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Robotics, Vision and Control : Fundamental Algorithms In MATLAB® Second, Completely Revised, Extended And Updated Edition
Robotic vision, the combination of robotics and computer vision, involves the application of computer algorithms to data acquired from sensors. The research community has developed a large body of such algorithms but for a newcomer to the field this can be quite daunting. For over 20 years the author has maintained two open-source MATLAB® Toolboxes, one for robotics and one for vision. They provide implementations of many important algorithms and allow users to work with real problems, not just trivial examples. This book makes the fundamental algorithms of robotics, vision and control accessible to all. It weaves together theory, algorithms and examples in a narrative that covers robotics and computer vision separately and together. Using the latest versions of the Toolboxes the author shows how complex problems can be decomposed and solved using just a few simple lines of code. The topics covered are guided by real problems observed by the author over many years as a practitioner of both robotics and computer vision. It is written in an accessible but informative style, easy to read and absorb, and includes over 1000 MATLAB and Simulink® examples and over 400 figures. The book is a real walk through the fundamentals of mobile robots, arm robots. then camera models, image processing, feature extraction and multi-view geometry and finally bringing it all together with an extensive discussion of visual servo systems. This second edition is completely revised, updated and extended with coverage of Lie groups, matrix exponentials and twists; inertial navigation; differential drive robots; lattice planners; pose-graph SLAM and map making; restructured material on arm-robot kinematics and dynamics; series-elastic actuators and operational-space control; Lab color spaces; light field cameras; structured light, bundle adjustment and visual odometry; and photometric visual servoing. \"An authoritative book, reaching across fields, thoughtfully conceived and brilliantly accomplished!\" OUSSAMA KHATIB, Stanford.
Book
BioPyC, an Open-Source Python Toolbox for Offline Electroencephalographic and Physiological Signals Classification
Research on brain–computer interfaces (BCIs) has become more democratic in recent decades, and experiments using electroencephalography (EEG)-based BCIs has dramatically increased. The variety of protocol designs and the growing interest in physiological computing require parallel improvements in processing and classification of both EEG signals and bio signals, such as electrodermal activity (EDA), heart rate (HR) or breathing. If some EEG-based analysis tools are already available for online BCIs with a number of online BCI platforms (e.g., BCI2000 or OpenViBE), it remains crucial to perform offline analyses in order to design, select, tune, validate and test algorithms before using them online. Moreover, studying and comparing those algorithms usually requires expertise in programming, signal processing and machine learning, whereas numerous BCI researchers come from other backgrounds with limited or no training in such skills. Finally, existing BCI toolboxes are focused on EEG and other brain signals but usually do not include processing tools for other bio signals. Therefore, in this paper, we describe BioPyC, a free, open-source and easy-to-use Python platform for offline EEG and biosignal processing and classification. Based on an intuitive and well-guided graphical interface, four main modules allow the user to follow the standard steps of the BCI process without any programming skills: (1) reading different neurophysiological signal data formats, (2) filtering and representing EEG and bio signals, (3) classifying them, and (4) visualizing and performing statistical tests on the results. We illustrate BioPyC use on four studies, namely classifying mental tasks, the cognitive workload, emotions and attention states from EEG signals.
Journal Article
Overview of constrained PARAFAC models
In this paper, we present an overview of constrained parallel factor (PARAFAC) models where the constraints model linear dependencies among columns of the factor matrices of the tensor decomposition or, alternatively, the pattern of interactions between different modes of the tensor which are captured by the equivalent core tensor. Some tensor prerequisites with a particular emphasis on mode combination using Kronecker products of canonical vectors that makes easier matricization operations, are first introduced. This Kronecker product‐based approach is also formulated in terms of an index notation, which provides an original and concise formalism for both matricizing tensors and writing tensor models. Then, after a brief reminder of PARAFAC and Tucker models, two families of constrained tensor models, the co‐called PARALIND/CONFAC and PARATUCK models, are described in a unified framework, for
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th‐order tensors. New tensor models, called nested Tucker models and block PARALIND/CONFAC models, are also introduced. A link between PARATUCK models and constrained PARAFAC models is then established. Finally, new uniqueness properties of PARATUCK models are deduced from sufficient conditions for essential uniqueness of their associated constrained PARAFAC models.
