Search results for: Shared Join Points.

Authors: Svetlana Pushkar

Abstract:

The Leadership in Energy and Environmental Design (LEED) green building rating system is recognized in Europe. LEED uses regional priority (RP) points that are adapted to different environmental conditions. However, the appropriateness of the RP points is still a controversial question. To clarify this issue, two different parts of Europe: northern Europe (Finland and Sweden) and southern Europe (Turkey and Spain) were considered. Similarities and differences in the performances of LEED 2009-new construction (LEED-NC 2009) in these four countries were analyzed. It was found that LEED-NC 2009 performances in northern and southern parts of Europe in terms of Sustainable Sites (SS), Water Efficiency (WE), Materials and Resources (MR), and Indoor Environmental Quality (EQ) were similar, whereas in Energy and Atmosphere (EA), their performances were different. WE and SS revealed high performances (70-100%); EA and EQ demonstrated intermediate performance (40-60%); and MR displayed low performance (20-40%). It should be recommended introducing the following new RP points: for Turkey - water-related points and for all four observed countries - green power-related points for improving the LEED adaptation in Europe.

Keywords: Green building, Europe, LEED, regional priority points.

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Authors: Boonyarat Chaleephay

Abstract:

The purpose of this research paper was to describe the relationship of acupressure points on the anterior surface of the upper limb in accordance with Applied Thai Traditional Massage (ATTM) and the deep structures located at those acupressure points. There were 2 population groups; normal subjects and cadaver specimens. Eighteen males with age ranging from 20-40 years old and seventeen females with ages ranging from 30-97 years old were studies. This study was able to obtain a fundamental knowledge concerning acupressure point and the deep structures that related to those acupressure points. It might be used as the basic knowledge for clinically applying and planning treatment as well as teaching in ATTM.

Keywords: Acupressure point (AP), Applie Thai Traditional Medicine (ATTM), Paresthesia, Numbness.

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Authors: Ahmet Tekcan

Abstract:

Let p be a prime number, Fp be a finite field and t ∈ F*p= Fp- {0}. In this paper we obtain some properties of ellipticcurves Ep,t: y2= y2= x3- t2x over Fp. In the first sectionwe give some notations and preliminaries from elliptic curves. In the second section we consider the rational points (x, y) on Ep,t. Wegive a formula for the number of rational points on Ep,t over Fnp for an integer n ≥ 1. We also give some formulas for the sum of x?andy?coordinates of the points (x, y) on Ep,t. In the third section weconsider the rank of Et: y2= x3- t2x and its 2-isogenous curve Et over Q. We proved that the rank of Etand Etis 2 over Q. In the last section we obtain some formulas for the sums Σt∈F?panp,t for an integer n ≥ 1, where ap,t denote the trace of Frobenius.

Keywords: Elliptic curves over finite fields, rational points onelliptic curves, rank, trace of Frobenius.

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Authors: Kei Fujii, Jun Okawa, Kaori Suigetsu

Abstract:

Concatenative speech synthesis is a method that can make speech sound which has naturalness and high-individuality of a speaker by introducing a large speech corpus. Based on this method, in this paper, we propose a voice conversion method whose conversion speech has high-individuality and naturalness. The authors also have two subjective evaluation experiments for evaluating individuality and sound quality of conversion speech. From the results, following three facts have be confirmed: (a) the proposal method can convert the individuality of speakers well, (b) employing the framework of unit selection (especially join cost) of concatenative speech synthesis into conventional voice conversion improves the sound quality of conversion speech, and (c) the proposal method is robust against the difference of genders between a source speaker and a target speaker.

Keywords: concatenative speech synthesis, join cost, speaker individuality, unit selection, voice conversion

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Authors: Bhed Bahadur Bista

Abstract:

