Rhythmic Extended Kalman Filter for Gait Rehabilitation Motion Estimation and Segmentation.

PubMed

Joukov, Vladimir; Bonnet, Vincent; Karg, Michelle; Venture, Gentiane; Kulic, Dana

2018-02-01

This paper proposes a method to enable the use of non-intrusive, small, wearable, and wireless sensors to estimate the pose of the lower body during gait and other periodic motions and to extract objective performance measures useful for physiotherapy. The Rhythmic Extended Kalman Filter (Rhythmic-EKF) algorithm is developed to estimate the pose, learn an individualized model of periodic movement over time, and use the learned model to improve pose estimation. The proposed approach learns a canonical dynamical system model of the movement during online observation, which is used to accurately model the acceleration during pose estimation. The canonical dynamical system models the motion as a periodic signal. The estimated phase and frequency of the motion also allow the proposed approach to segment the motion into repetitions and extract useful features, such as gait symmetry, step length, and mean joint movement and variance. The algorithm is shown to outperform the extended Kalman filter in simulation, on healthy participant data, and stroke patient data. For the healthy participant marching dataset, the Rhythmic-EKF improves joint acceleration and velocity estimates over regular EKF by 40% and 37%, respectively, estimates joint angles with 2.4° root mean squared error, and segments the motion into repetitions with 96% accuracy.

Learning toward practical head pose estimation

NASA Astrophysics Data System (ADS)

Sang, Gaoli; He, Feixiang; Zhu, Rong; Xuan, Shibin

2017-08-01

Head pose is useful information for many face-related tasks, such as face recognition, behavior analysis, human-computer interfaces, etc. Existing head pose estimation methods usually assume that the face images have been well aligned or that sufficient and precise training data are available. In practical applications, however, these assumptions are very likely to be invalid. This paper first investigates the impact of the failure of these assumptions, i.e., misalignment of face images, uncertainty and undersampling of training data, on head pose estimation accuracy of state-of-the-art methods. A learning-based approach is then designed to enhance the robustness of head pose estimation to these factors. To cope with misalignment, instead of using hand-crafted features, it seeks suitable features by learning from a set of training data with a deep convolutional neural network (DCNN), such that the training data can be best classified into the correct head pose categories. To handle uncertainty and undersampling, it employs multivariate labeling distributions (MLDs) with dense sampling intervals to represent the head pose attributes of face images. The correlation between the features and the dense MLD representations of face images is approximated by a maximum entropy model, whose parameters are optimized on the given training data. To estimate the head pose of a face image, its MLD representation is first computed according to the model based on the features extracted from the image by the trained DCNN, and its head pose is then assumed to be the one corresponding to the peak in its MLD. Evaluation experiments on the Pointing'04, FacePix, Multi-PIE, and CASIA-PEAL databases prove the effectiveness and efficiency of the proposed method.

A combined vision-inertial fusion approach for 6-DoF object pose estimation

NASA Astrophysics Data System (ADS)

Li, Juan; Bernardos, Ana M.; Tarrío, Paula; Casar, José R.

2015-02-01

The estimation of the 3D position and orientation of moving objects (`pose' estimation) is a critical process for many applications in robotics, computer vision or mobile services. Although major research efforts have been carried out to design accurate, fast and robust indoor pose estimation systems, it remains as an open challenge to provide a low-cost, easy to deploy and reliable solution. Addressing this issue, this paper describes a hybrid approach for 6 degrees of freedom (6-DoF) pose estimation that fuses acceleration data and stereo vision to overcome the respective weaknesses of single technology approaches. The system relies on COTS technologies (standard webcams, accelerometers) and printable colored markers. It uses a set of infrastructure cameras, located to have the object to be tracked visible most of the operation time; the target object has to include an embedded accelerometer and be tagged with a fiducial marker. This simple marker has been designed for easy detection and segmentation and it may be adapted to different service scenarios (in shape and colors). Experimental results show that the proposed system provides high accuracy, while satisfactorily dealing with the real-time constraints.

Hardware in the Loop Performance Assessment of LIDAR-Based Spacecraft Pose Determination

PubMed Central

Fasano, Giancarmine; Grassi, Michele

2017-01-01

In this paper an original, easy to reproduce, semi-analytic calibration approach is developed for hardware-in-the-loop performance assessment of pose determination algorithms processing point cloud data, collected by imaging a non-cooperative target with LIDARs. The laboratory setup includes a scanning LIDAR, a monocular camera, a scaled-replica of a satellite-like target, and a set of calibration tools. The point clouds are processed by uncooperative model-based algorithms to estimate the target relative position and attitude with respect to the LIDAR. Target images, acquired by a monocular camera operated simultaneously with the LIDAR, are processed applying standard solutions to the Perspective-n-Points problem to get high-accuracy pose estimates which can be used as a benchmark to evaluate the accuracy attained by the LIDAR-based techniques. To this aim, a precise knowledge of the extrinsic relative calibration between the camera and the LIDAR is essential, and it is obtained by implementing an original calibration approach which does not need ad-hoc homologous targets (e.g., retro-reflectors) easily recognizable by the two sensors. The pose determination techniques investigated by this work are of interest to space applications involving close-proximity maneuvers between non-cooperative platforms, e.g., on-orbit servicing and active debris removal. PMID:28946651

Hardware in the Loop Performance Assessment of LIDAR-Based Spacecraft Pose Determination.

PubMed

Opromolla, Roberto; Fasano, Giancarmine; Rufino, Giancarlo; Grassi, Michele

2017-09-24

In this paper an original, easy to reproduce, semi-analytic calibration approach is developed for hardware-in-the-loop performance assessment of pose determination algorithms processing point cloud data, collected by imaging a non-cooperative target with LIDARs. The laboratory setup includes a scanning LIDAR, a monocular camera, a scaled-replica of a satellite-like target, and a set of calibration tools. The point clouds are processed by uncooperative model-based algorithms to estimate the target relative position and attitude with respect to the LIDAR. Target images, acquired by a monocular camera operated simultaneously with the LIDAR, are processed applying standard solutions to the Perspective- n -Points problem to get high-accuracy pose estimates which can be used as a benchmark to evaluate the accuracy attained by the LIDAR-based techniques. To this aim, a precise knowledge of the extrinsic relative calibration between the camera and the LIDAR is essential, and it is obtained by implementing an original calibration approach which does not need ad-hoc homologous targets (e.g., retro-reflectors) easily recognizable by the two sensors. The pose determination techniques investigated by this work are of interest to space applications involving close-proximity maneuvers between non-cooperative platforms, e.g., on-orbit servicing and active debris removal.

Influence of outliers on accuracy estimation in genomic prediction in plant breeding.

PubMed

Estaghvirou, Sidi Boubacar Ould; Ogutu, Joseph O; Piepho, Hans-Peter

2014-10-01

Outliers often pose problems in analyses of data in plant breeding, but their influence on the performance of methods for estimating predictive accuracy in genomic prediction studies has not yet been evaluated. Here, we evaluate the influence of outliers on the performance of methods for accuracy estimation in genomic prediction studies using simulation. We simulated 1000 datasets for each of 10 scenarios to evaluate the influence of outliers on the performance of seven methods for estimating accuracy. These scenarios are defined by the number of genotypes, marker effect variance, and magnitude of outliers. To mimic outliers, we added to one observation in each simulated dataset, in turn, 5-, 8-, and 10-times the error SD used to simulate small and large phenotypic datasets. The effect of outliers on accuracy estimation was evaluated by comparing deviations in the estimated and true accuracies for datasets with and without outliers. Outliers adversely influenced accuracy estimation, more so at small values of genetic variance or number of genotypes. A method for estimating heritability and predictive accuracy in plant breeding and another used to estimate accuracy in animal breeding were the most accurate and resistant to outliers across all scenarios and are therefore preferable for accuracy estimation in genomic prediction studies. The performances of the other five methods that use cross-validation were less consistent and varied widely across scenarios. The computing time for the methods increased as the size of outliers and sample size increased and the genetic variance decreased. Copyright © 2014 Ould Estaghvirou et al.

An Improved Method of Pose Estimation for Lighthouse Base Station Extension.

PubMed

Yang, Yi; Weng, Dongdong; Li, Dong; Xun, Hang

2017-10-22

In 2015, HTC and Valve launched a virtual reality headset empowered with Lighthouse, the cutting-edge space positioning technology. Although Lighthouse is superior in terms of accuracy, latency and refresh rate, its algorithms do not support base station expansion, and is flawed concerning occlusion in moving targets, that is, it is unable to calculate their poses with a small set of sensors, resulting in the loss of optical tracking data. In view of these problems, this paper proposes an improved pose estimation algorithm for cases where occlusion is involved. Our algorithm calculates the pose of a given object with a unified dataset comprising of inputs from sensors recognized by all base stations, as long as three or more sensors detect a signal in total, no matter from which base station. To verify our algorithm, HTC official base stations and autonomous developed receivers are used for prototyping. The experiment result shows that our pose calculation algorithm can achieve precise positioning when a few sensors detect the signal.

An Improved Method of Pose Estimation for Lighthouse Base Station Extension

PubMed Central

Yang, Yi; Weng, Dongdong; Li, Dong; Xun, Hang

2017-01-01

In 2015, HTC and Valve launched a virtual reality headset empowered with Lighthouse, the cutting-edge space positioning technology. Although Lighthouse is superior in terms of accuracy, latency and refresh rate, its algorithms do not support base station expansion, and is flawed concerning occlusion in moving targets, that is, it is unable to calculate their poses with a small set of sensors, resulting in the loss of optical tracking data. In view of these problems, this paper proposes an improved pose estimation algorithm for cases where occlusion is involved. Our algorithm calculates the pose of a given object with a unified dataset comprising of inputs from sensors recognized by all base stations, as long as three or more sensors detect a signal in total, no matter from which base station. To verify our algorithm, HTC official base stations and autonomous developed receivers are used for prototyping. The experiment result shows that our pose calculation algorithm can achieve precise positioning when a few sensors detect the signal. PMID:29065509

Three-dimensional kinematic estimation of mobile-bearing total knee arthroplasty from x-ray fluoroscopic images

NASA Astrophysics Data System (ADS)

Yamazaki, Takaharu; Futai, Kazuma; Tomita, Tetsuya; Sato, Yoshinobu; Yoshikawa, Hideki; Tamura, Shinichi; Sugamoto, Kazuomi

2011-03-01

To achieve 3D kinematic analysis of total knee arthroplasty (TKA), 2D/3D registration techniques, which use X-ray fluoroscopic images and computer-aided design (CAD) model of the knee implant, have attracted attention in recent years. These techniques could provide information regarding the movement of radiopaque femoral and tibial components but could not provide information of radiolucent polyethylene insert, because the insert silhouette on X-ray image did not appear clearly. Therefore, it was difficult to obtain 3D kinemaitcs of polyethylene insert, particularly mobile-bearing insert that move on the tibial component. This study presents a technique and the accuracy for 3D kinematic analysis of mobile-bearing insert in TKA using X-ray fluoroscopy, and finally performs clinical applications. For a 3D pose estimation technique of the mobile-bearing insert in TKA using X-ray fluoroscopy, tantalum beads and CAD model with its beads are utilized, and the 3D pose of the insert model is estimated using a feature-based 2D/3D registration technique. In order to validate the accuracy of the present technique, experiments including computer simulation test were performed. The results showed the pose estimation accuracy was sufficient for analyzing mobile-bearing TKA kinematics (the RMS error: about 1.0 mm, 1.0 degree). In the clinical applications, seven patients with mobile-bearing TKA in deep knee bending motion were studied and analyzed. Consequently, present technique enables us to better understand mobile-bearing TKA kinematics, and this type of evaluation was thought to be helpful for improving implant design and optimizing TKA surgical techniques.

Measurement of the PPN parameter γ by testing the geometry of near-Earth space

NASA Astrophysics Data System (ADS)

Luo, Jie; Tian, Yuan; Wang, Dian-Hong; Qin, Cheng-Gang; Shao, Cheng-Gang

2016-06-01

The Beyond Einstein Advanced Coherent Optical Network (BEACON) mission was designed to achieve an accuracy of 10^{-9} in measuring the Eddington parameter γ , which is perhaps the most fundamental Parameterized Post-Newtonian parameter. However, this ideal accuracy was just estimated as a ratio of the measurement accuracy of the inter-spacecraft distances to the magnitude of the departure from Euclidean geometry. Based on the BEACON concept, we construct a measurement model to estimate the parameter γ with the least squares method. Influences of the measurement noise and the out-of-plane error on the estimation accuracy are evaluated based on the white noise model. Though the BEACON mission does not require expensive drag-free systems and avoids physical dynamical models of spacecraft, the relatively low accuracy of initial inter-spacecraft distances poses a great challenge, which reduces the estimation accuracy in about two orders of magnitude. Thus the noise requirements may need to be more stringent in the design in order to achieve the target accuracy, which is demonstrated in the work. Considering that, we have given the limits on the power spectral density of both noise sources for the accuracy of 10^{-9}.

Marginal space learning for efficient detection of 2D/3D anatomical structures in medical images.

