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Object recognition supported by user interaction for service robots最新文献

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Synthesis of fingerprint images 指纹图像的合成
Pub Date : 2002-12-10 DOI: 10.1109/ICPR.2002.1048329
J. Araque, Madelina Baena, Benjamin E. Chalela, David Navarro, Pedro R. Vizcaya
A method for synthesis of fingerprint images is presented. Global features are condensed in a linear model whose parameters are generated according to the statistical distribution of natural fingerprint patterns. When the major types of global patterns are considered independently, these parameters display a normal behavior. Local features are generated applying iteratively a finite state filter to an initial image. Results show that it is possible to control the location of the minutia in constant orientation regions and that variable orientation regions generate minutia on their own.
提出了一种指纹图像的合成方法。将全局特征压缩到一个线性模型中,该模型的参数是根据自然指纹模式的统计分布生成的。当独立考虑全局模式的主要类型时,这些参数显示正常的行为。局部特征是对初始图像迭代地应用有限状态滤波器生成的。结果表明,该方法可以控制微信号在固定方向区域的位置,可变方向区域可以自行产生微信号。
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引用次数: 31
A new combination scheme for HMM-based classifiers and its application to handwriting recognition 基于hmm的分类器组合方案及其在手写识别中的应用
Pub Date : 2002-12-10 DOI: 10.1109/ICPR.2002.1048307
Simon Günter, H. Bunke
Handwritten text recognition is one of the most difficult problems in the field of pattern recognition. The combination of multiple classifiers has been proven to be able to increase the recognition rate when compared to single classifiers. In this paper a new combination method for HMM based handwritten word recognizers is introduced. In contrast with many other multiple classifier combination schemes, where the combination takes place at the decision level, the proposed method combines various HMMs at a more elementary level. The usefulness of the new method is experimentally demonstrated in the context of a handwritten word recognition task.
手写体文本识别是模式识别领域的难点之一。与单个分类器相比,多个分类器的组合已被证明能够提高识别率。本文介绍了一种新的基于HMM的手写体词识别器组合方法。与许多其他多分类器组合方案相比,其中组合发生在决策级别,所提出的方法在更初级的级别上组合各种hmm。在一个手写单词识别任务的背景下,实验证明了新方法的有效性。
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引用次数: 21
Integrated analysis of speech and images as a probabilistic decoding process 语音和图像的综合分析作为一个概率解码过程
Pub Date : 2002-12-10 DOI: 10.1109/ICPR.2002.1048371
S. Wachsmuth, G. Sagerer
Speech understanding and vision are the two most important modalities in human-human communication. However, the emulation of these by a computer faces fundamental difficulties due to noisy data, vague meanings, previously unseen objects or unheard words, occlusions, spontaneous speech effects, and context dependence. Thus, the interpretation processes on both channels are highly error-prone. This paper presents a new perspective on the problem of relating speech and image interpretations as a probabilistic decoding process. It is shown that such an integration scheme is robust regarding partial or erroneous interpretations. Furthermore, it is shown that implicit error correction strategies can be formulated in this probabilistic framework that lead to improved scene interpretation.
言语理解和视觉是人类交流中最重要的两种方式。然而,由于嘈杂的数据、模糊的含义、以前未见过的物体或未听过的单词、闭塞、自发的语音效果和上下文依赖,计算机对这些内容的模拟面临着根本的困难。因此,两个通道上的解释过程都非常容易出错。本文提出了一个新的视角,将语音和图像的解释作为一个概率解码过程。结果表明,这种积分方案对于部分解释或错误解释具有鲁棒性。此外,研究还表明,可以在该概率框架中制定隐式纠错策略,从而改进场景解释。
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引用次数: 5
Elastic minutiae matching by means of thin-plate spline models 薄板样条模型的弹性细部匹配
Pub Date : 2002-12-10 DOI: 10.1109/ICPR.2002.1048471
A. Bazen, S. H. Gerez
This paper presents a novel minutiae matching method that deals with elastic distortions by normalizing the shape of the test fingerprint with respect to the template. The method first determines possible matching minutiae pairs by means of comparing local neighborhoods of the minutiae. Next a thin-plate spline model is used to describe the non-linear distortions between the two sets of possible pairs. One of the fingerprints is deformed and registered according to the estimated model, and then the number of matching minutiae is counted. This method is able to deal with all possible non-linear distortions while using very tight bounding boxes. For deformed fingerprints, the algorithm gives considerably higher matching scores compared to rigid matching algorithms, while only taking 100 ms on a 1 GHz P-III machine.
