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  • 1. Abbeloos, W.
    et al.
    Caccamo, Sergio
    KTH, Skolan för datavetenskap och kommunikation (CSC), Robotik, perception och lärande, RPL.
    Ataer-Cansizoglu, E.
    Taguchi, Y.
    Feng, C.
    Lee, T. -Y
    Detecting and Grouping Identical Objects for Region Proposal and Classification2017Inngår i: IEEE Computer Society Conference on Computer Vision and Pattern Recognition Workshops, IEEE Computer Society, 2017, Vol. 2017, 501-502 s., 8014810Konferansepaper (Fagfellevurdert)
    Abstract [en]

    Often multiple instances of an object occur in the same scene, for example in a warehouse. Unsupervised multi-instance object discovery algorithms are able to detect and identify such objects. We use such an algorithm to provide object proposals to a convolutional neural network (CNN) based classifier. This results in fewer regions to evaluate, compared to traditional region proposal algorithms. Additionally, it enables using the joint probability of multiple instances of an object, resulting in improved classification accuracy. The proposed technique can also split a single class into multiple sub-classes corresponding to the different object types, enabling hierarchical classification.

  • 2.
    Abedin, Md Reaz Ashraful
    et al.
    Umeå universitet, Teknisk-naturvetenskapliga fakulteten, Institutionen för datavetenskap.
    Bensch, Suna
    Umeå universitet, Teknisk-naturvetenskapliga fakulteten, Institutionen för datavetenskap.
    Hellström, Thomas
    Umeå universitet, Teknisk-naturvetenskapliga fakulteten, Institutionen för datavetenskap.
    Self-supervised language grounding by active sensing combined with Internet acquired images and text2017Inngår i: Proceedings of the Fourth International Workshop on Recognition and Action for Scene Understanding (REACTS2017) / [ed] Jorge Dias George Azzopardi, Rebeca Marf, Málaga: REACTS , 2017, 71-83 s.Konferansepaper (Fagfellevurdert)
    Abstract [en]

    For natural and efficient verbal communication between a robot and humans, the robot should be able to learn names and appearances of new objects it encounters. In this paper we present a solution combining active sensing of images with text based and image based search on the Internet. The approach allows the robot to learn both object name and how to recognise similar objects in the future, all self-supervised without human assistance. One part of the solution is a novel iterative method to determine the object name using image classi- fication, acquisition of images from additional viewpoints, and Internet search. In this paper, the algorithmic part of the proposed solution is presented together with evaluations using manually acquired camera images, while Internet data was acquired through direct and reverse image search with Google, Bing, and Yandex. Classification with multi-classSVM and with five different features settings were evaluated. With five object classes, the best performing classifier used a combination of Pyramid of Histogram of Visual Words (PHOW) and Pyramid of Histogram of Oriented Gradient (PHOG) features, and reached a precision of 80% and a recall of 78%.

  • 3. Abela, D
    et al.
    Ritchie, H
    Ababneh, D
    Gavin, C
    Nilsson, Mats F
    Uppsala universitet, Medicinska och farmaceutiska vetenskapsområdet, Farmaceutiska fakulteten, Institutionen för farmaceutisk biovetenskap.
    Niazi, M Khalid Khan
    Uppsala universitet, Teknisk-naturvetenskapliga vetenskapsområdet, Matematisk-datavetenskapliga sektionen, Centrum för bildanalys.
    Carlsson, K
    Webster, WS
    The effect of drugs with ion channel-blocking activity on the early embryonic rat heart2010Inngår i: Birth defects research. Part B. Developmental and reproductice toxicology, ISSN 1542-9733, E-ISSN 1542-9741, Vol. 89, nr 5, 429-440 s.Artikkel i tidsskrift (Fagfellevurdert)
    Abstract [en]

    This study investigated the effects of a range of pharmaceutical drugs with ion channel-blocking activity on the heart of gestation day 13 rat embryos in vitro. The general hypothesis was that the blockade of the IKr/hERG channel, that is highly important for the normal functioning of the embryonic rat heart, would cause bradycardia and arrhythmia. Concomitant blockade of other channels was expected to modify the effects of hERG blockade. Fourteen drugs with varying degrees of specificity and affinity toward potassium, sodium, and calcium channels were tested over a range of concentrations. The rat embryos were maintained for 2 hr in culture, 1 hr to acclimatize, and 1 hr to test the effect of the drug. All the drugs caused a concentration-dependent bradycardia except nifedipine, which primarily caused a negative inotropic effect eventually stopping the heart. A number of drugs induced arrhythmias and these appeared to be related to either sodium channel blockade, which resulted in a double atrial beat for each ventricular beat, or IKr/hERG blockade, which caused irregular atrial and ventricular beats. However, it is difficult to make a precise prediction of the effect of a drug on the embryonic heart just by looking at the polypharmacological action on ion channels. The results indicate that the use of the tested drugs during pregnancy could potentially damage the embryo by causing periods of hypoxia. In general, the effects on the embryonic heart were only seen at concentrations greater than those likely to occur with normal therapeutic dosing.

  • 4. Abeywardena, D.
    et al.
    Wang, Zhan
    KTH, Skolan för datavetenskap och kommunikation (CSC), Datorseende och robotik, CVAP. KTH, Skolan för datavetenskap och kommunikation (CSC), Centra, Centrum för Autonoma System, CAS.
    Dissanayake, G.
    Waslander, S. L.
    Kodagoda, S.
    Model-aided state estimation for quadrotor micro air vehicles amidst wind disturbances2014Konferansepaper (Fagfellevurdert)
    Abstract [en]

    This paper extends the recently developed Model-Aided Visual-Inertial Fusion (MA-VIF) technique for quadrotor Micro Air Vehicles (MAV) to deal with wind disturbances. The wind effects are explicitly modelled in the quadrotor dynamic equations excluding the unobservable wind velocity component. This is achieved by a nonlinear observability of the dynamic system with wind effects. We show that using the developed model, the vehicle pose and two components of the wind velocity vector can be simultaneously estimated with a monocular camera and an inertial measurement unit. We also show that the MA-VIF is reasonably tolerant to wind disturbances, even without explicit modelling of wind effects and explain the reasons for this behaviour. Experimental results using a Vicon motion capture system are presented to demonstrate the effectiveness of the proposed method and validate our claims.

  • 5.
    Abrate, Matteo
    et al.
    CNR Natl Res Council, Inst Informat & Telemat, I-56124 Pisa, Italy.
    Bacciu, Clara
    CNR Natl Res Council, Inst Informat & Telemat, I-56124 Pisa, Italy.
    Hast, Anders
    Uppsala universitet, Teknisk-naturvetenskapliga vetenskapsområdet, Matematisk-datavetenskapliga sektionen, Institutionen för informationsteknologi, Avdelningen för visuell information och interaktion. Uppsala universitet, Teknisk-naturvetenskapliga vetenskapsområdet, Matematisk-datavetenskapliga sektionen, Institutionen för informationsteknologi, Bildanalys och människa-datorinteraktion. CNR Natl Res Council, Inst Informat & Telemat, I-56124 Pisa, Italy.
    Marchetti, Andrea
    CNR Natl Res Council, Inst Informat & Telemat, I-56124 Pisa, Italy.
    Minutoli, Salvatore
    CNR Natl Res Council, Inst Informat & Telemat, I-56124 Pisa, Italy.
    Tesconi, Maurizio
    CNR Natl Res Council, Inst Informat & Telemat, I-56124 Pisa, Italy.
    Geomemories - A Platform for Visualizing Historical, Environmental and Geospatial Changes of the Italian Landscape2013Inngår i: ISPRS International Journal of Geo-Information. Special issue: Geospatial Monitoring and Modelling of Environmental Change, ISSN 2220-9964, Vol. 2, nr 2, 432-455 s.Artikkel i tidsskrift (Fagfellevurdert)
    Abstract [en]

    The GeoMemories project aims at publishing on the Web and digitally preserving historical aerial photographs that are currently stored in physical form within the archives of the Aerofototeca Nazionale in Rome. We describe a system, available at http://www.geomemories.org, that lets users visualize the evolution of the Italian landscape throughout the last century. The Web portal allows comparison of recent satellite imagery with several layers of historical maps, obtained from the aerial photos through a complex workflow that merges them together. We present several case studies carried out in collaboration with geologists, historians and archaeologists, that illustrate the great potential of our system in different research fields. Experiments and advances in image processing technologies are envisaged as a key factor in solving the inherent issue of vast amounts of manual work, from georeferencing to mosaicking to analysis.

