7923791
Discontinuity-Based Simplification of Free Form Surface From a Range Image
This paper improves an existing method for more accurate simplification of free form surface represented as dense points. The main improvement lies in two aspects: one is the introduction of a novel transformation of curvatures, the other is to propose sampling points using both curvature information and curvature variation information. The experimental results based on real images show that the original object surface has been better approximated and the majority of the surface discontinuities have been better preserved with considerably few sampled (5%) data points
36759557
Geometrical analysis of two sets of 3D correspondence data patterns
Given two sets of image correspondence data, the analysis of the corresponding rigid body transformation that accurately describes the object's motion in 3D space is a fundamental problem in image understanding. While many methods have been put forward to analyse 3D transformations, such methods do not make use of the vector distance between feature points and angular information as constraints to analyse transformation parameters. Current methods and algorithms have also suffered from the problems of lack of efficiency, sensitivity to noise, and multiplicity of solutions. In this paper we present a novel geometrical analysis of rigid body transformations and a novel algorithm to calibrate transformation parameters based on image correspondence. The algorithm is validated through experimental calibration and a comparison is made with calibration implemented by the least squares method. We demonstrate that the proposed algorithm works well in the presence of noise and that its performance is in general superior to algorithms based on the least squares method.
14532857
Projecting registration error for accurate registration of overlapping range images
Abstract In this paper, we propose a novel algorithm for the automatic registration of two overlapping range images. Since it is relatively difficult to compare the registration errors of different point matches, we project them onto a virtual image plane for more accurate comparison using the classical pin-hole perspective projection camera model. While the traditional ICP algorithm is more interested in the points in the second image close to the sphere centred at the transformed point, the novel algorithm is more interested in the points in the second image as collinear as possible to the transformed point. The novel algorithm then extracts useful information from both the registration error and projected error histograms for the elimination of false matches without any feature extraction, image segmentation or the requirement of motion estimation from outliers corrupted data and, thus, has an advantage of easy implementation. A comparative study based on real images captured under typical imaging conditions has shown that the novel algorithm produces good registration results.
26921590
Evaluating structural constraints for accurate range image registration
New technological developments in optics and electronics are rendering laser scanning systems cheaper and more accurate. Such systems can directly capture depth information from objects simplifying range image analysis and enlarging their applications scope. Accurate image registration algorithms represent a pivotal aspect of range image analysis which still require substantial improvements. While a large number of algorithms have been proposed, it is very important to compare the performance of different registration algorithms so that good algorithms can be selected for real applications. Unfortunately, most of these algorithms are iterative with a number of parameters initialised by users. The main disadvantages of these methods are that these parameters are often context dependent. Thus, while aiming to develop automatic registration algorithms instead of comparing the registration algorithms themselves, we compare the structural constraints based on a single registration algorithm(GICP). A large number of experiments using real range images demonstrate their effectiveness on improving the GICP algorithm.
18654744
Evaluating collinearity constraint for automatic range image registration
While most of the existing range image registration algorithms either have to extract and match structural (geometric or optical) features or have to estimate the motion parameters of interest from outliers corrupted point correspondence data for the elimination of false matches in the process of image registration, the registration error and the collinearity error derived directly from the traditional closest point criterion are also capable of doing the same job. However, the latter has an advantage of easy implementation. The purpose of this paper is to investigate which definition of collinearity is more accurate and stable in eliminating false matches inevitably introduced by the closest point criterion. The experiments based on real images show the advantages and disadvantages of different definitions of collinearity.
9293300
Automatic registration of overlapping 3D point clouds using closest points
Abstract While the SoftAssign algorithm imposes a two-way constraint embedded into the deterministic annealing scheme and the EMICP algorithm imposes a one-way constraint, they represent the state of the art technique for the automatic registration of overlapping free form shapes. They both have a time complexity of O ( n 2 ). While the former has a space complexity also of O ( n 2 ), the latter has a space complexity of O ( n ). The heavy demand for computation and storage memory renders either the SoftAssign or EMICP algorithm to hardly operate on whole shapes with thousands of points. In this case, they often have to reduce the number of points to an order of 100s on the free form shapes to be registered. This paper proposes using closest points in conjunction with either the one-way or two-way constraint for the automatic registration of overlapping 3D point clouds and thus, combining the accuracy of both the SoftAssign and EMICP algorithms with the efficiency of the traditional ICP algorithm. A comparative study based on both synthetic data and real images has shown that the proposed algorithm does not significantly sacrifice accuracy and stability of either the SoftAssign or EMICP algorithm, but gains remarkable efficiency of the traditional ICP algorithm for the automatic registration of overlapping 3D point clouds. Since, the proposed algorithm is of general use and has an advantage of easy implementation, it is likely to become in the future a benchmark for the automatic registration of overlapping 3D point clouds.