本文提出了一种新的细节匹配方法,该方法通过将测试指纹的形状相对于模板进行归一化来处理弹性变形。该方法首先通过比较细节的局部邻域来确定可能匹配的细节对。然后用薄板样条模型描述两组可能对之间的非线性畸变。根据估计的模型对其中一个指纹进行变形和配准,然后统计匹配的细节个数。这种方法能够处理所有可能的非线性失真,同时使用非常紧密的边界框。对于变形指纹,与刚性匹配算法相比,该算法提供了相当高的匹配分数,而在1 GHz P-III机器上仅需要100 ms。
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引用次数: 36
Classifying textures when seen from different distances 从不同的距离看纹理分类
Pub Date : 2002-12-10 DOI: 10.1109/ICPR.2002.1048452
X. Lladó, M. Petrou
The purpose of this work is to analyse what happens to the surface information when the image resolution is modified. We deduce how the same surface appears if seen from different distances. Using 4-source Colour Photometric Stereo, which provides the surface shape and colour information, a method for predicting how surface texture looks like when changing the distance of the camera is presented. We demonstrate this technique by classifying textured surfaces seen from different distances than the textured surfaces in the database.
这项工作的目的是分析当图像分辨率被修改时,表面信息会发生什么变化。我们推导出从不同距离看同一个表面的样子。利用提供表面形状和颜色信息的4源彩色光度立体,提出了一种在改变相机距离时预测表面纹理外观的方法。我们通过将从不同距离看到的纹理表面与数据库中的纹理表面进行分类来演示这种技术。
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引用次数: 2
Affine invariant retrieval of shapes based on hand-drawn sketches 基于手绘草图的形状仿射不变性检索
Pub Date : 2002-12-10 DOI: 10.1109/ICPR.2002.1048422
H. Ip, Angus K. Y. Cheng, William Y. F. Wong
Presents a compact and efficient shape signature that can be applied to shape retrieval from hand-drawn sketches. The two proposed invariant features that constitute our affine invariant signature are: (a) angle between spoke vectors, and (b) cumulated normalized area between consecutive spoke vectors. The signature can be computed efficiently from an input shape and supports fast similarity matching. The approach has also been extended for partial shape retrieval through a partial shape decomposition procedure.
提出了一种紧凑有效的形状签名,可应用于从手绘草图的形状检索。我们提出的构成仿射不变特征的两个不变特征是:(a)辐向量之间的夹角,以及(b)连续辐向量之间的累计归一化面积。该方法可以根据输入的形状有效地计算出特征,并支持快速的相似度匹配。该方法还通过部分形状分解程序扩展到部分形状检索。
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引用次数: 5
On selecting colour components for skin detection 皮肤检测中颜色成分的选择
Pub Date : 2002-12-10 DOI: 10.1109/ICPR.2002.1048465
Giovani Gómez
We used a data analysis approach for selecting colour components for skin detection. The criterion for this selection was to achieve a reasonable degree of generalisation and recognition, where skin points exhibit a well defined cluster. After evaluating each component of several colour models, we found that a mixture of components can cope well with such requirements. We list the top components, and from these we select one colour space: H-GY-Wr. A nearly convex area of this space contains 97% of all skin points, whilst it encompasses 5.16% of false positives. Even simple rules over this well-shaped space can achieve a high recognition rate and low overlap to non-skin points. This is a data analysis approach that will help to many skin detection systems.