  • 6. Adinugroho, Sigit
    et al.
    Vallot, Dorothée
    Uppsala universitet, Teknisk-naturvetenskapliga vetenskapsområdet, Geovetenskapliga sektionen, Institutionen för geovetenskaper, Luft-, vatten och landskapslära.
    Westrin, Pontus
    Uppsala universitet, Teknisk-naturvetenskapliga vetenskapsområdet, Geovetenskapliga sektionen, Institutionen för geovetenskaper.
    Strand, Robin
    Uppsala universitet, Teknisk-naturvetenskapliga vetenskapsområdet, Matematisk-datavetenskapliga sektionen, Institutionen för informationsteknologi, Avdelningen för visuell information och interaktion. Uppsala universitet, Teknisk-naturvetenskapliga vetenskapsområdet, Matematisk-datavetenskapliga sektionen, Institutionen för informationsteknologi, Bildanalys och människa-datorinteraktion.
    Calving events detection and quantification from time-lapse images in Tunabreen glacier2015Inngår i: Proc. 9th International Conference on Information & Communication Technology and Systems, Piscataway, NJ: IEEE , 2015, 61-65 s.Konferansepaper (Fagfellevurdert)
  • 7.
    Aghazadeh, Omid
    KTH, Skolan för datavetenskap och kommunikation (CSC), Datorseende och robotik, CVAP.
    Data Driven Visual Recognition2014Doktoravhandling, med artikler (Annet vitenskapelig)
    Abstract [en]

    This thesis is mostly about supervised visual recognition problems. Based on a general definition of categories, the contents are divided into two parts: one which models categories and one which is not category based. We are interested in data driven solutions for both kinds of problems.

    In the category-free part, we study novelty detection in temporal and spatial domains as a category-free recognition problem. Using data driven models, we demonstrate that based on a few reference exemplars, our methods are able to detect novelties in ego-motions of people, and changes in the static environments surrounding them.

    In the category level part, we study object recognition. We consider both object category classification and localization, and propose scalable data driven approaches for both problems. A mixture of parametric classifiers, initialized with a sophisticated clustering of the training data, is demonstrated to adapt to the data better than various baselines such as the same model initialized with less subtly designed procedures. A nonparametric large margin classifier is introduced and demonstrated to have a multitude of advantages in comparison to its competitors: better training and testing time costs, the ability to make use of indefinite/invariant and deformable similarity measures, and adaptive complexity are the main features of the proposed model.

    We also propose a rather realistic model of recognition problems, which quantifies the interplay between representations, classifiers, and recognition performances. Based on data-describing measures which are aggregates of pairwise similarities of the training data, our model characterizes and describes the distributions of training exemplars. The measures are shown to capture many aspects of the difficulty of categorization problems and correlate significantly to the observed recognition performances. Utilizing these measures, the model predicts the performance of particular classifiers on distributions similar to the training data. These predictions, when compared to the test performance of the classifiers on the test sets, are reasonably accurate.

    We discuss various aspects of visual recognition problems: what is the interplay between representations and classification tasks, how can different models better adapt to the training data, etc. We describe and analyze the aforementioned methods that are designed to tackle different visual recognition problems, but share one common characteristic: being data driven.

  • 8.
    Aghazadeh, Omid
    et al.
    KTH, Skolan för datavetenskap och kommunikation (CSC), Datorseende och robotik, CVAP.
    Azizpour, Hossein
    KTH, Skolan för datavetenskap och kommunikation (CSC), Datorseende och robotik, CVAP.
    Sullivan, Josephine
    KTH, Skolan för datavetenskap och kommunikation (CSC), Datorseende och robotik, CVAP.
    Carlsson, Stefan
    KTH, Skolan för datavetenskap och kommunikation (CSC), Datorseende och robotik, CVAP.
    Mixture component identification and learning for visual recognition2012Inngår i: Computer Vision – ECCV 2012: 12th European Conference on Computer Vision, Florence, Italy, October 7-13, 2012, Proceedings, Part VI, Springer, 2012, 115-128 s.Konferansepaper (Fagfellevurdert)
    Abstract [en]

    The non-linear decision boundary between object and background classes - due to large intra-class variations - needs to be modelled by any classifier wishing to achieve good results. While a mixture of linear classifiers is capable of modelling this non-linearity, learning this mixture from weakly annotated data is non-trivial and is the paper's focus. Our approach is to identify the modes in the distribution of our positive examples by clustering, and to utilize this clustering in a latent SVM formulation to learn the mixture model. The clustering relies on a robust measure of visual similarity which suppresses uninformative clutter by using a novel representation based on the exemplar SVM. This subtle clustering of the data leads to learning better mixture models, as is demonstrated via extensive evaluations on Pascal VOC 2007. The final classifier, using a HOG representation of the global image patch, achieves performance comparable to the state-of-the-art while being more efficient at detection time.

  • 9.
    Aghazadeh, Omid
    et al.
    KTH, Skolan för datavetenskap och kommunikation (CSC), Datorseende och robotik, CVAP.
    Carlsson, Stefan
    KTH, Skolan för datavetenskap och kommunikation (CSC), Datorseende och robotik, CVAP.
    Large Scale, Large Margin Classification using Indefinite Similarity MeasurensManuskript (preprint) (Annet vitenskapelig)
  • 10.
    Aghazadeh, Omid
    et al.
    KTH, Skolan för datavetenskap och kommunikation (CSC), Datorseende och robotik, CVAP.
    Carlsson, Stefan
    KTH, Skolan för datavetenskap och kommunikation (CSC), Datorseende och robotik, CVAP.
    Properties of Datasets Predict the Performance of Classifiers2013Inngår i: BMVC 2013 - Electronic Proceedings of the British Machine Vision Conference 2013, British Machine Vision Association, BMVA , 2013Konferansepaper (Fagfellevurdert)
    Abstract [en]

    It has been shown that the performance of classifiers depends not only on the number of training samples, but also on the quality of the training set [10, 12]. The purpose of this paper is to 1) provide quantitative measures that determine the quality of the training set and 2) provide the relation between the test performance and the proposed measures. The measures are derived from pairwise affinities between training exemplars of the positive class and they have a generative nature. We show that the performance of the state of the art methods, on the test set, can be reasonably predicted based on the values of the proposed measures on the training set. These measures open up a wide range of applications to the recognition community enabling us to analyze the behavior of the learning algorithms w.r.t the properties of the training data. This will in turn enable us to devise rules for the automatic selection of training data that maximize the quantified quality of the training set and thereby improve recognition performance.

  • 11.
    Aghazadeh, Omid
    et al.
    KTH, Skolan för datavetenskap och kommunikation (CSC), Datorseende och robotik, CVAP.
    Carlsson, Stefan
    KTH, Skolan för datavetenskap och kommunikation (CSC), Datorseende och robotik, CVAP.
    Properties of Datasets Predict the Performance of Classifiers2013Manuskript (preprint) (Annet vitenskapelig)
  • 12.
    Aghazadeh, Omid
    et al.
    KTH, Skolan för datavetenskap och kommunikation (CSC), Datorseende och robotik, CVAP.
    Sullivan, Josephine
    KTH, Skolan för datavetenskap och kommunikation (CSC), Datorseende och robotik, CVAP.
    Carlsson, Stefan
    KTH, Skolan för datavetenskap och kommunikation (CSC), Datorseende och robotik, CVAP.
    Multi view registration for novelty/background separation2012Inngår i: Computer Vision and Pattern Recognition (CVPR), 2012 IEEE Conference on, IEEE Computer Society, 2012, 757-764 s.Konferansepaper (Fagfellevurdert)
    Abstract [en]

    We propose a system for the automatic segmentation of novelties from the background in scenarios where multiple images of the same environment are available e.g. obtained by wearable visual cameras. Our method finds the pixels in a query image corresponding to the underlying background environment by comparing it to reference images of the same scene. This is achieved despite the fact that all the images may have different viewpoints, significantly different illumination conditions and contain different objects cars, people, bicycles, etc. occluding the background. We estimate the probability of each pixel, in the query image, belonging to the background by computing its appearance inconsistency to the multiple reference images. We then, produce multiple segmentations of the query image using an iterated graph cuts algorithm, initializing from these estimated probabilities and consecutively combine these segmentations to come up with a final segmentation of the background. Detection of the background in turn highlights the novel pixels. We demonstrate the effectiveness of our approach on a challenging outdoors data set.

  • 13.
    Ahlberg, Jörgen
    et al.
    Linköpings universitet, Institutionen för systemteknik, Datorseende. Linköpings universitet, Tekniska fakulteten.
    Arsic, Dejan
    Munich University of Technology, Germany.
    Ganchev, Todor
    University of Patras, Greece.
    Linderhed, Anna
    FOI Swedish Defence Research Agency.
    Menezes, Paolo
    University of Coimbra, Portugal.
    Ntalampiras, Stavros
    University of Patras, Greece.
    Olma, Tadeusz
    MARAC S.A., Greece.
    Potamitis, Ilyas
    Technological Educational Institute of Crete, Greece.
    Ros, Julien
    Probayes SAS, France.
    Prometheus: Prediction and interpretation of human behaviour based on probabilistic structures and heterogeneous sensors2008Konferansepaper (Fagfellevurdert)
    Abstract [en]

    The on-going EU funded project Prometheus (FP7-214901) aims at establishing a general framework which links fundamental sensing tasks to automated cognition processes enabling interpretation and short-term prediction of individual and collective human behaviours in unrestricted environments as well as complex human interactions. To achieve the aforementioned goals, the Prometheus consortium works on the following core scientific and technological objectives:

    1. sensor modeling and information fusion from multiple, heterogeneous perceptual modalities;

    2. modeling, localization, and tracking of multiple people;

    3. modeling, recognition, and short-term prediction of continuous complex human behavior.