Network layer multicast, i.e. IP multicast, even after many years of research, development and standardization, is not deployed in large scale due to both technical (e.g. upgrading of routers) and political (e.g. policy making and negotiation) issues. Researchers looked for alternatives and proposed application/overlay multicast where multicast functions are handled by end hosts, not network layer routers. Member hosts wishing to receive multicast data form a multicast delivery tree. The intermediate hosts in the tree act as routers also, i.e. they forward data to the lower hosts in the tree. Unlike IP multicast, where a router cannot leave the tree until all members below it leave, in overlay multicast any member can leave the tree at any time thus disjoining the tree and disrupting the data dissemination. All the disrupted hosts have to rejoin the tree. This characteristic of the overlay multicast causes multicast tree unstable, data loss and rejoin overhead. In this paper, we propose that each node sets its leaving time from the tree and sends join request to a number of nodes in the tree. The nodes in the tree will reject the request if their leaving time is earlier than the requesting node otherwise they will accept the request. The node can join at one of the accepting nodes. This makes the tree more stable as the nodes will join the tree according to their leaving time, earliest leaving time node being at the leaf of the tree. Some intermediate nodes may not follow their leaving time and leave earlier than their leaving time thus disrupting the tree. For this, we propose a proactive recovery mechanism so that disrupted nodes can rejoin the tree at predetermined nodes immediately. We have shown by simulation that there is less overhead when joining the multicast tree and the recovery time of the disrupted nodes is much less than the previous works. Keywords

Keywords: Network layer multicast, Fault Resilience, IP multicast

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Authors: Rinaldo Christian Tanumara, Ming Xie

Abstract:

Color categorization is shared among members in a society. This allows communication of color, especially when using natural language such as English. Hence sociable robot, to live coexist with human in human society, must also have the shared color categorization. To achieve this, many works have been done relying on modeling of human color perception and mathematical complexities. In contrast, in this work, the computer as brain of the robot learns color categorization through interaction with humans without much mathematical complexities.

Keywords: Color categorization, color learning, machinelearning.

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Authors: Hyeyoung Cho, Sungho Kim, SangDong Lee

Abstract:

I/O workload is a critical and important factor to analyze I/O pattern and file system performance. However tracing I/O operations on the fly distributed parallel file system is non-trivial due to collection overhead and a large volume of data. In this paper, we design and implement a parallel file system logging method for high performance computing using shared memory-based multi-layer scheme. It minimizes the overhead with reduced logging operation response time and provides efficient post-processing scheme through shared memory. Separated logging server can collect sequential logs from multiple clients in a cluster through packet communication. Implementation and evaluation result shows low overhead and high scalability of this architecture for high performance parallel logging analysis.

Keywords: I/O workload, PVFS, I/O Trace.

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Authors: Neelam Bawane nee' Singhal, C. V. Srikrishna

Abstract:

Many metrics were proposed to evaluate the characteristics of the analysis and design model of a given product which in turn help to assess the quality of the product. Function point metric is a measure of the 'functionality' delivery by the software. This paper presents an analysis of a set of programs of a project developed in Cµ through Function Points metric. Function points are measured for a Data Flow Diagram (DFD) of the case developed at initial stage. Lines of Codes (LOCs) and possible errors are calculated with the help of measured Function Points (FPs). The calculations are performed using suitable established functions. Calculated LOCs and errors are compared with actual LOCs and errors found at the time of analysis & design review, implementation and testing. It has been observed that actual found errors are more than calculated errors. On the basis of analysis and observations, authors conclude that function point provides useful insight and helps to analyze the drawbacks in the development process.

Keywords: Function Points, Data Flow Diagram, Lines ofCodes.

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Authors: H. B. Darbandi, M. R. Ito, J. Little

Abstract:

This paper describes a probabilistic method for three-dimensional object recognition using a shared pool of surface signatures. This technique uses flatness, orientation, and convexity signatures that encode the surface of a free-form object into three discriminative vectors, and then creates a shared pool of data by clustering the signatures using a distance function. This method applies the Bayes-s rule for recognition process, and it is extensible to a large collection of three-dimensional objects.

Keywords: Object recognition, modeling, classification, computer vision.

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Authors: Ali Mohammadi Torkashvand, Hamid Reza Alipour

Abstract:

This study investigates the possibility providing gully erosion map by the supervised classification of satellite images (ETM+) in two mountainous and plain land types. These land types were the part of Varamin plain, Tehran province, and Roodbar subbasin, Guilan province, as plain and mountain land types, respectively. The position of 652 and 124 ground control points were recorded by GPS respectively in mountain and plain land types. Soil gully erosion, land uses or plant covers were investigated in these points. Regarding ground control points and auxiliary points, training points of gully erosion and other surface features were introduced to software (Ilwis 3.3 Academic). The supervised classified map of gully erosion was prepared by maximum likelihood method and then, overall accuracy of this map was computed. Results showed that the possibility supervised classification of gully erosion isn-t possible, although it need more studies for results generalization to other mountainous regions. Also, with increasing land uses and other surface features in plain physiography, it decreases the classification of accuracy.

