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  • 51.
    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, s. 1181-1187Konferansepaper (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.

  • 52.
    Amigoni, Francesco
    et al.
    Politecnico di Milano, Milan, Italy.
    Yu, Wonpil
    Electronics and Telecommunications Research Institute (ETRI), Daejeon, South Korea.
    Andre, Torsten
    University of Klagenfurt, Klagenfurt, Austria.
    Holz, Dirk
    University of Bonn, Bonn, Germany.
    Magnusson, Martin
    Örebro universitet, Institutionen för naturvetenskap och teknik.
    Matteucci, Matteo
    Politecnico di Milano, Milan, Italy.
    Moon, Hyungpil
    Sungkyunkwan University, Suwon, South Korea.
    Yokozuka, Masashi
    Nat. Inst. of Advanced Industrial Science and Technology, Tsukuba, Japan.
    Biggs, Geoffrey
    Nat. Inst. of Advanced Industrial Science and Technology, Tsukuba, Japan.
    Madhavan, Raj
    Amrita University, Clarksburg MD, United States of America.
    A Standard for Map Data Representation: IEEE 1873-2015 Facilitates Interoperability Between Robots2018Inngår i: IEEE robotics & automation magazine, ISSN 1070-9932, E-ISSN 1558-223X, Vol. 25, nr 1, s. 65-76Artikkel i tidsskrift (Fagfellevurdert)
    Abstract [en]

    The availability of environment maps for autonomous robots enables them to complete several tasks. A new IEEE standard, IEEE 1873-2015, Robot Map Data Representation for Navigation (MDR) [15], sponsored by the IEEE Robotics and Automation Society (RAS) and approved by the IEEE Standards Association Standards Board in September 2015, defines a common representation for two-dimensional (2-D) robot maps and is intended to facilitate interoperability among navigating robots. The standard defines an extensible markup language (XML) data format for exchanging maps between different systems. This article illustrates how metric maps, topological maps, and their combinations can be represented according to the standard.

  • 53.
    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, s. 8 pages-Konferansepaper (Annet vitenskapelig)
  • 54.
    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)
  • 55.
    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, s. 1621-1638Artikkel i tidsskrift (Fagfellevurdert)
  • 56.
    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.

  • 57.
    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, s. 31-32Konferansepaper (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.

  • 58.
    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.

  • 59.
    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.

  • 60.
    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
  • 61.
    Andersson, Carina
    Mälardalens högskola, Akademin för innovation, design och teknik.
    Informationsdesign i tillståndsövervakning: En studie av ett bildskärmsbaserat användargränssnitt för tillståndsövervakning och tillståndsbaserat underhåll2010Doktoravhandling, monografi (Annet vitenskapelig)
    Abstract [en]

    This research concerns the information design and visual design of graphical user interfaces (GUI) in the condition monitoring and condition-based maintenance (CBM) of production equipment. It also concerns various communicative aspects of a GUI, which is used to monitor the condition of assets. It applies to one Swedish vendor and its intentions to design information. In addition, it applies to the interaction between the GUI and its individual visual elements, as well as the communication between the GUI and the users (in four Swedish paper mills).

    The research is performed as a single case study. Interviews and observations have been the main methods for data collection. Empirical data is analyzed with methods inferred to semiotics, rhetoric and narratology. Theories in information science and regarding remediation are used to interpret the user interface design.

    The key conclusion is that there are no less than five different forms of information, all important when determining the conditions of assets. These information forms include the words, images and shapes in the GUI, the machine components and peripherals equipment, the information that takes form when personnel communicate machine conditions, the personnel’s subjective associations, and the information forms that relate to the personnel's actions and interactions.

    Preventive technicians interpret the GUI-information individually and collectively in relation to these information forms, which influence their interpretation and understanding of the GUI information. Social media in the GUI makes it possible to represent essential information that takes form when employees communicate a machine’s condition. Photographs may represent information forms as a machine’s components, peripherals, and local environment change over time. Moreover, preventative technicians may use diagrams and photographs in the GUI to change attitudes among the personnel at the mills and convince them, for example, of a machine’s condition or the effectiveness of CBM as maintenance policy.

  • 62.
    Andersson, Christian
    Linköpings universitet, Institutionen för systemteknik.
    Simulering av filtrerade skärmfärger2005Independent thesis Basic level (professional degree), 20 poäng / 30 hpOppgave
    Abstract [en]

    This report present a working model for simulation of what happens to colors displayed on screens when they are observed through optical filters. The results of the model can be used to visually, on one screen, simulate another screen with an applied optical filter. The model can also produce CIE color difference values for the simulated screen colors. The model is data driven and requires spectral measurements for at least the screen to be simulated and the physical filters that will be used. The model is divided into three separate modules or steps where each of the modules can be easily replaced by alternative implementations or solutions. Results from tests performed show that the model can be used for prototyping of optical filters even though the tests of the specific algorithms chosen show there is room for improvements in quality. There is nothing that indicates that future work with this model would not produce better quality in its results.

  • 63. Andersson, Jan-Olov
    et al.
    Hasselid, Sara
    Widen, Per
    Bax, Gerhard
    Uppsala universitet, Teknisk-naturvetenskapliga vetenskapsområdet, Geovetenskapliga sektionen, Institutionen för geovetenskaper. Uppsala universitet, Teknisk-naturvetenskapliga vetenskapsområdet, Geovetenskapliga sektionen, Institutionen för geovetenskaper, Miljö- och landskapsdynamik. ELD.
    Is the Snow Leopard (Unica unica) endangered?: A study of popular viability and distribution using vulnerability and GIS analysis methods2004Inngår i: Proceedings of the 7th International Symposium on High Mountain Remote Sensing Cartography, 2004, s. 224-Konferansepaper (Fagfellevurdert)
  • 64.
    Andersson, Jonathan
    Uppsala universitet, Medicinska och farmaceutiska vetenskapsområdet, Medicinska fakulteten, Institutionen för radiologi, onkologi och strålningsvetenskap, Enheten för radiologi.
    Methods for automatic analysis of glucose uptake in adipose tissue using quantitative PET/MRI data2014Independent thesis Advanced level (professional degree), 20 poäng / 30 hpOppgave
    Abstract [en]

    Brown adipose tissue (BAT) is the main tissue involved in non-shivering heat production. A greater understanding of BAT could possibly lead to new ways of prevention and treatment of obesity and type 2 diabetes. The increasing prevalence of these conditions and the problems they cause society and individuals make the study of the subject important.

