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NASA NTRS1992

Possibilistic clustering for shape recognition

Clustering methods have been used extensively in computer vision and pattern recognition. Fuzzy clustering has been shown to be advantageous over crisp (or traditional) clustering in that total commitment of a vector to a given class is not required at each iteration. Recently fuzzy clustering methods have shown spectacular ability to detect not only hypervolume clusters, but also clusters which are actually 'thin shells', i.e., curves and surfaces. Most analytic fuzzy clustering approaches are derived from Bezdek's Fuzzy C-Means (FCM) algorithm. The FCM uses the probabilistic constraint that the memberships of a data point across classes sum to one. This constraint was used to generate the membership update equations for an iterative algorithm. Unfortunately, the memberships resulting from FCM and its derivatives do not correspond to the intuitive concept of degree of belonging, and moreover, the algorithms have considerable trouble in noisy environments. Recently, we cast the clustering problem into the framework of possibility theory. Our approach was radically different from the existing clustering methods in that the resulting partition of the data can be interpreted as a possibilistic partition, and the membership values may be interpreted as degrees of possibility of the points belonging to the classes. We constructed an appropriate objective function whose minimum will characterize a good possibilistic partition of the data, and we derived the membership and prototype update equations from necessary conditions for minimization of our criterion function. In this paper, we show the ability of this approach to detect linear and quartic curves in the presence of considerable noise.

Keller, James M.↗

NASA NTRS1993

Possibilistic clustering for shape recognition

Clustering methods have been used extensively in computer vision and pattern recognition. Fuzzy clustering has been shown to be advantageous over crisp (or traditional) clustering in that total commitment of a vector to a given class is not required at each iteration. Recently fuzzy clustering methods have shown spectacular ability to detect not only hypervolume clusters, but also clusters which are actually 'thin shells', i.e., curves and surfaces. Most analytic fuzzy clustering approaches are derived from Bezdek's Fuzzy C-Means (FCM) algorithm. The FCM uses the probabilistic constraint that the memberships of a data point across classes sum to one. This constraint was used to generate the membership update equations for an iterative algorithm. Unfortunately, the memberships resulting from FCM and its derivatives do not correspond to the intuitive concept of degree of belonging, and moreover, the algorithms have considerable trouble in noisy environments. Recently, the clustering problem was cast into the framework of possibility theory. Our approach was radically different from the existing clustering methods in that the resulting partition of the data can be interpreted as a possibilistic partition, and the membership values may be interpreted as degrees of possibility of the points belonging to the classes. An appropriate objective function whose minimum will characterize a good possibilistic partition of the data was constructed, and the membership and prototype update equations from necessary conditions for minimization of our criterion function were derived. The ability of this approach to detect linear and quartic curves in the presence of considerable noise is shown.

Keller, James M.↗

NASA NTRS1991

Lunar crane system

In many lunar construction scenarios, mechanical cranes in some form will be indispensible in moving large masses around with various degrees of fine positioning. While thorough experience exists in the use of terrestrial cranes new thinking is required about the design of cranes to be used in extraterrestrial construction. The primary driving force for this new thinking is the need to automate the crane system so that space cranes can be operated as telerobotic machines with a large number of automatic capabilities. This is true because in extraterrestrial construction human resources will need to be critically rationed. The design problems of mechanisms and control systems for a lunar crane must deal with at least two areas of performance. First, the automated crane must be capable of maneuvering a large mass, so that when the mass arrives at the target position there are only small vibrations. Secondly, any residue vibrations must be automatically damped out and a fine positioning must be achieved. For extraterrestrial use there are additional challenges to a crane design - for example, to design a crane system so that it can be transformed for other construction uses. This initial project in crane design does not address such additional issues, although they may be the subject of future CSC research. To date the Center has designed and analyzed many mechanisms. The fundamental problem of trade-offs between passively stabilizing the load and actively controlling the load by actuators was extensively studied. The capability of 3D dynamics modeling now exists for such studies. A scaled model of a lunar crane was set up and it has been most fruitful in providing basic understanding of lunar cranes. Due to an interesting scaling match-up, this scaled model exhibits the load vibration frequencies one would expect in the real lunar case. Using the analytical results achieved to date, a laboratory crane system is now being developed as a test bed for verifying a wide variety of mechanisms and control designs. Future development will be aimed at making the crane system a telerobotic test bed into which external sensors such as computer vision systems, and other small robotic devices such as CSC lunar rovers, will be integrated.

