Pub Date : 2006-12-01DOI: 10.1109/ICARCV.2006.345257
A. K. Qin, P. N. Suganthan, C. H. Tay, H. Pa
This paper presents a palmprint recognition system with palmprint images collected by a high-resolution color scanner. The scanned RGB image of the palmprint is pre-processed and the region of interest (ROI) of the palm is determined by the finger gap locations. Three sets of features extracted from the ROI image by the 2D Gabor filter using the palmprint phase orientation code (PPOC) represent texture information of the palm in the form of a real component, an imaginary component and an orientation component, respectively. The recognition is performed by applying the enhanced linear discriminant analysis (EDLDA) coupled with the nearest neighbor classifier on these three feature sets, respectively, and the decisions are combined via the majority voting scheme to yield the ultimate recognition. Experiments on our collected palmprint image database show promising recognition rate of 99.6% with a low False Acceptance Rate (FAR) of 0.02%
{"title":"Personal Identification System based on Multiple Palmprint Features","authors":"A. K. Qin, P. N. Suganthan, C. H. Tay, H. Pa","doi":"10.1109/ICARCV.2006.345257","DOIUrl":"https://doi.org/10.1109/ICARCV.2006.345257","url":null,"abstract":"This paper presents a palmprint recognition system with palmprint images collected by a high-resolution color scanner. The scanned RGB image of the palmprint is pre-processed and the region of interest (ROI) of the palm is determined by the finger gap locations. Three sets of features extracted from the ROI image by the 2D Gabor filter using the palmprint phase orientation code (PPOC) represent texture information of the palm in the form of a real component, an imaginary component and an orientation component, respectively. The recognition is performed by applying the enhanced linear discriminant analysis (EDLDA) coupled with the nearest neighbor classifier on these three feature sets, respectively, and the decisions are combined via the majority voting scheme to yield the ultimate recognition. Experiments on our collected palmprint image database show promising recognition rate of 99.6% with a low False Acceptance Rate (FAR) of 0.02%","PeriodicalId":415827,"journal":{"name":"2006 9th International Conference on Control, Automation, Robotics and Vision","volume":"26 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116288942","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2006-12-01DOI: 10.1109/ICARCV.2006.345286
X. Lai, S. Ge, P. T. Ong, A. Mamun
This paper proposes a practical method for planning paths incrementally for mobile robots in unknown environments using the latest sensory information. A* algorithm was modified in this research for it to be able to handle an occupancy grid map with unknown information. Then the paper presented an algorithm that is able to robustly and incrementally searching for an optimal path based on the partial map simultaneously built by the robot. Waypoints was generated to further optimize the obtained path and were sequentially traced by the robot in a simple, reactive way. Extensive simulations and experiments were carried out to verify the proposed planning algorithm
{"title":"Incremental Path Planning Using Partial Map Information for Mobile Robots","authors":"X. Lai, S. Ge, P. T. Ong, A. Mamun","doi":"10.1109/ICARCV.2006.345286","DOIUrl":"https://doi.org/10.1109/ICARCV.2006.345286","url":null,"abstract":"This paper proposes a practical method for planning paths incrementally for mobile robots in unknown environments using the latest sensory information. A* algorithm was modified in this research for it to be able to handle an occupancy grid map with unknown information. Then the paper presented an algorithm that is able to robustly and incrementally searching for an optimal path based on the partial map simultaneously built by the robot. Waypoints was generated to further optimize the obtained path and were sequentially traced by the robot in a simple, reactive way. Extensive simulations and experiments were carried out to verify the proposed planning algorithm","PeriodicalId":415827,"journal":{"name":"2006 9th International Conference on Control, Automation, Robotics and Vision","volume":"123 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121446441","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2006-12-01DOI: 10.1109/ICARCV.2006.345275
Lan Li, Z. Kuanyi
Computer modeling and control of the human motor system may be helpful to the diagnosis and treatment of neuromuscular disorders. In this paper, the brief view of the equilibrium point hypothesis for human motor system modeling is given, and the λ-model derived from this hypothesis is studied. Then, the stability of the λ-model based on equilibrium and Jacobian matrix is investigated, and some mathematical and simulation results are presented. The results suggest that the λ-model is stable and has a unique equilibrium point under certain conditions
{"title":"Stability Analysis of λ-model for Human Motor System","authors":"Lan Li, Z. Kuanyi","doi":"10.1109/ICARCV.2006.345275","DOIUrl":"https://doi.org/10.1109/ICARCV.2006.345275","url":null,"abstract":"Computer modeling and control of the human motor system may be helpful to the diagnosis and treatment of neuromuscular disorders. In this paper, the brief view of the equilibrium point hypothesis for human motor system modeling is given, and the λ-model derived from this hypothesis is studied. Then, the stability of the λ-model based on equilibrium and Jacobian matrix is investigated, and some mathematical and simulation results are presented. The results suggest that the λ-model is stable and has a unique equilibrium point under certain conditions","PeriodicalId":415827,"journal":{"name":"2006 9th International Conference on Control, Automation, Robotics and Vision","volume":"35 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124312879","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2006-12-01DOI: 10.1109/ICARCV.2006.345064