PubMed

Zheng, Yefeng; Georgescu, Bogdan; Comaniciu, Dorin

2009-01-01

Recently, marginal space learning (MSL) was proposed as a generic approach for automatic detection of 3D anatomical structures in many medical imaging modalities [1]. To accurately localize a 3D object, we need to estimate nine pose parameters (three for position, three for orientation, and three for anisotropic scaling). Instead of exhaustively searching the original nine-dimensional pose parameter space, only low-dimensional marginal spaces are searched in MSL to improve the detection speed. In this paper, we apply MSL to 2D object detection and perform a thorough comparison between MSL and the alternative full space learning (FSL) approach. Experiments on left ventricle detection in 2D MRI images show MSL outperforms FSL in both speed and accuracy. In addition, we propose two novel techniques, constrained MSL and nonrigid MSL, to further improve the efficiency and accuracy. In many real applications, a strong correlation may exist among pose parameters in the same marginal spaces. For example, a large object may have large scaling values along all directions. Constrained MSL exploits this correlation for further speed-up. The original MSL only estimates the rigid transformation of an object in the image, therefore cannot accurately localize a nonrigid object under a large deformation. The proposed nonrigid MSL directly estimates the nonrigid deformation parameters to improve the localization accuracy. The comparison experiments on liver detection in 226 abdominal CT volumes demonstrate the effectiveness of the proposed methods. Our system takes less than a second to accurately detect the liver in a volume.

Robust feature tracking for endoscopic pose estimation and structure recovery

NASA Astrophysics Data System (ADS)

Speidel, S.; Krappe, S.; Röhl, S.; Bodenstedt, S.; Müller-Stich, B.; Dillmann, R.

2013-03-01

Minimally invasive surgery is a highly complex medical discipline with several difficulties for the surgeon. To alleviate these difficulties, augmented reality can be used for intraoperative assistance. For visualization, the endoscope pose must be known which can be acquired with a SLAM (Simultaneous Localization and Mapping) approach using the endoscopic images. In this paper we focus on feature tracking for SLAM in minimally invasive surgery. Robust feature tracking and minimization of false correspondences is crucial for localizing the endoscope. As sensory input we use a stereo endoscope and evaluate different feature types in a developed SLAM framework. The accuracy of the endoscope pose estimation is validated with synthetic and ex vivo data. Furthermore we test the approach with in vivo image sequences from da Vinci interventions.

Model-based Estimation for Pose, Velocity of Projectile from Stereo Linear Array Image

NASA Astrophysics Data System (ADS)

Zhao, Zhuxin; Wen, Gongjian; Zhang, Xing; Li, Deren

2012-01-01

The pose (position and attitude) and velocity of in-flight projectiles have major influence on the performance and accuracy. A cost-effective method for measuring the gun-boosted projectiles is proposed. The method adopts only one linear array image collected by the stereo vision system combining a digital line-scan camera and a mirror near the muzzle. From the projectile's stereo image, the motion parameters (pose and velocity) are acquired by using a model-based optimization algorithm. The algorithm achieves optimal estimation of the parameters by matching the stereo projection of the projectile and that of the same size 3D model. The speed and the AOA (angle of attack) could also be determined subsequently. Experiments are made to test the proposed method.

Quantifying cannabis: A field study of marijuana quantity estimation.

PubMed

Prince, Mark A; Conner, Bradley T; Pearson, Matthew R

2018-06-01

The assessment of marijuana use quantity poses unique challenges. These challenges have limited research efforts on quantity assessments. However, quantity estimates are critical to detecting associations between marijuana use and outcomes. We examined accuracy of marijuana users' estimations of quantities of marijuana they prepared to ingest and predictors of both how much was prepared for a single dose and the degree of (in)accuracy of participants' estimates. We recruited a sample of 128 regular-to-heavy marijuana users for a field study wherein they prepared and estimated quantities of marijuana flower in a joint or a bowl as well as marijuana concentrate using a dab tool. The vast majority of participants overestimated the quantity of marijuana that they used in their preparations. We failed to find robust predictors of estimation accuracy. Self-reported quantity estimates are inaccurate, which has implications for studying the link between quantity and marijuana use outcomes. (PsycINFO Database Record (c) 2018 APA, all rights reserved).

A deep learning approach for pose estimation from volumetric OCT data.

PubMed

Gessert, Nils; Schlüter, Matthias; Schlaefer, Alexander

2018-05-01

Tracking the pose of instruments is a central problem in image-guided surgery. For microscopic scenarios, optical coherence tomography (OCT) is increasingly used as an imaging modality. OCT is suitable for accurate pose estimation due to its micrometer range resolution and volumetric field of view. However, OCT image processing is challenging due to speckle noise and reflection artifacts in addition to the images' 3D nature. We address pose estimation from OCT volume data with a new deep learning-based tracking framework. For this purpose, we design a new 3D convolutional neural network (CNN) architecture to directly predict the 6D pose of a small marker geometry from OCT volumes. We use a hexapod robot to automatically acquire labeled data points which we use to train 3D CNN architectures for multi-output regression. We use this setup to provide an in-depth analysis on deep learning-based pose estimation from volumes. Specifically, we demonstrate that exploiting volume information for pose estimation yields higher accuracy than relying on 2D representations with depth information. Supporting this observation, we provide quantitative and qualitative results that 3D CNNs effectively exploit the depth structure of marker objects. Regarding the deep learning aspect, we present efficient design principles for 3D CNNs, making use of insights from the 2D deep learning community. In particular, we present Inception3D as a new architecture which performs best for our application. We show that our deep learning approach reaches errors at our ground-truth label's resolution. We achieve a mean average error of 14.89 ± 9.3 µm and 0.096 ± 0.072° for position and orientation learning, respectively. Copyright © 2018 Elsevier B.V. All rights reserved.

A Probabilistic Feature Map-Based Localization System Using a Monocular Camera.

PubMed

Kim, Hyungjin; Lee, Donghwa; Oh, Taekjun; Choi, Hyun-Taek; Myung, Hyun

2015-08-31

Image-based localization is one of the most widely researched localization techniques in the robotics and computer vision communities. As enormous image data sets are provided through the Internet, many studies on estimating a location with a pre-built image-based 3D map have been conducted. Most research groups use numerous image data sets that contain sufficient features. In contrast, this paper focuses on image-based localization in the case of insufficient images and features. A more accurate localization method is proposed based on a probabilistic map using 3D-to-2D matching correspondences between a map and a query image. The probabilistic feature map is generated in advance by probabilistic modeling of the sensor system as well as the uncertainties of camera poses. Using the conventional PnP algorithm, an initial camera pose is estimated on the probabilistic feature map. The proposed algorithm is optimized from the initial pose by minimizing Mahalanobis distance errors between features from the query image and the map to improve accuracy. To verify that the localization accuracy is improved, the proposed algorithm is compared with the conventional algorithm in a simulation and realenvironments.

A Probabilistic Feature Map-Based Localization System Using a Monocular Camera

PubMed Central

Kim, Hyungjin; Lee, Donghwa; Oh, Taekjun; Choi, Hyun-Taek; Myung, Hyun

2015-01-01

Image-based localization is one of the most widely researched localization techniques in the robotics and computer vision communities. As enormous image data sets are provided through the Internet, many studies on estimating a location with a pre-built image-based 3D map have been conducted. Most research groups use numerous image data sets that contain sufficient features. In contrast, this paper focuses on image-based localization in the case of insufficient images and features. A more accurate localization method is proposed based on a probabilistic map using 3D-to-2D matching correspondences between a map and a query image. The probabilistic feature map is generated in advance by probabilistic modeling of the sensor system as well as the uncertainties of camera poses. Using the conventional PnP algorithm, an initial camera pose is estimated on the probabilistic feature map. The proposed algorithm is optimized from the initial pose by minimizing Mahalanobis distance errors between features from the query image and the map to improve accuracy. To verify that the localization accuracy is improved, the proposed algorithm is compared with the conventional algorithm in a simulation and realenvironments. PMID:26404284

Retrieval of LAI and leaf chlorophyll content from remote sensing data by agronomy mechanism knowledge to solve the ill-posed inverse problem

NASA Astrophysics Data System (ADS)

Li, Zhenhai; Nie, Chenwei; Yang, Guijun; Xu, Xingang; Jin, Xiuliang; Gu, Xiaohe

2014-10-01

Leaf area index (LAI) and LCC, as the two most important crop growth variables, are major considerations in management decisions, agricultural planning and policy making. Estimation of canopy biophysical variables from remote sensing data was investigated using a radiative transfer model. However, the ill-posed problem is unavoidable for the unique solution of the inverse problem and the uncertainty of measurements and model assumptions. This study focused on the use of agronomy mechanism knowledge to restrict and remove the ill-posed inversion results. For this purpose, the inversion results obtained using the PROSAIL model alone (NAMK) and linked with agronomic mechanism knowledge (AMK) were compared. The results showed that AMK did not significantly improve the accuracy of LAI inversion. LAI was estimated with high accuracy, and there was no significant improvement after considering AMK. The validation results of the determination coefficient (R2) and the corresponding root mean square error (RMSE) between measured LAI and estimated LAI were 0.635 and 1.022 for NAMK, and 0.637 and 0.999 for AMK, respectively. LCC estimation was significantly improved with agronomy mechanism knowledge; the R2 and RMSE values were 0.377 and 14.495 μg cm-2 for NAMK, and 0.503 and 10.661 μg cm-2 for AMK, respectively. Results of the comparison demonstrated the need for agronomy mechanism knowledge in radiative transfer model inversion.

An evaluation of 3D head pose estimation using the Microsoft Kinect v2.

PubMed

Darby, John; Sánchez, María B; Butler, Penelope B; Loram, Ian D

2016-07-01

The Kinect v2 sensor supports real-time non-invasive 3D head pose estimation. Because the sensor is small, widely available and relatively cheap it has great potential as a tool for groups interested in measuring head posture. In this paper we compare the Kinect's head pose estimates with a marker-based record of ground truth in order to establish its accuracy. During movement of the head and neck alone (with static torso), we find average errors in absolute yaw, pitch and roll angles of 2.0±1.2°, 7.3±3.2° and 2.6±0.7°, and in rotations relative to the rest pose of 1.4±0.5°, 2.1±0.4° and 2.0±0.8°. Larger head rotations where it becomes difficult to see facial features can cause estimation to fail (10.2±6.1% of all poses in our static torso range of motion tests) but we found no significant changes in performance with the participant standing further away from Kinect - additionally enabling full-body pose estimation - or without performing face shape calibration, something which is not always possible for younger or disabled participants. Where facial features remain visible, the sensor has applications in the non-invasive assessment of postural control, e.g. during a programme of physical therapy. In particular, a multi-Kinect setup covering the full range of head (and body) movement would appear to be a promising way forward. Copyright © 2016 Elsevier B.V. All rights reserved.

Temporal subtraction of chest radiographs compensating pose differences

NASA Astrophysics Data System (ADS)

von Berg, Jens; Dworzak, Jalda; Klinder, Tobias; Manke, Dirk; Kreth, Adrian; Lamecker, Hans; Zachow, Stefan; Lorenz, Cristian

2011-03-01

Temporal subtraction techniques using 2D image registration improve the detectability of interval changes from chest radiographs. Although such methods are well known for some time they are not widely used in radiologic practice. The reason is the occurrence of strong pose differences between two acquisitions with a time interval of months to years in between. Such strong perspective differences occur in a reasonable number of cases. They cannot be compensated by available image registration methods and thus mask interval changes to be undetectable. In this paper a method is proposed to estimate a 3D pose difference by the adaptation of a 3D rib cage model to both projections. The difference between both is then compensated for, thus producing a subtraction image with virtually no change in pose. The method generally assumes that no 3D image data is available from the patient. The accuracy of pose estimation is validated with chest phantom images acquired under controlled geometric conditions. A subtle interval change simulated by a piece of plastic foam attached to the phantom becomes visible in subtraction images generated with this technique even at strong angular pose differences like an anterior-posterior inclination of 13 degrees.

Tracking Control of Mobile Robots Localized via Chained Fusion of Discrete and Continuous Epipolar Geometry, IMU and Odometry.

PubMed

Tick, David; Satici, Aykut C; Shen, Jinglin; Gans, Nicholas

2013-08-01

This paper presents a novel navigation and control system for autonomous mobile robots that includes path planning, localization, and control. A unique vision-based pose and velocity estimation scheme utilizing both the continuous and discrete forms of the Euclidean homography matrix is fused with inertial and optical encoder measurements to estimate the pose, orientation, and velocity of the robot and ensure accurate localization and control signals. A depth estimation system is integrated in order to overcome the loss of scale inherent in vision-based estimation. A path following control system is introduced that is capable of guiding the robot along a designated curve. Stability analysis is provided for the control system and experimental results are presented that prove the combined localization and control system performs with high accuracy.

Refraction-compensated motion tracking of unrestrained small animals in positron emission tomography.

PubMed

Kyme, Andre; Meikle, Steven; Baldock, Clive; Fulton, Roger

2012-08-01

Motion-compensated radiotracer imaging of fully conscious rodents represents an important paradigm shift for preclinical investigations. In such studies, if motion tracking is performed through a transparent enclosure containing the awake animal, light refraction at the interface will introduce errors in stereo pose estimation. We have performed a thorough investigation of how this impacts the accuracy of pose estimates and the resulting motion correction, and developed an efficient method to predict and correct for refraction-based error. The refraction model underlying this study was validated using a state-of-the-art motion tracking system. Refraction-based error was shown to be dependent on tracking marker size, working distance, and interface thickness and tilt. Correcting for refraction error improved the spatial resolution and quantitative accuracy of motion-corrected positron emission tomography images. Since the methods are general, they may also be useful in other contexts where data are corrupted by refraction effects. Crown Copyright © 2012. Published by Elsevier B.V. All rights reserved.

