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This paper introduces an advanced rover localization system suitable for autonomous planetary exploration in the absence of Global Positioning System (GPS) infrastructure. Given an existing terrain map (image and elevation) obtained from satellite imagery and the images provided by the rover stereo camera system, the proposed method determines the best rover location through visual odometry, 3D terrain...
In this paper, we present a new fast method for matching stereo images acquired by a stereo sensor embedded in a moving vehicle. The method consists in exploiting the matching results obtained in one stereo pair (frame) for computing the disparity map of the following stereo pair. This can be achieved by finding a temporal relationship, which we named association, between consecutive frames. The disparity...
Since the biometric data tends to have large intra-class variability, it is possible for the enrolled templates to be significantly different from acquired samples during system's operation. The majority of existing techniques in the literature, namely self update, update a template set by using a confidently verified input sample in order to avoid the introduction of impostors into the template set...
In this work, we present a novel method for authentication based on voice biometrics. Local graphs of the pre-processed speech signal are first calculated by feature extraction and combined to form a global graph that is stored in a database for the purpose of authentication. The distance between the global graphs of the presented test speech signal and the stored reference speech signal is then calculated...
Membrane-bound protein, expressed in the basal-lateral region, is heterogeneous and an important endpoint for understanding biological processes. At the optical resolution, membrane-bound protein can be visualized as being diffused (e.g., E-cadherin), punctate (e.g., connexin), or simultaneously diffused and punctate as a result of sample preparation or conditioning. Furthermore, there is a significant...
Membrane-bound macromolecules are responsible for structural support and mediation of cell-cell adhesion in tissues. Quantitative analysis of these macromolecules provides morphological indices for damage or loss of tissue, for example as a result of exogenous stimuli. From an optical point of view, a membrane signal may have nonuniform intensity around the cell boundary, be punctate or diffused,...
Background modeling is an essential and important part of many high-level video processing applications. Recently, the Support Vector Data Description (SVDD) has been introduced for novelty detection when only one class of data is available, i.e. background pixels. This paper proposes a method to efficiently train an SVDD and compares the performance of this training algorithm with the traditional...
We present a hierarchical feature fusion model for image classification that is constructed by an evolutionary learning algorithm. The model has the ability to combine local patches whose location, width and height are automatically determined during learning. The representational framework takes the form of a two-level hierarchy which combines feature fusion and decision fusion into a unified model...
In this paper the authors present a technique suitable for segmenting high resolution sidescan sonar images, which is a problem that may arise in military or civilian applications. To this end, they use the "active contours without edges" model that was proposed by Chan and Vese.
Many social interactions and services today depend on gender. In this paper, we investigate the problem of gender classification from hand shape. Our work has been motivated by studies in anthropometry and psychology suggesting that it is possible to distinguish between male and female hands by considering certain geometric features. Our system segments the hand silhouette into six different parts...
Boundary detection in natural images represents an important but also challenging problem in computer vision. Motivated by studies in psychophysics claiming that humans use multiple cues for segmentation, several promising methods have been proposed which perform boundary detection by optimally combining local image measurements such as color, texture, and brightness. Very interesting results have...
We consider the problem of recognizing 3-D objects from 2-D images using geometric models and assuming different viewing angles and positions. Our goal is to recognize and localize instances of specific objects (i.e., model-based) in a scene. This is in contrast to category-based object recognition methods where the goal is to search for instances of objects that belong to a certain visual category...
Fingerprint-based authentication is a key biometric technology with a wide range of potential applications both in industry and government. However, the presence of intrinsically low quality fingerprints and various distortions introduced during the acquisition process pose challenges in the development of robust and reliable feature extraction and matching algorithms. Our focus in this study is on...
This paper describes a novel hand-based verification system based on palm-finger segmentation and fusion. The proposed system operates on 2D hand images acquired by placing the hand on a planar lighting table without any guidance pegs. The segmentation of the palm and the fingers is performed without requiring the extraction of any landmark points on the hand. First, the hand is segmented from the...
In general, Zernike moments are often used efficiently as shape descriptors of image objects, such as logos or trademarks that cannot be defined by a single contour. However, because these moments are defined in a unit disk space and extracted by a polar raster sampling shape, information of skewed and stretched shapes is lost. As a result, they can be inefficient shape descriptors when there is skew...
Detecting regions of interest in video sequences is the most important task in many high level video processing applications. In this paper a robust technique based on recursive learning of video background and foreground models is presented. Our contributions can be described along four directions. First, a recursive learning scheme is developed to build pixel models based on their colors. Second,...
Detection and tracking of foreground objects in a video scene requires a robust technique for background modeling. The modeling issues such as noise robustness, adaptation and model accuracy must be addressed while allowing for the automatic choice of relevant parameters. In this paper three major contributions are presented. First, the representative background model is a general multivariate kernel...
Direct use of the hand as an input device is an attractive method for providing natural human-computer interaction (HCI). Currently, the only technology that satisfies the advanced requirements of hand-based input for HCI is glovebased sensing. This technology, however, has several drawbacks including that it hinders the ease and naturalness with which the user can interact with the computer controlled...
Robust and reliable detection of overtaking vehicles is an important component of any on-board driver assistance system. Optical flow, with the abundant motion information present in image sequences, has been studied extensively for vehicle detection. However, using dense optical ?ow for vehicle detection is sensitive to shocks and vibrations of the mobile camera; image outliers caused by illumination...
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