15319550
Log-Linear Models for Word Alignment
We present a framework for word alignment based on log-linear models. All knowledge sources are treated as feature functions, which depend on the source language sentence, the target language sentence and possible additional variables. Log-linear models allow statistical alignment models to be easily extended by incorporating syntactic information. In this paper, we use IBM Model 3 alignment probabilities, POS correspondence, and bilingual dictionary coverage as features. Our experiments show that log-linear models significantly outperform IBM translation models.
18963770
A quasi-Monte Carlo method for computing areas of point-sampled surfaces
A novel and efficient quasi-Monte Carlo method for computing the area of a point-sampled surface with associated surface normal for each point is presented. Our method operates directly on the point cloud without any surface reconstruction procedure. Using the Cauchy-Crofton formula, the area of the point-sampled surface is calculated by counting the number of intersection points between the point cloud and a set of uniformly distributed lines generated with low-discrepancy sequences. Based on a clustering technique, we also propose an effective algorithm for computing the intersection points of a line with the point-sampled surface. By testing on a number of point-based models, experiments suggest that our method is more robust and more efficient than those conventional approaches based on surface reconstruction.
6802371
Improving web search results using affinity graph
In this paper, we propose a novel ranking scheme named Affinity Ranking (AR) to re-rank search results by optimizing two metrics: (1) diversity -- which indicates the variance of topics in a group of documents; (2) information richness -- which measures the coverage of a single document to its topic. Both of the two metrics are calculated from a directed link graph named Affinity Graph (AG). AG models the structure of a group of documents based on the asymmetric content similarities between each pair of documents. Experimental results in Yahoo! Directory, ODP Data, and Newsgroup data demonstrate that our proposed ranking algorithm significantly improves the search performance. Specifically, the algorithm achieves 31% improvement in diversity and 12% improvement in information richness relatively within the top 10 search results.
887136
Value Functions for RL-Based Behavior Transfer: A Comparative Study
Temporal difference (TD) learning methods (Sutton & Barto 1998) have become popular reinforcement learning techniques in recent years. TD methods, relying on function approximators to generalize learning to novel situations, have had some experimental successes and have been shown to exhibit some desirable properties in theory, but have often been found slow in practice. This paper presents methods for further generalizing across tasks, thereby speeding up learning, via a novel form of behavior transfer. We compare learning on a complex task with three function approximators, a CMAC, a neural network, and an RBF, and demonstrate that behavior transfer works well with all three. Using behavior transfer, agents are able to learn one task and then markedly reduce the time it takes to learn a more complex task. Our algorithms are fully implemented and tested in the RoboCup-soccer keepaway domain.
41398857
BIRD: Biomedical Information Integration and Discovery with Semantic Web Services
Biomedical research is now information intensive; the volume and diversity of new data sources challenges current database technologies. The development and tuning of database technologies for biology and medicine will maintain and accelerate the current pace for innovation and discovery. New promising application fields such as the Semantic Web and Semantic Web Services can leverage the potential of biomedical information integration and discovery, facing the problem of semantic heterogeneity of biomedical information sources in a variety of storage and data formats widely distributed both across the Internet and within individual organizations. In this paper, we present BIRD, a fully-fledged biomedical information integration solution that combines natural language analysis and semantically-empowered techniques to ascertain how the user needs can be best fit. Our approach is backed with a proof-of-concept implementation where the breakthrough and efficiency of integrating the biomedical publications database PubMed, the Database of Interacting Proteins (DIP) and the Munich Information Center for Protein Sequences (MIPS) has been tested.