Landmark based localization in urban environment

NASA Astrophysics Data System (ADS)

Qu, Xiaozhi; Soheilian, Bahman; Paparoditis, Nicolas

2018-06-01

A landmark based localization with uncertainty analysis based on cameras and geo-referenced landmarks is presented in this paper. The system is developed to adapt different camera configurations for six degree-of-freedom pose estimation. Local bundle adjustment is applied for optimization and the geo-referenced landmarks are integrated to reduce the drift. In particular, the uncertainty analysis is taken into account. On the one hand, we estimate the uncertainties of poses to predict the precision of localization. On the other hand, uncertainty propagation is considered for matching, tracking and landmark registering. The proposed method is evaluated on both KITTI benchmark and the data acquired by a mobile mapping system. In our experiments, decimeter level accuracy can be reached.

Camera pose estimation for augmented reality in a small indoor dynamic scene

NASA Astrophysics Data System (ADS)

Frikha, Rawia; Ejbali, Ridha; Zaied, Mourad

2017-09-01

Camera pose estimation remains a challenging task for augmented reality (AR) applications. Simultaneous localization and mapping (SLAM)-based methods are able to estimate the six degrees of freedom camera motion while constructing a map of an unknown environment. However, these methods do not provide any reference for where to insert virtual objects since they do not have any information about scene structure and may fail in cases of occlusion of three-dimensional (3-D) map points or dynamic objects. This paper presents a real-time monocular piece wise planar SLAM method using the planar scene assumption. Using planar structures in the mapping process allows rendering virtual objects in a meaningful way on the one hand and improving the precision of the camera pose and the quality of 3-D reconstruction of the environment by adding constraints on 3-D points and poses in the optimization process on the other hand. We proposed to benefit from the 3-D planes rigidity motion in the tracking process to enhance the system robustness in the case of dynamic scenes. Experimental results show that using a constrained planar scene improves our system accuracy and robustness compared with the classical SLAM systems.

Baseline Face Detection, Head Pose Estimation, and Coarse Direction Detection for Facial Data in the SHRP2 Naturalistic Driving Study

DOE Office of Scientific and Technical Information (OSTI.GOV)

Paone, Jeffrey R; Bolme, David S; Ferrell, Regina Kay

Keeping a driver focused on the road is one of the most critical steps in insuring the safe operation of a vehicle. The Strategic Highway Research Program 2 (SHRP2) has over 3,100 recorded videos of volunteer drivers during a period of 2 years. This extensive naturalistic driving study (NDS) contains over one million hours of video and associated data that could aid safety researchers in understanding where the driver s attention is focused. Manual analysis of this data is infeasible, therefore efforts are underway to develop automated feature extraction algorithms to process and characterize the data. The real-world nature, volume,more » and acquisition conditions are unmatched in the transportation community, but there are also challenges because the data has relatively low resolution, high compression rates, and differing illumination conditions. A smaller dataset, the head pose validation study, is available which used the same recording equipment as SHRP2 but is more easily accessible with less privacy constraints. In this work we report initial head pose accuracy using commercial and open source face pose estimation algorithms on the head pose validation data set.« less

Optical Enhancement of Exoskeleton-Based Estimation of Glenohumeral Angles

PubMed Central

Cortés, Camilo; Unzueta, Luis; de los Reyes-Guzmán, Ana; Ruiz, Oscar E.; Flórez, Julián

2016-01-01

In Robot-Assisted Rehabilitation (RAR) the accurate estimation of the patient limb joint angles is critical for assessing therapy efficacy. In RAR, the use of classic motion capture systems (MOCAPs) (e.g., optical and electromagnetic) to estimate the Glenohumeral (GH) joint angles is hindered by the exoskeleton body, which causes occlusions and magnetic disturbances. Moreover, the exoskeleton posture does not accurately reflect limb posture, as their kinematic models differ. To address the said limitations in posture estimation, we propose installing the cameras of an optical marker-based MOCAP in the rehabilitation exoskeleton. Then, the GH joint angles are estimated by combining the estimated marker poses and exoskeleton Forward Kinematics. Such hybrid system prevents problems related to marker occlusions, reduced camera detection volume, and imprecise joint angle estimation due to the kinematic mismatch of the patient and exoskeleton models. This paper presents the formulation, simulation, and accuracy quantification of the proposed method with simulated human movements. In addition, a sensitivity analysis of the method accuracy to marker position estimation errors, due to system calibration errors and marker drifts, has been carried out. The results show that, even with significant errors in the marker position estimation, method accuracy is adequate for RAR. PMID:27403044

3-D rigid body tracking using vision and depth sensors.

PubMed

Gedik, O Serdar; Alatan, A Aydn

2013-10-01

In robotics and augmented reality applications, model-based 3-D tracking of rigid objects is generally required. With the help of accurate pose estimates, it is required to increase reliability and decrease jitter in total. Among many solutions of pose estimation in the literature, pure vision-based 3-D trackers require either manual initializations or offline training stages. On the other hand, trackers relying on pure depth sensors are not suitable for AR applications. An automated 3-D tracking algorithm, which is based on fusion of vision and depth sensors via extended Kalman filter, is proposed in this paper. A novel measurement-tracking scheme, which is based on estimation of optical flow using intensity and shape index map data of 3-D point cloud, increases 2-D, as well as 3-D, tracking performance significantly. The proposed method requires neither manual initialization of pose nor offline training, while enabling highly accurate 3-D tracking. The accuracy of the proposed method is tested against a number of conventional techniques, and a superior performance is clearly observed in terms of both objectively via error metrics and subjectively for the rendered scenes.

Correlation Techniques as Applied to Pose Estimation in Space Station Docking

NASA Technical Reports Server (NTRS)

Rollins, J. Michael; Juday, Richard D.; Monroe, Stanley E., Jr.

2002-01-01

The telerobotic assembly of space-station components has become the method of choice for the International Space Station (ISS) because it offers a safe alternative to the more hazardous option of space walks. The disadvantage of telerobotic assembly is that it does not provide for direct arbitrary views of mating interfaces for the teleoperator. Unless cameras are present very close to the interface positions, such views must be generated graphically, based on calculated pose relationships derived from images. To assist in this photogrammetric pose estimation, circular targets, or spots, of high contrast have been affixed on each connecting module at carefully surveyed positions. The appearance of a subset of spots essentially must form a constellation of specific relative positions in the incoming digital image stream in order for the docking to proceed. Spot positions are expressed in terms of their apparent centroids in an image. The precision of centroid estimation is required to be as fine as 1I20th pixel, in some cases. This paper presents an approach to spot centroid estimation using cross correlation between spot images and synthetic spot models of precise centration. Techniques for obtaining sub-pixel accuracy and for shadow, obscuration and lighting irregularity compensation are discussed.

Confidence estimation for quantitative photoacoustic imaging

NASA Astrophysics Data System (ADS)

Gröhl, Janek; Kirchner, Thomas; Maier-Hein, Lena

2018-02-01

Quantification of photoacoustic (PA) images is one of the major challenges currently being addressed in PA research. Tissue properties can be quantified by correcting the recorded PA signal with an estimation of the corresponding fluence. Fluence estimation itself, however, is an ill-posed inverse problem which usually needs simplifying assumptions to be solved with state-of-the-art methods. These simplifications, as well as noise and artifacts in PA images reduce the accuracy of quantitative PA imaging (PAI). This reduction in accuracy is often localized to image regions where the assumptions do not hold true. This impedes the reconstruction of functional parameters when averaging over entire regions of interest (ROI). Averaging over a subset of voxels with a high accuracy would lead to an improved estimation of such parameters. To achieve this, we propose a novel approach to the local estimation of confidence in quantitative reconstructions of PA images. It makes use of conditional probability densities to estimate confidence intervals alongside the actual quantification. It encapsulates an estimation of the errors introduced by fluence estimation as well as signal noise. We validate the approach using Monte Carlo generated data in combination with a recently introduced machine learning-based approach to quantitative PAI. Our experiments show at least a two-fold improvement in quantification accuracy when evaluating on voxels with high confidence instead of thresholding signal intensity.

Body Parts Dependent Joint Regressors for Human Pose Estimation in Still Images.

PubMed

Dantone, Matthias; Gall, Juergen; Leistner, Christian; Van Gool, Luc

2014-11-01

In this work, we address the problem of estimating 2d human pose from still images. Articulated body pose estimation is challenging due to the large variation in body poses and appearances of the different body parts. Recent methods that rely on the pictorial structure framework have shown to be very successful in solving this task. They model the body part appearances using discriminatively trained, independent part templates and the spatial relations of the body parts using a tree model. Within such a framework, we address the problem of obtaining better part templates which are able to handle a very high variation in appearance. To this end, we introduce parts dependent body joint regressors which are random forests that operate over two layers. While the first layer acts as an independent body part classifier, the second layer takes the estimated class distributions of the first one into account and is thereby able to predict joint locations by modeling the interdependence and co-occurrence of the parts. This helps to overcome typical ambiguities of tree structures, such as self-similarities of legs and arms. In addition, we introduce a novel data set termed FashionPose that contains over 7,000 images with a challenging variation of body part appearances due to a large variation of dressing styles. In the experiments, we demonstrate that the proposed parts dependent joint regressors outperform independent classifiers or regressors. The method also performs better or similar to the state-of-the-art in terms of accuracy, while running with a couple of frames per second.

An anti-disturbing real time pose estimation method and system

NASA Astrophysics Data System (ADS)

Zhou, Jian; Zhang, Xiao-hu

2011-08-01

Pose estimation relating two-dimensional (2D) images to three-dimensional (3D) rigid object need some known features to track. In practice, there are many algorithms which perform this task in high accuracy, but all of these algorithms suffer from features lost. This paper investigated the pose estimation when numbers of known features or even all of them were invisible. Firstly, known features were tracked to calculate pose in the current and the next image. Secondly, some unknown but good features to track were automatically detected in the current and the next image. Thirdly, those unknown features which were on the rigid and could match each other in the two images were retained. Because of the motion characteristic of the rigid object, the 3D information of those unknown features on the rigid could be solved by the rigid object's pose at the two moment and their 2D information in the two images except only two case: the first one was that both camera and object have no relative motion and camera parameter such as focus length, principle point, and etc. have no change at the two moment; the second one was that there was no shared scene or no matched feature in the two image. Finally, because those unknown features at the first time were known now, pose estimation could go on in the followed images in spite of the missing of known features in the beginning by repeating the process mentioned above. The robustness of pose estimation by different features detection algorithms such as Kanade-Lucas-Tomasi (KLT) feature, Scale Invariant Feature Transform (SIFT) and Speed Up Robust Feature (SURF) were compared and the compact of the different relative motion between camera and the rigid object were discussed in this paper. Graphic Processing Unit (GPU) parallel computing was also used to extract and to match hundreds of features for real time pose estimation which was hard to work on Central Processing Unit (CPU). Compared with other pose estimation methods, this new method can estimate pose between camera and object when part even all known features are lost, and has a quick response time benefit from GPU parallel computing. The method present here can be used widely in vision-guide techniques to strengthen its intelligence and generalization, which can also play an important role in autonomous navigation and positioning, robots fields at unknown environment. The results of simulation and experiments demonstrate that proposed method could suppress noise effectively, extracted features robustly, and achieve the real time need. Theory analysis and experiment shows the method is reasonable and efficient.

Marker detection evaluation by phantom and cadaver experiments for C-arm pose estimation pattern

NASA Astrophysics Data System (ADS)

Steger, Teena; Hoßbach, Martin; Wesarg, Stefan

2013-03-01

C-arm fluoroscopy is used for guidance during several clinical exams, e.g. in bronchoscopy to locate the bronchoscope inside the airways. Unfortunately, these images provide only 2D information. However, if the C-arm pose is known, it can be used to overlay the intrainterventional fluoroscopy images with 3D visualizations of airways, acquired from preinterventional CT images. Thus, the physician's view is enhanced and localization of the instrument at the correct position inside the bronchial tree is facilitated. We present a novel method for C-arm pose estimation introducing a marker-based pattern, which is placed on the patient table. The steel markers form a pattern, allowing to deduce the C-arm pose by use of the projective invariant cross-ratio. Simulations show that the C-arm pose estimation is reliable and accurate for translations inside an imaging area of 30 cm x 50 cm and rotations up to 30°. Mean error values are 0.33 mm in 3D space and 0.48 px in the 2D imaging plane. First tests on C-arm images resulted in similarly compelling accuracy values and high reliability in an imaging area of 30 cm x 42.5 cm. Even in the presence of interfering structures, tested both with anatomy phantoms and a turkey cadaver, high success rates over 90% and fully satisfying execution times below 4 sec for 1024 px × 1024 px images could be achieved.