D. Oetomo, H. C. Liaw, G. Alici, B. Shirinzadeh
This paper presents the direct kinematic solutions to 3DOF planar parallel mechanisms. Efforts to solve the direct kinematics of planar parallel mechanisms have concentrated on RPR mechanisms due to its inherent simplicity. It is established that the direct kinematic equations of a general 3DOF planar parallel mechanism can be reduced to a univariate polynomial of degree 8. This paper presents the derivation of this univariate polynomials for both 3RRR and 3RPR mechanisms, showing the similarities and differences between the two common configurations of 3DOF planar parallel mechanisms. This paper also presents the on the direct kinematic solution to a simplified case of the 3RRR planar parallel mechanisms, where it is possible to decouple the polynomial further into two quadratic equations, describing the position and orientation of the end-effector, respectively. This result will provide an efficient computation method for a very useful configuration of planar parallel manipulators
{"title":"Direct Kinematics and Analytical Solution to 3RRR Parallel Planar Mechanisms","authors":"D. Oetomo, H. C. Liaw, G. Alici, B. Shirinzadeh","doi":"10.1109/ICARCV.2006.345064","DOIUrl":"https://doi.org/10.1109/ICARCV.2006.345064","url":null,"abstract":"This paper presents the direct kinematic solutions to 3DOF planar parallel mechanisms. Efforts to solve the direct kinematics of planar parallel mechanisms have concentrated on RPR mechanisms due to its inherent simplicity. It is established that the direct kinematic equations of a general 3DOF planar parallel mechanism can be reduced to a univariate polynomial of degree 8. This paper presents the derivation of this univariate polynomials for both 3RRR and 3RPR mechanisms, showing the similarities and differences between the two common configurations of 3DOF planar parallel mechanisms. This paper also presents the on the direct kinematic solution to a simplified case of the 3RRR planar parallel mechanisms, where it is possible to decouple the polynomial further into two quadratic equations, describing the position and orientation of the end-effector, respectively. This result will provide an efficient computation method for a very useful configuration of planar parallel manipulators","PeriodicalId":415827,"journal":{"name":"2006 9th International Conference on Control, Automation, Robotics and Vision","volume":"6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124103408","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2006-12-01DOI: 10.1109/ICARCV.2006.345205
Claudio Camasca, A. Swain, N. Patel
The present study proposes an alternate method of structure selection or which terms to include into a nonlinear autoregressive moving average with exogenous inputs (NARMAX) model, based on evolutionary programming (EP). The algorithm uses a strategy similar to elitism where the single best chromosome in a generation is retained and passed to the next. In addition to minimizing the mean square error (MSE), the method introduces an internal term penalty (ITP) function to reject spurious terms under the effects of significant noise. By following an adaptive mutation rate and restricting this to vary within 50%, faster convergence is achieved. To further improve the convergence, a pruning strategy is followed where any insignificant terms are removed from the model by assigning them with a time-to-live parameter. The performance of the proposed method is illustrated considering several examples of nonlinear systems and have been found to be satisfactory
{"title":"Intelligent Structure Selection of Polynomial Nonlinear Systems using Evolutionary Programming","authors":"Claudio Camasca, A. Swain, N. Patel","doi":"10.1109/ICARCV.2006.345205","DOIUrl":"https://doi.org/10.1109/ICARCV.2006.345205","url":null,"abstract":"The present study proposes an alternate method of structure selection or which terms to include into a nonlinear autoregressive moving average with exogenous inputs (NARMAX) model, based on evolutionary programming (EP). The algorithm uses a strategy similar to elitism where the single best chromosome in a generation is retained and passed to the next. In addition to minimizing the mean square error (MSE), the method introduces an internal term penalty (ITP) function to reject spurious terms under the effects of significant noise. By following an adaptive mutation rate and restricting this to vary within 50%, faster convergence is achieved. To further improve the convergence, a pruning strategy is followed where any insignificant terms are removed from the model by assigning them with a time-to-live parameter. The performance of the proposed method is illustrated considering several examples of nonlinear systems and have been found to be satisfactory","PeriodicalId":415827,"journal":{"name":"2006 9th International Conference on Control, Automation, Robotics and Vision","volume":"30 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127604429","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2006-12-01DOI: 10.1109/ICARCV.2006.345446
Y. Ji, Chengjin Zhang, C. Wen, Zhengguo Li
In this paper, a practical impulsive synchronization scheme is proposed for the synchronization of two Chen's chaotic systems with parametric uncertainty and mismatch. With this scheme, the error of the systems can converge to a given bound