Journal Article
Comparing methods of detecting and segmenting unruptured intracranial aneurysms on TOF-MRAS: The ADAM challenge
Accurate detection and quantification of unruptured intracranial aneurysms (UIAs) is important for rupture risk assessment and to allow an informed treatment decision to be made. Currently, 2D manual measures used to assess UIAs on Time-of-Flight magnetic resonance angiographies (TOF-MRAs) lack 3D information and there is substantial inter-observer variability for both aneurysm detection and assessment of aneurysm size and growth. 3D measures could be helpful to improve aneurysm detection and quantification but are time-consuming and would therefore benefit from a reliable automatic UIA detection and segmentation method. The Aneurysm Detection and segMentation (ADAM) challenge was organised in which methods for automatic UIA detection and segmentation were developed and submitted to be evaluated on a diverse clinical TOF-MRA dataset.
A training set (113 cases with a total of 129 UIAs) was released, each case including a TOF-MRA, a structural MR image (T1, T2 or FLAIR), annotation of any present UIA(s) and the centre voxel of the UIA(s). A test set of 141 cases (with 153 UIAs) was used for evaluation. Two tasks were proposed: (1) detection and (2) segmentation of UIAs on TOF-MRAs. Teams developed and submitted containerised methods to be evaluated on the test set. Task 1 was evaluated using metrics of sensitivity and false positive count. Task 2 was evaluated using dice similarity coefficient, modified hausdorff distance (95th percentile) and volumetric similarity. For each task, a ranking was made based on the average of the metrics.
In total, eleven teams participated in task 1 and nine of those teams participated in task 2. Task 1 was won by a method specifically designed for the detection task (i.e. not participating in task 2). Based on segmentation metrics, the top two methods for task 2 performed statistically significantly better than all other methods. The detection performance of the top-ranking methods was comparable to visual inspection for larger aneurysms. Segmentation performance of the top ranking method, after selection of true UIAs, was similar to interobserver performance. The ADAM challenge remains open for future submissions and improved submissions, with a live leaderboard to provide benchmarking for method developments at https://adam.isi.uu.nl/.
Journal Article
From Intrinsic Optimization to Iterated Extended Kalman Filtering on Lie Groups
In this paper, we propose a new generic filter called Iterated Extended Kalman Filter on Lie Groups. It allows to perform parameter estimation when the state and the measurements evolve on matrix Lie groups. The contribution of this work is threefold: (1) the proposed filter generalizes the Euclidean Iterated Extended Kalman Filter to the case where both the state and the measurements evolve on Lie groups, (2) this novel filter bridges the gap between the minimization of intrinsic non-linear least squares criteria and filtering on Lie groups, (3) in order to detect and remove outlier measurements, a statistical test on Lie groups is proposed. In order to demonstrate the efficiency of the proposed generic filter, it is applied to the specific problem of relative motion averaging, both on synthetic and real data, for Lie groups
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(3D similarities). Typical applications of these problems are camera network calibration, image mosaicing, and partial 3D reconstruction merging problem. In each of these three applications, our approach significantly outperforms the state-of-the-art algorithms.
Journal Article
Sub-Pixel Mapping Model Based on Total Variation Regularization and Learned Spatial Dictionary
In this research study, we deal with remote sensing data analysis over high dimensional space formed by hyperspectral images. This task is generally complex due to the large spectral, spatial richness, and mixed pixels. Thus, several spectral un-mixing methods have been proposed to discriminate mixing spectra by estimating the classes and their presence rates. However, information related to mixed pixel composition is very interesting for some applications, but it is insufficient for many others. Thus, it is necessary to have much more data about the spatial localization of the classes detected during the spectral un-mixing process. To solve the above-mentioned problem and specify the spatial location of the different land cover classes in the mixed pixel, sub-pixel mapping techniques were introduced. This manuscript presents a novel sub-pixel mapping process relying on K-SVD (K-singular value decomposition) learning and total variation as a spatial regularization parameter (SMKSVD-TV: Sub-pixel Mapping based on K-SVD dictionary learning and Total Variation). The proposed approach adopts total variation as a spatial regularization parameter, to make edges smooth, and a pre-constructed spatial dictionary with the K-SVD dictionary training algorithm to have more spatial configurations at the sub-pixel level. It was tested and validated with three real hyperspectral data. The experimental results reveal that the attributes obtained by utilizing a learned spatial dictionary with isotropic total variation allowed improving the classes sub-pixel spatial localization, while taking into account pre-learned spatial patterns. It is also clear that the K-SVD dictionary learning algorithm can be applied to construct a spatial dictionary, particularly for each data set.
