On-line adaptive visual tracking

Visual tracking is the problem of estimating some variables related to a target given a video sequence depicting the target. Visual tracking is key to the automation of many tasks, such as visual surveillance, robot or vehicle autonomous navigation, automatic video indexing in multimedia databases. Despite many years of research, long term tracking in real world scenarios for generic targets is still unaccomplished. The main contribution of this thesis is the definition of effective algorithms that can foster a general solution to visual tracking by letting the tracker adapt to mutating working conditions. In particular, we propose to adapt two crucial components of visual trackers: the transition model and the appearance model. The less general but widespread case of tracking from a static camera is also considered and a novel change detection algorithm robust to sudden illumination changes is proposed. Based on this, a principled adaptive framework to model the interaction between Bayesian change detection and recursive Bayesian trackers is introduced. Finally, the problem of automatic tracker initialization is considered. In particular, a novel solution for categorization of 3D data is presented. The novel category recognition algorithm is based on a novel 3D descriptors that is shown to achieve state of the art performances in several applications of surface matching.

Robust Stereo Visual Odometry through a Probabilistic Combination of Points and Line Segments

Most approaches to stereo visual odometry reconstruct the motion based on the tracking of point features along a sequence of images. However, in low-textured scenes it is often difficult to encounter a large set of point features, or it may happen that they are not well distributed over the image, so that the behavior of these algorithms deteriorates. This paper proposes a probabilistic approach to stereo visual odometry based on the combination of both point and line segment that works robustly in a wide variety of scenarios. The camera motion is recovered through non-linear minimization of the projection errors of both point and line segment features. In order to effectively combine both types of features, their associated errors are weighted according to their covariance matrices, computed from the propagation of Gaussian distribution errors in the sensor measurements. The method, of course, is computationally more expensive that using only one type of feature, but still can run in real-time on a standard computer and provides interesting advantages, including a straightforward integration into any probabilistic framework commonly employed in mobile robotics.

Syntactic Approach to ECG Rhythm Analysis

A diagnostic system for ECG rhythm monitoring based on syntactic approaches to pattern recognition is presented here. The method proposed exploits the difference in shape and structure between arrhythmic and normal ECG patterns to generate distinctly different descriptions in terms of a chosen set of primitives. A given frame of signal is first approximated piecewise linearly into a set of line segments which are completely specified in terms of their length and slope values. The slope values are quantized into seven distinct levels and a unit-length line segment with a slope value in each of these levels is coded as a slope symbol. Seven such slope symbols constitute the set of primitives. The given signal is represented as a string of such symbols based on the length and angle of the line segments approximating the signal. Context-free languages are used for describing the classes of abnormal and normal ECG patterns considered here. Analysis of actual ECG data shows efficiency comparable with that of existing methods and a saving in processing time.

A Model of Anomalous Enzyme-Catalyzed Gel Degradation Kinetics

We show that a model of target location involving n noninteracting particles moving subdiffusively along a line segment (a generalization of a model introduced by Sokolov et al. [Biophys. J. 2005, 89, 895.]) provides a basis for understanding recent experiments by Pelta et al. [Phys. Rev. Lett. 2007, 98, 228302.] on the kinetics of diffusion-limited gel degradation. These experiments find that the time t(c) taken by the enzyme thermolysin to completely hydrolyze a gel varies inversely as roughly the 3/2 power of the initial enzyme concentration [E]. In general, however, this time would be expected to vary either as [E](-1) or as [E](-2), depending on whether the Brownian diffusion of the enzyme to the site of cleavage took place along the network chains (1-d diffusion) or through the pore spaces (3-d diffusion). In our model, the unusual dependence of t(c) on [E] is explained in terms of a reaction-diffusion equation that is formulated in terms of fractional rather than ordinary time derivatives.

