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2013 International Conference on Communication and Computer Vision (ICCCV)最新文献

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Orthogonal corner detection from micro structures 微结构正交角检测
Pub Date : 2013-12-01 DOI: 10.1109/ICCCV.2013.6906733
P. Duraisamy, S. Jackson
This paper concerns orthogonal corner detection from small-scale features (micro-structures) in images, and its use in the registration of an unregistered aerial orthophoto with a LiDAR point cloud data. First, we classify the corners in the aerial and LiDAR images using a corner detection algorithm specifically adapted for orthogonal corner detection. Then we use a search algorithm to register the orthogonal corners from the orthophoto image over the LiDAR image. The search algorithm is tailored for the matchings of orthogonal corners, for which there may be many features in one image with no corresponding feature in the other, but for which there are several corresponding corner features which are highly localized in spatial coordinates. The search algorithm requires an initial coarse estimate of the registration homography in order to perform quickly. We use this method to register a LiDAR and an aerial image of a coastal region with several man-made buildings in the vicinity (and thus well-defined orthocorners). The methods of this experiment can be useful for registering the images from two different modalities, even from high altitude photographs. The experimental results show a high degree of accuracy in the shoreline registration can be attained. The algorithm gives a registration which matches the micro-structures with pixel level accuracy. This is in contrast to the coarse registration, which in our cases was computed from an estimate of the shorelines in the images, which has an error around 10-20 pixels.
本文研究了图像中小尺度特征(微观结构)的正交角检测及其在未配准的航空正射影像与激光雷达点云数据的配准中的应用。首先,我们使用专门适用于正交角检测的角检测算法对航空和激光雷达图像中的角进行分类。然后使用搜索算法将正射影像的正交角配准到激光雷达图像上。该搜索算法是针对正交角的匹配而量身定制的,对于正交角的匹配,可能在一幅图像中有许多特征而在另一幅图像中没有相应的特征,但在空间坐标上有几个对应的角特征,这些角特征在空间坐标上是高度局部化的。搜索算法需要对配准单应性进行初步粗略估计,以便快速执行。我们使用这种方法注册了一个沿海地区的激光雷达和航空图像,附近有几座人造建筑(因此定义明确的正角)。本实验方法可用于两种不同模态图像的配准,甚至可用于高海拔照片的配准。实验结果表明,该方法可以获得较高的岸线配准精度。该算法给出了一种以像素级精度匹配微观结构的配准方法。这与粗配准相反,在我们的案例中,粗配准是根据图像中的海岸线估计计算的,其误差约为10-20像素。
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引用次数: 0
Effect of haptic and visual information on asymmetric hand motion in a robot-assisted task 触觉和视觉信息对机器人辅助任务中不对称手部运动的影响
Pub Date : 2013-12-01 DOI: 10.1109/ICCCV.2013.6906734
Manar D. Samad
In a robot-assisted tele-operation, the operator uses a hand controller to maneuver a tool attached to the robot's end-effector. The performance in such tele-operation may depend on perceptual information about the operating site as well as the design of the hand-controller. A hand-controller that provides haptic information as force feedback during the interaction in tele-operation may be beneficial in robot-assisted tasks such as robot-assisted surgery. To evaluate the effect of such perceptual information such as visual and haptic information, it is important to analyze their effect on human hand motion and performance in a robot-assisted task. This study examines the effect of visual and haptic information on hand motion and the performance in a robot-assisted tracing task in each of three degrees of freedom (DOF). Our findings reveal that there is a significant asymmetry in performance in each DOF. The effect of force conditions as haptic information is more evident under inadequate visual information during the tracing task. A force condition opposite to the motion direction of the tracing yields best performance in compared to no force or other force conditions. These findings can be useful in designing a hand controller interface that yields optimal performance in robot-assisted tasks.
