ST-CFSFDP algorithm based on Euclidean distance constraint

Author(s):  
JunQiao Jiang ◽  
Yuan Cheng ◽  
Ao Li
Author(s):  
Q. Zhou ◽  
X. Tong ◽  
S. Liu ◽  
X. Lu ◽  
S. Liu ◽  
...  

Visual Odometry (VO) is a critical component for planetary robot navigation and safety. It estimates the ego-motion using stereo images frame by frame. Feature points extraction and matching is one of the key steps for robotic motion estimation which largely influences the precision and robustness. In this work, we choose the Oriented FAST and Rotated BRIEF (ORB) features by considering both accuracy and speed issues. For more robustness in challenging environment e.g., rough terrain or planetary surface, this paper presents a robust outliers elimination method based on Euclidean Distance Constraint (EDC) and Random Sample Consensus (RANSAC) algorithm. In the matching process, a set of ORB feature points are extracted from the current left and right synchronous images and the Brute Force (BF) matcher is used to find the correspondences between the two images for the Space Intersection. Then the EDC and RANSAC algorithms are carried out to eliminate mismatches whose distances are beyond a predefined threshold. Similarly, when the left image of the next time matches the feature points with the current left images, the EDC and RANSAC are iteratively performed. After the above mentioned, there are exceptional remaining mismatched points in some cases, for which the third time RANSAC is applied to eliminate the effects of those outliers in the estimation of the ego-motion parameters (Interior Orientation and Exterior Orientation). The proposed approach has been tested on a real-world vehicle dataset and the result benefits from its high robustness.


2012 ◽  
Vol 479-481 ◽  
pp. 2235-2241
Author(s):  
Yi Yue He ◽  
Guo Hua Geng ◽  
Ming Quan Zhou ◽  
Jie Qiong He ◽  
Jia Jia ◽  
...  

Aiming at establishing physiological consistent point correspondence between 3D faces, this paper proposes a new hierarchical correspondence method based on thin plate spline deformation called HCTD by introducing local geometric constraints. Firstly, mark feature points in unified Frankfurt Coordinate and the sample face deform based on thin plate spline function according to strict correspondences of feature points, so the sample face approximately coincide with the template; Secondly, build voxel models respectively and select vertexes with salient feature from the template as the current under-corresponding vertex, and the candidate set of the corresponding vertex on sample face is determined by local relative position geometric constraint and Euclidean Distance constraint. Finally, the optimal corresponding vertex is selected according to the weighted distance of local geometric features. Experimental results prove that HCTD can establish point correspondence of faces with higher precision than existing methods.


2020 ◽  
Author(s):  
Cameron Hargreaves ◽  
Matthew Dyer ◽  
Michael Gaultois ◽  
Vitaliy Kurlin ◽  
Matthew J Rosseinsky

It is a core problem in any field to reliably tell how close two objects are to being the same, and once this relation has been established we can use this information to precisely quantify potential relationships, both analytically and with machine learning (ML). For inorganic solids, the chemical composition is a fundamental descriptor, which can be represented by assigning the ratio of each element in the material to a vector. These vectors are a convenient mathematical data structure for measuring similarity, but unfortunately, the standard metric (the Euclidean distance) gives little to no variance in the resultant distances between chemically dissimilar compositions. We present the Earth Mover’s Distance (EMD) for inorganic compositions, a well-defined metric which enables the measure of chemical similarity in an explainable fashion. We compute the EMD between two compositions from the ratio of each of the elements and the absolute distance between the elements on the modified Pettifor scale. This simple metric shows clear strength at distinguishing compounds and is efficient to compute in practice. The resultant distances have greater alignment with chemical understanding than the Euclidean distance, which is demonstrated on the binary compositions of the Inorganic Crystal Structure Database (ICSD). The EMD is a reliable numeric measure of chemical similarity that can be incorporated into automated workflows for a range of ML techniques. We have found that with no supervision the use of this metric gives a distinct partitioning of binary compounds into clear trends and families of chemical property, with future applications for nearest neighbor search queries in chemical database retrieval systems and supervised ML techniques.