  • 14.
    Ahlberg, Jörgen
    et al.
    Linköpings universitet, Institutionen för systemteknik, Informationskodning. Linköpings universitet, Institutionen för systemteknik, Datorseende. Linköpings universitet, Tekniska fakulteten. Termisk Systemteknik AB, Linköping, Sweden.
    Berg, Amanda
    Linköpings universitet, Institutionen för systemteknik, Datorseende. Linköpings universitet, Tekniska fakulteten. Termisk Systemteknik AB, Linköping, Sweden.
    Evaluating Template Rescaling in Short-Term Single-Object Tracking2015Konferansepaper (Fagfellevurdert)
    Abstract [en]

    In recent years, short-term single-object tracking has emerged has a popular research topic, as it constitutes the core of more general tracking systems. Many such tracking methods are based on matching a part of the image with a template that is learnt online and represented by, for example, a correlation filter or a distribution field. In order for such a tracker to be able to not only find the position, but also the scale, of the tracked object in the next frame, some kind of scale estimation step is needed. This step is sometimes separate from the position estimation step, but is nevertheless jointly evaluated in de facto benchmarks. However, for practical as well as scientific reasons, the scale estimation step should be evaluated separately – for example,theremightincertainsituationsbeothermethodsmore suitable for the task. In this paper, we describe an evaluation method for scale estimation in template-based short-term single-object tracking, and evaluate two state-of-the-art tracking methods where estimation of scale and position are separable.

  • 15.
    Ahlberg, Jörgen
    et al.
    Swedish Defence Research Agency (FOI), Linköping, Sweden.
    Dornaika, Fadi
    Linköpings universitet, Institutionen för systemteknik, Bildkodning. Linköpings universitet, Tekniska högskolan.
    Efficient active appearance model for real-time head and facial feature tracking2003Inngår i: Analysis and Modeling of Faces and Gestures, 2003. AMFG 2003. IEEE International Workshop on, IEEE conference proceedings, 2003, 173-180 s.Konferansepaper (Fagfellevurdert)
    Abstract [en]

    We address the 3D tracking of pose and animation of the human face in monocular image sequences using active appearance models. The classical appearance-based tracking suffers from two disadvantages: (i) the estimated out-of-plane motions are not very accurate, and (ii) the convergence of the optimization process to desired minima is not guaranteed. We aim at designing an efficient active appearance model, which is able to cope with the above disadvantages by retaining the strengths of feature-based and featureless tracking methodologies. For each frame, the adaptation is split into two consecutive stages. In the first stage, the 3D head pose is recovered using robust statistics and a measure of consistency with a statistical model of a face texture. In the second stage, the local motion associated with some facial features is recovered using the concept of the active appearance model search. Tracking experiments and method comparison demonstrate the robustness and out-performance of the developed framework.

  • 16.
    Ahlberg, Jörgen
    et al.
    Dept. of IR Systems, Div. of Sensor Technology, Swedish Defence Research Agency (FOI), Linköping, Sweden.
    Dornaika, Fadi
    Computer Vision Center, Universitat Autonoma de Barcelona, Bellaterra, Spain.
    Parametric Face Modeling and Tracking2005Inngår i: Handbook of Face Recognition / [ed] Stan Z. Li, Anil K. Jain, Springer-Verlag New York, 2005, 65-87 s.Kapittel i bok, del av antologi (Annet vitenskapelig)
  • 17.
    Ahlberg, Jörgen
    et al.
    Linköpings universitet, Institutionen för systemteknik, Bildkodning. Linköpings universitet, Tekniska högskolan. Div. of Sensor Technology, Swedish Defence Research Agency, Linköping, Sweden.
    Forchheimer, Robert
    Linköpings universitet, Institutionen för systemteknik, Bildkodning. Linköpings universitet, Tekniska högskolan.
    Face tracking for model-based coding and face animation2003Inngår i: International journal of imaging systems and technology (Print), ISSN 0899-9457, E-ISSN 1098-1098, Vol. 13, nr 1, 8-22 s.Artikkel i tidsskrift (Fagfellevurdert)
    Abstract [en]

    We present a face and facial feature tracking system able to extract animation parameters describing the motion and articulation of a human face in real-time on consumer hardware. The system is based on a statistical model of face appearance and a search algorithm for adapting the model to an image. Speed and robustness is discussed, and the system evaluated in terms of accuracy.

  • 18.
    Ahlberg, Jörgen
    et al.
    Div. of Sensor Technology, Swedish Defence Research Agency (FOI), Linköping, Sweden.
    Klasén, Lena
    Div. of Sensor Technology, Swedish Defence Research Agency (FOI), Linköping, Sweden.
    Surveillance Systems for Urban Crisis Management2005Konferansepaper (Annet vitenskapelig)
    Abstract [en]

    We present a concept for combing 3D models and multiple heterogeneous sensors into a surveillance system enabling superior situation awareness. The concept has many military as well as civilian applications. A key issue is the use of a 3D environment model of the area to be surveyed, typically an urban area. In addition to the 3D model, the area of interest is monitored over time using multiple heterogeneous sensors, such as optical, acoustic, and/or seismic sensors. Data and analysis results from the sensors are visualized in the 3D model, thus putting them in a common reference frame and making their spatial and temporal relations obvious. The result is highlighted by an example where data from different sensor systems is integrated in a 3D model of a Swedish urban area.

  • 19.
    Ahlberg, Jörgen
    et al.
    Termisk Systemteknik AB Linköping, Sweden; Visage Technologies AB Linköping, Sweden.
    Markuš, Nenad
    Human-Oriented Technologies Laboratory, Faculty of Electrical Engineering and Computing, University of Zagreb, Croatia.
    Berg, Amanda
    Termisk Systemteknik AB, Linköping, Sweden.
    Multi-person fever screening using a thermal and a visual camera2015Konferansepaper (Annet vitenskapelig)
    Abstract [en]

    We propose a system to automatically measure the body temperature of persons as they pass. In contrast to exisitng systems, the persons do not need to stop and look into a camera one-by-one. Instead, their eye corners are automatically detected and the temperatures therein measured using a thermal camera. The system handles multiple simultaneous persons and can thus be used where a flow of people pass, such as at airport gates.

  • 20.
    Ahlberg, Jörgen
    et al.
    Linköpings universitet, Institutionen för systemteknik, Datorseende. Linköpings universitet, Tekniska fakulteten. Glana Sensors AB, Sweden.
    Renhorn, Ingmar
    Glana Sensors AB, Sweden.
    Chevalier, Tomas
    Scienvisic AB, Sweden.
    Rydell, Joakim
    FOI, Swedish Defence Research Agency, Sweden.
    Bergström, David
    FOI, Swedish Defence Research Agency, Sweden.
    Three-dimensional hyperspectral imaging technique2017Inngår i: ALGORITHMS AND TECHNOLOGIES FOR MULTISPECTRAL, HYPERSPECTRAL, AND ULTRASPECTRAL IMAGERY XXIII / [ed] Miguel Velez-Reyes; David W. Messinger, SPIE - International Society for Optical Engineering, 2017, Vol. 10198, 1019805Konferansepaper (Fagfellevurdert)
    Abstract [en]

    Hyperspectral remote sensing based on unmanned airborne vehicles is a field increasing in importance. The combined functionality of simultaneous hyperspectral and geometric modeling is less developed. A configuration has been developed that enables the reconstruction of the hyperspectral three-dimensional (3D) environment. The hyperspectral camera is based on a linear variable filter and a high frame rate, high resolution camera enabling point-to-point matching and 3D reconstruction. This allows the information to be combined into a single and complete 3D hyperspectral model. In this paper, we describe the camera and illustrate capabilities and difficulties through real-world experiments.

  • 21.
    Ahlberg, Jörgen
    et al.
    Swedish Defence Research Agency (FOI), Linköping, Sweden.
    Renhorn, Ingmar G.
    Swedish Defence Research Agency (FOI), Linköping, Sweden.
    Wadströmer, Niclas
    Swedish Defence Research Agency (FOI), Linköping, Sweden.
    An information measure of sensor performance and its relation to the ROC curve2010Inngår i: Proc. SPIE 7695, Algorithms and Technologies for Multispectral, Hyperspectral, and Ultraspectral Imagery XVI / [ed] Sylvia S. Shen; Paul E. Lewis, SPIE - International Society for Optical Engineering, 2010, Art.nr. 7695-72- s.Konferansepaper (Fagfellevurdert)
    Abstract [en]

    The ROC curve is the most frequently used performance measure for detection methods and the underlying sensor configuration. Common problems are that the ROC curve does not present a single number that can be compared to other systems and that no discrimination between sensor performance and algorithm performance is done. To address the first problem, a number of measures are used in practice, like detection rate at a specific false alarm rate, or area-under-curve. For the second problem, we proposed in a previous paper1 an information theoretic method for measuring sensor performance. We now relate the method to the ROC curve, show that it is equivalent to selecting a certain point on the ROC curve, and that this point is easily determined. Our scope is hyperspectral data, studying discrimination between single pixels.