Journal Article
Sliced and Radon Wasserstein Barycenters of Measures
This article details two approaches to compute barycenters of measures using 1-D Wasserstein distances along radial projections of the input measures. The first method makes use of the Radon transform of the measures, and the second is the solution of a convex optimization problem over the space of measures. We show several properties of these barycenters and explain their relationship. We show numerical approximation schemes based on a discrete Radon transform and on the resolution of a non-convex optimization problem. We explore the respective merits and drawbacks of each approach on applications to two image processing problems: color transfer and texture mixing.
Journal Article
RIS-enabled smart wireless environments: deployment scenarios, network architecture, bandwidth and area of influence
Reconfigurable intelligent surfaces (RISs) constitute the key enabler for programmable electromagnetic propagation environments and are lately being considered as a candidate physical-layer technology for the demanding connectivity, reliability, localisation, and sustainability requirements of next-generation wireless networks. In this paper, we first present the deployment scenarios for RIS-enabled smart wireless environments that have been recently designed within the ongoing European Union Horizon 2020 RISE-6G project, as well as a network architecture integrating RISs with existing standardised interfaces. We identify various RIS deployment strategies and sketch the core architectural requirements in terms of RIS control and signalling, depending on the RIS hardware architectures and respective capabilities. Furthermore, we introduce and discuss, with the aid of simulations and reflect array measurements, two novel metrics that emerge in the context of RIS-empowered wireless systems: the RIS bandwidth of influence and the RIS area of influence. Their extensive investigation corroborates the need for careful deployment and planning of the RIS technology in future wireless networks.
Journal Article
Color Image Analysis by Quaternion-Type Moments
In this paper, by using the quaternion algebra, the conventional complex-type moments (CTMs) for gray-scale images are generalized to color images as quaternion-type moments (QTMs) in a holistic manner. We first provide a general formula of QTMs from which we derive a set of quaternion-valued QTM invariants (QTMIs) to image rotation, scale and translation transformations by eliminating the influence of transformation parameters. An efficient computation algorithm is also proposed so as to reduce computational complexity. The performance of the proposed QTMs and QTMIs are evaluated considering several application frameworks ranging from color image reconstruction, face recognition to image registration. We show they achieve better performance than CTMs and CTM invariants (CTMIs). We also discuss the choice of the unit pure quaternion influence with the help of experiments.
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Journal Article
Cracking the social code of speech prosody using reverse correlation
Human listeners excel at forming high-level social representations about each other, even from the briefest of utterances. In particular, pitch is widely recognized as the auditory dimension that conveys most of the information about a speaker’s traits, emotional states, and attitudes. While past research has primarily looked at the influence of mean pitch, almost nothing is known about how intonation patterns, i.e., finely tuned pitch trajectories around the mean, may determine social judgments in speech. Here, we introduce an experimental paradigm that combines state-of-the-art voice transformation algorithms with psychophysical reverse correlation and show that two of the most important dimensions of social judgments, a speaker’s perceived dominance and trust-worthiness, are driven by robust and distinguishing pitch trajectories in short utterances like the word “Hello,” which remained remarkably stable whether male or female listeners judged male or female speakers. These findings reveal a unique communicative adaptation that enables listeners to infer social traits regardless of speakers’ physical characteristics, such as sex and mean pitch. By characterizing how any given individual’s mental representations may differ from this generic code, the method introduced here opens avenues to explore dysprosody and social-cognitive deficits in disorders like autism spectrum and schizophrenia. In addition, once derived experimentally, these prototypes can be applied to novel utterances, thus providing a principled way to modulate personality impressions in arbitrary speech signals.
Journal Article