在机器人辅助远程操作中,操作者使用手控制器来操纵连接在机器人末端执行器上的工具。这种远程操作的性能可能取决于有关操作地点的感知信息以及手控制器的设计。在远程操作交互过程中提供触觉信息作为力反馈的手控制器可能有利于机器人辅助任务,如机器人辅助手术。为了评估视觉和触觉信息等感知信息的影响,分析它们对机器人辅助任务中人手运动和表现的影响是很重要的。本研究考察了视觉和触觉信息对手部运动的影响,以及机器人辅助跟踪任务中三个自由度(DOF)的表现。我们的研究结果表明,有一个显着的不对称的性能在每个DOF。在跟踪任务中,当视觉信息不足时,力条件作为触觉信息的影响更为明显。与跟踪运动方向相反的力条件与没有力或其他力条件相比,产生最佳性能。这些发现可以用于设计手控制器界面,从而在机器人辅助任务中产生最佳性能。
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引用次数: 2
Proficient discovery of services by ontology based Bi-matchmaking technique in Event Driven SOA 在事件驱动SOA中,利用基于本体的双匹配技术熟练地发现服务
Pub Date : 2013-12-01 DOI: 10.1109/ICCCV.2013.6906737
Renuka Sruthi Thorati, Revathi Venkatesan, M. S. Saleem Basha
Currently on web, services are being created and utilized at the drop of a hat. Due to the growing number of services over the web, use of native techniques to obtain the most desired web services is becoming archaic. So, to enhance the horizons of web service discovery platforms, in the current paper we coupled Service Oriented Architecture (SOA) with Event Driven Architecture (EDA) so as to make web service discovery more time and cost efficient. Also, we introduce Bi-matchmaking technique based on Ontologies over Event Driven Service Oriented Architecture (EDSOA) which is conducive to automated and proficient discovery of web services in time critical business processes and also to face the future Internet trend.
目前,在网络上,服务被创建和使用在一个帽子掉下来。由于web上服务的数量不断增长,使用本地技术来获得最需要的web服务变得过时了。因此,为了提高web服务发现平台的视野,本文将面向服务的体系结构(SOA)与事件驱动的体系结构(EDA)相结合,使web服务发现更省时、更经济。同时,在事件驱动的面向服务的体系结构(EDSOA)上引入了基于本体的双匹配技术,这有利于在时间关键型业务流程中自动化和熟练地发现web服务,也面向未来的互联网趋势。
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引用次数: 0
PSO obstacle avoidance algorithm for robot in unknown environment 未知环境下机器人的粒子群避障算法
Pub Date : 2013-12-01 DOI: 10.1109/ICCCV.2013.6906739
Nivedita Supakar, A. Senthil
PSO (particle swarm optimization) is a stochastic population based computational method that optimizes the problem iteratively, trying to improve the solution particles to get better quality of the particle called target solution. In this paper, PSO algorithm is used to find the particle best position value by searching the solution space to determine the minimum distance from the obstacle. The position of each particle is updated according to the distance and velocity equation. The LEGO NXT mobile robot which is considered to be as source is placed in any position in n-dimensional environment. And there are `n' numbers of obstacle placed in the same unknown environment. Each time, a swarm of particles are moving in the same workspace to detect and ensure if an obstacle is present there or not near to gbest location. The particles move to the global best position, following the one which is at the minimum distance from the obstacle and stop at the certain range from the obstacle. The robot then moves to the located position each time iteratively, until and unless it reaches to the target solution. Based on the position of the obstacle, the objective function to find the exact minimum distance from the obstacle is calculated. Main objective of this paper is to provide an optimized algorithm based on PSO for robot to move from source to destination by avoiding all possible obstacles. Already existing standard PSO algorithm has been modified by introducing one more objective function which is used to perform the local search based on the global search depending on the calculated gbest value by using the standard PSO algorithm. Thus we introduce a modified version of PSO algorithm called MPSO which increases the efficiency of the already existing PSO algorithm.