  • 22.
    Ahlman, Gustav
    Linköpings universitet, Institutionen för systemteknik, Datorseende.
    Improved Temporal Resolution Using Parallel Imaging in Radial-Cartesian 3D functional MRI2011Independent thesis Advanced level (degree of Master (Two Years)), 20 poäng / 30 hpOppgave
    Abstract [en]

    MRI (Magnetic Resonance Imaging) is a medical imaging method that uses magnetic fields in order to retrieve images of the human body. This thesis revolves around a novel acquisition method of 3D fMRI (functional Magnetic Resonance Imaging) called PRESTO-CAN that uses a radial pattern in order to sample the (kx,kz)-plane of k-space (the frequency domain), and a Cartesian sample pattern in the ky-direction. The radial sample pattern allows for a denser sampling of the central parts of k-space, which contain the most basic frequency information about the structure of the recorded object. This allows for higher temporal resolution to be achieved compared with other sampling methods since a fewer amount of total samples are needed in order to retrieve enough information about how the object has changed over time. Since fMRI is mainly used for monitoring blood flow in the brain, increased temporal resolution means that we can be able to track fast changes in brain activity more efficiently.The temporal resolution can be further improved by reducing the time needed for scanning, which in turn can be achieved by applying parallel imaging. One such parallel imaging method is SENSE (SENSitivity Encoding). The scan time is reduced by decreasing the sampling density, which causes aliasing in the recorded images. The aliasing is removed by the SENSE method by utilizing the extra information provided by the fact that multiple receiver coils with differing sensitivities are used during the acquisition. By measuring the sensitivities of the respective receiver coils and solving an equation system with the aliased images, it is possible to calculate how they would have looked like without aliasing.In this master thesis, SENSE has been successfully implemented in PRESTO-CAN. By using normalized convolution in order to refine the sensitivity maps of the receiver coils, images with satisfying quality was able to be reconstructed when reducing the k-space sample rate by a factor of 2, and images of relatively good quality also when the sample rate was reduced by a factor of 4. In this way, this thesis has been able to contribute to the improvement of the temporal resolution of the PRESTO-CAN method.

  • 23.
    Ahtiainen, Juhana
    et al.
    Department of Electrical Engineering and Automation, Aalto University, Espoo, Finland.
    Stoyanov, Todor
    Örebro universitet, Institutionen för naturvetenskap och teknik.
    Saarinen, Jari
    GIM Ltd., Espoo, Finland.
    Normal Distributions Transform Traversability Maps: LIDAR-Only Approach for Traversability Mapping in Outdoor Environments2017Inngår i: Journal of Field Robotics, ISSN 1556-4959, E-ISSN 1556-4967, Vol. 34, nr 3, 600-621 s.Artikkel i tidsskrift (Fagfellevurdert)
    Abstract [en]

    Safe and reliable autonomous navigation in unstructured environments remains a challenge for field robots. In particular, operating on vegetated terrain is problematic, because simple purely geometric traversability analysis methods typically classify dense foliage as nontraversable. As traversing through vegetated terrain is often possible and even preferable in some cases (e.g., to avoid executing longer paths), more complex multimodal traversability analysis methods are necessary. In this article, we propose a three-dimensional (3D) traversability mapping algorithm for outdoor environments, able to classify sparsely vegetated areas as traversable, without compromising accuracy on other terrain types. The proposed normal distributions transform traversability mapping (NDT-TM) representation exploits 3D LIDAR sensor data to incrementally expand normal distributions transform occupancy (NDT-OM) maps. In addition to geometrical information, we propose to augment the NDT-OM representation with statistical data of the permeability and reflectivity of each cell. Using these additional features, we train a support-vector machine classifier to discriminate between traversable and nondrivable areas of the NDT-TM maps. We evaluate classifier performance on a set of challenging outdoor environments and note improvements over previous purely geometrical traversability analysis approaches.

  • 24.
    Akan, Batu
    Mälardalens högskola, Akademin för innovation, design och teknik, Inbyggda system.
    Planning and Sequencing Through Multimodal Interaction for Robot Programming2014Doktoravhandling, med artikler (Annet vitenskapelig)
    Abstract [en]

    Over the past few decades the use of industrial robots has increased the efficiency as well as the competitiveness of several sectors. Despite this fact, in many cases robot automation investments are considered to be technically challenging. In addition, for most small and medium-sized enterprises (SMEs) this process is associated with high costs. Due to their continuously changing product lines, reprogramming costs are likely to exceed installation costs by a large margin. Furthermore, traditional programming methods of industrial robots are too complex for most technicians or manufacturing engineers, and thus assistance from a robot programming expert is often needed. The hypothesis is that in order to make the use of industrial robots more common within the SME sector, the robots should be reprogrammable by technicians or manufacturing engineers rather than robot programming experts. In this thesis, a novel system for task-level programming is proposed. The user interacts with an industrial robot by giving instructions in a structured natural language and by selecting objects through an augmented reality interface. The proposed system consists of two parts: (i) a multimodal framework that provides a natural language interface for the user to interact in which the framework performs modality fusion and semantic analysis, (ii) a symbolic planner, POPStar, to create a time-efficient plan based on the user's instructions. The ultimate goal of this work in this thesis is to bring robot programming to a stage where it is as easy as working together with a colleague.This thesis mainly addresses two issues. The first issue is a general framework for designing and developing multimodal interfaces. The general framework proposed in this thesis is designed to perform natural language understanding, multimodal integration and semantic analysis with an incremental pipeline. The framework also includes a novel multimodal grammar language, which is used for multimodal presentation and semantic meaning generation. Such a framework helps us to make interaction with a robot easier and more natural. The proposed language architecture makes it possible to manipulate, pick or place objects in a scene through high-level commands. Interaction with simple voice commands and gestures enables the manufacturing engineer to focus on the task itself, rather than the programming issues of the robot. The second issue addressed is due to inherent characteristics of communication with the use of natural language; instructions given by a user are often vague and may require other actions to be taken before the conditions for applying the user's instructions are met. In order to solve this problem a symbolic planner, POPStar, based on a partial order planner (POP) is proposed. The system takes landmarks extracted from user instructions as input, and creates a sequence of actions to operate the robotic cell with minimal makespan. The proposed planner takes advantage of the partial order capabilities of POP to execute actions in parallel and employs a best-first search algorithm to seek the series of actions that lead to a minimal makespan. The proposed planner can also handle robots with multiple grippers, parallel machines as well as scheduling for multiple product types.

  • 25.
    Akin, H. Levent
    et al.
    Bogazici University, Turkey.
    Ito, Nobuhiro
    Aichi Institute of Technology, Japan.
    Jacoff, Adam
    National Institute of Standards, USA.
    Kleiner, Alexander
    Linköpings universitet, Institutionen för datavetenskap, Artificiell intelligens och integrerad datorsystem. Linköpings universitet, Tekniska högskolan.
    Pellenz, Johannes
    V&R Vision & Robotics GmbH, Germany.
    Visser, Arnoud
    University of Amsterdam, Holland.
    RoboCup Rescue Robot and Simulation Leagues2013Inngår i: The AI Magazine, ISSN 0738-4602, Vol. 34, nr 1Artikkel i tidsskrift (Fagfellevurdert)
    Abstract [en]

    The RoboCup Rescue Robot and Simulation competitions have been held since 2000. The experience gained during these competitions has increased the maturity level of the field, which allowed deploying robots after real disasters (e.g. Fukushima Daiichi nuclear disaster). This article provides an overview of these competitions and highlights the state of the art and the lessons learned.

  • 26.
    Alaa, Halawani
    et al.
    Umeå universitet, Teknisk-naturvetenskapliga fakulteten, Institutionen för tillämpad fysik och elektronik.
    Haibo, Li
    School of Computer Science & Communication, Royal Institute of Technology (KTH), Stockholm, Sweden.
    Template-based Search: A Tool for Scene Analysis2016Inngår i: 12th IEEE International Colloquium on Signal Processing & its Applications (CSPA): Proceeding, IEEE, 2016, 7515772Konferansepaper (Fagfellevurdert)
    Abstract [en]

    This paper proposes a simple and yet effective technique for shape-based scene analysis, in which detection and/or tracking of specific objects or structures in the image is desirable. The idea is based on using predefined binary templates of the structures to be located in the image. The template is matched to contours in a given edge image to locate the designated entity. These templates are allowed to deform in order to deal with variations in the structure's shape and size. Deformation is achieved by dividing the template into segments. The dynamic programming search algorithm is used to accomplish the matching process, achieving very robust results in cluttered and noisy scenes in the applications presented.