我们使用数据分析方法来选择用于皮肤检测的颜色成分。这种选择的标准是实现合理程度的泛化和识别,其中皮肤点表现出一个定义良好的集群。在评估了几种颜色模型的每个成分后,我们发现混合成分可以很好地满足这些要求。我们列出了顶部的组件,并从中选择了一个颜色空间:H-GY-Wr。该空间的近凸区域包含97%的皮肤点,同时包含5.16%的假阳性。在这个形状良好的空间上,即使是简单的规则也可以实现高识别率和与非皮肤点的低重叠。这是一种数据分析方法,将有助于许多皮肤检测系统。
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引用次数: 71
Haptic vision - vision-based haptic exploration 触觉视觉——基于视觉的触觉探索
Pub Date : 2002-12-10 DOI: 10.1109/ICPR.2002.1048436
Hiromi T. Tanaka, Kiyotaka Kushihama
Recently, there are growing needs for haptic exploration to estimate and extract physical object properties such as mass, friction, elasticity, relational constraints etc.. In this paper we propose a novel paradigm, we call haptic vision, which is a vision-based haptic exploration approach toward an automatic construction of reality-based virtual space simulator by augmenting active vision with active touch. We apply this technique to mass, and relational constraints estimation, and use these results to construct virtual object manipulation simulator. Experimental results show the feasibility and validity of the proposed approach.
近年来,人们越来越需要触觉探测来估计和提取物理对象的性质,如质量、摩擦、弹性、关系约束等。在本文中,我们提出了一种新的模式,我们称之为触觉视觉,它是一种基于视觉的触觉探索方法,通过增强主动视觉和主动触觉来实现基于现实的虚拟空间模拟器的自动构建。我们将该技术应用于质量和关系约束估计,并利用这些结果构建虚拟物体操纵模拟器。实验结果表明了该方法的可行性和有效性。
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引用次数: 10
A variational approach to one dimensional phase unwrapping
Pub Date : 2002-12-10 DOI: 10.1109/ICPR.2002.1048426
C. Lacombe, Pierre Kornprobst, G. Aubert, L. Blanc-Féraud
Over the past ten years, many phase unwrapping algorithms have been developed and formulated in a discrete setting. Here we propose a variational formulation to solve the problem. This continuous framework will allow us to impose some constraints on the smoothness of the solution and to implement them efficiently. This method is presented in the one dimensional case, and will serve as a basis for future developments in the real 2D case. Numerical schemes and results on a synthetic noisy wrapped signal are given.
在过去的十年里,许多相位展开算法在离散环境下被开发和制定。在这里,我们提出一个变分公式来解决这个问题。这个连续的框架将允许我们对解决方案的流畅性施加一些约束,并有效地实现它们。该方法是在一维情况下提出的,并将作为未来在实际二维情况下发展的基础。给出了合成噪声包裹信号的数值计算方法和结果。
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引用次数: 4
Geometric SVM: a fast and intuitive SVM algorithm 几何支持向量机:一个快速和直观的支持向量机算法
Pub Date : 2002-12-10 DOI: 10.1109/ICPR.2002.1048235
S. Vishwanathan, M. Murty
We present a geometrically motivated algorithm for finding the Support Vectors of a given set of points. This algorithm is reminiscent of the DirectSVM algorithm, in the way it picks data points for inclusion in the Support Vector set, but it uses an optimization based approach to add them to the Support Vector set. This ensures that the algorithm scales to O(n/sup 3/) in the worst case and O(n|S|/sup 2/) in the average case where n is the total number of points in the data set and |S| is the number of Support Vectors. Further the memory requirements also scale as O(n/sup 2/) in the worst case and O(|S|/sup 2/) in the average case. The advantage of this algorithm is that it is more intuitive and performs extremely well when the number of Support Vectors is only a small fraction of the entire data set. It can also be used to calculate leave one out error based on the order in which data points were added to the Support Vector set. We also present results on real life data sets to validate our claims.
我们提出了一种寻找给定点集合的支持向量的几何驱动算法。这个算法让人想起DirectSVM算法,它选择数据点以包含在支持向量集中,但它使用基于优化的方法将它们添加到支持向量集中。这确保了算法在最坏情况下扩展到O(n/sup 3/),在平均情况下扩展到O(n|S|/sup 2/),其中n是数据集中点的总数,而|S|是支持向量的数量。此外,在最坏的情况下,内存需求也可以扩展为O(n/sup 2/),而在平均情况下,内存需求也可以扩展为O(|S|/sup 2/)。该算法的优点是,当支持向量的数量仅占整个数据集的一小部分时,它更加直观,并且表现得非常好。它还可以用于计算基于将数据点添加到支持向量集的顺序的遗漏错误。我们还展示了现实生活数据集的结果,以验证我们的说法。
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引用次数: 13
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Object recognition supported by user interaction for service robots
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