13629000
A Group Theoretical Formalization of Contact Motion
The work reported in this paper applies group theory to characterize local surface contact among solids, and makes such a formalization computationally tractable. This paper serves three purposes: (1) to report a new treatment of contacting surfaces as oriented sets and to verify the consistency of their corresponding symmetry groups in a group theoretical formalization framework; (2) to give a concise summary of this group theoretical approach, from theory, to algorithms, to applications; (3) to pinpoint some unsolved problems and possible future directions.
122978488
Representation and matching of articulated shapes
We consider the problem of localizing the articulated and deformable shape of a walking person in a single view. We represent the non-rigid 2D body contour by a Bayesian graphical model whose nodes correspond to point positions along the contour. The deformability of the model is constrained by learned priors corresponding to two basic mechanisms: local non-rigid deformation, and rotation motion of the joints. Four types of image cues are combined to relate the model configuration to the observed image, including edge gradient map, foreground/background mask, skin color mask, and appearance consistency constraints. The constructed Bayes network is sparse and chain-like, enabling efficient spatial inference through sequential Monte Carlo sampling methods. We evaluate the performance of the model on images taken in cluttered, outdoor scenes. The utility of each image cue is also empirically explored.
1966938
Robust midsagittal plane extraction from normal and pathological 3-D neuroradiology images
This paper focuses on extracting the ideal midsagittal plane (iMSP) from three-dimensional (3-D) normal and pathological neuroimages. The main challenges in this work are the structural asymmetry that may exist in pathological brains, and the anisotropic, unevenly sampled image data that is common in clinical practice. We present an edge-based, cross-correlation approach that decomposes the plane fitting problem into discovery of two-dimensional symmetry axes on each slice, followed by a robust estimation of plane parameters. The algorithm's tolerance to brain asymmetries, input image offsets and image noise is quantitatively evaluated. We find that the algorithm can extract the iMSP from input 3-D images with 1) large asymmetrical lesions; 2) arbitrary initial rotation offsets; 3) low signal-to-noise ratio or high bias field. The iMSP algorithm is compared with an approach based on maximization of mutual information registration, and is found to exhibit superior performance under adverse conditions. Finally, no statistically significant difference is found between the midsagittal plane computed by the iMSP algorithm and that estimated by two trained neuroradiologists.
5262963
Texture replacement in real images
Texture replacement in real images has many applications, such as interior design, digital movie making and computer graphics. The goal is to replace some specified texture patterns in an image while preserving lighting effects, shadows and occlusions. To achieve convincing replacement results we have to detect texture patterns and estimate the lighting map from a given image. Near regular planar texture patterns are considered in this paper. Given a sample texture patch, a standard tile is computed. Candidate texture regions are determined by mutual information between the standard tile and each image patch. Regions with high mutual information scores are used to estimate the admissible lighting distributions, which is represented by cached statistics. Spatial lighting change constraints are represented by a Markov random field model. Maximum a posteriori estimation of the texture segmentation and lighting map is solved in a stochastic annealing fashion, namely, the Markov chain Monte Carlo method. Visually satisfactory result is achieved using this statistical sampling model.
14419032
Content-based 3D neuroradiologic image retrieval: preliminary results
A content-based 3D neuroradiologic image retrieval system is being developed at the Robotics Institute of CMU. The special characteristics of this system include: directly dealing with multimodal 3D images (MR/CT); image similarity based on anatomical structures of the human brain; and combining both visual and collateral information for indexing and retrieval. A testbed has been implemented for using detected salient visual features for indexing and retrieving 3D images.
1236601
Skewed symmetry groups
We introduce the term skewed symmetry groups and provide a complete theoretical treatment for 2D wallpaper groups under affine transformations. For the first time, a given periodic pattern can be classified not simply by its Euclidean symmetry group but,by its highest "potential" symmetry group under affine deformation. A concise wallpaper group migration map is constructed that separates the 17 affinely deformed wallpaper groups into small, distinct orbits. The practical value of this result includes a novel indexing and retrieval scheme for regular patterns, and a maximal-symmetry-based method for estimating shape and orientation from texture under unknown views.