  • 27.
    Albinsson, John
    et al.
    Lund Univ, Dept Biomed Engn, S-22100 Lund, Sweden..
    Brorsson, Sofia
    Högskolan i Halmstad, Akademin för ekonomi, teknik och naturvetenskap, Rydberglaboratoriet för tillämpad naturvetenskap (RLAS).
    Rydén Ahlgren, Åsa
    Lund Univ, Dept Clin Sci, Clin Physiol & Nucl Med Unit, Malmo, Sweden..
    Cinthio, Magnus
    Lund Univ, Dept Biomed Engn, S-22100 Lund, Sweden..
    Improved tracking performance of lagrangian block-matching methodologies using block expansion in the time domain: In silico, phantom and invivo evaluations2014Inngår i: Ultrasound in Medicine and Biology, ISSN 0301-5629, E-ISSN 1879-291X, Vol. 40, nr 10, 2508-2520 s.Artikkel i tidsskrift (Fagfellevurdert)
    Abstract [en]

    The aim of this study was to evaluate tracking performance when an extra reference block is added to a basic block-matching method, where the two reference blocks originate from two consecutive ultrasound frames. The use of an extra reference block was evaluated for two putative benefits: (i) an increase in tracking performance while maintaining the size of the reference blocks, evaluated using in silico and phantom cine loops; (ii) a reduction in the size of the reference blocks while maintaining the tracking performance, evaluated using in vivo cine loops of the common carotid artery where the longitudinal movement of the wall was estimated. The results indicated that tracking accuracy improved (mean - 48%, p<0.005 [in silico]; mean - 43%, p<0.01 [phantom]), and there was a reduction in size of the reference blocks while maintaining tracking performance (mean - 19%, p<0.01 [in vivo]). This novel method will facilitate further exploration of the longitudinal movement of the arterial wall. (C) 2014 World Federation for Ultrasound in Medicine & Biology.

  • 28.
    Alexanderson, Simon
    et al.
    KTH, Skolan för datavetenskap och kommunikation (CSC), Tal, musik och hörsel, TMH.
    O'Sullivan, Carol
    Neff, Michael
    Beskow, Jonas
    KTH, Skolan för datavetenskap och kommunikation (CSC), Tal, musik och hörsel, TMH.
    Mimebot—Investigating the Expressibility of Non-Verbal Communication Across Agent Embodiments2017Inngår i: ACM Transactions on Applied Perception, ISSN 1544-3558, E-ISSN 1544-3965, Vol. 14, nr 4, 24Artikkel i tidsskrift (Fagfellevurdert)
    Abstract [en]

    Unlike their human counterparts, artificial agents such as robots and game characters may be deployed with a large variety of face and body configurations. Some have articulated bodies but lack facial features, and others may be talking heads ending at the neck. Generally, they have many fewer degrees of freedom than humans through which they must express themselves, and there will inevitably be a filtering effect when mapping human motion onto the agent. In this article, we investigate filtering effects on three types of embodiments: (a) an agent with a body but no facial features, (b) an agent with a head only, and (c) an agent with a body and a face. We performed a full performance capture of a mime actor enacting short interactions varying the non-verbal expression along five dimensions (e.g., level of frustration and level of certainty) for each of the three embodiments. We performed a crowd-sourced evaluation experiment comparing the video of the actor to the video of an animated robot for the different embodiments and dimensions. Our findings suggest that the face is especially important to pinpoint emotional reactions but is also most volatile to filtering effects. The body motion, on the other hand, had more diverse interpretations but tended to preserve the interpretation after mapping and thus proved to be more resilient to filtering.

  • 29.
    AliNazari, Mirian
    Umeå universitet, Fakultet för lärarutbildning, Institutionen för estetiska ämnen.
    Kreativ Uppväxtmiljö: en studie av stadieteorier2007Independent thesis Basic level (professional degree), 10 poäng / 15 hpOppgave
    Abstract [sv]

    I examensarbetet studerades bildutveckling som även jämförts med författarens egen uppväxtmiljö. Metoden har varit en litteraturstudie som behandlar ämnet estetiska uttrycksformer och kreativ uppväxt. Därtill har en granskning av författarens uppväxtmiljö gällande möjlighet till övande av kreativ förmåga tagits upp i relation till personlig utveckling. Jämförelse har gjorts med stadieteorier om utvecklande av barns bildanvändning. Genom dokumenterade av författarens egna bilder under tidiga år visades bildutveckling i de olika teckningsutvecklingsstadierna. Slutsatsen är att kreativ förmåga påverkas sannolikt av uppfostran fylld med möjligheten att få måla och teckna, något som bildlärare kan utveckla i arbetet med barn. Behov att som blivande lärare integrera bilden i de teoretiska ämnena kan utveckla dessa möjligheter ytterligare.

  • 30.
    Allalou, Amin
    et al.
    Uppsala universitet, Teknisk-naturvetenskapliga vetenskapsområdet, Matematisk-datavetenskapliga sektionen, Centrum för bildanalys. Uppsala universitet, Teknisk-naturvetenskapliga vetenskapsområdet, Matematisk-datavetenskapliga sektionen, Institutionen för informationsteknologi, Datoriserad bildanalys.
    van de Rijke, Frans M.
    Jahangir Tafrechi, Roos
    Raap, Anton K.
    Wählby, Carolina
    Uppsala universitet, Teknisk-naturvetenskapliga vetenskapsområdet, Matematisk-datavetenskapliga sektionen, Centrum för bildanalys.
    Image Based Measurements of Single Cell mtDNA Mutation Load2007Inngår i: Image Analysis, Proceedings / [ed] Ersboll BK, Pedersen KS, 2007, 631-640 s.Konferansepaper (Fagfellevurdert)
    Abstract [en]

    Cell cultures as well as cells in tissue always display a certain degree of variability, and measurements based on cell averages will miss important information contained in a heterogeneous population. This paper presents automated methods for image based measurements of mitochondiral DNA (mtDNA) mutations in individual cells. The mitochondria are present in the cell’s cytoplasm, and each cytoplasm has to be delineated. Three different methods for segmentation of cytoplasms are compared and it is shown that automated cytoplasmic delineation can be performed 30 times faster than manual delineation, with an accuracy as high as 87%. The final image based measurements of mitochondrial mutation load are also compared to, and show high agreement with, measurements made using biochemical techniques.

  • 31.
    Allalou, Amin
    et al.
    Uppsala universitet, Teknisk-naturvetenskapliga vetenskapsområdet, Matematisk-datavetenskapliga sektionen, Centrum för bildanalys. Uppsala universitet, Teknisk-naturvetenskapliga vetenskapsområdet, Matematisk-datavetenskapliga sektionen, Institutionen för informationsteknologi, Datoriserad bildanalys.
    Wählby, Carolina
    Uppsala universitet, Teknisk-naturvetenskapliga vetenskapsområdet, Matematisk-datavetenskapliga sektionen, Centrum för bildanalys. Uppsala universitet, Teknisk-naturvetenskapliga vetenskapsområdet, Matematisk-datavetenskapliga sektionen, Institutionen för informationsteknologi, Datoriserad bildanalys.
    BlobFinder, a tool for fluorescence microscopy image cytometry2009Inngår i: Computer Methods and Programs in Biomedicine, ISSN 0169-2607, E-ISSN 1872-7565, Vol. 94, nr 1, 58-65 s.Artikkel i tidsskrift (Fagfellevurdert)
    Abstract [en]

    Images can be acquired at high rates with modern fluorescence microscopy hardware, giving rise to a demand for high-speed analysis of image data. Digital image cytometry, i.e., automated measurements and extraction of quantitative data from images of cells, provides valuable information for many types of biomedical analysis. There exists a number of different image analysis software packages that can be programmed to perform a wide array of useful measurements. However, the multi-application capability often compromises the simplicity of the tool. Also, the gain in speed of analysis is often compromised by time spent learning complicated software. We provide a free software called BlobFinder that is intended for a limited type of application, making it easy to use, easy to learn and optimized for its particular task. BlobFinder can perform batch processing of image data and quantify as well as localize cells and point like source signals in fluorescence microscopy images, e.g., from FISH, in situ PLA and padlock probing, in a fast and easy way.

