Analysis of Differential and Matching Methods for Optical Flow

Several algorithms for optical flow are studied theoretically and experimentally. Differential and matching methods are examined; these two methods have differing domains of application- differential methods are best when displacements in the image are small (<2 pixels) while matching methods work well for moderate displacements but do not handle sub-pixel motions. Both types of optical flow algorithm can use either local or global constraints, such as spatial smoothness. Local matching and differential techniques and global differential techniques will be examined. Most algorithms for optical flow utilize weak assumptions on the local variation of the flow and on the variation of image brightness. Strengthening these assumptions improves the flow computation. The computational consequence of this is a need for larger spatial and temporal support. Global differential approaches can be extended to local (patchwise) differential methods and local differential methods using higher derivatives. Using larger support is valid when constraint on the local shape of the flow are satisfied. We show that a simple constraint on the local shape of the optical flow, that there is slow spatial variation in the image plane, is often satisfied. We show how local differential methods imply the constraints for related methods using higher derivatives. Experiments show the behavior of these optical flow methods on velocity fields which so not obey the assumptions. Implementation of these methods highlights the importance of numerical differentiation. Numerical approximation of derivatives require care, in two respects: first, it is important that the temporal and spatial derivatives be matched, because of the significant scale differences in space and time, and, second, the derivative estimates improve with larger support.

A Perturbation Scheme for Spherical Arrangements with Application to Molecular Modeling

We describe a software package for computing and manipulating the subdivision of a sphere by a collection of (not necessarily great) circles and for computing the boundary surface of the union of spheres. We present problems that arise in the implementation of the software and the solutions that we have found for them. At the core of the paper is a novel perturbation scheme to overcome degeneracies and precision problems in computing spherical arrangements while using floating point arithmetic. The scheme is relatively simple, it balances between the efficiency of computation and the magnitude of the perturbation, and it performs well in practice. In one O(n) time pass through the data, it perturbs the inputs necessary to insure no potential degeneracies and then passes the perturbed inputs on to the geometric algorithm. We report and discuss experimental results. Our package is a major component in a larger package aimed to support geometric queries on molecular models; it is currently employed by chemists working in "rational drug design." The spherical subdivisions are used to construct a geometric model of a molecule where each sphere represents an atom. We also give an overview of the molecular modeling package and detail additional features and implementation issues.

Coordinate-Independent Computations on Differential Equations

This project investigates the computational representation of differentiable manifolds, with the primary goal of solving partial differential equations using multiple coordinate systems on general n- dimensional spaces. In the process, this abstraction is used to perform accurate integrations of ordinary differential equations using multiple coordinate systems. In the case of linear partial differential equations, however, unexpected difficulties arise even with the simplest equations.

Revised Report on the Algorithmic Language Scheme

Data and procedures and the values they amass, Higher-order functions to combine and mix and match, Objects with their local state, the message they pass, A property, a package, the control of point for a catch- In the Lambda Order they are all first-class. One thing to name them all, one things to define them, one thing to place them in environments and bind them, in the Lambda Order they are all first-class. Keywords: Scheme, Lisp, functional programming, computer languages.

MIT Scheme Reference Manual

MIT Scheme is an implementation of the Scheme programming language that runs on many popular workstations. The MIT Scheme Reference Manual describes the special forms, procedures, and datatypes provided by the implementation for use by application programmers.

A Modern Differential Geometric Approach to Shape from Shading

How the visual system extracts shape information from a single grey-level image can be approached by examining how the information about shape is contained in the image. This technical report considers the characteristic equations derived by Horn as a dynamical system. Certain image critical points generate dynamical system critical points. The stable and unstable manifolds of these critical points correspond to convex and concave solution surfaces, giving more general existence and uniqueness results. A new kind of highly parallel, robust shape from shading algorithm is suggested on neighborhoods of these critical points. The information at bounding contours in the image is also analyzed.

Automatic Qualitative Analysis of Ordinary Differential Equations Using Piecewise Linear Approximations

This paper explores automating the qualitative analysis of physical systems. It describes a program, called PLR, that takes parameterized ordinary differential equations as input and produces a qualitative description of the solutions for all initial values. PLR approximates intractable nonlinear systems with piecewise linear ones, analyzes the approximations, and draws conclusions about the original systems. It chooses approximations that are accurate enough to reproduce the essential properties of their nonlinear prototypes, yet simple enough to be analyzed completely and efficiently. It derives additional properties, such as boundedness or periodicity, by theoretical methods. I demonstrate PLR on several common nonlinear systems and on published examples from mechanical engineering.

