Re-visioning a "novel concept" : beyond vision and revision to advanced editing strategies

This thesis is a work of creative practice-led research comprising two components. The first component is a speculative thriller novel, entitled Diamond Eyes. (Contracted for publication in 2009 by Harper Collins: Voyager as the first in a trilogy, under the name AA Bell.) The second component is an exegesis exploring the notion of re-visioning a novel. Re-visioning, not to be confused with revision, refers to advance editing strategies required when the original vision of a novel changes during development.

Hybrid robot control and SLAM for persistent navigation and mapping

For a mobile robot to operate autonomously in real-world environments, it must have an effective control system and a navigation system capable of providing robust localization, path planning and path execution. In this paper we describe the work investigating synergies between mapping and control systems. We have integrated development of a control system for navigating mobile robots and a robot SLAM system. The control system is hybrid in nature and tightly coupled with the SLAM system; it uses a combination of high and low level deliberative and reactive control processes to perform obstacle avoidance, exploration, global navigation and recharging, and draws upon the map learning and localization capabilities of the SLAM system. The effectiveness of this hybrid, multi-level approach was evaluated in the context of a delivery robot scenario. Over a period of two weeks the robot performed 1143 delivery tasks to 11 different locations with only one delivery failure (from which it recovered), travelled a total distance of more than 40km, and recharged autonomously a total of 23 times. In this paper we describe the combined control and SLAM system and discuss insights gained from its successful application in a real-world context.

Decoupled image-based visual servoing for cameras obeying the unified projection model

This paper proposes a generic decoupled imagebased control scheme for cameras obeying the unified projection model. The scheme is based on the spherical projection model. Invariants to rotational motion are computed from this projection and used to control the translational degrees of freedom. Importantly we form invariants which decrease the sensitivity of the interaction matrix to object depth variation. Finally, the proposed results are validated with experiments using a classical perspective camera as well as a fisheye camera mounted on a 6-DOF robotic platform.

Color and texture feature fusion using kernel PCA with application to object-based vegetation species classification

A good object representation or object descriptor is one of the key issues in object based image analysis. To effectively fuse color and texture as a unified descriptor at object level, this paper presents a novel method for feature fusion. Color histogram and the uniform local binary patterns are extracted from arbitrary-shaped image-objects, and kernel principal component analysis (kernel PCA) is employed to find nonlinear relationships of the extracted color and texture features. The maximum likelihood approach is used to estimate the intrinsic dimensionality, which is then used as a criterion for automatic selection of optimal feature set from the fused feature. The proposed method is evaluated using SVM as the benchmark classifier and is applied to object-based vegetation species classification using high spatial resolution aerial imagery. Experimental results demonstrate that great improvement can be achieved by using proposed feature fusion method.

Attraction and image for the Australian rail industry

Despite the global financial downturn, the Australian rail industry is in a period of expansion. Reports indicate that the industry is not attracting sufficient entry level and mid-career engineers and skilled technicians from within the Australian labour market and is facing widespread retirements from an ageing workforce. This paper reports on a completed qualitative study that explores the perceptions of engineering students, their lecturers, careers advisors and recruitment consultants regarding rail as a brand and of careers in the rail industry. Findings are presented about career knowledge, job characteristic preferences, branding and image and indicate that rail as a brand has a dated image, that young people and their influencers have little knowledge of rail careers and that rail could better focus its image and recruitment strategies. Conclusions include suggestions for more effective attraction and image strategies for the industry and for further research.

User-driven saliency maps for evaluating Region-of-Interest detection

Detection of Region of Interest (ROI) in a video leads to more efficient utilization of bandwidth. This is because any ROIs in a given frame can be encoded in higher quality than the rest of that frame, with little or no degradation of quality from the perception of the viewers. Consequently, it is not necessary to uniformly encode the whole video in high quality. One approach to determine ROIs is to use saliency detectors to locate salient regions. This paper proposes a methodology for obtaining ground truth saliency maps to measure the effectiveness of ROI detection by considering the role of user experience during the labelling process of such maps. User perceptions can be captured and incorporated into the definition of salience in a particular video, taking advantage of human visual recall within a given context. Experiments with two state-of-the-art saliency detectors validate the effectiveness of this approach to validating visual saliency in video. This paper will provide the relevant datasets associated with the experiments.

A biologically inspired object spectral-texture descriptor and its application to vegetation classification in power-line corridors

The use of appropriate features to represent an output class or object is critical for all classification problems. In this paper, we propose a biologically inspired object descriptor to represent the spectral-texture patterns of image-objects. The proposed feature descriptor is generated from the pulse spectral frequencies (PSF) of a pulse coupled neural network (PCNN), which is invariant to rotation, translation and small scale changes. The proposed method is first evaluated in a rotation and scale invariant texture classification using USC-SIPI texture database. It is further evaluated in an application of vegetation species classification in power line corridor monitoring using airborne multi-spectral aerial imagery. The results from the two experiments demonstrate that the PSF feature is effective to represent spectral-texture patterns of objects and it shows better results than classic color histogram and texture features.

A methodology for object identification and tracking in construction based on spatial modeling and image matching techniques

Understanding the motion characteristics of on-site objects is desirable for the analysis of construction work zones, especially in problems related to safety and productivity studies. This article presents a methodology for rapid object identification and tracking. The proposed methodology contains algorithms for spatial modeling and image matching. A high-frame-rate range sensor was utilized for spatial data acquisition. The experimental results indicated that an occupancy grid spatial modeling algorithm could quickly build a suitable work zone model from the acquired data. The results also showed that an image matching algorithm is able to find the most similar object from a model database and from spatial models obtained from previous scans. It is then possible to use the matched information to successfully identify and track objects.

Textures of optical flow for real-time anomaly detection in crowds

Automated visual surveillance of crowds is a rapidly growing area of research. In this paper we focus on motion representation for the purpose of abnormality detection in crowded scenes. We propose a novel visual representation called textures of optical flow. The proposed representation measures the uniformity of a flow field in order to detect anomalous objects such as bicycles, vehicles and skateboarders; and can be combined with spatial information to detect other forms of abnormality. We demonstrate that the proposed approach outperforms state-of-the-art anomaly detection algorithms on a large, publicly-available dataset.

HIFiRE re-entry observation using an image-based visual servoing system

This paper presents an image based visual servoing system that is intended to be used for tracking and obtaining scientific observations of the HIFiRE vehicles. The primary aim of this tracking platform is to acquire and track the thermal signature emitted from the surface of the vehicle during the re-entry phase of the mission using an infra-red camera. The implemented visual servoing scheme uses a classical image based approach to identify and track the target using visual kinematic control. The paper utilizes simulation and experimental results to show the tracking performance of the system using visual feedback. Discussions on current implementation and control techniques to further improve the performance of the system are also explored.