粒子群优化(PSO)是一种基于随机种群的计算方法,它对问题进行迭代优化,试图改进解粒子以获得更好的粒子质量,即目标解。本文采用粒子群算法通过搜索解空间来确定粒子与障碍物的最小距离,从而找到粒子的最佳位置值。每个粒子的位置根据距离和速度方程更新。假设乐高NXT移动机器人为源,将其放置在n维环境中的任意位置。在相同的未知环境中有n个障碍。每次,一群粒子在同一个工作空间中移动,以检测并确保障碍物是否存在于最佳位置附近。粒子沿着距离障碍物最小的位置移动到全局最佳位置,并在距离障碍物一定范围内停止。然后机器人每次迭代移动到定位位置,直到和除非它到达目标解。根据障碍物的位置,计算出与障碍物精确最小距离的目标函数。本文的主要目标是提供一种基于粒子群算法的优化算法,使机器人能够避开所有可能的障碍物从源移动到目的地。对已有的标准粒子群算法进行了改进,在全局搜索的基础上增加了一个目标函数,根据标准粒子群算法计算出的全局最优值进行局部搜索。因此,我们引入了一种改进的粒子群算法,称为粒子群算法,它提高了现有粒子群算法的效率。
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引用次数: 4
A new inter cluster validation method for unsupervised clustering techniques 无监督聚类技术中一种新的聚类间验证方法
Pub Date : 2013-12-01 DOI: 10.1109/ICCCV.2013.6906741
R. Krishnamoorthy, S. S. Kumar
In this paper, a new cluster validation technique called Inter Cluster Validation (ICV) is presented. The proposed technique is aimed to measure the inter cluster similarity and inter cluster dissimilarity over the each individual cluster with other clusters in the resulting cluster of the unsupervised clustering techniques. The proposed ICV technique consists of two measures which are Inter Cluster Similarity (ICS) and Inter Cluster Dissimilarity (ICD). The first measure (ICS), is aimed to measure the inter cluster similarity over the each individual cluster with other cluster in resulting cluster and, it also calculate the overall resulting cluster similarity. The second measure (ICD), is evaluate the inter cluster dissimilarity over the each individual with other clusters in the resulting cluster. The proposed ICV technique is test over the resulting cluster of the four unsupervised clustering techniques are K-Means, CURE, OAC and LIAC. Experimental results show that the ICV technique is simple and better suitable for evaluating the inter cluster similarity and inter cluster dissimilarity over the each individual cluster belongs to the resulting cluster of the unsupervised clustering techniques such as K-Means, CURE, OAC and LIAC.
本文提出了一种新的集群验证技术——集群间验证(ICV)。所提出的技术旨在测量在无监督聚类技术的结果聚类中每个单个聚类与其他聚类的聚类间相似性和聚类间不相似性。所提出的ICV技术包括两个度量,即簇间相似性(ICS)和簇间不相似性(ICD)。第一个度量(ICS)旨在度量每个单独的集群与结果集群中的其他集群之间的集群间相似性,并且还计算总体结果集群相似性。第二个度量(ICD)是评估每个个体与结果聚类中其他聚类的聚类间不相似性。在K-Means、CURE、OAC和LIAC四种无监督聚类技术的聚类结果上对所提出的ICV技术进行了测试。实验结果表明,ICV技术简单,更适合于对K-Means、CURE、OAC和LIAC等无监督聚类技术得到的聚类结果中每个单独的聚类进行聚类间相似性和聚类间差异性的评价。
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引用次数: 6
Clock gating aware energy efficient Frame buffer design on FPGA 基于FPGA的时钟门控节能帧缓冲器设计
Pub Date : 2013-12-01 DOI: 10.1109/ICCCV.2013.6906735
B. Pandey, Ekta Walia
In this work, clock gating technique is applied on the Frame Buffers in order to get more energy efficient Frame Buffers. Frame Buffer is an in-built memory of digital Image Processor, which is writeable by the CPU and readable by the Video Interface and used to store color of each pixel. Clock gating is a power saving technique which turns off the inactive component of design in order to save power consumption. When frame buffer is operating on 10 GHz speed, 98.41% reduction in clock power and 2.51% reduction in I/O power is possible with clock gating. The main purpose of frame buffer is to store or access images more rapidly usually at video rates. Therefore, highest speed of 1THz is applied for frame buffer and we get 98.28% reduction in clock power and 96.58% reduction in I/O power. In that way, we achieve our design goal of both high performance (in range of 1THz) and energy efficient (in range of 90% reduction in power) frame buffer design to achieve high performance energy efficient digital image processor (HPEEC-DIP). In this experiment, Xilinx 14.6 is used as simulator, Verilog is used as verification language, XPower is a power consumption estimator, Frame Buffer is target design and Virtex-6 is targeting 40nm FPGA Device.