Biomimetic pattern recognition theory and its applications

Biomimetic pattern recogntion (BPR), which is based on "cognition" instead of "classification", is much closer to the function of human being. The basis of BPR is the Principle of homology-continuity (PHC), which means the difference between two samples of the same class must be gradually changed. The aim of BPR is to find an optimal covering in the feature space, which emphasizes the "similarity" among homologous group members, rather than "division" in traditional pattern recognition. Some applications of BPR are surveyed, in which the results of BPR are much better than the results of Support Vector Machine. A novel neuron model, Hyper sausage neuron (HSN), is shown as a kind of covering units in BPR. The mathematical description of HSN is given and the 2-dimensional discriminant boundary of HSN is shown. In two special cases, in which samples are distributed in a line segment and a circle, both the HSN networks and RBF networks are used for covering. The results show that HSN networks act better than RBF networks in generalization, especially for small sample set, which are consonant with the results of the applications of BPR. And a brief explanation of the HSN networks' advantages in covering general distributed samples is also given.

Study on the localization of the electric dipole sources

The research of dipole source localization has great significance in both clinical research and applications. For example, the EEG recording from the scalp is widely used for the localization of sources of electrical activity in the brain. This paper presents a closed formula that describes the electric field of dipoles at arbitrary position, which is a linear transformer called the transfer matrix. The expression of transfer matrix and its many useful characteristics are given, which can be used for the analysis of the electrical fields of dipoles. This paper also presents the closed formula for determining the location and magnitude of single dipole or multi-dipoles according to its electrical field distribution. A calculation result for a single dipole shows that the dipole will be located at the midpoint of a line segment if there are equivalent fields at its two ends.

基于外极线分区的动态立体匹配算法

基于区域的立体匹配算法仅针对支撑窗内的灰度信息定义匹配代价函数,导致在弱(无)纹理区域采用WTA优化出现歧义性。该文在外极线分区的基础上,改用区域作为匹配基元,针对歧义性区域,在代价函数中引入遮挡项和平滑项,并按照区域优先级的高低,动态匹配相应区域,获得可靠的视差信息。实验证明,该算法在保持实时性的同时对弱纹理区域处理具有有效性。

装配机器人系统快速碰撞检测算法

提出一种面向操作手装配系统的快速碰撞检测算法。该算法以机器人运动学和空间解析几何为基础 ,将判断机械手手臂与障碍物是否发生碰撞问题转化为直线段与有界平面是否存在公共点的简单解析几何问题 ,并以 PU MA5 6 0操作手为例对算法加以说明。该算法不仅适用于静态的障碍物已知的环境 ,而且适用于障碍物运动规律已知的动态环境 ,减少了碰撞检测占用的时间 ,提高了路径规划的效率

苏里格气田苏6加密井区山1-盒8层段河流沉积体系分析

Sulige gas field is located in Northwest of Yi-Shan Slope of the Ordos Basin. The Shan 1 Member of the Shanxi Formation and He8 Member of the ShiHeZi Formation are not only objective strata of research but also main producing strata of the Sulige Field. From core and wireline log data of 32 wells in well Su6 area of Sulige field, no less than six lithofaice types can be recognised. They are Gm,Sl,Sh,Sm,Sp,Fl,Fm. Box-shaped, bell-shaped, funnel-shaped and line-segment-shaped log are typcial gamma-ray log characters and shapes. The Depositonal system of the Shan1-He8 strata in research area have five bounding-surface hierarchies and was composed of six architectural elements, CH, LS,FF（CH）,SB,LA,GB. The depositional model of Shan 1 was the type of a sandy meandering river with natural levee, abandoned channels and crevasse splay. Channel depth of this model maybe 7-12 m and the fullest-bank flow can reach 14 m high. Based on analysis of depositional causes, a sandy braided river model for the depositional system of He 8 can be erected. It consists of active main channels, active chute channels, sheet-like sand bars, abandoned main channels and abandoned chute channels. Channel depth of this model can be 3-4 m with 9 m of highest flow. Six gamma-ray log cross sections show that the connectivity of sandbodies through Shan 1 Member is lower than He 8. Influenced by occurrence of mudy and silty deposits, vertical connectivity of sandbodies through He 8 is not high.

