Object recognition supported by user interaction for service robots

2002

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  • A comparative study of centroid-based, neighborhood-based and statistical approaches for effective document categorization

    Publication Year: 2002, Page(s):235 - 238 vol.4
    Cited by:  Papers (2)
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (464 KB) | HTML iconHTML

    Associating documents to relevant categories is critical for effective document retrieval. Here, we compare the well-known k-nearest neighborhood (kNN) algorithm, the centroid-based classifier and the highest average similarity over retrieved documents (HASRD) algorithm, for effective document categorization. We use various measures such as the micro and macro F1 values to evaluate their performan... View full abstract»

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  • Classification using a hierarchical Bayesian approach

    Publication Year: 2002, Page(s):103 - 106 vol.4
    Cited by:  Papers (4)
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (437 KB) | HTML iconHTML

    A key problem faced by classifiers is coping with styles not represented in the training set. We present an application of hierarchical Bayesian methods to the problem of recognizing degraded printed characters in a variety of fonts. The proposed method works by using training data of various styles and classes to compute prior distributions on the parameters for the class conditional distribution... View full abstract»

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  • Proceedings 16th International Conference on Pattern Recognition

    Publication Year: 2002, Page(s):iii - xi
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    Freely Available from IEEE
  • List of referees

    Publication Year: 2002, Page(s):xv - xvii
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    Freely Available from IEEE
  • Content based image retrieval using optimum Peano scan

    Publication Year: 2002, Page(s):130 - 133 vol.4
    Cited by:  Papers (2)  |  Patents (1)
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (530 KB) | HTML iconHTML

    We present a new technique for content based image retrieval where feature vector to be matched is very much specific to the query image. A particular Peano scan which is optimal in encoding the query image is used to convert the scanning pattern of all database images. Features are derived from these scan converted images to calculate the similarity measure. As the features being query specific, ... View full abstract»

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  • Author index

    Publication Year: 2002, Page(s):397 - 418
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    Freely Available from IEEE
  • Space-time invariants and video motion extraction from arbitrary viewpoints

    Publication Year: 2002, Page(s):56 - 59 vol.4
    Cited by:  Papers (4)
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (492 KB) | HTML iconHTML

    The recognition of motions is very important for understanding dynamic actions and extracting events from video sequences. We propose invariants on object motions, which can be extracted from image sequences, and are invariant even if the motions are viewed from arbitrary viewpoints. We call them space-time invariants since they are defined under space-time projections. We show that these invarian... View full abstract»

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  • Segmenting actions in velocity curve space

    Publication Year: 2002, Page(s):170 - 175 vol.4
    Cited by:  Papers (7)
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (693 KB) | HTML iconHTML

    Reliable segmentation of actions performed by objects, is critical to the understanding of semantic content in a video. Deciding which portion of object motion sequence is a distinct action unit, however, is often difficult, even for humans. We seem to hierarchically compose actions by noting characteristic changes in the nature of motion. This paper present an action segmentation algorithm that m... View full abstract»

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  • Face detection and facial feature extraction using support vector machines

    Publication Year: 2002, Page(s):209 - 212 vol.4
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (501 KB) | HTML iconHTML

    Proposes a fast algorithm for detecting human face and extracting the facial features. For this task, we have developed a flexible coordinate system and several support vector machines. The design of a face model for both detection and extraction is based on multi-resolution wavelet decomposition (MWD). Using a mean face, the MWD and a small number of feature points are applied for rough searching... View full abstract»

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  • A two-stage-classifier for defect classification in optical media inspection

    Publication Year: 2002, Page(s):373 - 376 vol.4
    Cited by:  Papers (2)
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (473 KB) | HTML iconHTML

    In this paper we address the problem of inspecting optical media like compact disks and digital versatile disks. Here, defective disks have to be identified during production. For optimizing the production process and in order to be able to decide how critical a certain defect is, the defects found have to be classified. As this has to be done online, the classification algorithm has to work very ... View full abstract»

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  • Synergism in low level vision

    Publication Year: 2002, Page(s):150 - 155 vol.4
    Cited by:  Papers (151)  |  Patents (3)
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (932 KB) | HTML iconHTML

    Guiding image segmentation with edge information is an often employed strategy in low level computer vision. To improve the trade-off between the sensitivity of homogeneous region delineation and the over-segmentation on of the image, we have incorporated a recently proposed edge magnitude/confidence map into a color image segmenter based on the mean shift procedure. The new method can recover reg... View full abstract»

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  • Featureless 6 DOF pose refinement from stereo images

    Publication Year: 2002, Page(s):17 - 20 vol.4
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (475 KB) | HTML iconHTML

    We present a pose estimation method from an initial unreliable guess using calibrated stereo images. The approach does not rely on a priori known salient features on the surface. The stereo images are brought in congruence without computing a disparity map like in standard stereo algorithms. Instead, the pose parameters of the object are varied to match the stereo images on the known surface shape... View full abstract»

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  • A comparative study of two velocity profile models for rapid stroke analysis

    Publication Year: 2002, Page(s):52 - 55 vol.4
    Cited by:  Papers (2)
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (360 KB) | HTML iconHTML

    We compare two different models that can be used to describe velocity profiles of a handwritten stroke. The theoretical analysis and performance comparison on the fitting data figures and the mean square error clearly reflects the superiority of the delta lognormal model over the minimum jerk model to describe the velocity profile characterizing rapid movements. View full abstract»

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  • A histogram-based color consistency test for voxel coloring

    Publication Year: 2002, Page(s):118 - 121 vol.4
    Cited by:  Papers (3)
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (533 KB) | HTML iconHTML

