Modelling stereoscopic vision systems for robotic applications

Aquesta tesi s'emmarca dins del projecte CICYT TAP 1999-0443-C05-01. L'objectiu d'aquest projecte és el disseny, implementació i avaluació de robots mòbils, amb un sistema de control distribuït, sistemes de sensorització i xarxa de comunicacions per realitzar tasques de vigilància. Els robots han de poder-se moure per un entorn reconeixent la posició i orientació dels diferents objectes que l'envolten. Aquesta informació ha de permetre al robot localitzar-se dins de l'entorn on es troba per poder-se moure evitant els possibles obstacles i dur a terme la tasca encomanada. El robot ha de generar un mapa dinàmic de l'entorn que serà utilitzat per localitzar la seva posició. L'objectiu principal d'aquest projecte és aconseguir que un robot explori i construeixi un mapa de l'entorn sense la necessitat de modificar el propi entorn. Aquesta tesi està enfocada en l'estudi de la geometria dels sistemes de visió estereoscòpics formats per dues càmeres amb l'objectiu d'obtenir informació geomètrica 3D de l'entorn d'un vehicle. Aquest objectiu tracta de l'estudi del modelatge i la calibració de càmeres i en la comprensió de la geometria epipolar. Aquesta geometria està continguda en el que s'anomena emph{matriu fonamental}. Cal realitzar un estudi del càlcul de la matriu fonamental d'un sistema estereoscòpic amb la finalitat de reduir el problema de la correspondència entre dos plans imatge. Un altre objectiu és estudiar els mètodes d'estimació del moviment basats en la geometria epipolar diferencial per tal de percebre el moviment del robot i obtenir-ne la posició. Els estudis de la geometria que envolta els sistemes de visió estereoscòpics ens permeten presentar un sistema de visió per computador muntat en un robot mòbil que navega en un entorn desconegut. El sistema fa que el robot sigui capaç de generar un mapa dinàmic de l'entorn a mesura que es desplaça i determinar quin ha estat el moviment del robot per tal de emph{localitzar-se} dins del mapa. La tesi presenta un estudi comparatiu dels mètodes de calibració de càmeres més utilitzats en les últimes dècades. Aquestes tècniques cobreixen un gran ventall dels mètodes de calibració clàssics. Aquest mètodes permeten estimar els paràmetres de la càmera a partir d'un conjunt de punts 3D i de les seves corresponents projeccions 2D en una imatge. Per tant, aquest estudi descriu un total de cinc tècniques de calibració diferents que inclouen la calibració implicita respecte l'explicita i calibració lineal respecte no lineal. Cal remarcar que s'ha fet un gran esforç en utilitzar la mateixa nomenclatura i s'ha estandaritzat la notació en totes les tècniques presentades. Aquesta és una de les dificultats principals a l'hora de poder comparar les tècniques de calibració ja què cada autor defineix diferents sistemes de coordenades i diferents conjunts de paràmetres. El lector és introduït a la calibració de càmeres amb la tècnica lineal i implícita proposada per Hall i amb la tècnica lineal i explicita proposada per Faugeras-Toscani. A continuació es passa a descriure el mètode a de Faugeras incloent el modelatge de la distorsió de les lents de forma radial. Seguidament es descriu el conegut mètode proposat per Tsai, i finalment es realitza una descripció detallada del mètode de calibració proposat per Weng. Tots els mètodes són comparats tant des del punt de vista de model de càmera utilitzat com de la precisió de la calibració. S'han implementat tots aquests mètodes i s'ha analitzat la precisió presentant resultats obtinguts tant utilitzant dades sintètiques com càmeres reals. Calibrant cada una de les càmeres del sistema estereoscòpic es poden establir un conjunt de restriccions geomètri ques entre les dues imatges. Aquestes relacions són el que s'anomena geometria epipolar i estan contingudes en la matriu fonamental. Coneixent la geometria epipolar es pot: simplificar el problema de la correspondència reduint l'espai de cerca a llarg d'una línia epipolar; estimar el moviment d'una càmera quan aquesta està muntada sobre un robot mòbil per realitzar tasques de seguiment o de navegació; reconstruir una escena per aplicacions d'inspecció, propotipatge o generació de motlles. La matriu fonamental s'estima a partir d'un conjunt de punts en una imatges i les seves