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This work outlines an Intelligent Navigation System (INS) for autonomous robots. The primary focus of the proposed INS is to provide a logical, computationally efficient algorithm which serves as a basis to map and navigate unknown environments. For demonstrative and testing purposes, the INS was implemented both in simulation form using MATLABTM™ SIMULINK™ as well as practically, using an omni-directional...
The primary objective of automated motion semantic classification would be to recognizing events in close similarity with human like perception. This work proposes novel modifications to the standard spectral clustering algorithm in enhancing its capacity to capture human like semantics for visual event classification. The proposed novel multi-feature aggregation strategy replicates human like decision...
Overexposure causes a multitude of problems when videos of highly dynamic environments are used for computer vision applications. Foreground separation, feature detection and clustering operations get severely affected. One reason for this is the saturation or clipping of the color channels in cameras, under bright illumination conditions. Clustering the similar background data in a single cluster...
Independent Component Analysis (ICA) is a class of blind source separation which can be successfully used for extracting unknown independent source signals from a set of signal mixtures. In this study, we introduce a new method for separation of acoustic source signals using frequency domain complex valued ICA. Although the conventional time domain ICA algorithms can be effectively used for extraction...
A novel method of modelling pixel distributions for foreground detection in rapidly fluctuating dynamic background conditions is presented in this paper. A comprehensive study of the characteristics of pixel behaviour in videos of backgrounds in clear water under natural lighting conditions has been presented in this work. Videos from real world situations such as in swimming pools and ponds where...
Fingerprinting based techniques have become a popular solution for indoor localization applications due to their robust performance compared to other approaches even in environments with non-line of sight and multipath conditions. Most of these techniques use Euclidean distance based algorithms such as k-nearest neighbors in the matching phase. This paper introduces a selective parameter weighting...
Electric vehicles are a promising alternative to vehicles powered by fossil fuels due to their zero emissions feature. However, the limited specific power of the batteries in the electric vehicles, which also adds a considerable weight, limit the vehicle performance. This drawback has affected the market share of the electric vehicles negatively, as they find it difficult to compete with fossil fuel...
This paper proposes a spectral clustering based methodology to classify video events and to detect anomalies. Feature trajectories from objects in a video are modelled, compared and clustered in order to classify the detected object events. Principles of normalized spectral clustering are used with modifications to affinity structure. A novel method for determining spectral clustering parameters based...
The work presents a comprehensive methodology for recognition of temporally progressing hand gestures. Motion measurements associated with the hand position, orientation and finger bending are considered as time-series data sets and utilized for the recognition process. In addressing the hand gesture recognition problem in its multi-feature nature, a novel methodology for discovering relevant features...
In this paper, approaches to develop subspace-based classifiers for material based signal classification are presented. Material based signal classification is essential in many applications for the identification of the cause of the acoustic signal. Four approaches are presented in this paper for classification. They are namely, classification via eigen-filter characteristics, eigenvector projection...
In this paper we study the human oculomotor system as a simple mechanical control system. Most of the time, such as during `smooth pursuit', eye movements obey Listing's constraint, which states that the movements consist of rotation matrices for which the axes are orthogonal to the normal gaze direction. Eye movements fail to satisfy the Listing's constraint either as a result of abnormality or when...
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