Optical fringe-reflection deflectometry with bundle adjustment

NASA Astrophysics Data System (ADS)

Xiao, Yong-Liang; Li, Sikun; Zhang, Qican; Zhong, Jianxin; Su, Xianyu; You, Zhisheng

2018-06-01

Liquid crystal display (LCD) screens are located outside of a camera's field of view in fringe-reflection deflectometry. Therefore, fringes that are displayed on LCD screens are obtained through specular reflection by a fixed camera. Thus, the pose calibration between the camera and LCD screen is one of the main challenges in fringe-reflection deflectometry. A markerless planar mirror is used to reflect the LCD screen more than three times, and the fringes are mapped into the fixed camera. The geometrical calibration can be accomplished by estimating the pose between the camera and the virtual image of fringes. Considering the relation between their pose, the incidence and reflection rays can be unified in the camera frame, and a forward triangulation intersection can be operated in the camera frame to measure three-dimensional (3D) coordinates of the specular surface. In the final optimization, constraint-bundle adjustment is operated to refine simultaneously the camera intrinsic parameters, including distortion coefficients, estimated geometrical pose between the LCD screen and camera, and 3D coordinates of the specular surface, with the help of the absolute phase collinear constraint. Simulation and experiment results demonstrate that the pose calibration with planar mirror reflection is simple and feasible, and the constraint-bundle adjustment can enhance the 3D coordinate measurement accuracy in fringe-reflection deflectometry.

Pose determination of a blade implant in three dimensions from a single two-dimensional radiograph.

PubMed

Toti, Paolo; Barone, Antonio; Marconcini, Simone; Menchini-Fabris, Giovanni Battista; Martuscelli, Ranieri; Covani, Ugo

2018-05-01

The aim of the study was to introduce a mathematical method to estimate the correct pose of a blade by evaluating the radiographic features obtained from a single two-dimensional image. Blade-form implant bed preparation was performed using the piezosurgery device, and placement was attained with the use of magnetic mallet. The pose determination of the blade was described by means of three consecutive rotations defined by three angles of orientation (triplet φ, θ and ψ). Retrospective analysis on periapical radiographs was performed. This method was used to compare implant (axial length along the marker, i.e. the implant structure) vs angular correction factor (a trigonometric function of the triplet). The accuracy of the method was tested by generating two-dimensional radiographic simulations of the blades, which were then compared with the images of the implants as appearing on the real radiographs. Two patients had to be excluded from further evaluation because the values of the estimated pose angles showed a too-wide range to be effective for a good standardization of serial radiographs: intrapatient range from baseline to 1-year survey was > of a threshold determined by the clinicians (30°). The linear dependence between implant (CF°) and angular correction factor (CF^) was estimated by a robust linear regression, yielding the following coefficients: slope, 0.908; intercept, -0.092; and coefficient of determination, 0.924. The absolute error in accuracy was -0.29 ± 4.35, 0.23 ± 3.81 and 0.64 ± 1.18°, respectively, for the angles φ, θ and ψ. The present theoretical and experimental study established the possibility of determining, a posteriori, a unique triplet of angles (φ, θ and ψ) which described the pose of a blade upon a single two-dimensional radiograph, and of suggesting a method to detect cases in which the standardized geometric projection failed. The angular correction of the bone level yielded results very close to those obtained with an internal marker related to the implant length.

Localizing intracavitary brachytherapy applicators from cone-beam CT x-ray projections via a novel iterative forward projection matching algorithm.

PubMed

Pokhrel, Damodar; Murphy, Martin J; Todor, Dorin A; Weiss, Elisabeth; Williamson, Jeffrey F

2011-02-01

To present a novel method for reconstructing the 3D pose (position and orientation) of radio-opaque applicators of known but arbitrary shape from a small set of 2D x-ray projections in support of intraoperative brachytherapy planning. The generalized iterative forward projection matching (gIFPM) algorithm finds the six degree-of-freedom pose of an arbitrary rigid object by minimizing the sum-of-squared-intensity differences (SSQD) between the computed and experimentally acquired autosegmented projection of the objects. Starting with an initial estimate of the object's pose, gIFPM iteratively refines the pose parameters (3D position and three Euler angles) until the SSQD converges. The object, here specialized to a Fletcher-Weeks intracavitary brachytherapy (ICB) applicator, is represented by a fine mesh of discrete points derived from complex combinatorial geometric models of the actual applicators. Three pairs of computed and measured projection images with known imaging geometry are used. Projection images of an intrauterine tandem and colpostats were acquired from an ACUITY cone-beam CT digital simulator. An image postprocessing step was performed to create blurred binary applicators only images. To quantify gIFPM accuracy, the reconstructed 3D pose of the applicator model was forward projected and overlaid with the measured images and empirically calculated the nearest-neighbor applicator positional difference for each image pair. In the numerical simulations, the tandem and colpostats positions (x,y,z) and orientations (alpha, beta, gamma) were estimated with accuracies of 0.6 mm and 2 degrees, respectively. For experimentally acquired images of actual applicators, the residual 2D registration error was less than 1.8 mm for each image pair, corresponding to about 1 mm positioning accuracy at isocenter, with a total computation time of less than 1.5 min on a 1 GHz processor. This work describes a novel, accurate, fast, and completely automatic method to localize radio-opaque applicators of arbitrary shape from measured 2D x-ray projections. The results demonstrate approximately 1 mm accuracy while compared against the measured applicator projections. No lateral film is needed. By localizing the applicator internal structure as well as radioactive sources, the effect of intra-applicator and interapplicator attenuation can be included in the resultant dose calculations. Further validation tests using clinically acquired tandem and colpostats images will be performed for the accurate and robust applicator/sources localization in ICB patients.

Localizing intracavitary brachytherapy applicators from cone-beam CT x-ray projections via a novel iterative forward projection matching algorithm

DOE Office of Scientific and Technical Information (OSTI.GOV)

Pokhrel, Damodar; Murphy, Martin J.; Todor, Dorin A.

2011-02-15

Purpose: To present a novel method for reconstructing the 3D pose (position and orientation) of radio-opaque applicators of known but arbitrary shape from a small set of 2D x-ray projections in support of intraoperative brachytherapy planning. Methods: The generalized iterative forward projection matching (gIFPM) algorithm finds the six degree-of-freedom pose of an arbitrary rigid object by minimizing the sum-of-squared-intensity differences (SSQD) between the computed and experimentally acquired autosegmented projection of the objects. Starting with an initial estimate of the object's pose, gIFPM iteratively refines the pose parameters (3D position and three Euler angles) until the SSQD converges. The object, heremore » specialized to a Fletcher-Weeks intracavitary brachytherapy (ICB) applicator, is represented by a fine mesh of discrete points derived from complex combinatorial geometric models of the actual applicators. Three pairs of computed and measured projection images with known imaging geometry are used. Projection images of an intrauterine tandem and colpostats were acquired from an ACUITY cone-beam CT digital simulator. An image postprocessing step was performed to create blurred binary applicators only images. To quantify gIFPM accuracy, the reconstructed 3D pose of the applicator model was forward projected and overlaid with the measured images and empirically calculated the nearest-neighbor applicator positional difference for each image pair. Results: In the numerical simulations, the tandem and colpostats positions (x,y,z) and orientations ({alpha},{beta},{gamma}) were estimated with accuracies of 0.6 mm and 2 deg., respectively. For experimentally acquired images of actual applicators, the residual 2D registration error was less than 1.8 mm for each image pair, corresponding to about 1 mm positioning accuracy at isocenter, with a total computation time of less than 1.5 min on a 1 GHz processor. Conclusions: This work describes a novel, accurate, fast, and completely automatic method to localize radio-opaque applicators of arbitrary shape from measured 2D x-ray projections. The results demonstrate {approx}1 mm accuracy while compared against the measured applicator projections. No lateral film is needed. By localizing the applicator internal structure as well as radioactive sources, the effect of intra-applicator and interapplicator attenuation can be included in the resultant dose calculations. Further validation tests using clinically acquired tandem and colpostats images will be performed for the accurate and robust applicator/sources localization in ICB patients.« less

Second Iteration of Photogrammetric Pipeline to Enhance the Accuracy of Image Pose Estimation

NASA Astrophysics Data System (ADS)

Nguyen, T. G.; Pierrot-Deseilligny, M.; Muller, J.-M.; Thom, C.

2017-05-01

In classical photogrammetric processing pipeline, the automatic tie point extraction plays a key role in the quality of achieved results. The image tie points are crucial to pose estimation and have a significant influence on the precision of calculated orientation parameters. Therefore, both relative and absolute orientations of the 3D model can be affected. By improving the precision of image tie point measurement, one can enhance the quality of image orientation. The quality of image tie points is under the influence of several factors such as the multiplicity, the measurement precision and the distribution in 2D images as well as in 3D scenes. In complex acquisition scenarios such as indoor applications and oblique aerial images, tie point extraction is limited while only image information can be exploited. Hence, we propose here a method which improves the precision of pose estimation in complex scenarios by adding a second iteration to the classical processing pipeline. The result of a first iteration is used as a priori information to guide the extraction of new tie points with better quality. Evaluated with multiple case studies, the proposed method shows its validity and its high potiential for precision improvement.

Comparison of anatomical, functional and regression methods for estimating the rotation axes of the forearm.

PubMed

Fraysse, François; Thewlis, Dominic

2014-11-07

Numerous methods exist to estimate the pose of the axes of rotation of the forearm. These include anatomical definitions, such as the conventions proposed by the ISB, and functional methods based on instantaneous helical axes, which are commonly accepted as the modelling gold standard for non-invasive, in-vivo studies. We investigated the validity of a third method, based on regression equations, to estimate the rotation axes of the forearm. We also assessed the accuracy of both ISB methods. Axes obtained from a functional method were considered as the reference. Results indicate a large inter-subject variability in the axes positions, in accordance with previous studies. Both ISB methods gave the same level of accuracy in axes position estimations. Regression equations seem to improve estimation of the flexion-extension axis but not the pronation-supination axis. Overall, given the large inter-subject variability, the use of regression equations cannot be recommended. Copyright © 2014 Elsevier Ltd. All rights reserved.

Evaluating pixel and object based image classification techniques for mapping plant invasions from UAV derived aerial imagery: Harrisia pomanensis as a case study

NASA Astrophysics Data System (ADS)

Mafanya, Madodomzi; Tsele, Philemon; Botai, Joel; Manyama, Phetole; Swart, Barend; Monate, Thabang

2017-07-01

Invasive alien plants (IAPs) not only pose a serious threat to biodiversity and water resources but also have impacts on human and animal wellbeing. To support decision making in IAPs monitoring, semi-automated image classifiers which are capable of extracting valuable information in remotely sensed data are vital. This study evaluated the mapping accuracies of supervised and unsupervised image classifiers for mapping Harrisia pomanensis (a cactus plant commonly known as the Midnight Lady) using two interlinked evaluation strategies i.e. point and area based accuracy assessment. Results of the point-based accuracy assessment show that with reference to 219 ground control points, the supervised image classifiers (i.e. Maxver and Bhattacharya) mapped H. pomanensis better than the unsupervised image classifiers (i.e. K-mediuns, Euclidian Length and Isoseg). In this regard, user and producer accuracies were 82.4% and 84% respectively for the Maxver classifier. The user and producer accuracies for the Bhattacharya classifier were 90% and 95.7%, respectively. Though the Maxver produced a higher overall accuracy and Kappa estimate than the Bhattacharya classifier, the Maxver Kappa estimate of 0.8305 is not significantly (statistically) greater than the Bhattacharya Kappa estimate of 0.8088 at a 95% confidence interval. The area based accuracy assessment results show that the Bhattacharya classifier estimated the spatial extent of H. pomanensis with an average mapping accuracy of 86.1% whereas the Maxver classifier only gave an average mapping accuracy of 65.2%. Based on these results, the Bhattacharya classifier is therefore recommended for mapping H. pomanensis. These findings will aid in the algorithm choice making for the development of a semi-automated image classification system for mapping IAPs.

Kalman Filter Constraint Tuning for Turbofan Engine Health Estimation

NASA Technical Reports Server (NTRS)

Simon, Dan; Simon, Donald L.

2005-01-01

Kalman filters are often used to estimate the state variables of a dynamic system. However, in the application of Kalman filters some known signal information is often either ignored or dealt with heuristically. For instance, state variable constraints are often neglected because they do not fit easily into the structure of the Kalman filter. Recently published work has shown a new method for incorporating state variable inequality constraints in the Kalman filter, which has been shown to generally improve the filter s estimation accuracy. However, the incorporation of inequality constraints poses some risk to the estimation accuracy as the Kalman filter is theoretically optimal. This paper proposes a way to tune the filter constraints so that the state estimates follow the unconstrained (theoretically optimal) filter when the confidence in the unconstrained filter is high. When confidence in the unconstrained filter is not so high, then we use our heuristic knowledge to constrain the state estimates. The confidence measure is based on the agreement of measurement residuals with their theoretical values. The algorithm is demonstrated on a linearized simulation of a turbofan engine to estimate engine health.

Solving Navigational Uncertainty Using Grid Cells on Robots

PubMed Central

Milford, Michael J.; Wiles, Janet; Wyeth, Gordon F.