correspondències en una segona imatge. La tesi presenta un estat de l'art de les tècniques d'estimació de la matriu fonamental. Comença pels mètode lineals com el dels set punts o el mètode dels vuit punts, passa pels mètodes iteratius com el mètode basat en el gradient o el CFNS, fins arribar las mètodes robustos com el M-Estimators, el LMedS o el RANSAC. En aquest treball es descriuen fins a 15 mètodes amb 19 implementacions diferents. Aquestes tècniques són comparades tant des del punt de vista algorísmic com des del punt de vista de la precisió que obtenen. Es presenten el resultats obtinguts tant amb imatges reals com amb imatges sintètiques amb diferents nivells de soroll i amb diferent quantitat de falses correspondències. Tradicionalment, l'estimació del moviment d'una càmera està basada en l'aplicació de la geometria epipolar entre cada dues imatges consecutives. No obstant el cas tradicional de la geometria epipolar té algunes limitacions en el cas d'una càmera situada en un robot mòbil. Les diferencies entre dues imatges consecutives són molt petites cosa que provoca inexactituds en el càlcul de matriu fonamental. A més cal resoldre el problema de la correspondència, aquest procés és molt costós en quant a temps de computació i no és gaire efectiu per aplicacions de temps real. En aquestes circumstàncies les tècniques d'estimació del moviment d'una càmera solen basar-se en el flux òptic i en la geometria epipolar diferencial. En la tesi es realitza un recull de totes aquestes tècniques degudament classificades. Aquests mètodes són descrits unificant la notació emprada i es remarquen les semblances i les diferencies entre el cas discret i el cas diferencial de la geometria epipolar. Per tal de poder aplicar aquests mètodes a l'estimació de moviment d'un robot mòbil, aquest mètodes generals que estimen el moviment d'una càmera amb sis graus de llibertat, han estat adaptats al cas d'un robot mòbil que es desplaça en una superfície plana. Es presenten els resultats obtinguts tant amb el mètodes generals de sis graus de llibertat com amb els adaptats a un robot mòbil utilitzant dades sintètiques i seqüències d'imatges reals. Aquest tesi finalitza amb una proposta de sistema de localització i de construcció d'un mapa fent servir un sistema estereoscòpic situat en un robot mòbil. Diverses aplicacions de robòtica mòbil requereixen d'un sistema de localització amb l'objectiu de facilitar la navegació del vehicle i l'execució del les trajectòries planificades. La localització es sempre relativa al mapa de l'entorn on el robot s'està movent. La construcció de mapes en un entorn desconegut és una tasca important a realitzar per les futures generacions de robots mòbils. El sistema que es presenta realitza la localització i construeix el mapa de l'entorn de forma simultània. A la tesi es descriu el robot mòbil GRILL, que ha estat la plataforma de treball emprada per aquesta aplicació, amb el sistema de visió estereoscòpic que s'ha dissenyat i s'ha muntat en el robot. També es descriu tots el processos que intervenen en el sistema de localització i construcció del mapa. La implementació d'aquest processos ha estat possible gràcies als estudis realitzats i presentats prèviament (calibració de càmeres, estimació de la matriu fonamental, i estimació del moviment) sense els quals no s'hauria pogut plantejar aquest sistema. Finalment es presenten els mapes en diverses trajectòries realitzades pel robot GRILL en el laboratori. Les principals contribucions d'aquest treball són: ·Un estat de l'art sobre mètodes de calibració de càmeres. El mètodes són comparats tan des del punt de vista del model de càmera utilitzat com de la precisió dels mètodes. ·Un estudi dels mètodes d'estimació de la matriu fonamental. Totes les tècniques estudiades són classificades i descrites des d'un punt de vista algorísmic. ·Un recull de les tècniques d'estimació del moviment d'una càmera centrat en el mètodes basat en la geometria epipolar diferencial. Aquestes tècniques han estat adaptades per tal d'estimar el moviment d'un robot mòbil. ·Una aplicació de robòtica mòbil per tal de construir un mapa dinàmic de l'entorn i localitzar-se per mitja d'un sistema estereoscòpic. L'aplicació presentada es descriu tant des del punt de vista del maquinari com del programari que s'ha dissenyat i implementat.