Keywords: Supervised classification, Gully erosion, Map.

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Authors: Hadi Seyedarabi, Ali Aghagolzadeh, Sohrab Khanmohammadi

Abstract:

Face and facial expressions play essential roles in interpersonal communication. Most of the current works on the facial expression recognition attempt to recognize a small set of the prototypic expressions such as happy, surprise, anger, sad, disgust and fear. However the most of the human emotions are communicated by changes in one or two of discrete features. In this paper, we develop a facial expressions synthesis system, based on the facial characteristic points (FCP's) tracking in the frontal image sequences. Selected FCP's are automatically tracked using a crosscorrelation based optical flow. The proposed synthesis system uses a simple deformable facial features model with a few set of control points that can be tracked in original facial image sequences.

Keywords: Deformable face model, facial animation, facialcharacteristic points, optical flow.

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Authors: Sanghoon Kim, Sun-Tae Chung, Souhwan Jung, Seoungseon Jeon, Jaemin Kim, Seongwon Cho

Abstract:

In this paper, we propose a face recognition algorithm using AAM and Gabor features. Gabor feature vectors which are well known to be robust with respect to small variations of shape, scaling, rotation, distortion, illumination and poses in images are popularly employed for feature vectors for many object detection and recognition algorithms. EBGM, which is prominent among face recognition algorithms employing Gabor feature vectors, requires localization of facial feature points where Gabor feature vectors are extracted. However, localization method employed in EBGM is based on Gabor jet similarity and is sensitive to initial values. Wrong localization of facial feature points affects face recognition rate. AAM is known to be successfully applied to localization of facial feature points. In this paper, we devise a facial feature point localization method which first roughly estimate facial feature points using AAM and refine facial feature points using Gabor jet similarity-based facial feature localization method with initial points set by the rough facial feature points obtained from AAM, and propose a face recognition algorithm using the devised localization method for facial feature localization and Gabor feature vectors. It is observed through experiments that such a cascaded localization method based on both AAM and Gabor jet similarity is more robust than the localization method based on only Gabor jet similarity. Also, it is shown that the proposed face recognition algorithm using this devised localization method and Gabor feature vectors performs better than the conventional face recognition algorithm using Gabor jet similarity-based localization method and Gabor feature vectors like EBGM.

Keywords: Face Recognition, AAM, Gabor features, EBGM.

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Authors: Said M. Easa, Ahmed Shaker

Abstract:

The hidden-point bar method is useful in many surveying applications. The method involves determining the coordinates of a hidden point as a function of horizontal and vertical angles measured to three fixed points on the bar. Using these measurements, the procedure involves calculating the slant angles, the distances from the station to the fixed points, the coordinates of the fixed points, and then the coordinates of the hidden point. The propagation of the measurement errors in this complex process has not been fully investigated in the literature. This paper evaluates the effect of the bar geometry on the position accuracy of the hidden point which depends on the measurement errors of the horizontal and vertical angles. The results are used to establish some guidelines regarding the inclination angle of the bar and the location of the observed points that provide the best accuracy.

Keywords: Hidden point, accuracy, error propagation, surveying, evaluation, simulation, geometry.

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Authors: Sujit Kumar Sardar Manasi Mandal Samit Kumar Majumder

Abstract:

The notion of intuitionistic fuzzy sets was introduced by Atanassov as a generalization of the notion of fuzzy sets. Y.B. Jun and S.Z. Song introduced the notion of intuitionistic fuzzy points. In this paper we find some relations between the intuitionistic fuzzy ideals of a semigroup S and the set of all intuitionistic fuzzy points of S.

Keywords: Semigroup, Regular(intra-regular) semigroup, Intuitionistic fuzzy point, Intuitionistic fuzzy subsemigroup, Intuitionistic fuzzy ideal, Intuitionistic fuzzy interior ideal, Intuitionistic fuzzy semiprime ideal, Intuitionistic fuzzy prime ideal.

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Authors: Seongchan Kang, Hongsik Yun, Hyukgil Kim, Minwoo Park

Abstract:

For this study, this researcher conducted a precision network adjustment with QOCA, the precision network adjustment software developed by Jet Propulsion Laboratory, to perform an integrated network adjustment on the Unified Control Points managed by the National Geographic Information Institute. Towards this end, 275 Unified Control Points observed in 2008 were selected before a network adjustment is performed on those 275 Unified Control Points. The RMSE on the discrepancies of coordinates as compared to the results of GLOBK was ±6.07mm along the N axis, ±2.68mm along the E axis and ±6.49mm along the U axis.