    An ongoing study performed at the Turku University Hospital uses images acquired using PET/MRI with 18F-FDG as the tracer. Scans are performed on sedentary and athlete subjects during normal room temperature and during cold stimulation. Sedentary subjects then undergo scanning during cold stimulation again after a six weeks long exercise training intervention. This degree project used images from this study.

    The objective of this degree project was to examine methods to automatically and objectively quantify parameters relevant for activation of BAT in combined PET/MRI data. A secondary goal was to create images showing glucose uptake changes in subjects from images taken at different times.

    Parameters were quantified in adipose tissue directly without registration (image matching), and for neck scans also after registration. Results for the first three subjects who have completed the study are presented. Larger registration errors were encountered near moving organs and in regions with less information.

    The creation of images showing changes in glucose uptake seem to be working well for the neck scans, and somewhat well for other sub-volumes. These images can be useful for identification of BAT. Examples of these images are shown in the report.

  • 65.
    Andersson, Maria
    et al.
    Division of Information Systems, FOI, Swedish Defence Research Agency, Linköping, Sweden.
    Ntalampiras, Stavros
    Department of Electrical and Computer Engineering, University of Patras, Patras, Greece.
    Ganchev, Todor
    Department of Electrical and Computer Engineering, University of Patras, Patras, Greece.
    Rydell, Joakim
    Division of Information Systems, FOI, Swedish Defence Research Agency, Linköping, Sweden.
    Ahlberg, Jörgen
    Division of Information Systems, FOI, Swedish Defence Research Agency, Linköping, Sweden.
    Fakotakis, Nikos
    Department of Electrical and Computer Engineering, University of Patras, Patras, Greece.
    Fusion of Acoustic and Optical Sensor Data for Automatic Fight Detection in Urban Environments2010Inngår i: Information Fusion (FUSION), 2010 13th Conference on, IEEE conference proceedings, 2010, s. 1-8Konferansepaper (Fagfellevurdert)
    Abstract [en]

    We propose a two-stage method for detection of abnormal behaviours, such as aggression and fights in urban environment, which is applicable to operator support in surveillance applications. The proposed method is based on fusion of evidence from audio and optical sensors. In the first stage, a number of modalityspecific detectors perform recognition of low-level events. Their outputs act as input to the second stage, which performs fusion and disambiguation of the firststage detections. Experimental evaluation on scenes from the outdoor part of the PROMETHEUS database demonstrated the practical viability of the proposed approach. We report a fight detection rate of 81% when both audio and optical information are used. Reduced performance is observed when evidence from audio data is excluded from the fusion process. Finally, in the case when only evidence from one camera is used for detecting the fights, the recognition performance is poor. 

  • 66.
    Andersson, Maria
    et al.
    FOI Swedish Defence Research Agency.
    Rydell, Joakim
    FOI Swedish Defence Research Agency.
    Ahlberg, Jörgen
    Linköpings universitet, Institutionen för systemteknik, Datorseende. Linköpings universitet, Tekniska fakulteten. FOI Swedish Defence Research Agency.
    Estimation of crowd behaviour using sensor networks and sensor fusion2009Konferansepaper (Fagfellevurdert)
    Abstract [en]

    Commonly, surveillance operators are today monitoring a large number of CCTV screens, trying to solve the complex cognitive tasks of analyzing crowd behavior and detecting threats and other abnormal behavior. Information overload is a rule rather than an exception. Moreover, CCTV footage lacks important indicators revealing certain threats, and can also in other respects be complemented by data from other sensors. This article presents an approach to automatically interpret sensor data and estimate behaviors of groups of people in order to provide the operator with relevant warnings. We use data from distributed heterogeneous sensors (visual cameras and a thermal infrared camera), and process the sensor data using detection algorithms. The extracted features are fed into a hidden Markov model in order to model normal behavior and detect deviations. We also discuss the use of radars for weapon detection.

  • 67.
    Andersson, Olov
    Linköpings universitet, Institutionen för datavetenskap, Artificiell intelligens och integrerade datorsystem. Linköpings universitet, Tekniska fakulteten.
    Methods for Scalable and Safe Robot Learning2017Licentiatavhandling, med artikler (Annet vitenskapelig)
    Abstract [en]

    Robots are increasingly expected to go beyond controlled environments in laboratories and factories, to enter real-world public spaces and homes. However, robot behavior is still usually engineered for narrowly defined scenarios. To manually encode robot behavior that works within complex real world environments, such as busy work places or cluttered homes, can be a daunting task. In addition, such robots may require a high degree of autonomy to be practical, which imposes stringent requirements on safety and robustness. \setlength{\parindent}{2em}\setlength{\parskip}{0em}The aim of this thesis is to examine methods for automatically learning safe robot behavior, lowering the costs of synthesizing behavior for complex real-world situations. To avoid task-specific assumptions, we approach this from a data-driven machine learning perspective. The strength of machine learning is its generality, given sufficient data it can learn to approximate any task. However, being embodied agents in the real-world, robots pose a number of difficulties for machine learning. These include real-time requirements with limited computational resources, the cost and effort of operating and collecting data with real robots, as well as safety issues for both the robot and human bystanders.While machine learning is general by nature, overcoming the difficulties with real-world robots outlined above remains a challenge. In this thesis we look for a middle ground on robot learning, leveraging the strengths of both data-driven machine learning, as well as engineering techniques from robotics and control. This includes combing data-driven world models with fast techniques for planning motions under safety constraints, using machine learning to generalize such techniques to problems with high uncertainty, as well as using machine learning to find computationally efficient approximations for use on small embedded systems.We demonstrate such behavior synthesis techniques with real robots, solving a class of difficult dynamic collision avoidance problems under uncertainty, such as induced by the presence of humans without prior coordination. Initially using online planning offloaded to a desktop CPU, and ultimately as a deep neural network policy embedded on board a 7 quadcopter.