Mikulas, Martin M., Jr.↗

NASA NTRS1992

The fusion of information via fuzzy integration

Multisensor fusion is becoming increasingly important in intelligent computer vision systems. In this paper we present the generalized fuzzy integral with respect to an S-decomposable measure as a tool for fusing information from multiple sensors in an object recognition problem. Results from an experiment with automatic target recognition imagery are provided.

Keller, James M.↗

NASA NTRS1991

Energy functions for regularization algorithms

Regularization techniques are widely used for inverse problem solving in computer vision such as surface reconstruction, edge detection, or optical flow estimation. Energy functions used for regularization algorithms measure how smooth a curve or surface is, and to render acceptable solutions these energies must verify certain properties such as invariance with Euclidean transformations or invariance with parameterization. The notion of smoothness energy is extended here to the notion of a differential stabilizer, and it is shown that to void the systematic underestimation of undercurvature for planar curve fitting, it is necessary that circles be the curves of maximum smoothness. A set of stabilizers is proposed that meet this condition as well as invariance with rotation and parameterization.

Delingette, H.↗

NASA NTRS1990

Integrated topology and shape optimization in structural design

Structural optimization procedures usually start from a given design topology and vary its proportions or boundary shapes to achieve optimality under various constraints. Two different categories of structural optimization are distinguished in the literature, namely sizing and shape optimization. A major restriction in both cases is that the design topology is considered fixed and given. Questions concerning the general layout of a design (such as whether a truss or a solid structure should be used) as well as more detailed topology features (e.g., the number and connectivities of bars in a truss or the number of holes in a solid) have to be resolved by design experience before formulating the structural optimization model. Design quality of an optimized structure still depends strongly on engineering intuition. This article presents a novel approach for initiating formal structural optimization at an earlier stage, where the design topology is rigorously generated in addition to selecting shape and size dimensions. A three-phase design process is discussed: an optimal initial topology is created by a homogenization method as a gray level image, which is then transformed to a realizable design using computer vision techniques; this design is then parameterized and treated in detail by sizing and shape optimization. A fully automated process is described for trusses. Optimization of two dimensional solid structures is also discussed. Several application-oriented examples illustrate the usefulness of the proposed methodology.

Bremicker, M.↗

NASA NTRS1993

Enhanced image capture through fusion

Image fusion may be used to combine images from different sensors, such as IR and visible cameras, to obtain a single composite with extended information content. Fusion may also be used to combine multiple images from a given sensor to form a composite image in which information of interest is enhanced. We present a general method for performing image fusion and show that this method is effective for diverse fusion applications. We suggest that fusion may provide a powerful tool for enhanced image capture with broad utility in image processing and computer vision.

Burt, Peter J.↗

NASA NTRS1993

Multiple-camera/motion stereoscopy for range estimation in helicopter flight

Aiding the pilot to improve safety and reduce pilot workload by detecting obstacles and planning obstacle-free flight paths during low-altitude helicopter flight is desirable. Computer vision techniques provide an attractive method of obstacle detection and range estimation for objects within a large field of view ahead of the helicopter. Previous research has had considerable success by using an image sequence from a single moving camera to solving this problem. The major limitations of single camera approaches are that no range information can be obtained near the instantaneous direction of motion or in the absence of motion. These limitations can be overcome through the use of multiple cameras. This paper presents a hybrid motion/stereo algorithm which allows range refinement through recursive range estimation while avoiding loss of range information in the direction of travel. A feature-based approach is used to track objects between image frames. An extended Kalman filter combines knowledge of the camera motion and measurements of a feature's image location to recursively estimate the feature's range and to predict its location in future images. Performance of the algorithm will be illustrated using an image sequence, motion information, and independent range measurements from a low-altitude helicopter flight experiment.