Keywords: Network adjustment, QOCA, unified control point.

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Authors: Benshi Zhu

Abstract:

In this paper, multiple positive solutions for semipositone discrete eigenvalue problems are obtained by using a three critical points theorem for nondifferentiable functional.

Keywords: Discrete eigenvalue problems, positive solutions, semipositone, three critical points theorem

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Authors: Prateep Wajeetongratana

Abstract:

This study investigates the management accountant’s roles that link with the creation of corporate shared value to enable more effective decision-making and improve the information needs of stakeholders. Mixed method is employed to collect using triangulation for credibility. A quantitative approach is employed to conduct a survey of 200 Thai companies providing annual reports in the Stock Exchange of Thailand. The results of the study reveal that environmental and social data incorporated in a corporate social responsibility (CSR) disclosure are based on the indicators of the Global Reporting Initiatives (GRI) at a statistically significant level of 0.01. Environmental and social indicators in CSR are associated with environmental and social data disclosed in the annual report to support stakeholders’ and the public’s interests that are addressed and show that a significant relationship between environmental and social in CSR disclosures and the information in annual reports is statistically significant at the 0.01 level.

Keywords: Corporate social responsibility, creating shared value, management accountant’s roles, stock exchange of Thailand.

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Authors: Dalvinder Singh Dhaliwal, Parvinder S. Sandhu, S. N. Panda

Abstract:

This paper is on the general discussion of memory consistency model like Strict Consistency, Sequential Consistency, Processor Consistency, Weak Consistency etc. Then the techniques for implementing distributed shared memory Systems and Synchronization Primitives in Software Distributed Shared Memory Systems are discussed. The analysis involves the performance measurement of the protocol concerned that is Multiple Writer Protocol. Each protocol has pros and cons. So, the problems that are associated with each protocol is discussed and other related things are explored.

Keywords: Distributed System, Single owner protocol, Multiple owner protocol

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Authors: Abdulrahman S. Alturki, John S. Loomis

Abstract:

This paper discusses a corner detection algorithm for camera calibration. Calibration is a necessary step in many computer vision and image processing applications. Robust corner detection for an image of a checkerboard is required to determine intrinsic and extrinsic parameters. In this paper, an algorithm for fully automatic and robust X-corner detection is presented. Checkerboard corner points are automatically found in each image without user interaction or any prior information regarding the number of rows or columns. The approach represents each X-corner with a quadratic fitting function. Using the fact that the X-corners are saddle points, the coefficients in the fitting function are used to identify each corner location. The automation of this process greatly simplifies calibration. Our method is robust against noise and different camera orientations. Experimental analysis shows the accuracy of our method using actual images acquired at different camera locations and orientations.

Keywords: Camera Calibration, Corner Detector, Saddle Points, X-Corners.

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Authors: Md. Zahangir Alom, Mei-Lan Piao, Md. Shariful Islam, Nam Kim, Jae-Hyeung Park

Abstract:

The evaluation and measurement of human body dimensions are achieved by physical anthropometry. This research was conducted in view of the importance of anthropometric indices of the face in forensic medicine, surgery, and medical imaging. The main goal of this research is to optimization of facial feature point by establishing a mathematical relationship among facial features and used optimize feature points for age classification. Since selected facial feature points are located to the area of mouth, nose, eyes and eyebrow on facial images, all desire facial feature points are extracted accurately. According this proposes method; sixteen Euclidean distances are calculated from the eighteen selected facial feature points vertically as well as horizontally. The mathematical relationships among horizontal and vertical distances are established. Moreover, it is also discovered that distances of the facial feature follows a constant ratio due to age progression. The distances between the specified features points increase with respect the age progression of a human from his or her childhood but the ratio of the distances does not change (d = 1 .618 ) . Finally, according to the proposed mathematical relationship four independent feature distances related to eight feature points are selected from sixteen distances and eighteen feature point-s respectively. These four feature distances are used for classification of age using Support Vector Machine (SVM)-Sequential Minimal Optimization (SMO) algorithm and shown around 96 % accuracy. Experiment result shows the proposed system is effective and accurate for age classification.