2010-01-01

To successfully navigate their habitats, many mammals use a combination of two mechanisms, path integration and calibration using landmarks, which together enable them to estimate their location and orientation, or pose. In large natural environments, both these mechanisms are characterized by uncertainty: the path integration process is subject to the accumulation of error, while landmark calibration is limited by perceptual ambiguity. It remains unclear how animals form coherent spatial representations in the presence of such uncertainty. Navigation research using robots has determined that uncertainty can be effectively addressed by maintaining multiple probabilistic estimates of a robot's pose. Here we show how conjunctive grid cells in dorsocaudal medial entorhinal cortex (dMEC) may maintain multiple estimates of pose using a brain-based robot navigation system known as RatSLAM. Based both on rodent spatially-responsive cells and functional engineering principles, the cells at the core of the RatSLAM computational model have similar characteristics to rodent grid cells, which we demonstrate by replicating the seminal Moser experiments. We apply the RatSLAM model to a new experimental paradigm designed to examine the responses of a robot or animal in the presence of perceptual ambiguity. Our computational approach enables us to observe short-term population coding of multiple location hypotheses, a phenomenon which would not be easily observable in rodent recordings. We present behavioral and neural evidence demonstrating that the conjunctive grid cells maintain and propagate multiple estimates of pose, enabling the correct pose estimate to be resolved over time even without uniquely identifying cues. While recent research has focused on the grid-like firing characteristics, accuracy and representational capacity of grid cells, our results identify a possible critical and unique role for conjunctive grid cells in filtering sensory uncertainty. We anticipate our study to be a starting point for animal experiments that test navigation in perceptually ambiguous environments. PMID:21085643

Algorithm for pose estimation based on objective function with uncertainty-weighted measuring error of feature point cling to the curved surface.

PubMed

Huo, Ju; Zhang, Guiyang; Yang, Ming

2018-04-20

This paper is concerned with the anisotropic and non-identical gray distribution of feature points clinging to the curved surface, upon which a high precision and uncertainty-resistance algorithm for pose estimation is proposed. Weighted contribution of uncertainty to the objective function of feature points measuring error is analyzed. Then a novel error objective function based on the spatial collinear error is constructed by transforming the uncertainty into a covariance-weighted matrix, which is suitable for the practical applications. Further, the optimized generalized orthogonal iterative (GOI) algorithm is utilized for iterative solutions such that it avoids the poor convergence and significantly resists the uncertainty. Hence, the optimized GOI algorithm extends the field-of-view applications and improves the accuracy and robustness of the measuring results by the redundant information. Finally, simulation and practical experiments show that the maximum error of re-projection image coordinates of the target is less than 0.110 pixels. Within the space 3000  mm×3000  mm×4000  mm, the maximum estimation errors of static and dynamic measurement for rocket nozzle motion are superior to 0.065° and 0.128°, respectively. Results verify the high accuracy and uncertainty attenuation performance of the proposed approach and should therefore have potential for engineering applications.

Sensor Fault Diagnosis in Quadrotors Using Nonlinear Adaptive Estimators

DTIC Science & Technology

2014-10-02

Mahony, & Gre- sham, 2004; Bangura & Mahony, 2012) have aimed for higher modeling accuracy by including drag force, Coriolis effects , blade flapping... effectiveness of the pro- posed method. 1. INTRODUCTION Unmanned Aerial Vehicles (UAVs) have attracted significant attentions in recent years due to... effects etc. Accurate modeling plays an impor- tant role in quadrotor control, especially in the case of aggres- sive maneuvers, tight group formations

Dynamic Human Body Modeling Using a Single RGB Camera.

PubMed

Zhu, Haiyu; Yu, Yao; Zhou, Yu; Du, Sidan

2016-03-18

In this paper, we present a novel automatic pipeline to build personalized parametric models of dynamic people using a single RGB camera. Compared to previous approaches that use monocular RGB images, our system can model a 3D human body automatically and incrementally, taking advantage of human motion. Based on coarse 2D and 3D poses estimated from image sequences, we first perform a kinematic classification of human body parts to refine the poses and obtain reconstructed body parts. Next, a personalized parametric human model is generated by driving a general template to fit the body parts and calculating the non-rigid deformation. Experimental results show that our shape estimation method achieves comparable accuracy with reconstructed models using depth cameras, yet requires neither user interaction nor any dedicated devices, leading to the feasibility of using this method on widely available smart phones.

Dynamic Human Body Modeling Using a Single RGB Camera

PubMed Central

Zhu, Haiyu; Yu, Yao; Zhou, Yu; Du, Sidan

2016-01-01

In this paper, we present a novel automatic pipeline to build personalized parametric models of dynamic people using a single RGB camera. Compared to previous approaches that use monocular RGB images, our system can model a 3D human body automatically and incrementally, taking advantage of human motion. Based on coarse 2D and 3D poses estimated from image sequences, we first perform a kinematic classification of human body parts to refine the poses and obtain reconstructed body parts. Next, a personalized parametric human model is generated by driving a general template to fit the body parts and calculating the non-rigid deformation. Experimental results show that our shape estimation method achieves comparable accuracy with reconstructed models using depth cameras, yet requires neither user interaction nor any dedicated devices, leading to the feasibility of using this method on widely available smart phones. PMID:26999159

Robust Eye Center Localization through Face Alignment and Invariant Isocentric Patterns

PubMed Central

Teng, Dongdong; Chen, Dihu; Tan, Hongzhou

2015-01-01

The localization of eye centers is a very useful cue for numerous applications like face recognition, facial expression recognition, and the early screening of neurological pathologies. Several methods relying on available light for accurate eye-center localization have been exploited. However, despite the considerable improvements that eye-center localization systems have undergone in recent years, only few of these developments deal with the challenges posed by the profile (non-frontal face). In this paper, we first use the explicit shape regression method to obtain the rough location of the eye centers. Because this method extracts global information from the human face, it is robust against any changes in the eye region. We exploit this robustness and utilize it as a constraint. To locate the eye centers accurately, we employ isophote curvature features, the accuracy of which has been demonstrated in a previous study. By applying these features, we obtain a series of eye-center locations which are candidates for the actual position of the eye-center. Among these locations, the estimated locations which minimize the reconstruction error between the two methods mentioned above are taken as the closest approximation for the eye centers locations. Therefore, we combine explicit shape regression and isophote curvature feature analysis to achieve robustness and accuracy, respectively. In practical experiments, we use BioID and FERET datasets to test our approach to obtaining an accurate eye-center location while retaining robustness against changes in scale and pose. In addition, we apply our method to non-frontal faces to test its robustness and accuracy, which are essential in gaze estimation but have seldom been mentioned in previous works. Through extensive experimentation, we show that the proposed method can achieve a significant improvement in accuracy and robustness over state-of-the-art techniques, with our method ranking second in terms of accuracy. According to our implementation on a PC with a Xeon 2.5Ghz CPU, the frame rate of the eye tracking process can achieve 38 Hz. PMID:26426929

Loose fusion based on SLAM and IMU for indoor environment

NASA Astrophysics Data System (ADS)

Zhu, Haijiang; Wang, Zhicheng; Zhou, Jinglin; Wang, Xuejing

2018-04-01

The simultaneous localization and mapping (SLAM) method based on the RGB-D sensor is widely researched in recent years. However, the accuracy of the RGB-D SLAM relies heavily on correspondence feature points, and the position would be lost in case of scenes with sparse textures. Therefore, plenty of fusion methods using the RGB-D information and inertial measurement unit (IMU) data have investigated to improve the accuracy of SLAM system. However, these fusion methods usually do not take into account the size of matched feature points. The pose estimation calculated by RGB-D information may not be accurate while the number of correct matches is too few. Thus, considering the impact of matches in SLAM system and the problem of missing position in scenes with few textures, a loose fusion method combining RGB-D with IMU is proposed in this paper. In the proposed method, we design a loose fusion strategy based on the RGB-D camera information and IMU data, which is to utilize the IMU data for position estimation when the corresponding point matches are quite few. While there are a lot of matches, the RGB-D information is still used to estimate position. The final pose would be optimized by General Graph Optimization (g2o) framework to reduce error. The experimental results show that the proposed method is better than the RGB-D camera's method. And this method can continue working stably for indoor environment with sparse textures in the SLAM system.

An Inertial and Optical Sensor Fusion Approach for Six Degree-of-Freedom Pose Estimation

PubMed Central

He, Changyu; Kazanzides, Peter; Sen, Hasan Tutkun; Kim, Sungmin; Liu, Yue

2015-01-01

Optical tracking provides relatively high accuracy over a large workspace but requires line-of-sight between the camera and the markers, which may be difficult to maintain in actual applications. In contrast, inertial sensing does not require line-of-sight but is subject to drift, which may cause large cumulative errors, especially during the measurement of position. To handle cases where some or all of the markers are occluded, this paper proposes an inertial and optical sensor fusion approach in which the bias of the inertial sensors is estimated when the optical tracker provides full six degree-of-freedom (6-DOF) pose information. As long as the position of at least one marker can be tracked by the optical system, the 3-DOF position can be combined with the orientation estimated from the inertial measurements to recover the full 6-DOF pose information. When all the markers are occluded, the position tracking relies on the inertial sensors that are bias-corrected by the optical tracking system. Experiments are performed with an augmented reality head-mounted display (ARHMD) that integrates an optical tracking system (OTS) and inertial measurement unit (IMU). Experimental results show that under partial occlusion conditions, the root mean square errors (RMSE) of orientation and position are 0.04° and 0.134 mm, and under total occlusion conditions for 1 s, the orientation and position RMSE are 0.022° and 0.22 mm, respectively. Thus, the proposed sensor fusion approach can provide reliable 6-DOF pose under long-term partial occlusion and short-term total occlusion conditions. PMID:26184191

An Inertial and Optical Sensor Fusion Approach for Six Degree-of-Freedom Pose Estimation.

PubMed

He, Changyu; Kazanzides, Peter; Sen, Hasan Tutkun; Kim, Sungmin; Liu, Yue

2015-07-08

Optical tracking provides relatively high accuracy over a large workspace but requires line-of-sight between the camera and the markers, which may be difficult to maintain in actual applications. In contrast, inertial sensing does not require line-of-sight but is subject to drift, which may cause large cumulative errors, especially during the measurement of position. To handle cases where some or all of the markers are occluded, this paper proposes an inertial and optical sensor fusion approach in which the bias of the inertial sensors is estimated when the optical tracker provides full six degree-of-freedom (6-DOF) pose information. As long as the position of at least one marker can be tracked by the optical system, the 3-DOF position can be combined with the orientation estimated from the inertial measurements to recover the full 6-DOF pose information. When all the markers are occluded, the position tracking relies on the inertial sensors that are bias-corrected by the optical tracking system. Experiments are performed with an augmented reality head-mounted display (ARHMD) that integrates an optical tracking system (OTS) and inertial measurement unit (IMU). Experimental results show that under partial occlusion conditions, the root mean square errors (RMSE) of orientation and position are 0.04° and 0.134 mm, and under total occlusion conditions for 1 s, the orientation and position RMSE are 0.022° and 0.22 mm, respectively. Thus, the proposed sensor fusion approach can provide reliable 6-DOF pose under long-term partial occlusion and short-term total occlusion conditions.

The ART of representation: Memory reduction and noise tolerance in a neural network vision system

NASA Astrophysics Data System (ADS)

Langley, Christopher S.

The Feature Cerebellar Model Arithmetic Computer (FCMAC) is a multiple-input-single-output neural network that can provide three-degree-of-freedom (3-DOF) pose estimation for a robotic vision system. The FCMAC provides sufficient accuracy to enable a manipulator to grasp an object from an arbitrary pose within its workspace. The network learns an appearance-based representation of an object by storing coarsely quantized feature patterns. As all unique patterns are encoded, the network size grows uncontrollably. A new architecture is introduced herein, which combines the FCMAC with an Adaptive Resonance Theory (ART) network. The ART module categorizes patterns observed during training into a set of prototypes that are used to build the FCMAC. As a result, the network no longer grows without bound, but constrains itself to a user-specified size. Pose estimates remain accurate since the ART layer tends to discard the least relevant information first. The smaller network performs recall faster, and in some cases is better for generalization, resulting in a reduction of error at recall time. The ART-Under-Constraint (ART-C) algorithm is extended to include initial filling with randomly selected patterns (referred to as ART-F). In experiments using a real-world data set, the new network performed equally well using less than one tenth the number of coarse patterns as a regular FCMAC. The FCMAC is also extended to include real-valued input activations. As a result, the network can be tuned to reject a variety of types of noise in the image feature detection. A quantitative analysis of noise tolerance was performed using four synthetic noise algorithms, and a qualitative investigation was made using noisy real-world image data. In validation experiments, the FCMAC system outperformed Radial Basis Function (RBF) networks for the 3-DOF problem, and had accuracy comparable to that of Principal Component Analysis (PCA) and superior to that of Shape Context Matching (SCM), both of which estimate orientation only.

Performance Evaluation of a Pose Estimation Method based on the SwissRanger SR4000

DTIC Science & Technology

2012-08-01

however, not suitable for navigating a small robot. Commercially available Flash LIDAR now has sufficient accuracy for robotic application. A...Flash LIDAR simultaneously produces intensity and range images of the scene at a video frame rate. It has the following advantages over stereovision...fully dense depth data across its field-of-view. The commercially available Flash LIDAR includes the SwissRanger [17] and TigerEye 3D [18

Improving chemical species tomography of turbulent flows using covariance estimation.