11221345
Multiresolution free form object modeling with point sampled geometry
In this paper an efficient framework for the creation of 3D digital content with point sampled geometry is proposed. A new hierarchy of shape representations with three levels is adopted in this framework. Based on this new hierarchical shape representation, the proposed framework offers concise integration of various volumetric- and surface-based modeling techniques, such as Boolean operation, offset, blending, free-form deformation, parameterization and texture mapping, and thus simplifies the complete modeling process. Previously to achieve the same goal, several separated algorithms had to be used independently with inconsistent volumetric and surface representations of the free-form object. Both graphics and industrial applications are presented to demonstrate the effectiveness and efficiency of the proposed framework.
1813681
The interaction of representations and planning objectives for decision-theoretic planning tasks
This article studies decision-theoretic planning or reinforcement learning in the presence of traps such as steep slopes for outdoor robots or staircases for indoor robots. In this case, achieving the goal from the start is often the primary objective while minimizing the travel time is only of secondary importance. This article studies how this planning objective interacts with possible representations of the planning tasks, namely whether to use a discount factor that is one or smaller than one and whether to use the action-penalty or the goal-reward representation. It is shown that the action-penalty representation without discounting guarantees that the plan that maximizes the expected reward also achieves the goal from the start (provided that this is possible) but neither the action-penalty representation with discounting nor the goal-reward representation with discounting have this property. The article then shows exactly when this trapping phenomenon occurs, using a novel interpretation of discounting, namely that it models agents that use convex exponential utility functions and thus are optimistic in the face of uncertainty. Finally, it is shown how the selective state-deletion method can be used in conjunction with standard decision-theoretic planners to eliminate the trapping phenomenon.
19566771
Nowhere-Zero 4-Flows and Cayley Graphs on Solvable Groups
We prove that every Cayley graph on a finite solvable group admits a nowhere-zero 4-flow. In particular, every cubic Cayley graph on a solvable group is 3-edge-colorable.
24959035
A Novel Constraint-Based Approach to Online Graphics Recognition
Online graphics recognition has become the key problem for pen-based user interface on small screen devices, such as PDA and Tablet PC. In this paper, a novel constraint-based approach to online graphics recognition is proposed. The key idea of our approach is that when the user is drawing a graphic object, the system can extract the constraints between primitives and basic shapes from the object and use these constraints to retrieve similar graphic objects from the database at run time. The user can then choose the standard object from the ranked list of results to replace his sketches before he finishes drawing all strokes of the object. For this purpose, we summarize three types of primitives and several types of basic shapes as the basic components of a graphic object. We also define a set of constraints between primitives and basic shapes to represent their structural relations. The algorithms for online constraint extraction and graphics recognition are also presented. Experimental results show that our approach is efficient for online graphics recognition and effective for improving the user’s productivity.
1872293
AnySee: Peer-to-Peer Live Streaming
Efficient and scalable live-streaming overlay construction has become a hot topic recently. In order to improve the performance metrics, such as startup delay, source-to-end delay, and playback continuity, most previous studies focused on intra-overlay optimization. Such approaches have drawbacks including low resource utilization, high startup and source-to-end delay, and unreasonable resource assignment in global P2P networks. Anysee is a peer-to-peer live streaming system and adopts an inter-overlay optimization scheme, in which resources can join multiple overlays, so as to (1) improve global resource utilization and distribute traffic to all physical links evenly; (2) assign resources based on their locality and delay; (3) guarantee streaming service quality by using the nearest peers, even when such peers might belong to different overlays; and (4) balance the load among the group members. We compare the performance of our design with existing approaches based on comprehensive trace driven simulations. Results show that AnySee outperforms previous schemes in resource utilization and the QoS of streaming services. AnySee has been implemented as an Internet based live streaming system, and was successfully released in the summer of 2004 in CERNET of China. Over 60,000 users enjoy massive entertainment programs, including TV programs, movies, and academic conferences. Statistics prove that this design is scalable and robust, and we believe that the wide deployment of AnySee will soon benefit many more Internet users.