Keywords: 3D Face Model, Face Anthropometrics, Facial Features Extraction, Feature distances, SVM-SMO

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Authors: Ahmet Tekcan, Arzu Özkoç, Hatice Alkan

Abstract:

In this work, we consider the number of integer solutions of Diophantine equation D : y2 - 2yx - 3 = 0 over Z and also over finite fields Fp for primes p ≥ 5. Later we determine the number of rational points on curves Ep : y2 = Pp(x) = yp 1 + yp 2 over Fp, where y1 and y2 are the roots of D. Also we give a formula for the sum of x- and y-coordinates of all rational points (x, y) on Ep over Fp.

Keywords: Diophantine equation, Pell equation, quadratic form.

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Authors: Nitima Aschariyaphotha, Pratan Sakkaplangkul, Anirut Luadsong

Abstract:

The study of the Andaman Sea can be studied by using the oceanic model; therefore the grid covering the study area should be generated. This research aims to generate grid covering the Andaman Sea, situated between longitudes 90◦E to 101◦E and latitudes 1◦N to 18◦N. A horizontal grid is an orthogonal curvilinear with 87 × 217 grid points. The methods used in this study are cubic spline and bilinear interpolations. The boundary grid points are generated by spline interpolation while the interior grid points have to be specified by bilinear interpolation method. A vertical grid is sigma coordinate with 15 layers of water column.

Keywords: Sigma Coordinate, Curvilinear Coordinate, AndamanSea.

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Authors: Yi Feng, Jingwen Li, Lei Huang, Changping Liu

Abstract:

In this paper we proposed a novel method to acquire the ROI (Region of interest) of unsupervised and touch-less palmprint captured from a web camera in real-time. We use Viola-Jones approach and skin model to get the target area in real time. Then an innovative course-to-fine approach to detect the key points on the hand is described. A new algorithm is used to find the candidate key points coarsely and quickly. In finely stage, we verify the hand key points with the shape context descriptor. To make the user much comfortable, it can process the hand image with different poses, even the hand is closed. Experiments show promising result by using the proposed method in various conditions.

Keywords: Palmprint recoginition, hand detection, touch-lesspalmprint, ROI localization.

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Authors: S. da Costa, D. Páez, E. Martínez, A. Torres, M. Beramendi, D. Hermosilla, M. Muratori

Abstract:

This study examined the association between creative performance, organizational climate and leadership, affectivity, shared flow, and group decision making. The sample consisted of 315 cadets of a military academic unit of South America. Satisfaction with the decision-making process during a creative task was associated with the usefulness and effectiveness of the ideas generated by the teams with a weighted average correlation of r = .18. Organizational emotional climate, positive and innovation leadership were associated with this group decision-making process r = .25, with shared flow, r = .29 and with positive affect felt during the performance of the creative task, r = .12. In a sequential mediational analysis positive organizational leadership styles were significantly associated with decision-making process and trough cohesion with utility and efficacy of the solution of a creative task. Satisfactory decision-making was related to shared flow during the creative task at collective or group level, and positive affect with flow at individual level.This study examined the association between creative performance, organizational climate and leadership, affectivity, shared flow, and group decision making. The sample consisted of 315 cadets of a military academic unit of South America. Satisfaction with the decision-making process during a creative task was associated with the usefulness and effectiveness of the ideas generated by the teams with a weighted average correlation of r = .18. Organizational emotional climate, positive and innovation leadership were associated with this group decision-making process r = .25, with shared flow, r = .29 and with positive affect felt during the performance of the creative task, r = .12. In a sequential mediational analysis positive organizational leadership styles were significantly associated with decision-making process and trough cohesion with utility and efficacy of the solution of a creative task. Satisfactory decision-making was related to shared flow during the creative task at collective or group level, and positive affect with flow at individual level.

Keywords: Creativity, innovation, military, organization, teams.