PubMed

Grauer, Samuel J; Hadwin, Paul J; Daun, Kyle J

2017-05-01

Chemical species tomography (CST) experiments can be divided into limited-data and full-rank cases. Both require solving ill-posed inverse problems, and thus the measurement data must be supplemented with prior information to carry out reconstructions. The Bayesian framework formalizes the role of additive information, expressed as the mean and covariance of a joint-normal prior probability density function. We present techniques for estimating the spatial covariance of a flow under limited-data and full-rank conditions. Our results show that incorporating a covariance estimate into CST reconstruction via a Bayesian prior increases the accuracy of instantaneous estimates. Improvements are especially dramatic in real-time limited-data CST, which is directly applicable to many industrially relevant experiments.

A Method for Improving the Pose Accuracy of a Robot Manipulator Based on Multi-Sensor Combined Measurement and Data Fusion

PubMed Central

Liu, Bailing; Zhang, Fumin; Qu, Xinghua

2015-01-01

An improvement method for the pose accuracy of a robot manipulator by using a multiple-sensor combination measuring system (MCMS) is presented. It is composed of a visual sensor, an angle sensor and a series robot. The visual sensor is utilized to measure the position of the manipulator in real time, and the angle sensor is rigidly attached to the manipulator to obtain its orientation. Due to the higher accuracy of the multi-sensor, two efficient data fusion approaches, the Kalman filter (KF) and multi-sensor optimal information fusion algorithm (MOIFA), are used to fuse the position and orientation of the manipulator. The simulation and experimental results show that the pose accuracy of the robot manipulator is improved dramatically by 38%∼78% with the multi-sensor data fusion. Comparing with reported pose accuracy improvement methods, the primary advantage of this method is that it does not require the complex solution of the kinematics parameter equations, increase of the motion constraints and the complicated procedures of the traditional vision-based methods. It makes the robot processing more autonomous and accurate. To improve the reliability and accuracy of the pose measurements of MCMS, the visual sensor repeatability is experimentally studied. An optimal range of 1 × 0.8 × 1 ∼ 2 × 0.8 × 1 m in the field of view (FOV) is indicated by the experimental results. PMID:25850067

Estimating the gaze of a virtuality human.

PubMed

Roberts, David J; Rae, John; Duckworth, Tobias W; Moore, Carl M; Aspin, Rob

2013-04-01

The aim of our experiment is to determine if eye-gaze can be estimated from a virtuality human: to within the accuracies that underpin social interaction; and reliably across gaze poses and camera arrangements likely in every day settings. The scene is set by explaining why Immersive Virtuality Telepresence has the potential to meet the grand challenge of faithfully communicating both the appearance and the focus of attention of a remote human participant within a shared 3D computer-supported context. Within the experiment n=22 participants rotated static 3D virtuality humans, reconstructed from surround images, until they felt most looked at. The dependent variable was absolute angular error, which was compared to that underpinning social gaze behaviour in the natural world. Independent variables were 1) relative orientations of eye, head and body of captured subject; and 2) subset of cameras used to texture the form. Analysis looked for statistical and practical significance and qualitative corroborating evidence. The analysed results tell us much about the importance and detail of the relationship between gaze pose, method of video based reconstruction, and camera arrangement. They tell us that virtuality can reproduce gaze to an accuracy useful in social interaction, but with the adopted method of Video Based Reconstruction, this is highly dependent on combination of gaze pose and camera arrangement. This suggests changes in the VBR approach in order to allow more flexible camera arrangements. The work is of interest to those wanting to support expressive meetings that are both socially and spatially situated, and particular those using or building Immersive Virtuality Telepresence to accomplish this. It is also of relevance to the use of virtuality humans in applications ranging from the study of human interactions to gaming and the crossing of the stage line in films and TV.

An integrated approach to endoscopic instrument tracking for augmented reality applications in surgical simulation training.

PubMed

Loukas, Constantinos; Lahanas, Vasileios; Georgiou, Evangelos

2013-12-01

Despite the popular use of virtual and physical reality simulators in laparoscopic training, the educational potential of augmented reality (AR) has not received much attention. A major challenge is the robust tracking and three-dimensional (3D) pose estimation of the endoscopic instrument, which are essential for achieving interaction with the virtual world and for realistic rendering when the virtual scene is occluded by the instrument. In this paper we propose a method that addresses these issues, based solely on visual information obtained from the endoscopic camera. Two different tracking algorithms are combined for estimating the 3D pose of the surgical instrument with respect to the camera. The first tracker creates an adaptive model of a colour strip attached to the distal part of the tool (close to the tip). The second algorithm tracks the endoscopic shaft, using a combined Hough-Kalman approach. The 3D pose is estimated with perspective geometry, using appropriate measurements extracted by the two trackers. The method has been validated on several complex image sequences for its tracking efficiency, pose estimation accuracy and applicability in AR-based training. Using a standard endoscopic camera, the absolute average error of the tip position was 2.5 mm for working distances commonly found in laparoscopic training. The average error of the instrument's angle with respect to the camera plane was approximately 2°. The results are also supplemented by video segments of laparoscopic training tasks performed in a physical and an AR environment. The experiments yielded promising results regarding the potential of applying AR technologies for laparoscopic skills training, based on a computer vision framework. The issue of occlusion handling was adequately addressed. The estimated trajectory of the instruments may also be used for surgical gesture interpretation and assessment. Copyright © 2013 John Wiley & Sons, Ltd.

Soft tissue navigation for laparoscopic prostatectomy: evaluation of camera pose estimation for enhanced visualization

NASA Astrophysics Data System (ADS)

Baumhauer, M.; Simpfendörfer, T.; Schwarz, R.; Seitel, M.; Müller-Stich, B. P.; Gutt, C. N.; Rassweiler, J.; Meinzer, H.-P.; Wolf, I.

2007-03-01

We introduce a novel navigation system to support minimally invasive prostate surgery. The system utilizes transrectal ultrasonography (TRUS) and needle-shaped navigation aids to visualize hidden structures via Augmented Reality. During the intervention, the navigation aids are segmented once from a 3D TRUS dataset and subsequently tracked by the endoscope camera. Camera Pose Estimation methods directly determine position and orientation of the camera in relation to the navigation aids. Accordingly, our system does not require any external tracking device for registration of endoscope camera and ultrasonography probe. In addition to a preoperative planning step in which the navigation targets are defined, the procedure consists of two main steps which are carried out during the intervention: First, the preoperatively prepared planning data is registered with an intraoperatively acquired 3D TRUS dataset and the segmented navigation aids. Second, the navigation aids are continuously tracked by the endoscope camera. The camera's pose can thereby be derived and relevant medical structures can be superimposed on the video image. This paper focuses on the latter step. We have implemented several promising real-time algorithms and incorporated them into the Open Source Toolkit MITK (www.mitk.org). Furthermore, we have evaluated them for minimally invasive surgery (MIS) navigation scenarios. For this purpose, a virtual evaluation environment has been developed, which allows for the simulation of navigation targets and navigation aids, including their measurement errors. Besides evaluating the accuracy of the computed pose, we have analyzed the impact of an inaccurate pose and the resulting displacement of navigation targets in Augmented Reality.

Online absolute pose compensation and steering control of industrial robot based on six degrees of freedom laser measurement

NASA Astrophysics Data System (ADS)

Yang, Juqing; Wang, Dayong; Fan, Baixing; Dong, Dengfeng; Zhou, Weihu

2017-03-01

In-situ intelligent manufacturing for large-volume equipment requires industrial robots with absolute high-accuracy positioning and orientation steering control. Conventional robots mainly employ an offline calibration technology to identify and compensate key robotic parameters. However, the dynamic and static parameters of a robot change nonlinearly. It is not possible to acquire a robot's actual parameters and control the absolute pose of the robot with a high accuracy within a large workspace by offline calibration in real-time. This study proposes a real-time online absolute pose steering control method for an industrial robot based on six degrees of freedom laser tracking measurement, which adopts comprehensive compensation and correction of differential movement variables. First, the pose steering control system and robot kinematics error model are constructed, and then the pose error compensation mechanism and algorithm are introduced in detail. By accurately achieving the position and orientation of the robot end-tool, mapping the computed Jacobian matrix of the joint variable and correcting the joint variable, the real-time online absolute pose compensation for an industrial robot is accurately implemented in simulations and experimental tests. The average positioning error is 0.048 mm and orientation accuracy is better than 0.01 deg. The results demonstrate that the proposed method is feasible, and the online absolute accuracy of a robot is sufficiently enhanced.

Seamless Tracing of Human Behavior Using Complementary Wearable and House-Embedded Sensors

PubMed Central

Augustyniak, Piotr; Smoleń, Magdalena; Mikrut, Zbigniew; Kańtoch, Eliasz

2014-01-01

This paper presents a multimodal system for seamless surveillance of elderly people in their living environment. The system uses simultaneously a wearable sensor network for each individual and premise-embedded sensors specific for each environment. The paper demonstrates the benefits of using complementary information from two types of mobility sensors: visual flow-based image analysis and an accelerometer-based wearable network. The paper provides results for indoor recognition of several elementary poses and outdoor recognition of complex movements. Instead of complete system description, particular attention was drawn to a polar histogram-based method of visual pose recognition, complementary use and synchronization of the data from wearable and premise-embedded networks and an automatic danger detection algorithm driven by two premise- and subject-related databases. The novelty of our approach also consists in feeding the databases with real-life recordings from the subject, and in using the dynamic time-warping algorithm for measurements of distance between actions represented as elementary poses in behavioral records. The main results of testing our method include: 95.5% accuracy of elementary pose recognition by the video system, 96.7% accuracy of elementary pose recognition by the accelerometer-based system, 98.9% accuracy of elementary pose recognition by the combined accelerometer and video-based system, and 80% accuracy of complex outdoor activity recognition by the accelerometer-based wearable system. PMID:24787640

Pose Estimation of a Mobile Robot Based on Fusion of IMU Data and Vision Data Using an Extended Kalman Filter.

PubMed

Alatise, Mary B; Hancke, Gerhard P

2017-09-21

Using a single sensor to determine the pose estimation of a device cannot give accurate results. This paper presents a fusion of an inertial sensor of six degrees of freedom (6-DoF) which comprises the 3-axis of an accelerometer and the 3-axis of a gyroscope, and a vision to determine a low-cost and accurate position for an autonomous mobile robot. For vision, a monocular vision-based object detection algorithm speeded-up robust feature (SURF) and random sample consensus (RANSAC) algorithms were integrated and used to recognize a sample object in several images taken. As against the conventional method that depend on point-tracking, RANSAC uses an iterative method to estimate the parameters of a mathematical model from a set of captured data which contains outliers. With SURF and RANSAC, improved accuracy is certain; this is because of their ability to find interest points (features) under different viewing conditions using a Hessain matrix. This approach is proposed because of its simple implementation, low cost, and improved accuracy. With an extended Kalman filter (EKF), data from inertial sensors and a camera were fused to estimate the position and orientation of the mobile robot. All these sensors were mounted on the mobile robot to obtain an accurate localization. An indoor experiment was carried out to validate and evaluate the performance. Experimental results show that the proposed method is fast in computation, reliable and robust, and can be considered for practical applications. The performance of the experiments was verified by the ground truth data and root mean square errors (RMSEs).

Pose Estimation of a Mobile Robot Based on Fusion of IMU Data and Vision Data Using an Extended Kalman Filter

PubMed Central

Hancke, Gerhard P.

2017-01-01

Using a single sensor to determine the pose estimation of a device cannot give accurate results. This paper presents a fusion of an inertial sensor of six degrees of freedom (6-DoF) which comprises the 3-axis of an accelerometer and the 3-axis of a gyroscope, and a vision to determine a low-cost and accurate position for an autonomous mobile robot. For vision, a monocular vision-based object detection algorithm speeded-up robust feature (SURF) and random sample consensus (RANSAC) algorithms were integrated and used to recognize a sample object in several images taken. As against the conventional method that depend on point-tracking, RANSAC uses an iterative method to estimate the parameters of a mathematical model from a set of captured data which contains outliers. With SURF and RANSAC, improved accuracy is certain; this is because of their ability to find interest points (features) under different viewing conditions using a Hessain matrix. This approach is proposed because of its simple implementation, low cost, and improved accuracy. With an extended Kalman filter (EKF), data from inertial sensors and a camera were fused to estimate the position and orientation of the mobile robot. All these sensors were mounted on the mobile robot to obtain an accurate localization. An indoor experiment was carried out to validate and evaluate the performance. Experimental results show that the proposed method is fast in computation, reliable and robust, and can be considered for practical applications. The performance of the experiments was verified by the ground truth data and root mean square errors (RMSEs). PMID:28934102

Traffic Light Detection Using Conic Section Geometry

NASA Astrophysics Data System (ADS)

Hosseinyalmdary, S.; Yilmaz, A.