  • 68.
    Andersson, Olov
    et al.
    Linköpings universitet, Institutionen för datavetenskap, Artificiell intelligens och integrerad datorsystem. Linköpings universitet, Tekniska högskolan.
    Heintz, Fredrik
    Linköpings universitet, Institutionen för datavetenskap, Artificiell intelligens och integrerad datorsystem. Linköpings universitet, Tekniska högskolan.
    Doherty, Patrick
    Linköpings universitet, Institutionen för datavetenskap, Artificiell intelligens och integrerad datorsystem. Linköpings universitet, Tekniska högskolan.
    Model-Based Reinforcement Learning in Continuous Environments Using Real-Time Constrained Optimization2015Inngår i: Proceedings of the Twenty-Ninth AAAI Conference on Artificial Intelligence (AAAI) / [ed] Blai Bonet and Sven Koenig, AAAI Press, 2015, s. 2497-2503Konferansepaper (Fagfellevurdert)
    Abstract [en]

    Reinforcement learning for robot control tasks in continuous environments is a challenging problem due to the dimensionality of the state and action spaces, time and resource costs for learning with a real robot as well as constraints imposed for its safe operation. In this paper we propose a model-based reinforcement learning approach for continuous environments with constraints. The approach combines model-based reinforcement learning with recent advances in approximate optimal control. This results in a bounded-rationality agent that makes decisions in real-time by efficiently solving a sequence of constrained optimization problems on learned sparse Gaussian process models. Such a combination has several advantages. No high-dimensional policy needs to be computed or stored while the learning problem often reduces to a set of lower-dimensional models of the dynamics. In addition, hard constraints can easily be included and objectives can also be changed in real-time to allow for multiple or dynamic tasks. The efficacy of the approach is demonstrated on both an extended cart pole domain and a challenging quadcopter navigation task using real data.

  • 69.
    Andersson, Olov
    et al.
    Linköpings universitet, Institutionen för datavetenskap, Artificiell intelligens och integrerade datorsystem. Linköpings universitet, Tekniska fakulteten.
    Wzorek, Mariusz
    Linköpings universitet, Institutionen för datavetenskap, Artificiell intelligens och integrerade datorsystem. Linköpings universitet, Tekniska fakulteten.
    Doherty, Patrick
    Linköpings universitet, Institutionen för datavetenskap, Artificiell intelligens och integrerade datorsystem. Linköpings universitet, Tekniska fakulteten.
    Deep Learning Quadcopter Control via Risk-Aware Active Learning2017Inngår i: Proceedings of The Thirty-first AAAI Conference on Artificial Intelligence (AAAI) / [ed] Satinder Singh and Shaul Markovitch, AAAI Press, 2017, Vol. 5, s. 3812-3818Konferansepaper (Fagfellevurdert)
    Abstract [en]

    Modern optimization-based approaches to control increasingly allow automatic generation of complex behavior from only a model and an objective. Recent years has seen growing interest in fast solvers to also allow real-time operation on robots, but the computational cost of such trajectory optimization remains prohibitive for many applications. In this paper we examine a novel deep neural network approximation and validate it on a safe navigation problem with a real nano-quadcopter. As the risk of costly failures is a major concern with real robots, we propose a risk-aware resampling technique. Contrary to prior work this active learning approach is easy to use with existing solvers for trajectory optimization, as well as deep learning. We demonstrate the efficacy of the approach on a difficult collision avoidance problem with non-cooperative moving obstacles. Our findings indicate that the resulting neural network approximations are least 50 times faster than the trajectory optimizer while still satisfying the safety requirements. We demonstrate the potential of the approach by implementing a synthesized deep neural network policy on the nano-quadcopter microcontroller.

  • 70.
    Andersson, Robert
    Linköpings universitet, Institutionen för systemteknik.
    A calibration method for laser-triangulating 3D cameras2008Independent thesis Advanced level (professional degree), 20 poäng / 30 hpOppgave
    Abstract [en]

    A laser-triangulating range camera uses a laser plane to light an object. If the position of the laser relative to the camera as well as certrain properties of the camera is known, it is possible to calculate the coordinates for all points along the profile of the object. If either the object or the camera and laser has a known motion, it is possible to combine several measurements to get a three-dimensional view of the object.

    Camera calibration is the process of finding the properties of the camera and enough information about the setup so that the desired coordinates can be calculated. Several methods for camera calibration exist, but this thesis proposes a new method that has the advantages that the objects needed are relatively inexpensive and that only objects in the laser plane need to be observed. Each part of the method is given a thorough description. Several mathematical derivations have also been added as appendices for completeness.

    The proposed method is tested using both synthetic and real data. The results show that the method is suitable even when high accuracy is needed. A few suggestions are also made about how the method can be improved further.

  • 71.
    Anliot, Manne
    Linköpings universitet, Institutionen för systemteknik.
    Volume Estimation of Airbags: A Visual Hull Approach2005Independent thesis Basic level (professional degree), 20 poäng / 30 hpOppgave
    Abstract [en]

    This thesis presents a complete and fully automatic method for estimating the volume of an airbag, through all stages of its inflation, with multiple synchronized high-speed cameras.

    Using recorded contours of the inflating airbag, its visual hull is reconstructed with a novel method: The intersections of all back-projected contours are first identified with an accelerated epipolar algorithm. These intersections, together with additional points sampled from concave surface regions of the visual hull, are then Delaunay triangulated to a connected set of tetrahedra. Finally, the visual hull is extracted by carving away the tetrahedra that are classified as inconsistent with the contours, according to a voting procedure.

    The volume of an airbag's visual hull is always larger than the airbag's real volume. By projecting a known synthetic model of the airbag into the cameras, this volume offset is computed, and an accurate estimate of the real airbag volume is extracted.

    Even though volume estimates can be computed for all camera setups, the cameras should be specially posed to achieve optimal results. Such poses are uniquely found for different airbag models with a separate, fully automatic, simulated annealing algorithm.

    Satisfying results are presented for both synthetic and real-world data.