Author(s):  
Luis Fernando Segalla ◽  
Alexandre Zabot ◽  
Diogo Nardelli Siebert ◽  
Fabiano Wolf

Author(s):  
Tu Huynh-Kha ◽  
Thuong Le-Tien ◽  
Synh Ha ◽  
Khoa Huynh-Van

This research work develops a new method to detect the forgery in image by combining the Wavelet transform and modified Zernike Moments (MZMs) in which the features are defined from more pixels than in traditional Zernike Moments. The tested image is firstly converted to grayscale and applied one level Discrete Wavelet Transform (DWT) to reduce the size of image by a half in both sides. The approximation sub-band (LL), which is used for processing, is then divided into overlapping blocks and modified Zernike moments are calculated in each block as feature vectors. More pixels are considered, more sufficient features are extracted. Lexicographical sorting and correlation coefficients computation on feature vectors are next steps to find the similar blocks. The purpose of applying DWT to reduce the dimension of the image before using Zernike moments with updated coefficients is to improve the computational time and increase exactness in detection. Copied or duplicated parts will be detected as traces of copy-move forgery manipulation based on a threshold of correlation coefficients and confirmed exactly from the constraint of Euclidean distance. Comparisons results between proposed method and related ones prove the feasibility and efficiency of the proposed algorithm.


2019 ◽  
Vol 24 (2) ◽  
pp. 134-139
Author(s):  
Miftahul Jannah ◽  
Nurul Humaira
Keyword(s):  

Gait adalah cara atau sikap berjalan kaki seseorang. Tiap orang memiliki cara berjalan yang berbeda, sehingga gerak jalan seseorang sulit untuk disembunyikan ataupun direkayasa. Analisis gait adalah ilmu pengetahuan yang mempelajari tentang kemampuan atau cara bergerak manusia. Dalam bidang kedokteran, analisis gait digunakan untuk menentukan penanganan dan terapi bagi pasien rehabilitasi medik. Dalam penelitian ini digunakan fitur jarak pada citra skeleton. Ekstraksi fitur jarak pada citra skeleton menggunakan metode euclidean distance terbagi dalam beberapa tahapan, dimulai dengan mengambil citra skeleton, konversi citra RGB menjadi citra Biner, proses menemukan titik koordinat dari titik akhir dan titik percabangan, dan ekstraksi fitur pada skeleton. Metode yang digunakan menghasilkan persentase tingkat keberhasilan sebesar 87.84%.


2013 ◽  
Vol 34 (7) ◽  
pp. 1589-1595
Author(s):  
Jing Wang ◽  
Mao-sheng Xiang ◽  
Li-deng Wei ◽  
Hai-liang Wang ◽  
Xi-rui Sun ◽  
...  

2019 ◽  
Vol 952 (10) ◽  
pp. 2-9
Author(s):  
Yu.M. Neiman ◽  
L.S. Sugaipova ◽  
V.V. Popadyev

As we know the spherical functions are traditionally used in geodesy for modeling the gravitational field of the Earth. But the gravitational field is not stationary either in space or in time (but the latter is beyond the scope of this article) and can change quite strongly in various directions. By its nature, the spherical functions do not fully display the local features of the field. With this in mind it is advisable to use spatially localized basis functions. So it is convenient to divide the region under consideration into segments with a nearly stationary field. The complexity of the field in each segment can be characterized by means of an anisotropic matrix resulting from the covariance analysis of the field. If we approach the modeling in this way there can arise a problem of poor coherence of local models on segments’ borders. To solve the above mentioned problem it is proposed in this article to use new basis functions with Mahalanobis metric instead of the usual Euclidean distance. The Mahalanobis metric and the quadratic form generalizing this metric enables us to take into account the structure of the field when determining the distance between the points and to make the modeling process continuous.


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