objects without these appearance features. Our system has been implemented to overcome problems of recognition when the objects can only be recognized by geometric shape and the simplicity of shapes could create ambiguity. Finally, some real tests are performed and illustrated to verify the satisfactory performance of the proposed system.

3D Visual Data-Driven Spatiotemporal Deformations for Non-Rigid Object Grasping Using Robot Hands

Sensing techniques are important for solving problems of uncertainty inherent to intelligent grasping tasks. The main goal here is to present a visual sensing system based on range imaging technology for robot manipulation of non-rigid objects. Our proposal provides a suitable visual perception system of complex grasping tasks to support a robot controller when other sensor systems, such as tactile and force, are not able to obtain useful data relevant to the grasping manipulation task. In particular, a new visual approach based on RGBD data was implemented to help a robot controller carry out intelligent manipulation tasks with flexible objects. The proposed method supervises the interaction between the grasped object and the robot hand in order to avoid poor contact between the fingertips and an object when there is neither force nor pressure data. This new approach is also used to measure changes to the shape of an object’s surfaces and so allows us to find deformations caused by inappropriate pressure being applied by the hand’s fingers. Test was carried out for grasping tasks involving several flexible household objects with a multi-fingered robot hand working in real time. Our approach generates pulses from the deformation detection method and sends an event message to the robot controller when surface deformation is detected. In comparison with other methods, the obtained results reveal that our visual pipeline does not use deformations models of objects and materials, as well as the approach works well both planar and 3D household objects in real time. In addition, our method does not depend on the pose of the robot hand because the location of the reference system is computed from a recognition process of a pattern located place at the robot forearm. The presented experiments demonstrate that the proposed method accomplishes a good monitoring of grasping task with several objects and different grasping configurations in indoor environments.

Realistic limits for subpixel movement detection

Object tracking with subpixel accuracy is of fundamental importance in many fields since it provides optimal performance at relatively low cost. Although there are many theoretical proposals that lead to resolution increments of several orders of magnitude, in practice this resolution is limited by the imaging systems. In this paper we propose and demonstrate through simple numerical models a realistic limit for subpixel accuracy. The final result is that maximum achievable resolution enhancement is connected with the dynamic range of the image, i.e., the detection limit is 1/2∧(nr.bits). The results here presented may aid in proper design of superresolution experiments in microscopy, surveillance, defense, and other fields.

Toward Never-Ending Object Learning for Robots

Thesis (Ph.D.)--University of Washington, 2016-06

Capacity limits for the detection of changing visual features

Capacity limits in visual attention have traditionally been studied using static arrays of elements from which an observer must detect a target defined by a certain visual feature or combination of features. In the current study we use this visual search paradigm, with accuracy as the dependent variable, to examine attentional capacity limits for different visual features undergoing change over time. In Experiment 1, detectability of a single changing target was measured under conditions where the type of change (size, speed, colour), the magnitude of change, the set size and homogeneity of the unchanging distractors were all systematically varied. Psychometric function slopes were calculated for different experimental conditions and ‘change thresholds’extracted from these slopes were used in Experiment 2, in which multiple supra-threshold changes were made, simultaneously, either to a single or to two or three different stimulus elements. These experiments give an objective psychometric paradigm for measuring changes in visual features over time. Results favour object-based accounts of visual attention, and show consistent differences in the allocation of attentional capacity to different perceptual dimensions.

The detection and identification of extraneous metals in material conveyance systems

The aim of this work was to design and build an equipment which can detect ferrous and non-ferrous objects in conveyed commodities, discriminate between them and locate the object along the belt and on the width of the belt. The magnetic induction mechanism was used as a means of achieving the objectives of this research. In order to choose the appropriate geometry and size of the induction field source, the field distributions of different source geometries and sizes were studied in detail. From these investigations it was found the square loop geometry is the most appropriate as a field generating source for the purpose of this project. The phenomena of field distribution in the conductors was also investigated. An equipment was designed and built at the preliminary stages of thework based on a flux-gate magnetometer with the ability to detect only ferrous objects.The instrument was designed such that it could be used to detect ferrous objects in the coal conveyors of power stations. The advantages of employing this detector in the power industry over the present ferrous metal electromagnetic separators were also considered. The objectives of this project culminated in the design and construction of a ferrous and non-ferrous detector with the ability to discriminate between ferrous and non-ferrous metals and to locate the objects on the conveying system. An experimental study was carried out to test the performance of the equipment in the detection of ferrous and non-ferrous objects of a given size carried on the conveyor belt. The ability of the equipment to discriminate between the types of metals and to locate the object on the belt was also evaluated experimentally. The benefits which can be gained from the industrial implementations of the equipment were considered. Further topics which may be investigated as an extension of this work are given.

Late development of metric part-relational processing in object recognition

Four experiments with unfamiliar objects examined the remarkably late consolidation of part-relational relative to part-based object recognition (Jüttner, Wakui, Petters, Kaur, & Davidoff, 2013). Our results indicate a particularly protracted developmental trajectory for the processing of metric part relations. Schoolchildren aged 7 to 14 years and adults were tested in 3-Alternative-Forced-Choice tasks to judge the correct appearance of upright and inverted newly learned multipart objects that had been manipulated in terms of individual parts or part relations. Experiment 1 showed that even the youngest tested children were close to adult levels of performance for recognizing categorical changes of individual parts and relative part position. By contrast, Experiment 2 demonstrated that performance for detecting metric changes of relative part position was distinctly reduced in young children compared with recognizing metric changes of individual parts, and did not approach the latter until 11 to 12 years. A similar developmental dissociation was observed in Experiment 3, which contrasted the detection of metric relative-size changes and metric part changes. Experiment 4 showed that manipulations of metric size that were perceived as part (rather than part-relational) changes eliminated this dissociation. Implications for theories of object recognition and similarities to the development of face perception are discussed. © 2014 American Psychological Association.

Methods of Color Images Procession for Further Identification of the Object

The offered paper deals with the problems of color images preliminary procession. Among these are: interference control (local ones and noise) and extraction of the object from the background on the stage preceding the process of contours extraction. It was considered for a long time that execution of smoothing in segmentation through the boundary extraction is inadmissible, but the described methods and the obtained results evidence about expedience of using the noise control methods.

A stable graph-based representation for object recognition through high-order matching

Many Object recognition techniques perform some flavour of point pattern matching between a model and a scene. Such points are usually selected through a feature detection algorithm that is robust to a class of image transformations and a suitable descriptor is computed over them in order to get a reliable matching. Moreover, some approaches take an additional step by casting the correspondence problem into a matching between graphs defined over feature points. The motivation is that the relational model would add more discriminative power, however the overall effectiveness strongly depends on the ability to build a graph that is stable with respect to both changes in the object appearance and spatial distribution of interest points. In fact, widely used graph-based representations, have shown to suffer some limitations, especially with respect to changes in the Euclidean organization of the feature points. In this paper we introduce a technique to build relational structures over corner points that does not depend on the spatial distribution of the features. © 2012 ICPR Org Committee.