  • 32.
    Allalou, Amin
    et al.
    Uppsala universitet, Teknisk-naturvetenskapliga vetenskapsområdet, Matematisk-datavetenskapliga sektionen, Institutionen för informationsteknologi, Datoriserad bildanalys.
    Wählby, Carolina
    Uppsala universitet, Teknisk-naturvetenskapliga vetenskapsområdet, Matematisk-datavetenskapliga sektionen, Institutionen för informationsteknologi, Datoriserad bildanalys.
    Signal Detection in 3D by Stable Wave Signal VerificationInngår i:  Proceedings of SSBA 2009Konferansepaper (Annet vitenskapelig)
    Abstract [en]

    Detection and localization of point-source signals is an important task in many image analysis applications. These types of signals can commonly be seen in fluorescent microscopy when studying functions of biomolecules. Visual detection and localization of point-source signals in 3D is limited and time consuming, making automated methods an important task. The 3D Stable Wave Detector (3DSWD) is a new method that combines signal enhancement with a verifier/separator. The verifier/separator examines the intensity gradient around a signal, making the detection less sensitive to noise and better at separating spatially close signals. Conventional methods such as; TopHat, Difference of Gaussian, and Multiscale Product consist only of signal enhancement. In this paper we compare the 3DSWD to these conventional methods with and without the addition of a verifier/separator. We can see that the 3DSWD has the highest robustness to noise among all the methods and that the other methods are improved when a verifier/separator is added.

  • 33. Almansa, A.
    et al.
    Lindeberg, Tony
    KTH, Skolan för datavetenskap och kommunikation (CSC), Beräkningsbiologi, CB.
    Fingerprint enhancement by shape adaptation of scale-space operators with automatic scale selection2000Inngår i: IEEE Transactions on Image Processing, ISSN 1057-7149, E-ISSN 1941-0042, Vol. 9, nr 12, 2027-2042 s.Artikkel i tidsskrift (Fagfellevurdert)
    Abstract [en]

    This work presents two mechanisms for processing fingerprint images; shape-adapted smoothing based on second moment descriptors and automatic scale selection based on normalized derivatives. The shape adaptation procedure adapts the smoothing operation to the local ridge structures, which allows interrupted ridges to be joined without destroying essential singularities such as branching points and enforces continuity of their directional fields. The Scale selection procedure estimates local ridge width and adapts the amount of smoothing to the local amount of noise. In addition, a ridgeness measure is defined, which reflects how well the local image structure agrees with a qualitative ridge model, and is used for spreading the results of shape adaptation into noisy areas. The combined approach makes it possible to resolve fine scale structures in clear areas while reducing the risk of enhancing noise in blurred or fragmented areas. The result is a reliable and adaptively detailed estimate of the ridge orientation field and ridge width, as well as a Smoothed grey-level version of the input image. We propose that these general techniques should be of interest to developers of automatic fingerprint identification systems as well as in other applications of processing related types of imagery.

  • 34. Almansa, Andrés
    et al.
    Lindeberg, Tony
    KTH, Skolan för datavetenskap och kommunikation (CSC), Beräkningsbiologi, CB.
    Enhancement of Fingerprint Images by Shape-Adapted Scale-Space Operators1996Inngår i: Gaussian Scale-Space Theory. Part I: Proceedings of PhD School on Scale-Space Theory (Copenhagen, Denmark) May 1996 / [ed] J. Sporring, M. Nielsen, L. Florack, and P. Johansen, Springer Science+Business Media B.V., 1996, 21-30 s.Kapittel i bok, del av antologi (Fagfellevurdert)
    Abstract [en]

    This work presents a novel technique for preprocessing fingerprint images. The method is based on the measurements of second moment descriptors and shape adaptation of scale-space operators with automatic scale selection (Lindeberg 1994). This procedure, which has been successfully used in the context of shape-from-texture and shape from disparity gradients, has several advantages when applied to fingerprint image enhancement, as observed by (Weickert 1995). For example, it is capable of joining interrupted ridges, and enforces continuity of their directional fields.

    In this work, these abovementioned general ideas are applied and extended in the following ways: Two methods for estimating local ridge width are explored and tuned to the problem of fingerprint enhancement. A ridgeness measure is defined, which reflects how well the local image structure agrees with a qualitative ridge model. This information is used for guiding a scale-selection mechanism, and for spreading the results of shape adaptation into noisy areas.

    The combined approach makes it possible to resolve fine scale structures in clear areas while reducing the risk of enhancing noise in blurred or fragmented areas. To a large extent, the scheme has the desirable property of joining interrupted lines without destroying essential singularities such as branching points. Thus, the result is a reliable and adaptively detailed estimate of the ridge orientation field and ridge width, as well as a smoothed grey-level version of the input image.

    A detailed experimental evaluation is presented, including a comparison with other techniques. We propose that the techniques presented provide mechanisms of interest to developers of automatic fingerprint identification systems.

  • 35.
    Almgren, K.M
    et al.
    STFI-Packforsk AB.
    Gamstedt, E.K.
    Department of Polymer and Fibre Technology, Royal Institute of Technology .
    Nygård, P.
    PFI Paper and Fibre Research Institute.
    Malmberg, Filip
    Uppsala universitet, Teknisk-naturvetenskapliga vetenskapsområdet, Matematisk-datavetenskapliga sektionen, Centrum för bildanalys. Uppsala universitet, Teknisk-naturvetenskapliga vetenskapsområdet, Matematisk-datavetenskapliga sektionen, Institutionen för informationsteknologi, Datoriserad bildanalys.
    Lindblad, Joakim
    Uppsala universitet, Teknisk-naturvetenskapliga vetenskapsområdet, Matematisk-datavetenskapliga sektionen, Centrum för bildanalys. Uppsala universitet, Teknisk-naturvetenskapliga vetenskapsområdet, Matematisk-datavetenskapliga sektionen, Institutionen för informationsteknologi, Datoriserad bildanalys.
    Lindström, M.
    STFI-Packforsk AB.
    Role of fibre–fibre and fibre–matrix adhesion in stress transfer in composites made from resin-impregnated paper sheets2009Inngår i: International Journal of Adhesion and Adhesives, ISSN 0143-7496, E-ISSN 1879-0127, Vol. 29, nr 5, 551-557 s.Artikkel i tidsskrift (Fagfellevurdert)
    Abstract [en]

    Paper-reinforced plastics are gaining increased interest as packaging materials, where mechanical properties are of great importance. Strength and stress transfer in paper sheets are controlled by fibre–fibre bonds. In paper-reinforced plastics, where the sheet is impregnated with a polymer resin, other stress-transfer mechanisms may be more important. The influence of fibre–fibre bonds on the strength of paper-reinforced plastics was therefore investigated. Paper sheets with different degrees of fibre–fibre bonding were manufactured and used as reinforcement in a polymeric matrix. Image analysis tools were used to verify that the difference in the degree of fibre–fibre bonding had been preserved in the composite materials. Strength and stiffness of the composites were experimentally determined and showed no correlation to the degree of fibre–fibre bonding, in contrast to the behaviour of unimpregnated paper sheets. The degree of fibre–fibre bonding is therefore believed to have little importance in this type of material, where stress is mainly transferred through the fibre–matrix interface.

  • 36.
    Alonso-Fernandez, Fernando
    et al.
    Högskolan i Halmstad, Akademin för informationsteknologi, Halmstad Embedded and Intelligent Systems Research (EIS), CAISR Centrum för tillämpade intelligenta system (IS-lab).
    Farrugia, Reuben A.
    University of Malta, Dept CCE, Msida, Malta..
    Bigun, Josef
    Högskolan i Halmstad, Akademin för informationsteknologi, Halmstad Embedded and Intelligent Systems Research (EIS), CAISR Centrum för tillämpade intelligenta system (IS-lab).
    Very Low-Resolution Iris Recognition Via Eigen-Patch Super-Resolution and Matcher Fusion2016Inngår i: 2016 IEEE 8TH INTERNATIONAL CONFERENCE ON BIOMETRICS THEORY, APPLICATIONS AND SYSTEMS (BTAS), Piscataway, N.J.: IEEE, 2016, 7791208Konferansepaper (Fagfellevurdert)
    Abstract [en]

    Current research in iris recognition is moving towards enabling more relaxed acquisition conditions. This has effects on the quality of acquired images, with low resolution being a predominant issue. Here, we evaluate a super resolution algorithm used to reconstruct iris images based on Eigen-transformation of local image patches. Each patch is reconstructed separately, allowing better quality of enhanced images by preserving local information. Contrast enhancement is used to improve the reconstruction quality, while matcher fusion has been adopted to improve iris recognition performance. We validate the system using a database of 1,872 near-infrared iris images. The presented approach is superior to bilinear or bicubic interpolation, especially at lower resolutions, and the fusion of the two systems pushes the EER to below 5% for down-sampling factors up to a image size of only 13 x 13.