    Voxel coloring has become a popular technique for reconstructing a 3D scene from a set of 2D images. While many different variants of this technique exist, all rely on a test to determine if each voxel is projecting to regions of consistent color in all views of that voxel. A number of color consistency tests can be used and the specific choice has a large influence on the quality of the reconstru... View full abstract»

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  • Motion estimation and figure-ground segmentation using log-polar images

    Publication Year: 2002, Page(s):166 - 169 vol.4
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (427 KB) | HTML iconHTML

    A motion estimation algorithm for log-polar images, based on the general framework of Hager and Belhumeur (1998), is presented. The advantages and disadvantages brought by the use of this kind of foveal imaging are discussed. Within this context, a simple, but quite effective approach for figure-ground segmentation is also proposed. Performance results concerning motion estimation and target segme... View full abstract»

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  • Support object classifiers with rigid and elastic kernel functions for face identification

    Publication Year: 2002, Page(s):205 - 208 vol.4
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (485 KB) | HTML iconHTML

    The problem of face identification is considered as that of featureless similarity-based pattern recognition. In terms of the support object approach, we use a kernel function of two gray-level vectors for measuring the pair-wise proximity of face images. In addition to the usual kind of kernel functions called here rigid because of their being formed by way of immediate comparison of two gray-lev... View full abstract»

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  • Adaptive stack algorithm in document image decoding

    Publication Year: 2002, Page(s):231 - 234 vol.4
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (498 KB) | HTML iconHTML

    The stack algorithm, which is a best-first search algorithm widely used in speech recognition, is modified for application to the problem of recognizing machine printed text in the document image decoding (DID) framework. An iterative scheme is described wherein successively more stringent stack searches are performed, each time using a model of the image that is updated on the basis of what was d... View full abstract»

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  • Stereo tracking using ICP and normal flow constraint

    Publication Year: 2002, Page(s):367 - 372 vol.4
    Cited by:  Papers (16)
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (537 KB) | HTML iconHTML

    This paper presents a new approach for 3D view registration of stereo images. We introduce a hybrid error function which combines constraints from the ICP (iterative closest point) algorithm and normal flow constraint. This new technique is more precise for small movements and noisy depth than ICP alone, and more robust for large movements than the normal flow constraint alone. Finally, we present... View full abstract»

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  • Potential-based hierarchical clustering

    Publication Year: 2002, Page(s):272 - 275 vol.4
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (394 KB) | HTML iconHTML

    When performing hierarchical clustering, some metric must be used to determine the similarity between pairs of clusters. Traditional similarity metrics either can only deal with simple shapes or are very sensitive to outliers. We propose two potential-based similarity metrics, APES and AMAPES, inspired by the concept of electric potential in physics. The main features of these metrics are: they ha... View full abstract»

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  • Robust estimation of trifocal tensor using messy genetic algorithm

    Publication Year: 2002, Page(s):347 - 350 vol.4
    Cited by:  Papers (3)
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (362 KB) | HTML iconHTML

    This paper addresses the problem of robust estimation of the trifocal tensor employing a new method based on the messy genetic algorithm which uses each gene to stand for a triplet of correspondences, and takes every chromosome as a minimum subset for trifocal tensor estimation. The method will eventually converge to a near-optimal solution and is relatively unaffected by the outliers. Experiments... View full abstract»

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  • A computationally efficient approach to indoor/outdoor scene classification

    Publication Year: 2002, Page(s):146 - 149 vol.4
    Cited by:  Papers (25)  |  Patents (24)
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (457 KB) | HTML iconHTML

    Prior research in scene classification has shown that high-level information can be inferred from low-level image features. Classification rates of roughly 90% have been reported using low-level features to predict indoor scenes vs. outdoor scenes. However, the high classification rates are often achieved by using computationally expensive, high-dimensional feature sets, thus limiting the practica... View full abstract»

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  • Reconstructing mirror symmetric scenes from a single view using 2-view stereo geometry

    Publication Year: 2002, Page(s):12 - 16 vol.4
    Cited by:  Papers (12)
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (499 KB) | HTML iconHTML

    We address the problem of 3D reconstruction from a single perspective view of a mirror symmetric scene. We establish the fundamental result that it is geometrically equivalent to observing the scene with two cameras, the cameras being symmetrical with respect to the unknown 3D symmetry plane. All traditional tools of classical 2-view stereo can then be applied, and the concepts of fundamental/esse... View full abstract»

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  • Automatic recognition of eye blinking in spontaneously occurring behavior

    Publication Year: 2002, Page(s):78 - 81 vol.4
    Cited by:  Papers (15)  |  Patents (1)
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (447 KB) | HTML iconHTML

    Previous research in automatic facial expression recognition has been limited to recognition of gross expression categories (e.g., joy or anger) in posed facial behavior under well-controlled conditions (e.g., frontal pose and minimal out-of-plane head motion). We developed a system that detects discrete and important facial actions, (e.g., eye blinking), in spontaneously occurring facial behavior... View full abstract»

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  • Curve morphing by weighted mean of strings

    Publication Year: 2002, Page(s):192 - 195 vol.4
    Cited by:  Papers (79)
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (409 KB) | HTML iconHTML

    We propose an approach to curve morphing. We represent curves by strings, i.e. sequences of symbols. The curve morphing problem is formulated as that of, computing a weighted mean of two strings, which is then solved by a corresponding algorithm. Although only 2D curves are used in our experiments, the approach is applicable to curves in any dimension. Curve morphing has interesting applications i... View full abstract»

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  • A comparative evaluation of length estimators

    Publication Year: 2002, Page(s):330 - 334 vol.4
    Cited by:  Papers (2)
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (483 KB) | HTML iconHTML

    The paper compares previously published length estimators having digitized curves as input. The evaluation uses multigrid convergence (theoretical results and measured speed of convergence) and further measures as criteria. The paper also suggests a new gradient-based method for length estimation. View full abstract»

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