  • 72.
    Anwer, Rao Muhammad
    et al.
    Aalto Univ, Finland.
    Khan, Fahad
    Linköpings universitet, Institutionen för systemteknik, Datorseende. Linköpings universitet, Tekniska fakulteten.
    Laaksonen, Jorma
    Aalto Univ, Finland.
    Two-Stream Part-based Deep Representation for Human Attribute Recognition2018Inngår i: 2018 INTERNATIONAL CONFERENCE ON BIOMETRICS (ICB), IEEE , 2018, s. 90-97Konferansepaper (Fagfellevurdert)
    Abstract [en]

    Recognizing human attributes in unconstrained environments is a challenging computer vision problem. State-of-the-art approaches to human attribute recognition are based on convolutional neural networks (CNNs). The de facto practice when training these CNNs on a large labeled image dataset is to take RGB pixel values of an image as input to the network. In this work, we propose a two-stream part-based deep representation for human attribute classification. Besides the standard RGB stream, we train a deep network by using mapped coded images with explicit texture information, that complements the standard RGB deep model. To integrate human body parts knowledge, we employ the deformable part-based models together with our two-stream deep model. Experiments are performed on the challenging Human Attributes (HAT-27) Dataset consisting of 27 different human attributes. Our results clearly show that (a) the two-stream deep network provides consistent gain in performance over the standard RGB model and (b) that the attribute classification results are further improved with our two-stream part-based deep representations, leading to state-of-the-art results.

  • 73. Arcelli, Carlo
    et al.
    Sanniti di Baja, Gabriella
    Svensson, Stina
    Uppsala universitet, Fakultetsövergripande enheter, Centrum för bildanalys. Teknisk-naturvetenskapliga vetenskapsområdet, Matematisk-datavetenskapliga sektionen, Institutionen för informationsteknologi, Datoriserad bildanalys.
    Computing and analysing convex deficiencies to characterise 3D complex objects2005Inngår i: Image and Vision Computing: Discrete Geometry for Computer Imagery, Vol. 23, nr 2, s. 203-211Artikkel i tidsskrift (Fagfellevurdert)
    Abstract [en]

    Entities such as object components, cavities, tunnels and concavities in 3D digital images can be useful in the framework of object analysis. For each object component, we first identify its convex deficiencies, by subtracting the object component from a covering polyhedron approximating the convex hull. Watershed segmentation is then used to decompose complex convex deficiencies into simpler parts, corresponding to individual cavities, concavities and tunnels of the object component. These entities are finally described by means of a representation system accounting for the shape features characterising them.

  • 74.
    Arnekvist, Isac
    KTH, Skolan för datavetenskap och kommunikation (CSC).
    Reinforcement learning for robotic manipulation2017Independent thesis Advanced level (degree of Master (Two Years)), 20 poäng / 30 hpOppgave
    Abstract [en]

    Reinforcement learning was recently successfully used for real-world robotic manipulation tasks, without the need for human demonstration, usinga normalized advantage function-algorithm (NAF). Limitations on the shape of the advantage function however poses doubts to what kind of policies can be learned using this method. For similar tasks, convolutional neural networks have been used for pose estimation from images taken with fixed position cameras. For some applications however, this might not be a valid assumption. It was also shown that the quality of policies for robotic tasks severely deteriorates from small camera offsets. This thesis investigates the use of NAF for a pushing task with clear multimodal properties. The results are compared with using a deterministic policy with minimal constraints on the Q-function surface. Methods for pose estimation using convolutional neural networks are further investigated, especially with regards to randomly placed cameras with unknown offsets. By defining the coordinate frame of objects with respect to some visible feature, it is hypothesized that relative pose estimation can be accomplished even when the camera is not fixed and the offset is unknown. NAF is successfully implemented to solve a simple reaching task on a real robotic system where data collection is distributed over several robots, and learning is done on a separate server. Using NAF to learn a pushing task fails to converge to a good policy, both on the real robots and in simulation. Deep deterministic policy gradient (DDPG) is instead used in simulation and successfully learns to solve the task. The learned policy is then applied on the real robots and accomplishes to solve the task in the real setting as well. Pose estimation from fixed position camera images is learned and the policy is still able to solve the task using these estimates. By defining a coordinate frame from an object visible to the camera, in this case the robot arm, a neural network learns to regress the pushable objects pose in this frame without the assumption of a fixed camera. However, the precision of the predictions were too inaccurate to be used for solving the pushing task. Further modifications to this approach could however show to be a feasible solution to randomly placed cameras with unknown poses.

  • 75.
    Aronsson, M.
    et al.
    Uppsala universitet, Fakultetsövergripande enheter, Centrum för bildanalys. Teknisk-naturvetenskapliga vetenskapsområdet, Matematisk-datavetenskapliga sektionen, Institutionen för informationsteknologi, Datoriserad bildanalys.
    Borgefors, G.
    2D Segmentation and Labelling of Clustered Ring-Shaped Objects2001Konferansepaper (Fagfellevurdert)
    Abstract [en]

    A robust segmentation and labelling method to identify individual ring shaped

  • 76.
    Aronsson, M.
    et al.
    Uppsala universitet, Fakultetsövergripande enheter, Centrum för bildanalys. Teknisk-naturvetenskapliga vetenskapsområdet, Matematisk-datavetenskapliga sektionen, Institutionen för informationsteknologi, Datoriserad bildanalys.
    Fayyazi, A.
    Comparison of two different approaches for paper volume assembly2000Inngår i: Symposium on Image Analysis - SSAB 2000, 2000, s. 57-60Konferansepaper (Annet vitenskapelig)
  • 77.
    Aronsson, M.
    et al.
    Uppsala universitet, Fakultetsövergripande enheter, Centrum för bildanalys. Teknisk-naturvetenskapliga vetenskapsområdet, Matematisk-datavetenskapliga sektionen, Institutionen för informationsteknologi, Datoriserad bildanalys.
    Larsson, K.-A.
    Titta inuti papper -- Looking inside Paper2001Inngår i: Nordisk Papper och Massa, nr 2, s. 44-45Artikkel i tidsskrift (Annet vitenskapelig)
  • 78.
    Aronsson, Mattias
    Uppsala universitet, Fakultetsövergripande enheter, Centrum för bildanalys. Teknisk-naturvetenskapliga vetenskapsområdet, Matematisk-datavetenskapliga sektionen, Institutionen för informationsteknologi, Datoriserad bildanalys.
    Estimating Fibre Twist and Aspect Ratios in 3D Voxel Volumes2002Inngår i: International Conference on Pattern Recognition (ICPR'02), 2002Konferansepaper (Fagfellevurdert)
  • 79.
    Aronsson Mattias, Henningsson Olle, Sävborg Örjan
    Uppsala universitet, Fakultetsövergripande enheter, Centrum för bildanalys. Teknisk-naturvetenskapliga vetenskapsområdet, Matematisk-datavetenskapliga sektionen, Institutionen för informationsteknologi, Datoriserad bildanalys.
    Slice-based Digital Volume Assembly of a Small Paper Sample2002Inngår i: Nordic Pulp and Paper Research Journal, Vol. 17, nr 1Artikkel i tidsskrift (Fagfellevurdert)
    Abstract [en]