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Authors: Hazem Al-Mofleh, John Daniels, Joseph McKean

Abstract:

Within geostatistics research, effective estimation of the variogram points has been examined, particularly in developing robust alternatives. The parametric fit of these variogram points which eventually defines the kriging weights, however, has not received the same attention from a robust perspective. This paper proposes the use of the non-linear Wilcoxon norm over weighted non-linear least squares as a robust variogram fitting alternative. First, we introduce the concept of variogram estimation and fitting. Then, as an alternative to non-linear weighted least squares, we discuss the non-linear Wilcoxon estimator. Next, the robustness properties of the non-linear Wilcoxon are demonstrated using a contaminated spatial data set. Finally, under simulated conditions, increasing levels of contaminated spatial processes have their variograms points estimated and fit. In the fitting of these variogram points, both non-linear Weighted Least Squares and non-linear Wilcoxon fits are examined for efficiency. At all levels of contamination (including 0%), using a robust estimation and robust fitting procedure, the non-weighted Wilcoxon outperforms weighted Least Squares.

Keywords: Non-Linear Wilcoxon, robust estimation, Variogram estimation.

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Authors: Haruka Mikamori, Koyu Chinen

Abstract:

An optimized design of E/O and O/E for access points of WiMAX RoF was carried out by evaluating RCE. The use of the DFB-LD, a low input-impedance driving, a low distortion PIN-PD, and a high gain EPHEMT amplifier is promising the cost-effective design. For the uplink RoF design, the use of EDFA and EP-HEMT amplifiers is necessity.

Keywords: WiMAX, RoF, RCE, RAU, Access Point

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Authors: V. Tereshchenko, A. Tregubenko

Abstract:

In this study we survey the method for fast finding a minimum link path between two arbitrary points within a simple polygon, which can pass only through the vertices, with preprocessing.

Keywords: Minimum link path, simple polygon, Steiner points, optimal algorithm.

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Authors: Theerawat Songyot, Tham Manjing, Bunyarit Uyyanonvara, Chanjira Sinthanayothin

Abstract:

Corner detection and optical flow are common techniques for feature-based video stabilization. However, these algorithms are computationally expensive and should be performed at a reasonable rate. This paper presents an algorithm for discarding irrelevant feature points and maintaining them for future use so as to improve the computational cost. The algorithm starts by initializing a maintained set. The feature points in the maintained set are examined against its accuracy for modeling. Corner detection is required only when the feature points are insufficiently accurate for future modeling. Then, optical flows are computed from the maintained feature points toward the consecutive frame. After that, a motion model is estimated based on the simplified affine motion model and least square method, with outliers belonging to moving objects presented. Studentized residuals are used to eliminate such outliers. The model estimation and elimination processes repeat until no more outliers are identified. Finally, the entire algorithm repeats along the video sequence with the points remaining from the previous iteration used as the maintained set. As a practical application, an efficient video stabilization can be achieved by exploiting the computed motion models. Our study shows that the number of times corner detection needs to perform is greatly reduced, thus significantly improving the computational cost. Moreover, optical flow vectors are computed for only the maintained feature points, not for outliers, thus also reducing the computational cost. In addition, the feature points after reduction can sufficiently be used for background objects tracking as demonstrated in the simple video stabilizer based on our proposed algorithm.

Keywords: background object tracking, feature point reduction, low cost tracking, video stabilization.

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Authors: Miika Toivanen, Jouko Lampinen

Abstract:

This paper presents an online method that learns the corresponding points of an object from un-annotated grayscale images containing instances of the object. In the first image being processed, an ensemble of node points is automatically selected which is matched in the subsequent images. A Bayesian posterior distribution for the locations of the nodes in the images is formed. The likelihood is formed from Gabor responses and the prior assumes the mean shape of the node ensemble to be similar in a translation and scale free space. An association model is applied for separating the object nodes and background nodes. The posterior distribution is sampled with Sequential Monte Carlo method. The matched object nodes are inferred to be the corresponding points of the object instances. The results show that our system matches the object nodes as accurately as other methods that train the model with annotated training images.

Keywords: Bayesian modeling, Gabor filters, Online learning, Sequential Monte Carlo.

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Authors: Xing Xiong, Byung-Jae Choi

Abstract:

It is important for an autonomous mobile robot to know where it is in any time in an indoor environment. In this paper, we design a relative self-localization algorithm. The algorithm compare the interest point in two images and compute the relative displacement and orientation to determent the posture. Firstly, we use the SURF algorithm to extract the interest points of the ceiling. Second, in order to reduce amount of calculation, a replacement SURF is used to extract orientation and description of the interest points. At last, according to the transformation of the interest points in two images, the relative self-localization of the mobile robot will be estimated greatly.

Keywords: Relative Self-Localization Posture, SURF, Natural Landmark, Interest Point.

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