In this paper, we address the problem of controlling a mobile stereo camera under image quantization noise. Assuming that a pair of images of a set of targets is available, the camera moves through a sequence of Next-Best-Views (NBVs), i.e., a sequence of views that minimize the trace of the targets' cumulative state covariance, constructed using a realistic model of the stereo rig that captures image quantization noise and a Kalman Filter (KF) that fuses the observation history with new information. The proposed algorithm decomposes control into two stages: first the NBV is computed in the camera relative coordinates, and then the camera moves to realize this view in the fixed global coordinate frame. This decomposition allows the camera to drive to a new pose that effectively realizes the NBV in camera coordinates while satisfying Field-of-View constraints in global coordinates, a task that is particularly challenging using complex sensing models. We provide simulations and real experiments that illustrate the ability of the proposed mobile camera system to accurately localize sets of targets. We also propose a novel data-driven technique to characterize unmodeled uncertainty, such as calibration errors, at the pixel level and show that this method ensures stability of the KF.
We note briefly that this paper is based on preliminary results contained in our prior publications @cite_35 @cite_38 . These early works used simplified versions of the noise model and global controller and lacked experimental validation.
@cite_35 @cite_38
2045105614 2037591033 2188214461 2138078601
In this paper, a new object-based method to estimate noise in magnitude MR images is proposed. The main advantage of this object-based method is its robustness to background artefacts such as ghosting. The proposed method is based on the adaptation of the Median Absolute Deviation (MAD) estimator in the wavelet domain for Rician noise. The MAD is a robust and efficient estimator initially proposed to estimate Gaussian noise. In this work, the adaptation of MAD operator for Rician noise is performed by using only the wavelet coefficients corresponding to the object and by correcting the estimation with an iterative scheme based on the SNR of the image. During the evaluation, a comparison of the proposed method with several state-of-the-art methods is performed. A quantitative validation on synthetic phantom with and without artefacts is presented. A new validation framework is proposed to perform quantitative validation on real data. The impact of the accuracy of noise estimation on the performance of a denoising filter is also studied. The results obtained on synthetic images show the accuracy and the robustness of the proposed method. Within the validation on real data, the proposed method obtained very competitive results compared to the methods under study. The chief aim of this paper is to provide a short technical summary of the principal noise-model results (11-[11], developed by the author to date, and to consider their major implications for 1) measurement, and 2) performance prediction and evaluation. The discussion is illustrated by a concise review of model statistics, methods of estimating the model parameters, including the effects on accuracy of finite data samples. A variety of signal detection problems are similarly used to illustrate the very large potential improvement possible when optimum algorithms are employed, vis-a-vis most of the currently used systems, which are conventionally optimized for Gaussian interference. Conditions for realizing such gains are also given, and the principal key properties of these new, general models are discussed. These models make possible, for the first time, a systematic treatment of real-world EMI environments, both for measurement and assessment, and for receiver performance therein. We analyse the noise arising in collaborative filtering when formalised as a probabilistic matrix factorisation problem. We show empirically that modelling row- and column-specific variances is important, the noise being in general non-Gaussian and heteroscedastic. We also advocate for the use of a Student-t prior for the latent features as the standard Gaussian is included as a special case. We derive several variational inference algorithms and estimate the hyperparameters by type-II maximum likelihood. Experiments on real data show that the predictive performance is significantly improved. We expand Costa's (1983) writing on dirty paper model to consider general distributions on the two sources of additive noise - one known non-causally to the encoder. We show that, under certain conditions, the capacity is unaffected by the known noise if and only if the unknown noise is Gaussian.