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This paper presents a new line based 6-DOF monocular algorithm that uses the iSAM2, a point-based Graph SLAM approach. We extend iSAM2 to minimize the reprojection error of the line features to solve the line-based SLAM problem. A specific line representation is exploited that combines the Plücker Coordinates and the Cayley representation. The Plücker Coordinates are used for the 3D line projection...
We present an application of a Multiple Instance Learning (MIL) approach to image classification. In particular we focus on a recent MIL method for binary classification where the objective is to discriminate between positive and negative sets of points. Such sets are called bags and the points inside the bags are called instances. In the case of two classes of instances (positive and negative), a...
Classifiers trained on given databases perform poorly when tested on data acquired in different settings. This is explained in domain adaptation through a shift among distributions of the source and target domains. Attempts to align them have traditionally resulted in works reducing the domain shift by introducing appropriate loss terms, measuring the discrepancies between source and target distributions,...
In this paper, we propose a computational strategy to enhance the performance of Image Quality Metrics (IQM) by using content specific features of an image. We do this by creating Visual Error Importance (VEI) map that is applied to the error maps computed by the IQM. A global optimization can be used to compute the VEI map that is optimal for any given IQM. We demonstrate this concept by categorizing...
To reduce the false positives of static analysis, many tools collect path constraints and integrate SMT solvers to filter unreachable execution paths. However, the accumulated calling and computing of SMT solvers are time and resource consuming. This paper presents TsmartLW, an alternate static analysis tool in which we implement a path constraint solving engine to speed up reachability determination...
Monocular ORB-SLAM has been proved to be one of the best open-source SLAM method. However, it is still unsatisfying especially in low illumination indoor environment, which is caused by scale recovery and wrong feature matching. In this paper, we proposed a vehicle model based monocular ORBSLAM method supplemented by April-Tag to improve the performance of original algorithm. This approach is practical...
Video scene detection, the task of temporally dividing a video into its semantic sections, is an important process for effective analysis of heterogeneous video content. With the increased amount of video available for consumption, video scene detection becomes more and more important by providing means for effective video summarization, search and retrieval, browsing, and video understanding. We...
Salient object detection aims to correctly highlight the most salient object(s) in an image. Combining fine-grained contrast prior with rough-grained object consistency, this paper proposes a Focusness Guided Salient object detection (FGS) algorithm. To obtain clean and precise contrast map, FGS uses the focusness prior to guide the contrast map. Combing different saliency priors, FGS utilizes a unified...
A Cooperated fruit fly optimization algorithm (CFOA) is proposed for knapsack problems. In CFOA, a group generating strategy is designed for generating the initial solution. A novel cooperation strategy is used to enhance the connection and communication between flies. A repair operator based on value-weight ratio of each item is employed to guarantee the feasibility of the solution and enhance the...
As a postprocessing procedure, diffusion process has demonstrated its ability of substantially improving the performance of various visual retrieval systems. Whereas, great efforts are also devoted to similarity (or metric) fusion, seeing that only one individual type of similarity cannot fully reveal the intrinsic relationship between objects. This stimulates a great research interest of considering...
Edge and surface are two fundamental visual elements of an object. The majority of existing object proposal approaches utilize edge or edge-like cues to rank candidates, while we consider that the surface cue containing the 3D characteristic of objects should be captured effectively for proposals, which has been rarely discussed before. In this paper, an object-level proposal model is presented, which...
Cinemagraphs are a compelling way to convey dynamic aspects of a scene. In these media, dynamic and still elements are juxtaposed to create an artistic and narrative experience. Creating a high-quality, aesthetically pleasing cinemagraph requires isolating objects in a semantically meaningful way and then selecting good start times and looping periods for those objects to minimize visual artifacts...
Automatic kinship verification from facial information is a relatively new and open research problem in computer vision. This paper explores the possibility of learning an efficient facial representation for video-based kinship verification by exploiting the visual transformation between facial appearance of kin pairs. To this end, a Siamese-like coupled convolutional encoder-decoder network is proposed...
This paper investigates the problem of visual analysis of complex plans, schemes and maps for solving of difficult formalized tasks. It is analyzed the dependence of the level of perception upon the visualization complexity. It is introduced the concept of the utility of the visual image, it is described by the behavior of the empirical utility function. We propose an optimization model of the utility,...
When targeting embedded applications such as on-board visual localization for small Unmanned Air Vehicles (UAV), available hardware generally becomes a limiting factor. For this reason, the usual strategy is to rely on pure motion integration and/or restricting the size of the map, i.e. performing visual odometry. Moreover, if monocular vision is employed, due to the additional computational cost...
Optimisation problem concerning material flows, to increase the efficiency while reducing relative resource consumption is one of the most pressing problems today. The focus point of this study is to propose a new visual benchmarking approach to select the best material-flow path from the depot to the production lines, referring to the well-known Capacitated Vehicle Routing Problem (CVRP). An example...
In this paper we describe a recursive filter for the fusion of inertial and visual measurements for self-positioning, where the sensors are attached rigidly to the moving person or object. The system is self-contained, requires no infrastructure and is suitable for both indoor and seamless indoor/outdoor localization. The suggested approach fuses the images acquired by a stereo camera with a 3-axis...
Visual Simultaneous Localization and Mapping (SLAM) has been used for markerless tracking in augmented reality applications. Distributed SLAM helps multiple agents to collaboratively explore and build a global map of the environment while estimating their locations in it. One of the main challenges in Distributed SLAM is to identify local map overlaps of these agents, especially when their initial...
In general, Multiobjective Optimization Problems (MOPs) with conflicting objectives requires a Decision Maker to select a solution from a set of alternatives in the Pareto Front. A visual approach is a valuable alternative to analyze the several options that may exist. Thus, to support the visual analysis, this work proposes to combine a clustering method based on the shape of the solutions together...
FauM diagnosis is crucial to maintain safe and efficient operations of industrial processes. In this paper, a minimax probability machine (MPM) approach based on the framework of probabilistic representations is put forward for diagnosing process faults, without imposing any assumptions on data distributions. Moreover, a technique of pairwise discriminate analysis is incorporated to handle the classification...
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