An improved algorithm for generating global window brightness temperatures from multiple satellite infrared imagery

An improved algorithm for the generation of gridded window brightness temperatures is presented. The primary data source is the International Satellite Cloud Climatology Project, level B3 data, covering the period from July 1983 to the present. The algorithm rakes window brightness, temperatures from multiple satellites, both geostationary and polar orbiting, which have already been navigated and normalized radiometrically to the National Oceanic and Atmospheric Administration's Advanced Very High Resolution Radiometer, and generates 3-hourly global images on a 0.5 degrees by 0.5 degrees latitude-longitude grid. The gridding uses a hierarchical scheme based on spherical kernel estimators. As part of the gridding procedure, the geostationary data are corrected for limb effects using a simple empirical correction to the radiances, from which the corrected temperatures are computed. This is in addition to the application of satellite zenith angle weighting to downweight limb pixels in preference to nearer-nadir pixels. The polar orbiter data are windowed on the target time with temporal weighting to account for the noncontemporaneous nature of the data. Large regions of missing data are interpolated from adjacent processed images using a form of motion compensated interpolation based on the estimation of motion vectors using an hierarchical block matching scheme. Examples are shown of the various stages in the process. Also shown are examples of the usefulness of this type of data in GCM validation.

Estimating the spatial scales of regionalized variables by nested sampling, hierarchical analysis of variance and residual maximum likelihood

The variogram is essential for local estimation and mapping of any variable by kriging. The variogram itself must usually be estimated from sample data. The sampling density is a compromise between precision and cost, but it must be sufficiently dense to encompass the principal spatial sources of variance. A nested, multi-stage, sampling with separating distances increasing in geometric progression from stage to stage will do that. The data may then be analyzed by a hierarchical analysis of variance to estimate the components of variance for every stage, and hence lag. By accumulating the components starting from the shortest lag one obtains a rough variogram for modest effort. For balanced designs the analysis of variance is optimal; for unbalanced ones, however, these estimators are not necessarily the best, and the analysis by residual maximum likelihood (REML) will usually be preferable. The paper summarizes the underlying theory and illustrates its application with data from three surveys, one in which the design had four stages and was balanced and two implemented with unbalanced designs to economize when there were more stages. A Fortran program is available for the analysis of variance, and code for the REML analysis is listed in the paper. (c) 2005 Elsevier Ltd. All rights reserved.