Estimating 3D Hand Pose from a Cluttered Image

A method is proposed that can generate a ranked list of plausible three-dimensional hand configurations that best match an input image. Hand pose estimation is formulated as an image database indexing problem, where the closest matches for an input hand image are retrieved from a large database of synthetic hand images. In contrast to previous approaches, the system can function in the presence of clutter, thanks to two novel clutter-tolerant indexing methods. First, a computationally efficient approximation of the image-to-model chamfer distance is obtained by embedding binary edge images into a high-dimensional Euclide an space. Second, a general-purpose, probabilistic line matching method identifies those line segment correspondences between model and input images that are the least likely to have occurred by chance. The performance of this clutter-tolerant approach is demonstrated in quantitative experiments with hundreds of real hand images.

Laminar Cortical Dynamics of Visual Form and Motion Interactions During Coherent Object Motion Perception

How do visual form and motion processes cooperate to compute object motion when each process separately is insufficient? Consider, for example, a deer moving behind a bush. Here the partially occluded fragments of motion signals available to an observer must be coherently grouped into the motion of a single object. A 3D FORMOTION model comprises five important functional interactions involving the brain’s form and motion systems that address such situations. Because the model’s stages are analogous to areas of the primate visual system, we refer to the stages by corresponding anatomical names. In one of these functional interactions, 3D boundary representations, in which figures are separated from their backgrounds, are formed in cortical area V2. These depth-selective V2 boundaries select motion signals at the appropriate depths in MT via V2-to-MT signals. In another, motion signals in MT disambiguate locally incomplete or ambiguous boundary signals in V2 via MT-to-V1-to-V2 feedback. The third functional property concerns resolution of the aperture problem along straight moving contours by propagating the influence of unambiguous motion signals generated at contour terminators or corners. Here, sparse “feature tracking signals” from, e.g., line ends, are amplified to overwhelm numerically superior ambiguous motion signals along line segment interiors. In the fourth, a spatially anisotropic motion grouping process takes place across perceptual space via MT-MST feedback to integrate veridical feature-tracking and ambiguous motion signals to determine a global object motion percept. The fifth property uses the MT-MST feedback loop to convey an attentional priming signal from higher brain areas back to V1 and V2. The model's use of mechanisms such as divisive normalization, endstopping, cross-orientation inhibition, and longrange cooperation is described. Simulated data include: the degree of motion coherence of rotating shapes observed through apertures, the coherent vs. element motion percepts separated in depth during the chopsticks illusion, and the rigid vs. non-rigid appearance of rotating ellipses.

Étude électrophysiologique de l’impact de la couleur dans le déploiement attentionnel

L’influence de la couleur dans les mécanismes perceptuels et attentionnels a été étudiée. Quatre couleurs (le rouge, le vert, le bleu et le jaune) ont été calibrées individuellement à travers la technique heterochromatic flicker photometry. Suivant cela, les participants ont déployé leur attention à une cible (un cercle de couleur avec une ligne orientée). Les données électrophysiologiques ont été enregistrées pendant que les sujets performaient la tâche de recherche visuelle, et les analyses ont été basées sur les potentiels évoqués (PÉs). Trois composantes des PÉs ont été examinées : la posterior contralateral positivity (Ppc); la N2pc, reflétant le déploiement de l’attention visuo-spatiale et la temporal and contralateral positivity (Ptc). Des conditions dans lesquelles la cible était bleu ou rouge, lorsque comparées à des conditions avec une cible jaune ou verte suscitaient une N2pc plus précoce. Une amplitude plus élevée est aussi observée pour les cibles rouges pour les composantes Ppc et Ptc, reflétant une sélectivité pré-attentionelle. Ces résultats suggèrent de la prudence dans l’interprétation de données comparant des cibles de différentes couleurs dans des tâches de PÉs, et ce même lorsque les couleurs sont équiluminantes.