Smith, Phillip N.↗

NASA NTRS1994

Feature isolation and quantification of evolving datasets

Identifying and isolating features is an important part of visualization and a crucial step for the analysis and understanding of large time-dependent data sets (either from observation or simulation). In this proposal, we address these concerns, namely the investigation and implementation of basic 2D and 3D feature based methods to enhance current visualization techniques and provide the building blocks for automatic feature recognition, tracking, and correlation. These methods incorporate ideas from scientific visualization, computer vision, image processing, and mathematical morphology. Our focus is in the area of fluid dynamics, and we show the applicability of these methods to the quantification and tracking of three-dimensional vortex and turbulence bursts.

Source record↗

NASA NTRS1994

Unsupervised texture image segmentation by improved neural network ART2

We here propose a segmentation algorithm of texture image for a computer vision system on a space robot. An improved adaptive resonance theory (ART2) for analog input patterns is adapted to classify the image based on a set of texture image features extracted by a fast spatial gray level dependence method (SGLDM). The nonlinear thresholding functions in input layer of the neural network have been constructed by two parts: firstly, to reduce the effects of image noises on the features, a set of sigmoid functions is chosen depending on the types of the feature; secondly, to enhance the contrast of the features, we adopt fuzzy mapping functions. The cluster number in output layer can be increased by an autogrowing mechanism constantly when a new pattern happens. Experimental results and original or segmented pictures are shown, including the comparison between this approach and K-means algorithm. The system written in C language is performed on a SUN-4/330 sparc-station with an image board IT-150 and a CCD camera.

Wang, Zhiling↗

NASA NTRS1994

Truncated Gaussians as tolerance sets

This work focuses on the use of truncated Gaussian distributions as models for bounded data measurements that are constrained to appear between fixed limits. The authors prove that the truncated Gaussian can be viewed as a maximum entropy distribution for truncated bounded data, when mean and covariance are given. The characteristic function for the truncated Gaussian is presented; from this, algorithms are derived for calculation of mean, variance, summation, application of Bayes rule and filtering with truncated Gaussians. As an example of the power of their methods, a derivation of the disparity constraint (used in computer vision) from their models is described. The authors' approach complements results in Statistics, but their proposal is not only to use the truncated Gaussian as a model for selected data; they propose to model measurements as fundamentally in terms of truncated Gaussians.

Cozman, Fabio↗

NASA NTRS1995

Machine learning for a Toolkit for Image Mining

A prototype user environment is described that enables a user with very limited computer skills to collaborate with a computer algorithm to develop search tools (agents) that can be used for image analysis, creating metadata for tagging images, searching for images in an image database on the basis of image content, or as a component of computer vision algorithms. Agents are learned in an ongoing, two-way dialogue between the user and the algorithm. The user points to mistakes made in classification. The algorithm, in response, attempts to discover which image attributes are discriminating between objects of interest and clutter. It then builds a candidate agent and applies it to an input image, producing an 'interest' image highlighting features that are consistent with the set of objects and clutter indicated by the user. The dialogue repeats until the user is satisfied. The prototype environment, called the Toolkit for Image Mining (TIM) is currently capable of learning spectral and textural patterns. Learning exhibits rapid convergence to reasonable levels of performance and, when thoroughly trained, Fo appears to be competitive in discrimination accuracy with other classification techniques.

Delanoy, Richard L.↗

NASA NTRS1997

Image Registration Workshop Proceedings

Automatic image registration has often been considered as a preliminary step for higher-level processing, such as object recognition or data fusion. But with the unprecedented amounts of data which are being and will continue to be generated by newly developed sensors, the very topic of automatic image registration has become and important research topic. This workshop presents a collection of very high quality work which has been grouped in four main areas: (1) theoretical aspects of image registration; (2) applications to satellite imagery; (3) applications to medical imagery; and (4) image registration for computer vision research.