    Digital volume images can be created by assembling a stack of 2D images. By using a microtome for slicing, a Scanning Electron Microscope for imaging and digital analysis tools, we were able to create a small digital volume from a paper sample of Duplex-b

  • 80.
    Aronsson Mattias, Sintorn Ida-Maria
    Uppsala universitet, Fakultetsövergripande enheter, Centrum för bildanalys. Teknisk-naturvetenskapliga vetenskapsområdet, Matematisk-datavetenskapliga sektionen, Institutionen för informationsteknologi, Datoriserad bildanalys.
    Ring Shaped Object Detector for Non-Isotropic 2D Images Using Optimized Distance Transform Weights2002Konferansepaper (Fagfellevurdert)
    Abstract [en]

    A detector for finding ring shaped objects occurring in clus-ters in 2D images with non-isotropic pixel dimensions have been developed. The rings are characterized as having a closed border and a void interior. We assume that the thick-ness of the rings s

  • 81.
    Aronsson, Mattias
    et al.
    Uppsala universitet, Fakultetsövergripande enheter, Centrum för bildanalys. Teknisk-naturvetenskapliga vetenskapsområdet, Matematisk-datavetenskapliga sektionen, Institutionen för informationsteknologi, Datoriserad bildanalys.
    Svensson, Stina
    Teknisk-naturvetenskapliga vetenskapsområdet, Matematisk-datavetenskapliga sektionen, Institutionen för informationsteknologi, Datoriserad bildanalys.
    Curvature Measurements for fibres in 3D Images of Paper2002Inngår i: Proceedings SSAB'02 Symposium on Image Analysis, 2002, s. 165-168Konferansepaper (Annet vitenskapelig)
    Abstract [en]

    When analysing fibres in paper using computerised image analysis applied to 3D i mages of paper, one measure of interest is the curvature along each individual fibre and how the curvature changes due to interaction with adjacent fibres. Starting from a cu

  • 82.
    Arvidsson, Lars
    Linköpings universitet, Institutionen för systemteknik, Bildbehandling. Linköpings universitet, Tekniska högskolan.
    Stereoseende i realtid2007Independent thesis Basic level (professional degree), 20 poäng / 30 hpOppgave
    Abstract [en]

    In this thesis, two real-time stereo methods have been implemented and evaluated. The first one is based on blockmatching and the second one is based on local phase. The goal was to be able to run the algorithms at real-time and examine which one is best. The blockmatching method performed better than the phase based method, both in speed and accuracy. SIMD operations (Single Instruction Multiple Data) have been used in the processor giving a speed boost by a factor of two.

  • 83.
    Asadi, Sahar
    et al.
    Örebro universitet, Institutionen för naturvetenskap och teknik.
    Fan, Han
    Örebro universitet, Institutionen för naturvetenskap och teknik.
    Hernandez Bennetts, Victor
    Örebro universitet, Institutionen för naturvetenskap och teknik.
    Lilienthal, Achim
    Örebro universitet, Institutionen för naturvetenskap och teknik.
    Time-dependent gas distribution modelling2017Inngår i: Robotics and Autonomous Systems, ISSN 0921-8890, E-ISSN 1872-793X, Vol. 96, s. 157-170Artikkel i tidsskrift (Fagfellevurdert)
    Abstract [en]

    Artificial olfaction can help to address pressing environmental problems due to unwanted gas emissions. Sensor networks and mobile robots equipped with gas sensors can be used for e.g. air pollution monitoring. Key in this context is the ability to derive truthful models of gas distribution from a set of sparse measurements. Most statistical gas distribution modelling methods assume that gas dispersion is a time constant random process. While this assumption approximately holds in some situations, it is necessary to model variations over time in order to enable applications of gas distribution modelling in a wider range of realistic scenarios. Time-invariant approaches cannot model well evolving gas plumes, for example, or major changes in gas dispersion due to a sudden change of the environmental conditions. This paper presents two approaches to gas distribution modelling, which introduce a time-dependency and a relation to a time-scale in generating the gas distribution model either by sub-sampling or by introducing a recency weight that relates measurement and prediction time. We evaluated these approaches in experiments performed in two real environments as well as on several simulated experiments. As expected, the comparison of different sub-sampling strategies revealed that more recent measurements are more informative to derive an estimate of the current gas distribution as long as a sufficient spatial coverage is given. Next, we compared a time-dependent gas distribution modelling approach (TD Kernel DM+V), which includes a recency weight, to the state-of-the-art gas distribution modelling approach (Kernel DM+V), which does not consider sampling times. The results indicate a consistent improvement in the prediction of unseen measurements, particularly in dynamic scenarios. Furthermore, this paper discusses the impact of meta-parameters in model selection and compares the performance of time-dependent GDM in different plume conditions. Finally, we investigated how to set the target time for which the model is created. The results indicate that TD Kernel DM+V performs best when the target time is set to the maximum sampling time in the test set.

  • 84.
    Asai, Ryoko
    et al.
    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.
    Kavathatzopoulos, Iordanis
    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.
    Robots as companions in feelings and discussions2017Inngår i: Retfærdighed – Justice, Robophilosophy / [ed] Martin Mose Bentzen, Copenhagen, 2017, s. 42-42Konferansepaper (Fagfellevurdert)
    Abstract [en]

    Robots are used in emotional relationships. On the other hand, it is not very common to think that robots can be used as partners in a philosophical dialog. It would be challenging to find the conditions under which a robot can be one of the parts in an emotional relationship or in a Socratic dialog. Robots usable as emotional or philosophical companions need probably to function well at both dimensions, providing continuous and interchanging support for feelings and reasoning. Our aim here is not to investigate the technical possibilities for such a machine but the theoretical requirements and ethical conditions for its creation and use.