2016-06-01

Traffic lights detection and their state recognition is a crucial task that autonomous vehicles must reliably fulfill. Despite scientific endeavors, it still is an open problem due to the variations of traffic lights and their perception in image form. Unlike previous studies, this paper investigates the use of inaccurate and publicly available GIS databases such as OpenStreetMap. In addition, we are the first to exploit conic section geometry to improve the shape cue of the traffic lights in images. Conic section also enables us to estimate the pose of the traffic lights with respect to the camera. Our approach can detect multiple traffic lights in the scene, it also is able to detect the traffic lights in the absence of prior knowledge, and detect the traffics lights as far as 70 meters. The proposed approach has been evaluated for different scenarios and the results show that the use of stereo cameras significantly improves the accuracy of the traffic lights detection and pose estimation.

Detailed analysis of grid-based molecular docking: A case study of CDOCKER-A CHARMm-based MD docking algorithm.

PubMed

Wu, Guosheng; Robertson, Daniel H; Brooks, Charles L; Vieth, Michal

2003-10-01

The influence of various factors on the accuracy of protein-ligand docking is examined. The factors investigated include the role of a grid representation of protein-ligand interactions, the initial ligand conformation and orientation, the sampling rate of the energy hyper-surface, and the final minimization. A representative docking method is used to study these factors, namely, CDOCKER, a molecular dynamics (MD) simulated-annealing-based algorithm. A major emphasis in these studies is to compare the relative performance and accuracy of various grid-based approximations to explicit all-atom force field calculations. In these docking studies, the protein is kept rigid while the ligands are treated as fully flexible and a final minimization step is used to refine the docked poses. A docking success rate of 74% is observed when an explicit all-atom representation of the protein (full force field) is used, while a lower accuracy of 66-76% is observed for grid-based methods. All docking experiments considered a 41-member protein-ligand validation set. A significant improvement in accuracy (76 vs. 66%) for the grid-based docking is achieved if the explicit all-atom force field is used in a final minimization step to refine the docking poses. Statistical analysis shows that even lower-accuracy grid-based energy representations can be effectively used when followed with full force field minimization. The results of these grid-based protocols are statistically indistinguishable from the detailed atomic dockings and provide up to a sixfold reduction in computation time. For the test case examined here, improving the docking accuracy did not necessarily enhance the ability to estimate binding affinities using the docked structures. Copyright 2003 Wiley Periodicals, Inc.

Stochastic Integration H∞ Filter for Rapid Transfer Alignment of INS.

PubMed

Zhou, Dapeng; Guo, Lei

2017-11-18

The performance of an inertial navigation system (INS) operated on a moving base greatly depends on the accuracy of rapid transfer alignment (RTA). However, in practice, the coexistence of large initial attitude errors and uncertain observation noise statistics poses a great challenge for the estimation accuracy of misalignment angles. This study aims to develop a novel robust nonlinear filter, namely the stochastic integration H ∞ filter (SIH ∞ F) for improving both the accuracy and robustness of RTA. In this new nonlinear H ∞ filter, the stochastic spherical-radial integration rule is incorporated with the framework of the derivative-free H ∞ filter for the first time, and the resulting SIH ∞ F simultaneously attenuates the negative effect in estimations caused by significant nonlinearity and large uncertainty. Comparisons between the SIH ∞ F and previously well-known methodologies are carried out by means of numerical simulation and a van test. The results demonstrate that the newly-proposed method outperforms the cubature H ∞ filter. Moreover, the SIH ∞ F inherits the benefit of the traditional stochastic integration filter, but with more robustness in the presence of uncertainty.

Benchmarking real-time RGBD odometry for light-duty UAVs

NASA Astrophysics Data System (ADS)

Willis, Andrew R.; Sahawneh, Laith R.; Brink, Kevin M.

2016-06-01

This article describes the theoretical and implementation challenges associated with generating 3D odometry estimates (delta-pose) from RGBD sensor data in real-time to facilitate navigation in cluttered indoor environments. The underlying odometry algorithm applies to general 6DoF motion; however, the computational platforms, trajectories, and scene content are motivated by their intended use on indoor, light-duty UAVs. Discussion outlines the overall software pipeline for sensor processing and details how algorithm choices for the underlying feature detection and correspondence computation impact the real-time performance and accuracy of the estimated odometry and associated covariance. This article also explores the consistency of odometry covariance estimates and the correlation between successive odometry estimates. The analysis is intended to provide users information needed to better leverage RGBD odometry within the constraints of their systems.

3D kinematics of mobile-bearing total knee arthroplasty using X-ray fluoroscopy.

PubMed

Yamazaki, Takaharu; Futai, Kazuma; Tomita, Tetsuya; Sato, Yoshinobu; Yoshikawa, Hideki; Tamura, Shinichi; Sugamoto, Kazuomi

2015-04-01

Total knee arthroplasty (TKA) 3D kinematic analysis requires 2D/3D image registration of X-ray fluoroscopic images and a computer-aided design (CAD) model of the knee implant. However, these techniques cannot provide information on the radiolucent polyethylene insert, since the insert silhouette does not appear clearly in X-ray images. Therefore, it is difficult to obtain the 3D kinematics of the polyethylene insert, particularly the mobile-bearing insert. A technique for 3D kinematic analysis of a mobile-bearing insert used in TKA was developed using X-ray fluoroscopy. The method was tested and a clinical application was evaluated. Tantalum beads and a CAD model of the mobile-bearing TKA insert are used for 3D pose estimation of the mobile-bearing insert used in TKA using X-ray fluoroscopy. The insert model was created using four identical tantalum beads precisely located at known positions in a polyethylene insert using a specially designed insertion device. Finally, the 3D pose of the insert model was estimated using a feature-based 2D/3D registration technique, using the silhouette of beads in fluoroscopic images and the corresponding CAD insert model. In vitro testing for the repeatability of the positioning of the tantalum beads and computer simulations for 3D pose estimation of the mobile-bearing insert were performed. The pose estimation accuracy achieved was sufficient for analyzing mobile-bearing TKA kinematics (RMS error: within 1.0 mm and 1.0°, except for medial-lateral translation). In a clinical application, nine patients with mobile-bearing TKA were investigated and analyzed with respect to a deep knee bending motion. A 3D kinematic analysis technique was developed that enables accurate quantitative evaluation of mobile-bearing TKA kinematics. This method may be useful for improving implant design and optimizing TKA surgical techniques.

Marker Configuration Model-Based Roentgen Fluoroscopic Analysis.

PubMed

Garling, Eric H; Kaptein, Bart L; Geleijns, Koos; Nelissen, Rob G H H; Valstar, Edward R

2005-04-01

It remains unknown if and how the polyethylene bearing in mobile bearing knees moves during dynamic activities with respect to the tibial base plate. Marker Configuration Model-Based Roentgen Fluoroscopic Analysis (MCM-based RFA) uses a marker configuration model of inserted tantalum markers in order to accurately estimate the pose of an implant or bone using single plane Roentgen images or fluoroscopic images. The goal of this study is to assess the accuracy of (MCM-Based RFA) in a standard fluoroscopic set-up using phantom experiments and to determine the error propagation with computer simulations. The experimental set-up of the phantom study was calibrated using a calibration box equipped with 600 tantalum markers, which corrected for image distortion and determined the focus position. In the computer simulation study the influence of image distortion, MC-model accuracy, focus position, the relative distance between MC-models and MC-model configuration on the accuracy of MCM-Based RFA were assessed. The phantom study established that the in-plane accuracy of MCM-Based RFA is 0.1 mm and the out-of-plane accuracy is 0.9 mm. The rotational accuracy is 0.1 degrees. A ninth-order polynomial model was used to correct for image distortion. Marker-Based RFA was estimated to have, in a worst case scenario, an in vivo translational accuracy of 0.14 mm (x-axis), 0.17 mm (y-axis), 1.9 mm (z-axis), respectively, and a rotational accuracy of 0.3 degrees. When using fluoroscopy to study kinematics, image distortion and the accuracy of models are important factors, which influence the accuracy of the measurements. MCM-Based RFA has the potential to be an accurate, clinically useful tool for studying kinematics after total joint replacement using standard equipment.

Markerless motion estimation for motion-compensated clinical brain imaging

NASA Astrophysics Data System (ADS)

Kyme, Andre Z.; Se, Stephen; Meikle, Steven R.; Fulton, Roger R.

2018-05-01

Motion-compensated brain imaging can dramatically reduce the artifacts and quantitative degradation associated with voluntary and involuntary subject head motion during positron emission tomography (PET), single photon emission computed tomography (SPECT) and computed tomography (CT). However, motion-compensated imaging protocols are not in widespread clinical use for these modalities. A key reason for this seems to be the lack of a practical motion tracking technology that allows for smooth and reliable integration of motion-compensated imaging protocols in the clinical setting. We seek to address this problem by investigating the feasibility of a highly versatile optical motion tracking method for PET, SPECT and CT geometries. The method requires no attached markers, relying exclusively on the detection and matching of distinctive facial features. We studied the accuracy of this method in 16 volunteers in a mock imaging scenario by comparing the estimated motion with an accurate marker-based method used in applications such as image guided surgery. A range of techniques to optimize performance of the method were also studied. Our results show that the markerless motion tracking method is highly accurate (<2 mm discrepancy against a benchmarking system) on an ethnically diverse range of subjects and, moreover, exhibits lower jitter and estimation of motion over a greater range than some marker-based methods. Our optimization tests indicate that the basic pose estimation algorithm is very robust but generally benefits from rudimentary background masking. Further marginal gains in accuracy can be achieved by accounting for non-rigid motion of features. Efficiency gains can be achieved by capping the number of features used for pose estimation provided that these features adequately sample the range of head motion encountered in the study. These proof-of-principle data suggest that markerless motion tracking is amenable to motion-compensated brain imaging and holds good promise for a practical implementation in clinical PET, SPECT and CT systems.

High Accuracy Monocular SFM and Scale Correction for Autonomous Driving.

PubMed

Song, Shiyu; Chandraker, Manmohan; Guest, Clark C

2016-04-01

We present a real-time monocular visual odometry system that achieves high accuracy in real-world autonomous driving applications. First, we demonstrate robust monocular SFM that exploits multithreading to handle driving scenes with large motions and rapidly changing imagery. To correct for scale drift, we use known height of the camera from the ground plane. Our second contribution is a novel data-driven mechanism for cue combination that allows highly accurate ground plane estimation by adapting observation covariances of multiple cues, such as sparse feature matching and dense inter-frame stereo, based on their relative confidences inferred from visual data on a per-frame basis. Finally, we demonstrate extensive benchmark performance and comparisons on the challenging KITTI dataset, achieving accuracy comparable to stereo and exceeding prior monocular systems. Our SFM system is optimized to output pose within 50 ms in the worst case, while average case operation is over 30 fps. Our framework also significantly boosts the accuracy of applications like object localization that rely on the ground plane.

A robust motion estimation system for minimal invasive laparoscopy

NASA Astrophysics Data System (ADS)

Marcinczak, Jan Marek; von Öhsen, Udo; Grigat, Rolf-Rainer

2012-02-01

Laparoscopy is a reliable imaging method to examine the liver. However, due to the limited field of view, a lot of experience is required from the surgeon to interpret the observed anatomy. Reconstruction of organ surfaces provide valuable additional information to the surgeon for a reliable diagnosis. Without an additional external tracking system the structure can be recovered from feature correspondences between different frames. In laparoscopic images blurred frames, specular reflections and inhomogeneous illumination make feature tracking a challenging task. We propose an ego-motion estimation system for minimal invasive laparoscopy that can cope with specular reflection, inhomogeneous illumination and blurred frames. To obtain robust feature correspondence, the approach combines SIFT and specular reflection segmentation with a multi-frame tracking scheme. The calibrated five-point algorithm is used with the MSAC robust estimator to compute the motion of the endoscope from multi-frame correspondence. The algorithm is evaluated using endoscopic videos of a phantom. The small incisions and the rigid endoscope limit the motion in minimal invasive laparoscopy. These limitations are considered in our evaluation and are used to analyze the accuracy of pose estimation that can be achieved by our approach. The endoscope is moved by a robotic system and the ground truth motion is recorded. The evaluation on typical endoscopic motion gives precise results and demonstrates the practicability of the proposed pose estimation system.

Enhanced RGB-D Mapping Method for Detailed 3D Indoor and Outdoor Modeling

PubMed Central

Tang, Shengjun; Zhu, Qing; Chen, Wu; Darwish, Walid; Wu, Bo; Hu, Han; Chen, Min

2016-01-01

RGB-D sensors (sensors with RGB camera and Depth camera) are novel sensing systems that capture RGB images along with pixel-wise depth information. Although they are widely used in various applications, RGB-D sensors have significant drawbacks including limited measurement ranges (e.g., within 3 m) and errors in depth measurement increase with distance from the sensor with respect to 3D dense mapping. In this paper, we present a novel approach to geometrically integrate the depth scene and RGB scene to enlarge the measurement distance of RGB-D sensors and enrich the details of model generated from depth images. First, precise calibration for RGB-D Sensors is introduced. In addition to the calibration of internal and external parameters for both, IR camera and RGB camera, the relative pose between RGB camera and IR camera is also calibrated. Second, to ensure poses accuracy of RGB images, a refined false features matches rejection method is introduced by combining the depth information and initial camera poses between frames of the RGB-D sensor. Then, a global optimization model is used to improve the accuracy of the camera pose, decreasing the inconsistencies between the depth frames in advance. In order to eliminate the geometric inconsistencies between RGB scene and depth scene, the scale ambiguity problem encountered during the pose estimation with RGB image sequences can be resolved by integrating the depth and visual information and a robust rigid-transformation recovery method is developed to register RGB scene to depth scene. The benefit of the proposed joint optimization method is firstly evaluated with the publicly available benchmark datasets collected with Kinect. Then, the proposed method is examined by tests with two sets of datasets collected in both outside and inside environments. The experimental results demonstrate the feasibility and robustness of the proposed method. PMID:27690028

Enhanced RGB-D Mapping Method for Detailed 3D Indoor and Outdoor Modeling.