{"title":"A Practical Chaotic Secure Communication Scheme Based on Chen's System","authors":"Y. Ji, Chengjin Zhang, C. Wen, Zhengguo Li","doi":"10.1109/ICARCV.2006.345446","DOIUrl":"https://doi.org/10.1109/ICARCV.2006.345446","url":null,"abstract":"In this paper, a practical impulsive synchronization scheme is proposed for the synchronization of two Chen's chaotic systems with parametric uncertainty and mismatch. With this scheme, the error of the systems can converge to a given bound","PeriodicalId":415827,"journal":{"name":"2006 9th International Conference on Control, Automation, Robotics and Vision","volume":"24 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127743181","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2006-12-01DOI: 10.1109/ICARCV.2006.345269
Matthew N. Dailey, M. Parnichkun
In the simultaneous localization and mapping (SLAM) problem, a mobile robot must build a map of its environment while simultaneously determining its location within that map. We propose a new algorithm, for visual SLAM (VSLAM), in which the robot's only sensory information is video imagery. Our approach combines stereo vision with a popular sequential Monte Carlo (SMC) algorithm, the Rao-Blackwellised particle filter, to simultaneously explore multiple hypotheses about the robot's six degree-of-freedom trajectory through space and maintain a distinct stochastic map for each of those candidate trajectories. We demonstrate the algorithm's effectiveness in mapping a large outdoor virtual reality environment in the presence of odometry error
{"title":"Simultaneous Localization and Mapping with Stereo Vision","authors":"Matthew N. Dailey, M. Parnichkun","doi":"10.1109/ICARCV.2006.345269","DOIUrl":"https://doi.org/10.1109/ICARCV.2006.345269","url":null,"abstract":"In the simultaneous localization and mapping (SLAM) problem, a mobile robot must build a map of its environment while simultaneously determining its location within that map. We propose a new algorithm, for visual SLAM (VSLAM), in which the robot's only sensory information is video imagery. Our approach combines stereo vision with a popular sequential Monte Carlo (SMC) algorithm, the Rao-Blackwellised particle filter, to simultaneously explore multiple hypotheses about the robot's six degree-of-freedom trajectory through space and maintain a distinct stochastic map for each of those candidate trajectories. We demonstrate the algorithm's effectiveness in mapping a large outdoor virtual reality environment in the presence of odometry error","PeriodicalId":415827,"journal":{"name":"2006 9th International Conference on Control, Automation, Robotics and Vision","volume":"45 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126258004","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2006-12-01DOI: 10.1109/ICARCV.2006.345079
Zheen Zhao, E. Teoh
A 3D partitioned active shape model (PASM) is proposed in this paper to address the problems of 3D active shape models (ASM) brought by small training sets, which is usually the case in 3D applications. When numbers of training samples are limited, 3D ASMs tend to be restrictive, because the plausible area/allowable region spanned by relatively few eigenvectors cannot capture the full range of shape variability. 3D PASMs overcome this limitation by using a partitioned representation of ASM. Given a point distribution model, the mean mesh is partitioned into a group of small tiles. The statistical priors of tiles are estimated by applying principal component analysis to each tile, and the priors serve as constraints for corresponding tiles during deformations. To avoid the shape inconsistency introduced by the independent estimations between tiles, samples and deformed model points are projected as curves in one hyperspace, instead of point clouds in several hyperspaces. The deformed model points are then fitted into the allowable region of the model using a curve alignment scheme. The experiments on 3D human brain MRIs show that the 3D PASMs segment objects more accurately and are more robust to noise and low contrast in images than two other current active shape models. Furthermore, a study for the PASM's sensitivity to different initializations shows that PASMs perform stable when initialization positions change
{"title":"Robust MR Image Segmentation Using 3D Partitioned Active Shape Models","authors":"Zheen Zhao, E. Teoh","doi":"10.1109/ICARCV.2006.345079","DOIUrl":"https://doi.org/10.1109/ICARCV.2006.345079","url":null,"abstract":"A 3D partitioned active shape model (PASM) is proposed in this paper to address the problems of 3D active shape models (ASM) brought by small training sets, which is usually the case in 3D applications. When numbers of training samples are limited, 3D ASMs tend to be restrictive, because the plausible area/allowable region spanned by relatively few eigenvectors cannot capture the full range of shape variability. 3D PASMs overcome this limitation by using a partitioned representation of ASM. Given a point distribution model, the mean mesh is partitioned into a group of small tiles. The statistical priors of tiles are estimated by applying principal component analysis to each tile, and the priors serve as constraints for corresponding tiles during deformations. To avoid the shape inconsistency introduced by the independent estimations between tiles, samples and deformed model points are projected as curves in one hyperspace, instead of point clouds in several hyperspaces. The deformed model points are then fitted into the allowable region of the model using a curve alignment scheme. The experiments on 3D human brain MRIs show that the 3D PASMs segment objects more accurately and are more robust to noise and low contrast in images than two other current active shape models. Furthermore, a study for the PASM's sensitivity to different initializations shows that PASMs perform stable when initialization positions change","PeriodicalId":415827,"journal":{"name":"2006 9th International Conference on Control, Automation, Robotics and Vision","volume":"32 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126465313","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2006-12-01DOI: 10.1109/ICARCV.2006.345063