  • 37.
    Alonso-Fernandez, Fernando
    et al.
    Högskolan i Halmstad, Akademin för informationsteknologi, Halmstad Embedded and Intelligent Systems Research (EIS), CAISR Centrum för tillämpade intelligenta system (IS-lab).
    Mikaelyan, Anna
    Högskolan i Halmstad, Akademin för informationsteknologi, Halmstad Embedded and Intelligent Systems Research (EIS).
    Bigun, Josef
    Högskolan i Halmstad, Akademin för informationsteknologi, Halmstad Embedded and Intelligent Systems Research (EIS), CAISR Centrum för tillämpade intelligenta system (IS-lab).
    Compact Multi-scale Periocular Recognition Using SAFE Features2017Inngår i: Proceedings of the 23rd International Conference On Pattern Recognition (Icpr), IEEE Computer Society, 2017, 1455-1460 s., 7899842Konferansepaper (Fagfellevurdert)
    Abstract [en]

    In this paper, we present a new approach for periocular recognition based on the Symmetry Assessment by Feature Expansion (SAFE) descriptor, which encodes the presence of various symmetric curve families around image key points. We use the sclera center as single key point for feature extraction, highlighting the object-like identity properties that concentrates to this unique point of the eye. As it is demonstrated, such discriminative properties can be encoded with a reduced set of symmetric curves. Experiments are done with a database of periocular images captured with a digital camera. We test our system against reference periocular features, achieving top performance with a considerably smaller feature vector (given by the use of a single key point). All the systems tested also show a nearly steady correlation between acquisition distance and performance, and they are also able to cope well when enrolment and test images are not captured at the same distance. Fusion experiments among the available systems are also provided. © 2016 IEEE.

  • 38.
    Ambrus, Rares
    KTH, Skolan för datavetenskap och kommunikation (CSC), Centra, Centrum för Autonoma System, CAS. KTH, Skolan för datavetenskap och kommunikation (CSC), Robotik, perception och lärande, RPL.
    Unsupervised construction of 4D semantic maps in a long-term autonomy scenario2017Doktoravhandling, monografi (Annet vitenskapelig)
    Abstract [en]

    Robots are operating for longer times and collecting much more data than just a few years ago. In this setting we are interested in exploring ways of modeling the environment, segmenting out areas of interest and keeping track of the segmentations over time, with the purpose of building 4D models (i.e. space and time) of the relevant parts of the environment.

    Our approach relies on repeatedly observing the environment and creating local maps at specific locations. The first question we address is how to choose where to build these local maps. Traditionally, an operator defines a set of waypoints on a pre-built map of the environment which the robot visits autonomously. Instead, we propose a method to automatically extract semantically meaningful regions from a point cloud representation of the environment. The resulting segmentation is purely geometric, and in the context of mobile robots operating in human environments, the semantic label associated with each segment (i.e. kitchen, office) can be of interest for a variety of applications. We therefore also look at how to obtain per-pixel semantic labels given the geometric segmentation, by fusing probabilistic distributions over scene and object types in a Conditional Random Field.

    For most robotic systems, the elements of interest in the environment are the ones which exhibit some dynamic properties (such as people, chairs, cups, etc.), and the ability to detect and segment such elements provides a very useful initial segmentation of the scene. We propose a method to iteratively build a static map from observations of the same scene acquired at different points in time. Dynamic elements are obtained by computing the difference between the static map and new observations. We address the problem of clustering together dynamic elements which correspond to the same physical object, observed at different points in time and in significantly different circumstances. To address some of the inherent limitations in the sensors used, we autonomously plan, navigate around and obtain additional views of the segmented dynamic elements. We look at methods of fusing the additional data and we show that both a combined point cloud model and a fused mesh representation can be used to more robustly recognize the dynamic object in future observations. In the case of the mesh representation, we also show how a Convolutional Neural Network can be trained for recognition by using mesh renderings.

    Finally, we present a number of methods to analyse the data acquired by the mobile robot autonomously and over extended time periods. First, we look at how the dynamic segmentations can be used to derive a probabilistic prior which can be used in the mapping process to further improve and reinforce the segmentation accuracy. We also investigate how to leverage spatial-temporal constraints in order to cluster dynamic elements observed at different points in time and under different circumstances. We show that by making a few simple assumptions we can increase the clustering accuracy even when the object appearance varies significantly between observations. The result of the clustering is a spatial-temporal footprint of the dynamic object, defining an area where the object is likely to be observed spatially as well as a set of time stamps corresponding to when the object was previously observed. Using this data, predictive models can be created and used to infer future times when the object is more likely to be observed. In an object search scenario, this model can be used to decrease the search time when looking for specific objects.

  • 39.
    Ambrus, Rares
    et al.
    KTH, Skolan för datavetenskap och kommunikation (CSC), Robotik, perception och lärande, RPL. KTH, Skolan för datavetenskap och kommunikation (CSC), Centra, Centrum för Autonoma System, CAS.
    Bore, Nils
    KTH, Skolan för datavetenskap och kommunikation (CSC), Centra, Centrum för Autonoma System, CAS.
    Folkesson, John
    KTH, Skolan för datavetenskap och kommunikation (CSC), Centra, Centrum för Autonoma System, CAS. KTH, Skolan för datavetenskap och kommunikation (CSC), Robotik, perception och lärande, RPL.
    Jensfelt, Patric
    KTH, Skolan för datavetenskap och kommunikation (CSC), Centra, Centrum för Autonoma System, CAS. KTH, Skolan för datavetenskap och kommunikation (CSC), Robotik, perception och lärande, RPL.
    Autonomous meshing, texturing and recognition of objectmodels with a mobile robot2017Konferansepaper (Fagfellevurdert)
    Abstract [en]

    We present a system for creating object modelsfrom RGB-D views acquired autonomously by a mobile robot.We create high-quality textured meshes of the objects byapproximating the underlying geometry with a Poisson surface.Our system employs two optimization steps, first registering theviews spatially based on image features, and second aligningthe RGB images to maximize photometric consistency withrespect to the reconstructed mesh. We show that the resultingmodels can be used robustly for recognition by training aConvolutional Neural Network (CNN) on images rendered fromthe reconstructed meshes. We perform experiments on datacollected autonomously by a mobile robot both in controlledand uncontrolled scenarios. We compare quantitatively andqualitatively to previous work to validate our approach.

  • 40.
    Ambrus, Rares
    et al.
    KTH, Skolan för datavetenskap och kommunikation (CSC), Robotik, perception och lärande, RPL. KTH, Skolan för datavetenskap och kommunikation (CSC), Centra, Centrum för Autonoma System, CAS.
    Claici, Sebastian
    Wendt, Axel
    Automatic Room Segmentation From Unstructured 3-D Data of Indoor Environments2017Inngår i: IEEE Robotics and Automation Letters, ISSN 2377-3766, E-ISSN 1949-3045, Vol. 2, nr 2, 749-756 s.Artikkel i tidsskrift (Fagfellevurdert)
    Abstract [en]

    We present an automatic approach for the task of reconstructing a 2-D floor plan from unstructured point clouds of building interiors. Our approach emphasizes accurate and robust detection of building structural elements and, unlike previous approaches, does not require prior knowledge of scanning device poses. The reconstruction task is formulated as a multiclass labeling problem that we approach using energy minimization. We use intuitive priors to define the costs for the energy minimization problem and rely on accurate wall and opening detection algorithms to ensure robustness. We provide detailed experimental evaluation results, both qualitative and quantitative, against state-of-the-art methods and labeled ground-truth data.

  • 41.
    Ambrus, Rares
    et al.
    KTH, Skolan för datavetenskap och kommunikation (CSC), Datorseende och robotik, CVAP. KTH, Skolan för datavetenskap och kommunikation (CSC), Centra, Centrum för Autonoma System, CAS.
    Ekekrantz, Johan
    KTH, Skolan för datavetenskap och kommunikation (CSC), Datorseende och robotik, CVAP. KTH, Skolan för datavetenskap och kommunikation (CSC), Centra, Centrum för Autonoma System, CAS.
    Folkesson, John
    KTH, Skolan för datavetenskap och kommunikation (CSC), Datorseende och robotik, CVAP. KTH, Skolan för datavetenskap och kommunikation (CSC), Centra, Centrum för Autonoma System, CAS.
    Jensfelt, Patric
    KTH, Skolan för datavetenskap och kommunikation (CSC), Datorseende och robotik, CVAP. KTH, Skolan för datavetenskap och kommunikation (CSC), Centra, Centrum för Autonoma System, CAS.
    Unsupervised learning of spatial-temporal models of objects in a long-term autonomy scenario2015Inngår i: 2015 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS), IEEE , 2015, 5678-5685 s.Konferansepaper (Fagfellevurdert)
    Abstract [en]

    We present a novel method for clustering segmented dynamic parts of indoor RGB-D scenes across repeated observations by performing an analysis of their spatial-temporal distributions. We segment areas of interest in the scene using scene differencing for change detection. We extend the Meta-Room method and evaluate the performance on a complex dataset acquired autonomously by a mobile robot over a period of 30 days. We use an initial clustering method to group the segmented parts based on appearance and shape, and we further combine the clusters we obtain by analyzing their spatial-temporal behaviors. We show that using the spatial-temporal information further increases the matching accuracy.

