Geometric and Algebraic Aspects of 3D Affine and Projective Structures from Perspective 2D Views

We investigate the differences --- conceptually and algorithmically --- between affine and projective frameworks for the tasks of visual recognition and reconstruction from perspective views. It is shown that an affine invariant exists between any view and a fixed view chosen as a reference view. This implies that for tasks for which a reference view can be chosen, such as in alignment schemes for visual recognition, projective invariants are not really necessary. We then use the affine invariant to derive new algebraic connections between perspective views. It is shown that three perspective views of an object are connected by certain algebraic functions of image coordinates alone (no structure or camera geometry needs to be involved).

Classification and characterization of places for mapping of environment using hierarchical neural network and omnivision

Mobile robots need autonomy to fulfill their tasks. Such autonomy is related whith their capacity to explorer and to recognize their navigation environments. In this context, the present work considers techniques for the classification and extraction of features from images, using artificial neural networks. This images are used in the mapping and localization system of LACE (Automation and Evolutive Computing Laboratory) mobile robot. In this direction, the robot uses a sensorial system composed by ultrasound sensors and a catadioptric vision system equipped with a camera and a conical mirror. The mapping system is composed of three modules; two of them will be presented in this paper: the classifier and the characterizer modules. Results of these modules simulations are presented in this paper.

An Empirical Study of Non-Rigid Surface Feature Matching of Human from 3D Video

This paper presents an empirical study of affine invariant feature detectors to perform matching on video sequences of people with non-rigid surface deformation. Recent advances in feature detection and wide baseline matching have focused on static scenes. Video frames of human movement capture highly non-rigid deformation such as loose hair, cloth creases, skin stretching and free flowing clothing. This study evaluates the performance of six widely used feature detectors for sparse temporal correspondence on single view and multiple view video sequences. Quantitative evaluation is performed of both the number of features detected and their temporal matching against and without ground truth correspondence. Recall-accuracy analysis of feature matching is reported for temporal correspondence on single view and multiple view sequences of people with variation in clothing and movement. This analysis identifies that existing feature detection and matching algorithms are unreliable for fast movement with common clothing.

Casamento de modelos baseado em projeções radiais e circulares invariante a pontos de vista.

Este trabalho aborda o problema de casamento entre duas imagens. Casamento de imagens pode ser do tipo casamento de modelos (template matching) ou casamento de pontos-chaves (keypoint matching). Estes algoritmos localizam uma região da primeira imagem numa segunda imagem. Nosso grupo desenvolveu dois algoritmos de casamento de modelos invariante por rotação, escala e translação denominados Ciratefi (Circula, radial and template matchings filter) e Forapro (Fourier coefficients of radial and circular projection). As características positivas destes algoritmos são a invariância a mudanças de brilho/contraste e robustez a padrões repetitivos. Na primeira parte desta tese, tornamos Ciratefi invariante a transformações afins, obtendo Aciratefi (Affine-ciratefi). Construímos um banco de imagens para comparar este algoritmo com Asift (Affine-scale invariant feature transform) e Aforapro (Affine-forapro). Asift é considerado atualmente o melhor algoritmo de casamento de imagens invariante afim, e Aforapro foi proposto em nossa dissertação de mestrado. Nossos resultados sugerem que Aciratefi supera Asift na presença combinada de padrões repetitivos, mudanças de brilho/contraste e mudanças de pontos de vista. Na segunda parte desta tese, construímos um algoritmo para filtrar casamentos de pontos-chaves, baseado num conceito que denominamos de coerência geométrica. Aplicamos esta filtragem no bem-conhecido algoritmo Sift (scale invariant feature transform), base do Asift. Avaliamos a nossa proposta no banco de imagens de Mikolajczyk. As taxas de erro obtidas são significativamente menores que as do Sift original.

Twisted quantum affine superalgebra Uq[gl(m|n)(2)] and new Uq[osp(m|n)] invariant R-matrices

The minimal irreducible representations of U-q[gl(m|n)], i.e. those irreducible representations that are also irreducible under U-q[osp(m|n)] are investigated and shown to be affinizable to give irreducible representations of the twisted quantum affine superalgebra U-q[gl(m|n)((2))]. The U-q[osp(m|n)] invariant R-matrices corresponding to the tensor product of any two minimal representations are constructed, thus extending our twisted tensor product graph method to the supersymmetric case. These give new solutions to the spectral-dependent graded Yang-Baxter equation arising from U-q[gl(m|n)((2))], which exhibit novel features not previously seen in the untwisted or non-super cases.