Hiromi T. Tanaka, Y. Tsujino, Takahiro Kamada, H. Viet
The subjects described in this paper are a realtime adaptive modeling method for deformable objects and an adaptive cutting method for 3D surface meshes. In the literature so far, adaptive models with high resolution representations at regions of high deformation have not been investigated. In this paper we propose a new method for real-time modeling of soft objects, of which high resolutions dynamically adapt to the regions of high deformation. In order to reduce the computational cost in comparison with the previous methods we use the bisection refinement algorithm. The experimental results show the effectiveness of the proposed method. The cutting operation of 3D surface meshes plays an important role in surgery simulators. One of the important requirements for surgical simulators is the visual reality. We propose a new strategy for cutting on surface mesh: refinement and separate strategy consisting of the refinement followed by the separation of the refined mesh element. Since the advantage of the low computational cost, the bisection refinement method is utilized for the refinement process. The proposed strategy gives the faithful representation of the interaction path
{"title":"Bisection Refinement-Based Real-Time Adaptive Mesh Model For Deformation and Cutting of Soft Objects","authors":"Hiromi T. Tanaka, Y. Tsujino, Takahiro Kamada, H. Viet","doi":"10.1109/ICARCV.2006.345063","DOIUrl":"https://doi.org/10.1109/ICARCV.2006.345063","url":null,"abstract":"The subjects described in this paper are a realtime adaptive modeling method for deformable objects and an adaptive cutting method for 3D surface meshes. In the literature so far, adaptive models with high resolution representations at regions of high deformation have not been investigated. In this paper we propose a new method for real-time modeling of soft objects, of which high resolutions dynamically adapt to the regions of high deformation. In order to reduce the computational cost in comparison with the previous methods we use the bisection refinement algorithm. The experimental results show the effectiveness of the proposed method. The cutting operation of 3D surface meshes plays an important role in surgery simulators. One of the important requirements for surgical simulators is the visual reality. We propose a new strategy for cutting on surface mesh: refinement and separate strategy consisting of the refinement followed by the separation of the refined mesh element. Since the advantage of the low computational cost, the bisection refinement method is utilized for the refinement process. The proposed strategy gives the faithful representation of the interaction path","PeriodicalId":415827,"journal":{"name":"2006 9th International Conference on Control, Automation, Robotics and Vision","volume":"34 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125438767","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2006-12-01DOI: 10.1109/ICARCV.2006.345118
P. Pivoñka, V. Veleba, P. Osmera
The use of short sampling period in adaptive control has not been described properly when controlling the real process by adaptive controller. The new approach to analysis of on-line identification methods based on one-step-ahead prediction clears up their sensitivity to disturbances in control loop. On one hand faster disturbance rejection due to short sampling period can be an advantage but on the other hand it brings us some practical problems. Particularly, quantization error and finite numerical precision of industrial controller must be considered in the real process control. We concentrate our attention on dealing with adverse effects that work on real-time identification of process, especially quantization. It is shown; that a neural network applied to on-line identification process produces more stable solution in the rapid sampling domain
{"title":"Adaptive Controllers by Using Neural Network Based Identification for Short Sampling Period","authors":"P. Pivoñka, V. Veleba, P. Osmera","doi":"10.1109/ICARCV.2006.345118","DOIUrl":"https://doi.org/10.1109/ICARCV.2006.345118","url":null,"abstract":"The use of short sampling period in adaptive control has not been described properly when controlling the real process by adaptive controller. The new approach to analysis of on-line identification methods based on one-step-ahead prediction clears up their sensitivity to disturbances in control loop. On one hand faster disturbance rejection due to short sampling period can be an advantage but on the other hand it brings us some practical problems. Particularly, quantization error and finite numerical precision of industrial controller must be considered in the real process control. We concentrate our attention on dealing with adverse effects that work on real-time identification of process, especially quantization. It is shown; that a neural network applied to on-line identification process produces more stable solution in the rapid sampling domain","PeriodicalId":415827,"journal":{"name":"2006 9th International Conference on Control, Automation, Robotics and Vision","volume":"7 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125592502","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
京公网安备 11010802042870号
京ICP备2023020795号-1
扫码关注我们
求助内容：
应助结果提醒方式：