  • 85. Aslund, M.
    et al.
    Fredenberg, Erik
    KTH, Skolan för teknikvetenskap (SCI), Fysik.
    Telman, M.
    Danielsson, Mats
    KTH, Skolan för teknikvetenskap (SCI), Fysik.
    Detectors for the future of X-ray imaging2010Inngår i: Radiation Protection Dosimetry, ISSN 0144-8420, E-ISSN 1742-3406, Vol. 139, nr 1-3, s. 327-333Artikkel i tidsskrift (Fagfellevurdert)
    Abstract [en]

    In recent decades, developments in detectors for X-ray imaging have improved dose efficiency. This has been accomplished with for example, structured scintillators such as columnar CsI, or with direct detectors where the X rays are converted to electric charge carriers in a semiconductor. Scattered radiation remains a major noise source, and fairly inefficient anti-scatter grids are still a gold standard. Hence, any future development should include improved scatter rejection. In recent years, photon-counting detectors have generated significant interest by several companies as well as academic research groups. This method eliminates electronic noise, which is an advantage in low-dose applications. Moreover, energy-sensitive photon-counting detectors allow for further improvements by optimising the signal-to-quantum-noise ratio, anatomical background subtraction or quantitative analysis of object constituents. This paper reviews state-of-the-art photon-counting detectors, scatter control and their application in diagnostic X-ray medical imaging. In particular, spectral imaging with photon-counting detectors, pitfalls such as charge sharing and high rates and various proposals for mitigation are discussed.

  • 86.
    Aspers, Patrik
    et al.
    Stockholms universitet, Samhällsvetenskapliga fakulteten, Sociologiska institutionen.
    Fuehrer, Paul
    Stockholms universitet, Samhällsvetenskapliga fakulteten, Sociologiska institutionen.
    Sverrisson, Árni
    Stockholms universitet, Samhällsvetenskapliga fakulteten, Sociologiska institutionen.
    Introduktion2004Inngår i: Bild och samhälle: visuell analys som vetenskaplig metod / [ed] Patrik Aspers, Paul Fuehrer, Árni Sverrisson, Lund: Studentlitteratur, 2004, s. 9-36Kapittel i bok, del av antologi (Annet vitenskapelig)
  • 87.
    Assabie Lake, Yaregal
    Högskolan i Halmstad, Sektionen för Informationsvetenskap, Data– och Elektroteknik (IDE), Halmstad Embedded and Intelligent Systems Research (EIS).
    Multifont recognition System for Ethiopic Script2006Licentiatavhandling, med artikler (Annet vitenskapelig)
    Abstract [en]

    In this thesis, we present a general framework for multi-font, multi-size and multi-style Ethiopic character recognition system. We propose structural and syntactic techniques for recognition of Ethiopic characters where the graphically comnplex characters are represented by less complex primitive structures and their spatial interrelationships. For each Ethiopic character, the primitive structures and their spatial interrelationships form a unique set of patterns.

    The interrelationships of primitives are represented by a special tree structure which resembles a binary search tree in the sense that it groups child nodes as left and right, and keeps the spatial position of primitives in orderly manner. For a better computational efficiency, the primitive tree is converted into string pattern using in-order traversal, which generates a base of the alphabet that stores possibly occuring string patterns for each character. The recognition of characters is then achieved by matching the generated patterns with each pattern in a stored knowledge base of characters.

    Structural features are extracted using direction field tensor, which is also used for character segmentation. In general, the recognition system does not need size normalization, thinning or other preprocessing procedures. The only parameter that needs to be adjusted during the recognition process is the size of Gaussian window which should be chosen optimally in relation to font sizes. We also constructed an Ethiopic Document Image Database (EDIDB) from real life documents and the recognition system is tested with respect to variations in font type, size, style, document skewness and document type. Experimental results are reported.

  • 88. Astruc, Marine
    et al.
    Malm, Patrik
    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.
    Kumar, Rajesh
    Bengtsson, Ewert
    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.
    Cluster detection and field-of-view quality rating: Applied to automated Pap-smear analysis2013Inngår i: Proc. 2nd International Conference on Pattern Recognition Applications and Methods, SciTePress, 2013, s. 355-364Konferansepaper (Fagfellevurdert)
    Abstract [en]

    Automated cervical cancer screening systems require high resolution analysis of a large number of epithelial cells, involving complex algorithms, mainly analysing the shape and texture of cell nuclei. This can be a very time consuming process. An initial selection of relevant fields-of-view in low resolution images could limit the number of fields to be further analysed at a high resolution. In particular, the detection of cell clusters is of interest for nuclei segmentation improvement, and for diagnostic purpose, malignant and endometrial cells being more prone to stick together in clusters than other cells. In this paper, we propose methods aiming at evaluating the quality of fields-of-view in bright-field microscope images of cervical cells. The approach consists in the construction of neighbourhood graphs using the nuclei as the set of vertices. Transformations are then applied on such graphs in order to highlight the main structures in the image. The methods result in the delineation of regions with varying cell density and the identification of cell clusters. Clustering methods are evaluated using a dataset of manually delineated clusters and compared to a related work.

  • 89.
    Auer, Cornelia
    et al.
    Zuse Institute Berlin, Berlin, Germany.
    Nair, Jaya
    IIIT – Bangalore, Electronics City, Hosur Road, Bangalore, India.
    Zobel, Valentin
    Zuse Institue Berlin, Berlin, Germany.
    Hotz, Ingrid
    Zuse Institue Berlin, Berlin, Germany.
    2D Tensor Field Segmentation2011Inngår i: Dagstuhl Follow-Ups, E-ISSN 1868-8977, Vol. 2, s. 17-35Artikkel i tidsskrift (Fagfellevurdert)
    Abstract [en]

    We present a topology-based segmentation as means for visualizing 2D symmetric tensor fields. The segmentation uses directional as well as eigenvalue characteristics of the underlying field to delineate cells of similar (or dissimilar) behavior in the tensor field. A special feature of the resulting cells is that their shape expresses the tensor behavior inside the cells and thus also can be considered as a kind of glyph representation. This allows a qualitative comprehension of important structures of the field. The resulting higher-level abstraction of the field provides valuable analysis. The extraction of the integral topological skeleton using both major and minor eigenvector fields serves as a structural pre-segmentation and renders all directional structures in the field. The resulting curvilinear cells are bounded by tensorlines and already delineate regions of equivalent eigenvector behavior. This pre-segmentation is further adaptively refined to achieve a segmentation reflecting regions of similar eigenvalue and eigenvector characteristics. Cell refinement involves both subdivision and merging of cells achieving a predetermined resolution, accuracy and uniformity of the segmentation. The buildingblocks of the approach can be intuitively customized to meet the demands or different applications. Application to tensor fields from numerical stress simulations demonstrates the effectiveness of our method.