  • 42.
    Ambrus, Rares
    et al.
    KTH, Skolan för datavetenskap och kommunikation (CSC), Robotik, perception och lärande, RPL. KTH, Skolan för datavetenskap och kommunikation (CSC), Centra, Centrum för Autonoma System, CAS.
    Folkesson, John
    KTH, Skolan för datavetenskap och kommunikation (CSC), Robotik, perception och lärande, RPL. KTH, Skolan för datavetenskap och kommunikation (CSC), Centra, Centrum för Autonoma System, CAS.
    Jensfelt, Patric
    KTH, Skolan för datavetenskap och kommunikation (CSC), Robotik, perception och lärande, RPL. KTH, Skolan för datavetenskap och kommunikation (CSC), Centra, Centrum för Autonoma System, CAS.
    Unsupervised object segmentation through change detection in a long term autonomy scenario2016Inngår i: IEEE-RAS International Conference on Humanoid Robots, IEEE, 2016, 1181-1187 s.Konferansepaper (Fagfellevurdert)
    Abstract [en]

    In this work we address the problem of dynamic object segmentation in office environments. We make no prior assumptions on what is dynamic and static, and our reasoning is based on change detection between sparse and non-uniform observations of the scene. We model the static part of the environment, and we focus on improving the accuracy and quality of the segmented dynamic objects over long periods of time. We address the issue of adapting the static structure over time and incorporating new elements, for which we train and use a classifier whose output gives an indication of the dynamic nature of the segmented elements. We show that the proposed algorithms improve the accuracy and the rate of detection of dynamic objects by comparing with a labelled dataset.

  • 43.
    Ammenberg, P.
    Uppsala universitet, Fakultetsövergripande enheter, Centrum för bildanalys. Teknisk-naturvetenskapliga vetenskapsområdet, Matematisk-datavetenskapliga sektionen, Institutionen för informationsteknologi, Datoriserad bildanalys.
    Analysis of CASI Data - A Case Study From the Archipelago of Stockholm, Sweden2001Inngår i: 6th International Conference, Remote Sensing for Marine and Coastal Environments 2000, Charleston, South Caro, 2001, 8 pages- s.Konferansepaper (Annet vitenskapelig)
  • 44.
    Ammenberg, P.
    Uppsala universitet, Fakultetsövergripande enheter, Centrum för bildanalys. Teknisk-naturvetenskapliga vetenskapsområdet, Matematisk-datavetenskapliga sektionen, Institutionen för informationsteknologi, Datoriserad bildanalys.
    Analysis of CASI data - A case study from the archipelago of Stockholm, Sweden2000Inngår i: 6th International Conference, Remote Sensing for Marine and CoastalEnvironments, Charleston, South Carolina, USA, 2000Konferansepaper (Annet vitenskapelig)
  • 45.
    Ammenberg, P.
    et al.
    Uppsala universitet, Teknisk-naturvetenskapliga vetenskapsområdet, Matematisk-datavetenskapliga sektionen, Centrum för bildanalys. Uppsala universitet, Teknisk-naturvetenskapliga vetenskapsområdet, Biologiska sektionen, Institutionen för ekologi och evolution, Limnologi. Uppsala universitet, Teknisk-naturvetenskapliga vetenskapsområdet, Matematisk-datavetenskapliga sektionen, Institutionen för informationsteknologi, Datoriserad bildanalys.
    Flink, P
    Lindell, T.
    Strömbeck, N.
    Bio-optical Modelling Combined with Remote Sensing to Assess Water Quality2002Inngår i: International Journal of Remote Sensing, ISSN 0143-1161, Vol. 23, nr 8, 1621-1638 s.Artikkel i tidsskrift (Fagfellevurdert)
  • 46.
    Ammenberg, Petra
    et al.
    Uppsala universitet, Teknisk-naturvetenskapliga vetenskapsområdet, Matematisk-datavetenskapliga sektionen, Centrum för bildanalys. Uppsala universitet, Teknisk-naturvetenskapliga vetenskapsområdet, Matematisk-datavetenskapliga sektionen, Institutionen för informationsteknologi, Datoriserad bildanalys.
    Lindell, Tommy
    Uppsala universitet, Teknisk-naturvetenskapliga vetenskapsområdet, Matematisk-datavetenskapliga sektionen, Centrum för bildanalys. Uppsala universitet, Teknisk-naturvetenskapliga vetenskapsområdet, Matematisk-datavetenskapliga sektionen, Institutionen för informationsteknologi, Datoriserad bildanalys.
    Automated change detection of bleached coral reef areas2002Inngår i: Proceedings of 7th International Conference, Remote Sensing for Marine and Coastal Environments, 2002Konferansepaper (Annet vitenskapelig)
    Abstract [en]

    Recent dramatic bleaching events on coral reefs have enhanced the need for global environmental monitoring. This paper investigates the value of present high spatial resolution satellites to detect coral bleaching using a change detection technique. We compared an IRS LISS-III image taken during the 1998 bleaching event in Belize to images taken before the bleaching event. The sensitivity of the sensors was investigated and a simulation was made to estimate the effect of sub-pixel changes. A manual interpretation of coral bleaching, based on differences between the images, was performed and the outcome were compared to field observations. The spectral characteristics of the pixels corresponding to the field observations and the manually interpreted bleachings have been analysed and compared to pixels from unaffected areas.

  • 47.
    Amundin, Mats
    et al.
    Kolmården Wildlife Park.
    Hållsten, Henrik
    Filosofiska institutionen, Stockholms universitet.
    Eklund, Robert
    Linköpings universitet, Institutionen för kultur och kommunikation, Avdelningen för språk och kultur. Linköpings universitet, Filosofiska fakulteten.
    Karlgren, Jussi
    Kungliga Tekniska Högskolan.
    Molinder, Lars
    Carnegie Investment Bank, Swedden.
    A proposal to use distributional models to analyse dolphin vocalisation2017Inngår i: Proceedings of the 1st International Workshop on Vocal Interactivity in-and-between Humans, Animals and Robots, VIHAR 2017 / [ed] Angela Dassow, Ricard Marxer & Roger K. Moore, 2017, 31-32 s.Konferansepaper (Fagfellevurdert)
    Abstract [en]

    This paper gives a brief introduction to the starting points of an experimental project to study dolphin communicative behaviour using distributional semantics, with methods implemented for the large scale study of human language.

  • 48.
    Andersson, Adam
    Linköpings universitet, Institutionen för systemteknik, Bildbehandling. Linköpings universitet, Tekniska högskolan.
    Range Gated Viewing with Underwater Camera2005Independent thesis Basic level (professional degree), 20 poäng / 30 hpOppgave
    Abstract [en]

    The purpose of this master thesis, performed at FOI, was to evaluate a range gated underwater camera, for the application identification of bottom objects. The master thesis was supported by FMV within the framework of “arbetsorder Systemstöd minjakt (Jan Andersson, KC Vapen)”. The central part has been field trials, which have been performed in both turbid and clear water. Conclusions about the performance of the camera system have been done, based on resolution and contrast measurements during the field trials. Laboratory testing has also been done to measure system specific parameters, such as the effective gate profile and camera gate distances.

    The field trials shows that images can be acquired at significantly longer distances with the tested gated camera, compared to a conventional video camera. The distance where the target can be detected is increased by a factor of 2. For images suitable for mine identification, the increase is about 1.3. However, studies of the performance of other range gated systems shows that the increase in range for mine identification can be about 1.6. Gated viewing has also been compared to other technical solutions for underwater imaging.

  • 49.
    Andersson, Anna
    et al.
    Linköpings universitet, Institutionen för teknik och naturvetenskap.
    Eklund, Klara
    Linköpings universitet, Institutionen för teknik och naturvetenskap.
    A Study of Oriented Mottle in Halftone Print2007Independent thesis Advanced level (degree of Magister), 20 poäng / 30 hpOppgave
    Abstract [en]

    Coated solid bleached board belongs to the top-segment of paperboards. One important property of paperboard is the printability. In this diploma work a specific print defect, oriented mottle, has been studied in association with Iggesund Paperboard. The objectives of the work were to develop a method for analysis of the dark and light areas of oriented mottle, to analyse these areas, and to clarify the effect from the print, coating and paperboard surface related factors. This would clarify the origin of oriented mottle and predict oriented mottle on unprinted paperboard. The objectives were fulfilled by analysing the areas between the dark halftone dots, the amount of coating and the ink penetration, the micro roughness and the topography. The analysis of the areas between the dark halftone dots was performed on several samples and the results were compared regarding different properties. The other methods were only applied on a limited selection of samples. The results from the study showed that the intensity differences between the dark halftone dots were enhanced in the dark areas, the coating amount was lower in the dark areas and the ink did not penetrate into the paperboard. The other results showed that areas with high transmission corresponded to dark areas, smoother micro roughness, lower coating amount and high topography. A combination of the information from these properties might be used to predict oriented mottle. The oriented mottle is probably an optical phenomenon in half tone prints, and originates from variations in the coating and other paperboard properties.

  • 50.
    Andersson, Axel
    Umeå universitet, Teknisk-naturvetenskapliga fakulteten, Institutionen för fysik.
    Real-Time Feedback for Agility Training: Tracking of reflective markers using a time-of-flight camera2017Independent thesis Advanced level (degree of Master (Two Years)), 20 poäng / 30 hpOppgave
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