Determining the effect of asymmetric data on the variogram. II. Outliers

Asymmetry in a distribution can arise from a long tail of values in the underlying process or from outliers that belong to another population that contaminate the primary process. The first paper of this series examined the effects of the former on the variogram and this paper examines the effects of asymmetry arising from outliers. Simulated annealing was used to create normally distributed random fields of different size that are realizations of known processes described by variograms with different nugget:sill ratios. These primary data sets were then contaminated with randomly located and spatially aggregated outliers from a secondary process to produce different degrees of asymmetry. Experimental variograms were computed from these data by Matheron's estimator and by three robust estimators. The effects of standard data transformations on the coefficient of skewness and on the variogram were also investigated. Cross-validation was used to assess the performance of models fitted to experimental variograms computed from a range of data contaminated by outliers for kriging. The results showed that where skewness was caused by outliers the variograms retained their general shape, but showed an increase in the nugget and sill variances and nugget:sill ratios. This effect was only slightly more for the smallest data set than for the two larger data sets and there was little difference between the results for the latter. Overall, the effect of size of data set was small for all analyses. The nugget:sill ratio showed a consistent decrease after transformation to both square roots and logarithms; the decrease was generally larger for the latter, however. Aggregated outliers had different effects on the variogram shape from those that were randomly located, and this also depended on whether they were aggregated near to the edge or the centre of the field. The results of cross-validation showed that the robust estimators and the removal of outliers were the most effective ways of dealing with outliers for variogram estimation and kriging. (C) 2007 Elsevier Ltd. All rights reserved.

Estimating the spatial scales of regionalized variables by nested sampling, hierarchical analysis of variance and residual maximum likelihood

The variogram is essential for local estimation and mapping of any variable by kriging. The variogram itself must usually be estimated from sample data. The sampling density is a compromise between precision and cost, but it must be sufficiently dense to encompass the principal spatial sources of variance. A nested, multi-stage, sampling with separating distances increasing in geometric progression from stage to stage will do that. The data may then be analyzed by a hierarchical analysis of variance to estimate the components of variance for every stage, and hence lag. By accumulating the components starting from the shortest lag one obtains a rough variogram for modest effort. For balanced designs the analysis of variance is optimal; for unbalanced ones, however, these estimators are not necessarily the best, and the analysis by residual maximum likelihood (REML) will usually be preferable. The paper summarizes the underlying theory and illustrates its application with data from three surveys, one in which the design had four stages and was balanced and two implemented with unbalanced designs to economize when there were more stages. A Fortran program is available for the analysis of variance, and code for the REML analysis is listed in the paper. (c) 2005 Elsevier Ltd. All rights reserved.

Estimating the hidden number of scrapie affected holdings in great Britain using a simple, truncated count model allowing for heterogeneity.

None of the current surveillance streams monitoring the presence of scrapie in Great Britain provide a comprehensive and unbiased estimate of the prevalence of the disease at the holding level. Previous work to estimate the under-ascertainment adjusted prevalence of scrapie in Great Britain applied multiple-list capture–recapture methods. The enforcement of new control measures on scrapie-affected holdings in 2004 has stopped the overlapping between surveillance sources and, hence, the application of multiple-list capture–recapture models. Alternative methods, still under the capture–recapture methodology, relying on repeated entries in one single list have been suggested in these situations. In this article, we apply one-list capture–recapture approaches to data held on the Scrapie Notifications Database to estimate the undetected population of scrapie-affected holdings with clinical disease in Great Britain for the years 2002, 2003, and 2004. For doing so, we develop a new diagnostic tool for indication of heterogeneity as well as a new understanding of the Zelterman and Chao’s lower bound estimators to account for potential unobserved heterogeneity. We demonstrate that the Zelterman estimator can be viewed as a maximum likelihood estimator for a special, locally truncated Poisson likelihood equivalent to a binomial likelihood. This understanding allows the extension of the Zelterman approach by means of logistic regression to include observed heterogeneity in the form of covariates—in case studied here, the holding size and country of origin. Our results confirm the presence of substantial unobserved heterogeneity supporting the application of our two estimators. The total scrapie-affected holding population in Great Britain is around 300 holdings per year. None of the covariates appear to inform the model significantly.