  • 90.
    Augustsson, Louise
    Uppsala universitet, Teknisk-naturvetenskapliga vetenskapsområdet, Matematisk-datavetenskapliga sektionen, Institutionen för informationsteknologi, Avdelningen för visuell information och interaktion.
    Study and Analysis of Convolutional Neural Networks for Pedestrian Detection in Autonomous Vehicles2018Independent thesis Advanced level (professional degree), 20 poäng / 30 hpOppgave
    Abstract [en]

    The automotive industry is heading towards more automation. This puts high demands on many systems like Pedestrian Detection Systems. Such systems need to operate in real time with high accuracy and in embedded systems with limited power, memory resources and compute power. This in turn puts high demands on model size and model design. Lately Convolutional Neural Networks (ConvNets) have dominated the field of object detection and therefore it is reasonable to believe that they are suited for pedestrian detection as well. Therefore, this thesis investigates how ConvNets have been used for pedestrian detection and how such solutions can be implemented in embedded systems on FPGAs (Field Programmable Gate Arrays). The conclusions drawn are that ConvNets indeed perform well on pedestrian detection in terms of accuracy but to a cost of large model sizes and heavy computations. This thesis also comes up with a design proposal of a ConvNet for pedestrian detection with the implementation in an embedded system in mind. The proposed network performs well on pedestrian classification and the performance looks promising for detection as well, but further development is required.

  • 91.
    Aviles, Marcos
    et al.
    GMV, Spain.
    Siozios, Kostas
    School of ECE, National Technical University of Athens, Greece.
    Diamantopoulos, Dionysios
    School of ECE, National Technical University of Athens, Greece.
    Nalpantidis, Lazaros
    Production and Management Engineering Dept., Democritus University of Thrace, Greece.
    Kostavelis, Ioannis
    Production and Management Engineering Dept., Democritus University of Thrace, Greece.
    Boukas, Evangelos
    Production and Management Engineering Dept., Democritus University of Thrace, Greece.
    Soudris, Dimitrios
    School of ECE, National Technical University of Athens, Greece.
    Gasteratos, Antonios
    Production and Management Engineering Dept., Democritus University of Thrace, Greece.
    A co-design methodology for implementing computer vision algorithms for rover navigation onto reconfigurable hardware2011Inngår i: Proceedings of the FPL2011 Workshop on Computer Vision on Low-Power Reconfigurable Architectures, 2011, s. 9-10Konferansepaper (Annet vitenskapelig)
    Abstract [en]

    Vision-based robotics applications have been widely studied in the last years. However, up to now solutions that have been proposed were affecting mostly software level. The SPARTAN project focuses in the tight and optimal implementation of computer vision algorithms targeting to rover navigation. For evaluation purposes, these algorithms will be implemented with a co-design methodology onto a Virtex-6 FPGA device.

  • 92.
    Axelsson, Emil
    et al.
    Linköpings universitet, Institutionen för teknik och naturvetenskap, Medie- och Informationsteknik. Linköpings universitet, Tekniska fakulteten.
    Costa, Jonathas
    NYU, NY 10003 USA.
    Silva, Claudio
    NYU, NY 10003 USA.
    Emmart, Carter
    Amer Museum Nat Hist, NY 10024 USA.
    Bock, Alexander
    Linköpings universitet, Institutionen för teknik och naturvetenskap. Linköpings universitet, Tekniska fakulteten.
    Ynnerman, Anders
    Linköpings universitet, Institutionen för teknik och naturvetenskap, Medie- och Informationsteknik. Linköpings universitet, Tekniska fakulteten. Linköpings universitet, Centrum för medicinsk bildvetenskap och visualisering, CMIV.
    Dynamic Scene Graph: Enabling Scaling, Positioning, and Navigation in the Universe2017Inngår i: Computer graphics forum (Print), ISSN 0167-7055, E-ISSN 1467-8659, Vol. 36, nr 3, s. 459-468Artikkel i tidsskrift (Fagfellevurdert)
    Abstract [en]

    In this work, we address the challenge of seamlessly visualizing astronomical data exhibiting huge scale differences in distance, size, and resolution. One of the difficulties is accurate, fast, and dynamic positioning and navigation to enable scaling over orders of magnitude, far beyond the precision of floating point arithmetic. To this end we propose a method that utilizes a dynamically assigned frame of reference to provide the highest possible numerical precision for all salient objects in a scene graph. This makes it possible to smoothly navigate and interactively render, for example, surface structures on Mars and the Milky Way simultaneously. Our work is based on an analysis of tracking and quantification of the propagation of precision errors through the computer graphics pipeline using interval arithmetic. Furthermore, we identify sources of precision degradation, leading to incorrect object positions in screen-space and z-fighting. Our proposed method operates without near and far planes while maintaining high depth precision through the use of floating point depth buffers. By providing interoperability with order-independent transparency algorithms, direct volume rendering, and stereoscopy, our approach is well suited for scientific visualization. We provide the mathematical background, a thorough description of the method, and a reference implementation.