Gröbnerbasen in Ore-Algebren

In dieser Arbeit werden grundlegende Algorithmen für Ore-Algebren in Mathematica realisiert. Dabei entsteht eine Plattform um die speziellen Beschränkungen und Möglichkeiten dieser Algebren insbesondere im Zusammenhang mit Gröbnerbasen an praktischen Beispielen auszuloten. Im Gegensatz zu den existierenden Paketen wird dabei explizit die Struktur der Ore-Algebra benutzt. Kandri-Rody und Weispfenning untersuchten 1990 Verallgemeinerungen von Gröbnerbasen auf Algebren ordnungserhaltender Art (``algebras of solvable type''). Diese verhalten sich so, dass Buchbergers Algorithmus stets eine Gröbnerbasis findet. Es wird ein Beispiel gezeigt, an dem klar wird, dass es mehr Ore-Algebren ordnungserhaltender Art gibt als die in der Literatur stets betrachteten Operator-Algebren. Für Ore-Algebren ordnungserhaltender Art werden Algorithmen zu Gröbnerbasen implementiert. Anschließend wird der Gröbner-Walk für Ore-Algebren untersucht. Der Gröbner-Walk im kommutativen Fall wird mit einem instruktiven Beispiel vorgestellt. Dann wird zum nichtkommutativen Fall übergegangen. Es wird gezeigt, dass die Eigenschaft ordnungserhaltender Art zu sein, auf der Strecke zwischen zwei Ordnungen erhalten bleibt. Eine leichte Modifikation des Walks für Ore-Algebren wird implementiert, die im Erfolgsfall die Basis konvertiert und ansonsten abbricht. Es werden Beispiele angegeben, in denen der modifizierte Walk funktioniert sowie ein Beispiel analysiert, in dem er versagt.

Semilinear parabolic problems in thin domains with a highly oscillatory boundary

In this paper, we study the behavior of the solutions of nonlinear parabolic problems posed in a domain that degenerates into a line segment (thin domain) which has an oscillating boundary. We combine methods from linear homogenization theory for reticulated structures and from the theory on nonlinear dynamics of dissipative systems to obtain the limit problem for the elliptic and parabolic problems and analyze the convergence properties of the solutions and attractors of the evolutionary equations. (C) 2011 Elsevier Ltd. All rights reserved.

Dynamics in dumbbell domains III. Continuity of attractors

In this paper we conclude the analysis started in [J.M. Arrieta, AN Carvalho, G. Lozada-Cruz, Dynamics in dumbbell domains I. Continuity of the set of equilibria, J. Differential Equations 231 (2006) 551-597] and continued in [J.M. Arrieta, AN Carvalho, G. Lozada-Cruz, Dynamics in dumbbell domains II. The limiting problem, J. Differential Equations 247 (1) (2009) 174-202 (this issue)] concerning the behavior of the asymptotic dynamics of a dissipative reaction-diffusion equation in a dumbbell domain as the channel shrinks to a line segment. In [J.M. Arrieta, AN Carvalho. G. Lozada-Cruz, Dynamics in dumbbell domains I. Continuity of the set of equilibria, J. Differential Equations 231 (2006) 551-597], we have established an appropriate functional analytic framework to address this problem and we have shown the continuity of the set of equilibria. In [J.M. Arrieta, AN Carvalho, G. Lozada-Cruz. Dynamics in dumbbell domains II. The limiting problem, J. Differential Equations 247 (1) (2009) 174-202 (this issue)], we have analyzed the behavior of the limiting problem. In this paper we show that the attractors are Upper semicontinuous and, moreover, if all equilibria of the limiting problem are hyperbolic, then they are lower semicontinuous and therefore, continuous. The continuity is obtained in L(p) and H(1) norms. (C) 2008 Elsevier Inc. All rights reserved.