A capture–recapture approach for screening using two diagnostic tests with availability of disease status for the test positives only

The article considers screening human populations with two screening tests. If any of the two tests is positive, then full evaluation of the disease status is undertaken; however, if both diagnostic tests are negative, then disease status remains unknown. This procedure leads to a data constellation in which, for each disease status, the 2 × 2 table associated with the two diagnostic tests used in screening has exactly one empty, unknown cell. To estimate the unobserved cell counts, previous approaches assume independence of the two diagnostic tests and use specific models, including the special mixture model of Walter or unconstrained capture–recapture estimates. Often, as is also demonstrated in this article by means of a simple test, the independence of the two screening tests is not supported by the data. Two new estimators are suggested that allow associations of the screening test, although the form of association must be assumed to be homogeneous over disease status. These estimators are modifications of the simple capture–recapture estimator and easy to construct. The estimators are investigated for several screening studies with fully evaluated disease status in which the superior behavior of the new estimators compared to the previous conventional ones can be shown. Finally, the performance of the new estimators is compared with maximum likelihood estimators, which are more difficult to obtain in these models. The results indicate the loss of efficiency as minor.

Testing symmetry and homogeneity in the almost ideal demand system with co-integrated data using fully modified estimation and the bootstrap

Conventional seemingly unrelated estimation of the almost ideal demand system is shown to lead to small sample bias and distortions in the size of a Wald test for symmetry and homogeneity when the data are co-integrated. A fully modified estimator is developed in an attempt to remedy these problems. It is shown that this estimator reduces the small sample bias but fails to eliminate the size distortion.. Bootstrapping is shown to be ineffective as a method of removing small sample bias in both the conventional and fully modified estimators. Bootstrapping is effective, however, as a method of removing. size distortion and performs equally well in this respect with both estimators.

Measuring bee diversity in different European habitats and biogeographical regions

Bee pollinators are currently recorded with many different sampling methods. However, the relative performances of these methods have not been systematically evaluated and compared. In response to the strong need to record ongoing shifts in pollinator diversity and abundance, global and regional pollinator initiatives must adopt standardized sampling protocols when developing large-scale and long-term monitoring schemes. We systematically evaluated the performance of six sampling methods (observation plots, pan traps, standardized and variable transect walks, trap nests with reed internodes or paper tubes) that are commonly used across a wide range of geographical regions in Europe and in two habitat types (agricultural and seminatural). We focused on bees since they represent the most important pollinator group worldwide. Several characteristics of the methods were considered in order to evaluate their performance in assessing bee diversity: sample coverage, observed species richness, species richness estimators, collector biases (identified by subunit-based rarefaction curves), species composition of the samples, and the indication of overall bee species richness (estimated from combined total samples). The most efficient method in all geographical regions, in both the agricultural and seminatural habitats, was the pan trap method. It had the highest sample coverage, collected the highest number of species, showed negligible collector bias, detected similar species as the transect methods, and was the best indicator of overall bee species richness. The transect methods were also relatively efficient, but they had a significant collector bias. The observation plots showed poor performance. As trap nests are restricted to cavity-nesting bee species, they had a naturally low sample coverage. However, both trap nest types detected additional species that were not recorded by any of the other methods. For large-scale and long-term monitoring schemes with surveyors with different experience levels, we recommend pan traps as the most efficient, unbiased, and cost-effective method for sampling bee diversity. Trap nests with reed internodes could be used as a complementary sampling method to maximize the numbers of collected species. Transect walks are the principal method for detailed studies focusing on plant-pollinator associations. Moreover, they can be used in monitoring schemes after training the surveyors to standardize their collection skills.

The failure of meta-analytic asymptotics for the seemingly efficient estimator of the common risk difference

We consider the case of a multicenter trial in which the center specific sample sizes are potentially small. Under homogeneity, the conventional procedure is to pool information using a weighted estimator where the weights used are inverse estimated center-specific variances. Whereas this procedure is efficient for conventional asymptotics (e. g. center-specific sample sizes become large, number of center fixed), it is commonly believed that the efficiency of this estimator holds true also for meta-analytic asymptotics (e.g. center-specific sample size bounded, potentially small, and number of centers large). In this contribution we demonstrate that this estimator fails to be efficient. In fact, it shows a persistent bias with increasing number of centers showing that it isnot meta-consistent. In addition, we show that the Cochran and Mantel-Haenszel weighted estimators are meta-consistent and, in more generality, provide conditions on the weights such that the associated weighted estimator is meta-consistent.