LeMoigne, Jacqueline↗

NASA NTRS2000

A Structured Light Sensor System for Tree Inventory

Tree Inventory is referred to measurement and estimation of marketable wood volume in a piece of land or forest for purposes such as investment or for loan applications. Exist techniques rely on trained surveyor conducting measurements manually using simple optical or mechanical devices, and hence are time consuming subjective and error prone. The advance of computer vision techniques makes it possible to conduct automatic measurements that are more efficient, objective and reliable. This paper describes 3D measurements of tree diameters using a uniquely designed ensemble of two line laser emitters rigidly mounted on a video camera. The proposed laser camera system relies on a fixed distance between two parallel laser planes and projections of laser lines to calculate tree diameters. Performance of the laser camera system is further enhanced by fusion of information induced from structured lighting and that contained in video images. Comparison will be made between the laser camera sensor system and a stereo vision system previously developed for measurements of tree diameters.

Chien, Chiun-Hong↗

NASA NTRS1997

Sensory Interactive Teleoperator Robotic Grasping

As the technological world strives for efficiency, the need for economical equipment that increases operator proficiency in minimal time is fundamental. This system links a CCD camera, a controller and a robotic arm to a computer vision system to provide an alternative method of image analysis. The machine vision system which was employed possesses software tools for acquiring and analyzing images which are received through a CCD camera. After feature extraction on the object in the image was performed, information about the object's location, orientation and distance from the robotic gripper is sent to the robot controller so that the robot can manipulate the object.

Alark, Keli↗

NASA NTRS1997

Modeling of the First Layers in the Fly's Eye

Increased autonomy of robots would yield significant advantages in the exploration of space. The shortfalls of computer vision can, however, pose significant limitations on a robot's potential. At the same time, simple insects which are largely hard-wired have effective visual systems. The understanding of insect vision systems thus may lead to improved approaches to visual tasks. A good starting point for the study of a vision system is its eye. In this paper, a model of the sensory portion of the fly's eye is presented. The effectiveness of the model is briefly addressed by a comparison of its performance to experimental data.

Moya, J. A.↗

NASA NTRS1998

Dynamic Load Balancing for Adaptive Unstructured Grids

Dynamic mesh adaptation on unstructured grids is a powerful tool for computing unsteady three-dimensional problems that require grid modifications to efficiently resolve solution features. By locally refining and coarsening the mesh to capture phenomena of interest, such procedures make standard computational methods more cost effective. Highly refined meshes are required to accurately capture shock waves, contact discontinuities, vortices, and shear layers in fluid flow problems. Adaptive meshes have also proved to be useful in several other areas of computational science and engineering like computer vision and graphics, semiconductor device modeling, and structural mechanics. Local mesh adaptation provides the opportunity to obtain solutions that are comparable to those obtained on globally-refined grids but at a much lower cost. Additional information is contained in the original extended abstract.

Biswas, Rupak↗

NASA NTRS2003

Use of Multi-Resolution Wavelet Feature Pyramids for Automatic Registration of Multi-Sensor Imagery

The problem of image registration, or alignment of two or more images representing the same scene or object, has to be addressed in various disciplines that employ digital imaging. In the area of remote sensing, just like in medical imaging or computer vision, it is necessary to design robust, fast and widely applicable algorithms that would allow automatic registration of images generated by various imaging platforms at the same or different times, and that would provide sub-pixel accuracy. One of the main issues that needs to be addressed when developing a registration algorithm is what type of information should be extracted from the images being registered, to be used in the search for the geometric transformation that best aligns them. The main objective of this paper is to evaluate several wavelet pyramids that may be used both for invariant feature extraction and for representing images at multiple spatial resolutions to accelerate registration. We find that the band-pass wavelets obtained from the Steerable Pyramid due to Simoncelli perform better than two types of low-pass pyramids when the images being registered have relatively small amount of nonlinear radiometric variations between them. Based on these findings, we propose a modification of a gradient-based registration algorithm that has recently been developed for medical data. We test the modified algorithm on several sets of real and synthetic satellite imagery.

Zavorin, Ilya↗