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In interactive human-robot path-planning, a capability for expressing the path topology provides a natural mechanism for describing task requirements. We propose a topology-aware RRT∗ algorithm that can explore in parallel any given set of topologies. The topological information used by the algorithm can either be assigned by the human prior to the planning or be selected from the human in posterior...
The traditional iterative closest point (ICP) algorithm could register two points sets well, but it is easily affected by local dissimilar. To deal with this problem, this paper proposes an isotropic scaling ICP algorithm with corner point constraint. First, an objective function is proposed under the guidance of the corner points, as the corner points can preserve the similar of the whole shapes...
Because visually impaired persons are not able to confirm the appearance of their own face, they are afraid of and uneasy about makeup. We have been developing a system that assists makeup application through verbal feedback according to the appearance of the user's face. The system encourages social communication by helping the user feel confident. In this paper, we introduce a new method of using...
Body surface area is an important measure in many clinical trials. It is a critical parameter that is used in estimating radiation and substance doses for human trials. Traditionally, these trials relied on skin-fold tests which are very invasive and uncomfortable to the subjects. In this paper we present a skeleton-free Kinect system to estimate body surface area of human bodies. The proposed system...
This paper proposes a novel method for fire and smoke detection using video images. The ViBe method is used to extract a background from the whole video and to update the exact motion areas using frame-by-frame differences. Dynamic and static features extraction are combined to recognize the fire and smoke areas. For static features, we use deep learning to detect most of fire and smoke areas based...
3D face recognition is a popular research area due to its vast application in biometrics and security. Local feature-based methods gain importance in the recent years due to their robustness under degradation conditions. In this paper, a novel high-order local pattern descriptor in combination with sparse representation based classifier (SRC) is proposed for expression robust 3D face recognition....
Recently a number of evolutionary multiobjective optimization algorithms have been proposed in the framework of MOEA/D (Multi-Objective Evolutionary Algorithm based on Decomposition). A multiobjective problem is decomposed into multiple single-objective problems using a set of weight vectors in MOEA/D. The number of single-objective problems is the same as the number of weight vectors, which is also...
Telerobotic manipulation allows patients living with upper limb impairments to interact with a variety of environments and accomplish through teleoperation daily activities such as playing, feeding, self-care, and leisure, that would otherwise be difficult to perform. In this paper, we propose a nonlinear mapping between the patient's range of motion and the workspace of an environment being manipulated...
Gender recognition from face images is a challenging problem with applications in various knowledge domains, such as biometrics, security and surveillance, human-computer interaction, among others. In this work, we propose and evaluate a novel method for gender recognition based on a geometric descriptor constructed from a pre-defined face shape model. The proposed approach, tested on four different...
This paper presents a multiple classifier system (MCS) to identify plants species based on the texture and shape features extracted from leaf images. A diverse pool of SVM and Neural Network classifiers is trained on four different feature sets, namely, Local Binary Pattern (LBP), Histogram of Gradients (HOG), Speed of Robust Features (SURF) and Zernike Moments (ZM). Then, a static classifier selection...
In total hip arthroplasty, a placement of stem, which is one of the parts of the artificial hip joint, is even difficult for skilled operators. An optimum location of stem is different for each patient. No system for specifying the optimum location has been established. We pay attention to the method using ultrasound in consideration of portability and high introduction ratio to the medical field...
In this paper we present a feasibility study on the detection of a complex shape with good precision/recall, without using depth or color information and with minimal dependence on the machine learning training data set. Specifically, we present an algorithm that supports reliable open palm and fingertip contour line detection that satisfies the aforementioned requirements, using a training set of...
This paper deals with classification algorithms as one of the basic principles of pattern recognition. We analyze their effect to a feature space and compare the type and the shape of the separating and decision surface, respectively. We proposed a novel classification approach based on Cumulative Fuzzy Membership Function that creates a decision surface in a different way as an MF ARTMAP neural network...
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