A jackknife variance estimator for unequal probability sampling

The jackknife method is often used for variance estimation in sample surveys but has only been developed for a limited class of sampling designs.We propose a jackknife variance estimator which is defined for any without-replacement unequal probability sampling design. We demonstrate design consistency of this estimator for a broad class of point estimators. A Monte Carlo study shows how the proposed estimator may improve on existing estimators.

Variance estimation with highly stratified sampling designs with unequal probabilities

It is common practice to design a survey with a large number of strata. However, in this case the usual techniques for variance estimation can be inaccurate. This paper proposes a variance estimator for estimators of totals. The method proposed can be implemented with standard statistical packages without any specific programming, as it involves simple techniques of estimation, such as regression fitting.

Variance estimation for systematic sampling from deliberately ordered populations

The systematic sampling (SYS) design (Madow and Madow, 1944) is widely used by statistical offices due to its simplicity and efficiency (e.g., Iachan, 1982). But it suffers from a serious defect, namely, that it is impossible to unbiasedly estimate the sampling variance (Iachan, 1982) and usual variance estimators (Yates and Grundy, 1953) are inadequate and can overestimate the variance significantly (Särndal et al., 1992). We propose a novel variance estimator which is less biased and that can be implemented with any given population order. We will justify this estimator theoretically and with a Monte Carlo simulation study.

On the question of proportionality of the count of observed Scrapie cases and the size of holding

Background: The present paper investigates the question of a suitable basic model for the number of scrapie cases in a holding and applications of this knowledge to the estimation of scrapie-ffected holding population sizes and adequacy of control measures within holding. Is the number of scrapie cases proportional to the size of the holding in which case it should be incorporated into the parameter of the error distribution for the scrapie counts? Or, is there a different - potentially more complex - relationship between case count and holding size in which case the information about the size of the holding should be better incorporated as a covariate in the modeling? Methods: We show that this question can be appropriately addressed via a simple zero-truncated Poisson model in which the hypothesis of proportionality enters as a special offset-model. Model comparisons can be achieved by means of likelihood ratio testing. The procedure is illustrated by means of surveillance data on classical scrapie in Great Britain. Furthermore, the model with the best fit is used to estimate the size of the scrapie-affected holding population in Great Britain by means of two capture-recapture estimators: the Poisson estimator and the generalized Zelterman estimator. Results: No evidence could be found for the hypothesis of proportionality. In fact, there is some evidence that this relationship follows a curved line which increases for small holdings up to a maximum after which it declines again. Furthermore, it is pointed out how crucial the correct model choice is when applied to capture-recapture estimation on the basis of zero-truncated Poisson models as well as on the basis of the generalized Zelterman estimator. Estimators based on the proportionality model return very different and unreasonable estimates for the population sizes. Conclusion: Our results stress the importance of an adequate modelling approach to the association between holding size and the number of cases of classical scrapie within holding. Reporting artefacts and speculative biological effects are hypothesized as the underlying causes of the observed curved relationship. The lack of adjustment for these artefacts might well render ineffective the current strategies for the control of the disease.

CAMCR: Computer assisted mixture model analysis for capture-recapture count data

Population size estimation with discrete or nonparametric mixture models is considered, and reliable ways of construction of the nonparametric mixture model estimator are reviewed and set into perspective. Construction of the maximum likelihood estimator of the mixing distribution is done for any number of components up to the global nonparametric maximum likelihood bound using the EM algorithm. In addition, the estimators of Chao and Zelterman are considered with some generalisations of Zelterman’s estimator. All computations are done with CAMCR, a special software developed for population size estimation with mixture models. Several examples and data sets are discussed and the estimators illustrated. Problems using the mixture model-based estimators are highlighted.