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Manipulation of beacons is a method of Human-Swarm Interaction (HSI) of relative ease to implement, especially for computer simulated environments. This paper focuses on doing an in depth analysis of an implementation of attractor and repulsor fields and determining its advantages and disadvantages through experimental means. The results give an optimistic view of the method: the learning curve is...
A multimodal medical imaging technique is proposed to improve breast cancer diagnosis. Initial studies are being pursued in order to optimise breast cancer detection and classification when combining Positron Emission Mammography (PEM) with Ultra Wideband (UWB) radar imaging. In this study, the same numerical breast phantom is simulated for both PEM and UWB, and detection capabilities are compared...
This work introduces a novel descriptor called Binary Robust Appearance and Normals Descriptor (BRAND), that efficiently combines appearance and geometric shape information from RGB-D images, and is largely invariant to rotation and scale transform. The proposed approach encodes point information as a binary string providing a descriptor that is suitable for applications that demand speed performance...
This work proposes a novel RGB-D feature descriptor called Binary Appearance and Shape Elements (BASE) that efficiently combines intensity and shape information to improve the discriminative power and enable an enhanced and faster matching process. The new descriptor is used to align a set of RGB point clouds to generate dense three dimensional models of indoor environments. We compare the performance...
LIDAR-based object detection usually relies on geometric feature extraction, followed by a generative or discriminative classification approach. Instead, we propose to change the way of detecting objects using LIDAR by means of not only a featureless approach, but also inferring context-aware relations of object parts. For the first feature, a coarse-to-fine segmentation based on β-skeleton random...
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