  • 93.
    Axelsson, Maria
    Uppsala universitet, Teknisk-naturvetenskapliga vetenskapsområdet, Matematisk-datavetenskapliga sektionen, Centrum för bildanalys. Uppsala universitet, Teknisk-naturvetenskapliga vetenskapsområdet, Matematisk-datavetenskapliga sektionen, Institutionen för informationsteknologi, Datoriserad bildanalys.
    An evaluation of scale and noise sensitivity of fibre orientation estimation in volume images2009Inngår i: Image Analysis and Processing - ICIAP 2009, Berlin: Springer , 2009, s. 975-984Konferansepaper (Fagfellevurdert)
  • 94.
    Axelsson, Maria
    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.
    Svensson, Stina
    Uppsala universitet, Teknisk-naturvetenskapliga vetenskapsområdet, Matematisk-datavetenskapliga sektionen, Centrum för bildanalys. Uppsala universitet, Teknisk-naturvetenskapliga vetenskapsområdet, Matematisk-datavetenskapliga sektionen, Institutionen för informationsteknologi, Datoriserad bildanalys.
    3D pore structure characterisation of paper2010Inngår i: Pattern Analysis and Applications, ISSN 1433-7541, E-ISSN 1433-755X, Vol. 13, nr 2, s. 159-172Artikkel i tidsskrift (Fagfellevurdert)
    Abstract [en]

    Pore structure characterisation of paper, using automated image analysis methods, has previously been performed in two-dimensional images. Three dimensional (3D) images have become available and thereby new representations and corresponding measurements are needed for 3D pore structure characterisation. In this article, we present a new pore structure representation, the individual pore-based skeleton, and new quantitative measurements for individual pores in 3D, such as surface area, orientation, anisotropy, and size distributions. We also present measurements for network relations, like tortuosity and connectivity. The data used to illustrate the pore structure representations and corresponding measurements are high resolution X-ray microtomography volume images of a layered duplex board imaged at the European Synchrotron Radiation Facility (ESRF). Quantification of the pore structure is exemplified and the results show that differences in pore structure between the layers in the cardboard can be characterised using the presented methods.

  • 95.
    Axelsson, Maria
    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.
    Svensson, Stina
    Uppsala universitet, Teknisk-naturvetenskapliga vetenskapsområdet, Matematisk-datavetenskapliga sektionen, Centrum för bildanalys.
    Borgefors, Gunilla
    Uppsala universitet, Teknisk-naturvetenskapliga vetenskapsområdet, Matematisk-datavetenskapliga sektionen, Centrum för bildanalys.
    Reduction of Ring Artifacts in High Resolution X-Ray Microtomography Images2006Inngår i: Pattern Recognition: 28th DAGM Symposium, Berlin, Germany, September 2006, Proceedings, 2006, s. 61-70Konferansepaper (Fagfellevurdert)
    Abstract [en]

    Ring artifacts can occur in reconstructed images from X-ray microtomography as full or partial circles centred on the rotation axis. In this paper, a 2D method is proposed that reduces these ring artifacts in the reconstructed images. The method consists of two main parts. First, the artifacts are localised in the image using local orientation estimation of the image structures and filtering to find ring patterns in the orientation information. Second, the map of the located artifacts is used to calculate a correction image using normalised convolution. The method is evaluated on 2D images from volume data of paper fibre imaged at the European Synchrotron Radiation Facility (ESRF) with high resolution X-ray microtomography. The results show that the proposed method reduces the artifacts and restores the pixel values for all types of partial and complete ring artifacts where the signal is not completely saturated.

  • 96.
    Axelsson, Maria
    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.
    Östlund, Catherine
    Vomhoff, Hannes
    Svensson, Stina
    Uppsala universitet, Teknisk-naturvetenskapliga vetenskapsområdet, Matematisk-datavetenskapliga sektionen, Centrum för bildanalys.
    Estimation of the pore volume at the interface between paper web and press felt2006Inngår i: Nordic Pulp & Paper Research Journal, ISSN 0283-2631, E-ISSN 2000-0669, Vol. 21, nr 3, s. 395-402Artikkel i tidsskrift (Fagfellevurdert)
    Abstract [en]

    A method for determining the water content at the interface between a press felt and a paper web has been developed. The water content was obtained by subtracting the estimated volume of the indented fibre web from the measured felt surface porosity of the press felt. The felt surface porosity was calculated from a topography map that was imaged with a Confocal Laser Scanning Microscope (CLSM) method. Here, the press felt was compressed against a smooth surface using a stress in the range of 0 to 10 MPa. Artefacts in the CLSM images were reduced using an image analysis method. The indentation of paper webs into the measured felt surface pores at different applied pressures was estimated using another image analysis method, simulating a rolling ball, with different radii of curvature for the different pressures and grammages, rolling over the felt surface. The ball radii were determined for a low and a high grammage web using the STFI-Packforsk Dewatering model. The method was evaluated in a case study with four press felts that had batt fibre diameters in a range between 22 and 78 μm. The indentation was calculated for webs with a low (15 g/m2) and a high grammage (105 g/m2), respectively. The evaluation showed that a considerable amount of porespace is available at the interface between the web and the felt. In most cases, the volume of the water-filled pores accounted for approximately 50% of the total surface porosity of the felt. Assuming a complete water saturation of the web/felt interface, approximately 10 g/m2 of water for the finest felt surface up to 40 g/m2 for the coarsest felt surface, could be located at the interface between the press felt and the paper web at a load of 10 MPa. This implies that a considerable amount of water is available for separation rewetting.

  • 97.
    Ayyalasomayajula, Kalyan Ram
    et al.
    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.
    Brun, 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.
    Document Binarization Combining with Graph Cuts and Deep Neural Networks2017Konferansepaper (Annet vitenskapelig)
  • 98.
    Ayyalasomayajula, Kalyan Ram
    et al.
    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.
    Brun, 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.
    Historical document binarization combining semantic labeling and graph cuts2017Inngår i: Image Analysis: Part I, Springer, 2017, s. 386-396Konferansepaper (Fagfellevurdert)
  • 99.
    Ayyalasomayajula, Kalyan Ram
    et al.
    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.
    Brun, 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.
    Semantic Labeling using Convolutional Networks coupled with Graph-Cuts for Document binarization2017Konferansepaper (Annet vitenskapelig)
  • 100.
    Ayyalasomayajula, Kalyan Ram
    et al.
    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.
    Brun, 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.
    Topological clustering guided document binarization2015Rapport (Annet vitenskapelig)
    Abstract [en]

    The current approach for text binarization proposes a clustering algorithm as a preprocessing stage to an energy-based segmentation method. It uses a clustering algorithm to obtain a coarse estimate of the background (BG) and foreground (FG) pixels. These estimates are usedas a prior for the source and sink points of a graph cut implementation, which is used to efficiently find the minimum energy solution of an objective function to separate the BG and FG. The binary image thus obtained is used to refine the edge map that guides the graph cut algorithm. A final binary image is obtained by once again performing the graph cut guided by the refined edges on Laplacian of the image.

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