Twisted quantum affine superalgebra U-q[sl(2/2)((2))], U-q[osp(2/2)] invariant R-matrices and a new integrable electronic model

We describe the twisted affine superalgebra sl(2\2)((2)) and its quantized version U-q[sl(2\2)((2))]. We investigate the tensor product representation of the four-dimensional grade star representation for the fixed-point sub superalgebra U-q[osp(2\2)]. We work out the tensor product decomposition explicitly and find that the decomposition is not completely reducible. Associated with this four-dimensional grade star representation we derive two U-q[osp(2\2)] invariant R-matrices: one of them corresponds to U-q [sl(2\2)(2)] and the other to U-q [osp(2\2)((1))]. Using the R-matrix for U-q[sl(2\2)((2))], we construct a new U-q[osp(2\2)] invariant strongly correlated electronic model, which is integrable in one dimension. Interestingly this model reduces in the q = 1 limit, to the one proposed by Essler et al which has a larger sl(2\2) symmetry.

AFFINE INTERVAL EXCHANGE TRANSFORMATIONS WITH FLIPS AND WANDERING INTERVALS

There exist uniquely ergodic affine interval exchange transformations of [0,1] with flips which have wandering intervals and are such that the support of the invariant measure is a Cantor set.

Inverse problems for invariant algebraic curves: explicit computations

Given an algebraic curve in the complex affine plane, we describe how to determine all planar polynomial vector fields which leave this curve invariant. If all (finite) singular points of the curve are nondegenerate, we give an explicit expression for these vector fields. In the general setting we provide an algorithmic approach, and as an alternative we discuss sigma processes.

An existence theorem for G-structure preserving affine immersions

We prove an existence result for local and global G-structure preserving affine immersions between affine manifolds. Several examples are discussed in the context of Riemannian and semi-Riemannian geometry, including the case of isometric immersions into Lie groups endowed with a left-invariant metric, and the case of isometric immersions into products of space forms.

Plane Detection Using Affine Homography

AIRES, Kelson R. T.; ARAÚJO, Hélder J.; MEDEIROS, Adelardo A. D. Plane Detection Using Affine Homography. In: CONGRESSO BRASILEIRO DE AUTOMÁTICA, 2008, Juiz de Fora, MG: Anais... do CBA 2008.

Solitons, τ-functions and hamiltonian reduction for non-Abelian conformal affine Toda theories

We consider the Hamiltonian reduction of the two-loop Wess-Zumino-Novikov-Witten model (WZNW) based on an untwisted affine Kac-Moody algebra script Ĝ. The resulting reduced models, called Generalized Non-Abelian Conformal Affine Toda (G-CAT), are conformally invariant and a wide class of them possesses soliton solutions; these models constitute non-Abelian generalizations of the conformal affine Toda models. Their general solution is constructed by the Leznov-Saveliev method. Moreover, the dressing transformations leading to the solutions in the orbit of the vacuum are considered in detail, as well as the τ-functions, which are defined for any integrable highest weight representation of script Ĝ, irrespectively of its particular realization. When the conformal symmetry is spontaneously broken, the G-CAT model becomes a generalized affine Toda model, whose soliton solutions are constructed. Their masses are obtained exploring the spontaneous breakdown of the conformal symmetry, and their relation to the fundamental particle masses is discussed. We also introduce what we call the two-loop Virasoro algebra, describing extended symmetries of the two-loop WZNW models.

The algebraic density property for affine toric varieties

In this paper we generalize the algebraic density property to not necessarily smooth affine varieties relative to some closed subvariety containing the singular locus. This property implies the remarkable approximation results for holomorphic automorphisms of the Andersén–Lempert theory. We show that an affine toric variety X satisfies this algebraic density property relative to a closed T-invariant subvariety Y if and only if X∖Y≠TX∖Y≠T. For toric surfaces we are able to classify those which possess a strong version of the algebraic density property (relative to the singular locus). The main ingredient in this classification is our proof of an equivariant version of Brunella's famous classification of complete algebraic vector fields in the affine plane.

Plane Detection Using Affine Homography

AIRES, Kelson R. T.; ARAÚJO, Hélder J.; MEDEIROS, Adelardo A. D. Plane Detection Using Affine Homography. In: CONGRESSO BRASILEIRO DE AUTOMÁTICA, 2008, Juiz de Fora, MG: Anais... do CBA 2008.

Plane Detection Using Affine Homography

AIRES, Kelson R. T.; ARAÚJO, Hélder J.; MEDEIROS, Adelardo A. D. Plane Detection Using Affine Homography. In: CONGRESSO BRASILEIRO DE AUTOMÁTICA, 2008, Juiz de Fora, MG: Anais... do CBA 2008.

Twisted Poincare invariant quantum field theories

It is by now well known that the Poincare group acts on the Moyal plane with a twisted coproduct. Poincare invariant classical field theories can be formulated for this twisted coproduct. In this paper we systematically study such a twisted Poincare action in quantum theories on the Moyal plane. We develop quantum field theories invariant under the twisted action from the representations of the Poincare group, ensuring also the invariance of the S-matrix under the twisted action of the group. A significant new contribution here is the construction of the Poincare generators using quantum fields.