RABBIT: A Compiler for SCHEME

We have developed a compiler for the lexically-scoped dialect of LISP known as SCHEME. The compiler knows relatively little about specific data manipulation primitives such as arithmetic operators, but concentrates on general issues of environment and control. Rather than having specialized knowledge about a large variety of control and environment constructs, the compiler handles only a small basis set which reflects the semantics of lambda-calculus. All of the traditional imperative constructs, such as sequencing, assignment, looping, GOTO, as well as many standard LISP constructs such as AND, OR, and COND, are expressed in macros in terms of the applicative basis set. A small number of optimization techniques, coupled with the treatment of function calls as GOTO statements, serve to produce code as good as that produced by more traditional compilers. The macro approach enables speedy implementation of new constructs as desired without sacrificing efficiency in the generated code. A fair amount of analysis is devoted to determining whether environments may be stack-allocated or must be heap-allocated. Heap-allocated environments are necessary in general because SCHEME (unlike Algol 60 and Algol 68, for example) allows procedures with free lexically scoped variables to be returned as the values of other procedures; the Algol stack-allocation environment strategy does not suffice. The methods used here indicate that a heap-allocating generalization of the "display" technique leads to an efficient implementation of such "upward funargs". Moreover, compile-time optimization and analysis can eliminate many "funargs" entirely, and so far fewer environment structures need be allocated at run time than might be expected. A subset of SCHEME (rather than triples, for example) serves as the representation intermediate between the optimized SCHEME code and the final output code; code is expressed in this subset in the so-called continuation-passing style. As a subset of SCHEME, it enjoys the same theoretical properties; one could even apply the same optimizer used on the input code to the intermediate code. However, the subset is so chosen that all temporary quantities are made manifest as variables, and no control stack is needed to evaluate it. As a result, this apparently applicative representation admits an imperative interpretation which permits easy transcription to final imperative machine code. These qualities suggest that an applicative language like SCHEME is a better candidate for an UNCOL than the more imperative candidates proposed to date.

Explicit representation of subgrid heterogeneity in a GCM land-surface scheme

Essery, R L H, Best, M J, Betts, R A, Cox, P M & Taylor, C M, Explicit representation of subgrid heterogeneity in a GCM land-surface scheme. Journal of Hydrometeorology 4, pp 530-543 (2003).

Public service employment and the public-private wage differential in British regions

Thomas, Dennis, Henley, Andrew, 'Public service employment and the public-private wage differential in British regions', Regional Studies (2001) 35(3) pp.229-240 RAE2008

Singular perturbation of quantum stochastic differential equations with coupling through an oscillator mode

Gough, John; Van Handel, R., (2007) 'Singular perturbation of quantum stochastic differential equations with coupling through an oscillator mode', Journal of Statistical Physics 127(3) pp.575-607 RAE2008

The Geometry of Frequency Squares

Mavron, Vassili; Jungnickel, D.; McDonough, T.P., (2001) 'The Geometry of Frequency Squares', Journal of Combinatorial Theory, Series A 96, pp.376-387 RAE2008

Type Reconstruction in the Presence of Polymorphic Recursion and the Recursive Types

We establish the equivalence of type reconstruction with polymorphic recursion and recursive types is equivalent to regular semi-unification which proves the undecidability of the corresponding type reconstruction problem. We also establish the equivalence of type reconstruction with polymorphic recursion and positive recursive types to a special case of regular semi-unification which we call positive regular semi-unification. The decidability of positive regular semi-unification is an open problem.

A Fully Distributed Location Management Scheme for Large PCS

In [previous papers] we presented the design, specification and proof of correctness of a fully distributed location management scheme for PCS networks and argued that fully replicating location information is both appropriate and efficient for small PCS networks. In this paper, we analyze the performance of this scheme. Then, we extend the scheme in a hierarchical environment so as to scale to large PCS networks. Through extensive numerical results, we show the superiority of our scheme compared to the current IS-41 standard.

Recursive Estimation of Motion and Planar Structure

A specialized formulation of Azarbayejani and Pentland's framework for recursive recovery of motion, structure and focal length from feature correspondences tracked through an image sequence is presented. The specialized formulation addresses the case where all tracked points lie on a plane. This planarity constraint reduces the dimension of the original state vector, and consequently the number of feature points needed to estimate the state. Experiments with synthetic data and real imagery illustrate the system performance. The experiments confirm that the specialized formulation provides improved accuracy, stability to observation noise, and rate of convergence in estimation for the case where the tracked points lie on a plane.