在本工作中,时钟门控技术应用于帧缓冲器,以获得更节能的帧缓冲器。帧缓冲区是数字图像处理器内置的内存,CPU可写,视频接口可读,用于存储每个像素的颜色。时钟门控是一种节能技术,它关闭设计中的非活动组件以节省功耗。当帧缓冲器工作在10ghz速度时,时钟门控可以使时钟功耗降低98.41%,I/O功耗降低2.51%。帧缓冲的主要目的是更快地存储或访问图像,通常以视频速率。因此,帧缓冲采用1THz的最高速率,时钟功耗降低98.28%,I/O功耗降低96.58%。通过这种方式,我们实现了高性能(在1THz范围内)和节能(在功率降低90%范围内)帧缓冲设计的设计目标,从而实现高性能节能数字图像处理器(HPEEC-DIP)。本实验采用Xilinx 14.6作为模拟器,Verilog作为验证语言,XPower作为功耗估计器,Frame Buffer为目标设计,Virtex-6为40nm FPGA器件。
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引用次数: 0
An optimal sound detection for robots in an unknown environment 机器人在未知环境中的最佳声音检测
Pub Date : 2013-12-01 DOI: 10.1109/ICCCV.2013.6906740
Ishani Saha, A. Senthil
Robot technology has been rapidly developed more & more robots such as humanoid robots work with humans. The objective of this project is to develop a system for an autonomous mobile robot for searching and tracking sound source based target using sound sensors. Finding objects or events by following a sound source direction is an intuitive response for human and animal when they cannot see the target. Lego nxt sound sensor can detect the frequency of sound but is unable to detect the direction from where the sound is originating. PSO algorithm has been implemented for the optimization of the exact sound source. PSO (particle swarm optimization) is a stochastic population based computational method that optimizes the problem in each iteration, trying to improve the particle solutions and to get better quality of the particles each time. Objective function has been applied to detect the frequency and then the source continuously updates its position on the basis of frequency being detected. So that maximum frequency sound can be detected in minimum possible time and in exact location. Simulation work has been carried out by implementing the PSO algorithm in MATLAB to see how exactly the sound sources are detecting the frequency and at what particular frequency the source is exactly detecting the sound. Results have been computed by changing the number of iterations to see the exact location where the sound source is finding the frequency. Thus the main objective of this paper is to compute that the source is detecting the optimized maximum frequency sound by updating its gbest values continuously in every iteration and finally reaching the best possible value.
机器人技术得到了迅速发展,越来越多的机器人如人形机器人与人类一起工作。本课题的目标是为自主移动机器人开发一种基于声音传感器的声源搜索和跟踪系统。跟随声源方向寻找物体或事件是人类和动物在看不到目标时的直觉反应。乐高nxt声音传感器可以检测声音的频率,但无法检测声音的来源方向。采用粒子群算法对精确声源进行优化。PSO (particle swarm optimization)是一种基于随机种群的计算方法,它在每次迭代中对问题进行优化,每次都试图改进粒子解并获得更好的粒子质量。利用目标函数检测频率,源根据检测到的频率不断更新自身位置。这样就可以在最短的时间和准确的位置检测到最高频率的声音。通过在MATLAB中实现PSO算法,进行了仿真工作,以了解声源如何准确地检测频率以及在什么特定频率下声源准确地检测声音。结果是通过改变迭代次数来计算的,以查看声源找到频率的确切位置。因此,本文的主要目标是计算源在每次迭代中不断更新其gbest值,从而检测到优化后的最大频率声音,最终达到可能的最佳值。
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引用次数: 2
LVCMOS I/O standard based million MHz high performance energy efficient design on FPGA 基于LVCMOS I/O标准的百万MHz高性能节能FPGA设计
Pub Date : 2013-12-01 DOI: 10.1109/ICCCV.2013.6906738
Prabhat Singh, B. Pandey, T. Kumar, T. Das
In design and implementation of energy efficient counter for energy efficient processor, we are using LVCMOS I/O standard in FPGA. CMOS technology is used to achieve energy efficiency with corresponding low voltage. We observe that when counter operates at 1×106MHz device operating frequency, there is 67.42% reduction in clock power and 75.99% reduction in IO power with LVCMOS I/O Standard. In counter, we are using numbers of flip-flops and register. In this whole work, we are using three different classes of LVCMOS namely LVCMOS15, LVCMOS18 and LVCMOS33. When counter is operating at 1000MHz, the reduction in I/O power requirement of LVCMOS18 is 67.63% and of LVCMOS15 is 75.72% as compared to LVCMOS33. When frame buffer is operating at 10000MHz, the reduction in I/O power requirement of LVCMOS18 is 67.45% and of LVCMOS15 is 75.99% as compared to LVCMOS33. When frame buffer is operating at 100000MHz, there is 67.42% reduction in clock power and 75.99% reduction in IO power with LVCMOS I/O Standard. Other component of dynamic power like Clock power, Logic power and Signal power are independent of I/O standard. This implimentation is made on 28nm 7 Series Kintex-7 (7k70tfbg676-3) FPGA.
在节能处理器的节能计数器的设计和实现中,我们在FPGA中使用LVCMOS I/O标准。采用CMOS技术,以相应的低电压实现能源效率。我们观察到,当计数器工作在1×106MHz器件工作频率时,使用LVCMOS I/O标准时,时钟功耗降低67.42%,IO功耗降低75.99%。在计数器中,我们使用触发器数和寄存器。在整个工作中,我们使用了三种不同类型的LVCMOS,即LVCMOS15, LVCMOS18和LVCMOS33。当计数器工作在1000MHz时,LVCMOS18的I/O功率需求比LVCMOS33降低了67.63%,LVCMOS15降低了75.72%。当帧缓冲区工作在10000MHz时,LVCMOS18的I/O功率需求比LVCMOS33降低了67.45%,LVCMOS15降低了75.99%。当帧缓冲器工作在100000MHz时,使用LVCMOS I/O标准时,时钟功耗降低67.42%,IO功耗降低75.99%。动态电源的其他组成部分,如时钟电源,逻辑电源和信号电源是独立的I/O标准。该实现是在28nm 7系列Kintex-7 (7k70tfbg676-3) FPGA上实现的。
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引用次数: 6
Capacitance and frequency scaling based energy efficient image inverter design on FPGA 基于电容和频率缩放的FPGA节能图像逆变器设计
Pub Date : 2013-12-01 DOI: 10.1109/ICCCV.2013.6906736
T. Das, B. Pandey, Md. Atiqur Rahman, T. Kumar, T. Siddiquee
In this work, Capacitance scaling and Frequency scaling is done in order to make energy efficient Image Inverter design. Frequency scaling results variations in power consumption and the Junction temperature of Image Inverter. There is 93.33% change in Logic power, 98.06% change in Signals power, 99.00%change in IOs power, 92.02% change in Leakage power and 77.6% change in Junction temperature. Clocks power, Logic power and Signal powers are independent of the capacitance scaling while the frequency is constant. At the same time IOs power, Leakage power as well as the Junction temperature varies. Along with fixed 1GHz frequency it is found that there is 71.92% increment on IOs power while capacitance is incremented by 90%. At the same time there is a 2.4% increment found in Leakage power while Junction temperature faces an change of 7.14%.
为了实现高效节能的图像逆变器设计,本文进行了电容缩放和频率缩放。频率缩放导致图像逆变器的功耗和结温的变化。逻辑功率变化93.33%,信号功率变化98.06%,IOs功率变化99.00%,漏功率变化92.02%,结温变化77.6%。当频率恒定时,时钟功率、逻辑功率和信号功率与电容缩放无关。同时IOs功率、漏电功率以及结温也不同。在固定1GHz频率下,IOs功率增加71.92%,电容增加90%。同时,漏电功率增加2.4%,结温变化7.14%。
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引用次数: 7
期刊
2013 International Conference on Communication and Computer Vision (ICCCV)
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