PubMed

Tang, Shengjun; Zhu, Qing; Chen, Wu; Darwish, Walid; Wu, Bo; Hu, Han; Chen, Min

2016-09-27

RGB-D sensors (sensors with RGB camera and Depth camera) are novel sensing systems that capture RGB images along with pixel-wise depth information. Although they are widely used in various applications, RGB-D sensors have significant drawbacks including limited measurement ranges (e.g., within 3 m) and errors in depth measurement increase with distance from the sensor with respect to 3D dense mapping. In this paper, we present a novel approach to geometrically integrate the depth scene and RGB scene to enlarge the measurement distance of RGB-D sensors and enrich the details of model generated from depth images. First, precise calibration for RGB-D Sensors is introduced. In addition to the calibration of internal and external parameters for both, IR camera and RGB camera, the relative pose between RGB camera and IR camera is also calibrated. Second, to ensure poses accuracy of RGB images, a refined false features matches rejection method is introduced by combining the depth information and initial camera poses between frames of the RGB-D sensor. Then, a global optimization model is used to improve the accuracy of the camera pose, decreasing the inconsistencies between the depth frames in advance. In order to eliminate the geometric inconsistencies between RGB scene and depth scene, the scale ambiguity problem encountered during the pose estimation with RGB image sequences can be resolved by integrating the depth and visual information and a robust rigid-transformation recovery method is developed to register RGB scene to depth scene. The benefit of the proposed joint optimization method is firstly evaluated with the publicly available benchmark datasets collected with Kinect. Then, the proposed method is examined by tests with two sets of datasets collected in both outside and inside environments. The experimental results demonstrate the feasibility and robustness of the proposed method.

Marker Registration Technique for Handwritten Text Marker in Augmented Reality Applications

NASA Astrophysics Data System (ADS)

Thanaborvornwiwat, N.; Patanukhom, K.

2018-04-01

Marker registration is a fundamental process to estimate camera poses in marker-based Augmented Reality (AR) systems. We developed AR system that creates correspondence virtual objects on handwritten text markers. This paper presents a new method for registration that is robust for low-content text markers, variation of camera poses, and variation of handwritten styles. The proposed method uses Maximally Stable Extremal Regions (MSER) and polygon simplification for a feature point extraction. The experiment shows that we need to extract only five feature points per image which can provide the best registration results. An exhaustive search is used to find the best matching pattern of the feature points in two images. We also compared performance of the proposed method to some existing registration methods and found that the proposed method can provide better accuracy and time efficiency.

Intra-operative 3D guidance in prostate brachytherapy using a non-isocentric C-arm.

PubMed

Jain, A; Deguet, A; Iordachita, I; Chintalapani, G; Blevins, J; Le, Y; Armour, E; Burdette, C; Song, D; Fichtinger, G

2007-01-01

Intra-operative guidance in Transrectal Ultrasound (TRUS) guided prostate brachytherapy requires localization of inserted radioactive seeds relative to the prostate. Seeds were reconstructed using a typical C-arm, and exported to a commercial brachytherapy system for dosimetry analysis. Technical obstacles for 3D reconstruction on a non-isocentric C-arm included pose-dependent C-arm calibration; distortion correction; pose estimation of C-arm images; seed reconstruction; and C-arm to TRUS registration. In precision-machined hard phantoms with 40-100 seeds, we correctly reconstructed 99.8% seeds with a mean 3D accuracy of 0.68 mm. In soft tissue phantoms with 45-87 seeds and clinically realistic 15 degrees C-arm motion, we correctly reconstructed 100% seeds with an accuracy of 1.3 mm. The reconstructed 3D seed positions were then registered to the prostate segmented from TRUS. In a Phase-1 clinical trial, so far on 4 patients with 66-84 seeds, we achieved intra-operative monitoring of seed distribution and dosimetry. We optimized the 100% prescribed iso-dose contour by inserting an average of 3.75 additional seeds, making intra-operative dosimetry possible on a typical C-arm, at negligible additional cost to the existing clinical installation.

Viewpoint Invariant Gesture Recognition and 3D Hand Pose Estimation Using RGB-D

ERIC Educational Resources Information Center

Doliotis, Paul

2013-01-01

The broad application domain of the work presented in this thesis is pattern classification with a focus on gesture recognition and 3D hand pose estimation. One of the main contributions of the proposed thesis is a novel method for 3D hand pose estimation using RGB-D. Hand pose estimation is formulated as a database retrieval problem. The proposed…

Ultra wide-band localization and SLAM: a comparative study for mobile robot navigation.

PubMed

Segura, Marcelo J; Auat Cheein, Fernando A; Toibero, Juan M; Mut, Vicente; Carelli, Ricardo

2011-01-01

In this work, a comparative study between an Ultra Wide-Band (UWB) localization system and a Simultaneous Localization and Mapping (SLAM) algorithm is presented. Due to its high bandwidth and short pulses length, UWB potentially allows great accuracy in range measurements based on Time of Arrival (TOA) estimation. SLAM algorithms recursively estimates the map of an environment and the pose (position and orientation) of a mobile robot within that environment. The comparative study presented here involves the performance analysis of implementing in parallel an UWB localization based system and a SLAM algorithm on a mobile robot navigating within an environment. Real time results as well as error analysis are also shown in this work.

Hybrid Orientation Based Human Limbs Motion Tracking Method

PubMed Central

Glonek, Grzegorz; Wojciechowski, Adam

2017-01-01

One of the key technologies that lays behind the human–machine interaction and human motion diagnosis is the limbs motion tracking. To make the limbs tracking efficient, it must be able to estimate a precise and unambiguous position of each tracked human joint and resulting body part pose. In recent years, body pose estimation became very popular and broadly available for home users because of easy access to cheap tracking devices. Their robustness can be improved by different tracking modes data fusion. The paper defines the novel approach—orientation based data fusion—instead of dominating in literature position based approach, for two classes of tracking devices: depth sensors (i.e., Microsoft Kinect) and inertial measurement units (IMU). The detailed analysis of their working characteristics allowed to elaborate a new method that let fuse more precisely limbs orientation data from both devices and compensates their imprecisions. The paper presents the series of performed experiments that verified the method’s accuracy. This novel approach allowed to outperform the precision of position-based joints tracking, the methods dominating in the literature, of up to 18%. PMID:29232832

RGB-D SLAM Based on Extended Bundle Adjustment with 2D and 3D Information

PubMed Central

Di, Kaichang; Zhao, Qiang; Wan, Wenhui; Wang, Yexin; Gao, Yunjun

2016-01-01

In the study of SLAM problem using an RGB-D camera, depth information and visual information as two types of primary measurement data are rarely tightly coupled during refinement of camera pose estimation. In this paper, a new method of RGB-D camera SLAM is proposed based on extended bundle adjustment with integrated 2D and 3D information on the basis of a new projection model. First, the geometric relationship between the image plane coordinates and the depth values is constructed through RGB-D camera calibration. Then, 2D and 3D feature points are automatically extracted and matched between consecutive frames to build a continuous image network. Finally, extended bundle adjustment based on the new projection model, which takes both image and depth measurements into consideration, is applied to the image network for high-precision pose estimation. Field experiments show that the proposed method has a notably better performance than the traditional method, and the experimental results demonstrate the effectiveness of the proposed method in improving localization accuracy. PMID:27529256

Automatic Calibration Method for Driver’s Head Orientation in Natural Driving Environment

PubMed Central

Fu, Xianping; Guan, Xiao; Peli, Eli; Liu, Hongbo; Luo, Gang

2013-01-01

Gaze tracking is crucial for studying driver’s attention, detecting fatigue, and improving driver assistance systems, but it is difficult in natural driving environments due to nonuniform and highly variable illumination and large head movements. Traditional calibrations that require subjects to follow calibrators are very cumbersome to be implemented in daily driving situations. A new automatic calibration method, based on a single camera for determining the head orientation and which utilizes the side mirrors, the rear-view mirror, the instrument board, and different zones in the windshield as calibration points, is presented in this paper. Supported by a self-learning algorithm, the system tracks the head and categorizes the head pose in 12 gaze zones based on facial features. The particle filter is used to estimate the head pose to obtain an accurate gaze zone by updating the calibration parameters. Experimental results show that, after several hours of driving, the automatic calibration method without driver’s corporation can achieve the same accuracy as a manual calibration method. The mean error of estimated eye gazes was less than 5°in day and night driving. PMID:24639620

Comparative assessment of techniques for initial pose estimation using monocular vision

NASA Astrophysics Data System (ADS)

Sharma, Sumant; D`Amico, Simone

2016-06-01

This work addresses the comparative assessment of initial pose estimation techniques for monocular navigation to enable formation-flying and on-orbit servicing missions. Monocular navigation relies on finding an initial pose, i.e., a coarse estimate of the attitude and position of the space resident object with respect to the camera, based on a minimum number of features from a three dimensional computer model and a single two dimensional image. The initial pose is estimated without the use of fiducial markers, without any range measurements or any apriori relative motion information. Prior work has been done to compare different pose estimators for terrestrial applications, but there is a lack of functional and performance characterization of such algorithms in the context of missions involving rendezvous operations in the space environment. Use of state-of-the-art pose estimation algorithms designed for terrestrial applications is challenging in space due to factors such as limited on-board processing power, low carrier to noise ratio, and high image contrasts. This paper focuses on performance characterization of three initial pose estimation algorithms in the context of such missions and suggests improvements.

Hyperedge bundling: Data, source code, and precautions to modeling-accuracy bias to synchrony estimates.

PubMed

Wang, Sheng H; Lobier, Muriel; Siebenhühner, Felix; Puoliväli, Tuomas; Palva, Satu; Palva, J Matias

2018-06-01

It has not been well documented that MEG/EEG functional connectivity graphs estimated with zero-lag-free interaction metrics are severely confounded by a multitude of spurious interactions (SI), i.e., the false-positive "ghosts" of true interactions [1], [2]. These SI are caused by the multivariate linear mixing between sources, and thus they pose a severe challenge to the validity of connectivity analysis. Due to the complex nature of signal mixing and the SI problem, there is a need to intuitively demonstrate how the SI are discovered and how they can be attenuated using a novel approach that we termed hyperedge bundling. Here we provide a dataset with software with which the readers can perform simulations in order to better understand the theory and the solution to SI. We include the supplementary material of [1] that is not directly relevant to the hyperedge bundling per se but reflects important properties of the MEG source model and the functional connectivity graphs. For example, the gyri of dorsal-lateral cortices are the most accurately modeled areas; the sulci of inferior temporal, frontal and the insula have the least modeling accuracy. Importantly, we found the interaction estimates are heavily biased by the modeling accuracy between regions, which means the estimates cannot be straightforwardly interpreted as the coupling between brain regions. This raise a red flag that the conventional method of thresholding graphs by estimate values is rather suboptimal: because the measured topology of the graph reflects the geometric property of source-model instead of the cortical interactions under investigation.

Estimating satellite pose and motion parameters using a novelty filter and neural net tracker

NASA Technical Reports Server (NTRS)

Lee, Andrew J.; Casasent, David; Vermeulen, Pieter; Barnard, Etienne

1989-01-01

A system for determining the position, orientation and motion of a satellite with respect to a robotic spacecraft using video data is advanced. This system utilizes two levels of pose and motion estimation: an initial system which provides coarse estimates of pose and motion, and a second system which uses the coarse estimates and further processing to provide finer pose and motion estimates. The present paper emphasizes the initial coarse pose and motion estimation sybsystem. This subsystem utilizes novelty detection and filtering for locating novel parts and a neural net tracker to track these parts over time. Results of using this system on a sequence of images of a spin stabilized satellite are presented.

Point cloud modeling using the homogeneous transformation for non-cooperative pose estimation

NASA Astrophysics Data System (ADS)

Lim, Tae W.

2015-06-01

A modeling process to simulate point cloud range data that a lidar (light detection and ranging) sensor produces is presented in this paper in order to support the development of non-cooperative pose (relative attitude and position) estimation approaches which will help improve proximity operation capabilities between two adjacent vehicles. The algorithms in the modeling process were based on the homogeneous transformation, which has been employed extensively in robotics and computer graphics, as well as in recently developed pose estimation algorithms. Using a flash lidar in a laboratory testing environment, point cloud data of a test article was simulated and compared against the measured point cloud data. The simulated and measured data sets match closely, validating the modeling process. The modeling capability enables close examination of the characteristics of point cloud images of an object as it undergoes various translational and rotational motions. Relevant characteristics that will be crucial in non-cooperative pose estimation were identified such as shift, shadowing, perspective projection, jagged edges, and differential point cloud density. These characteristics will have to be considered in developing effective non-cooperative pose estimation algorithms. The modeling capability will allow extensive non-cooperative pose estimation performance simulations prior to field testing, saving development cost and providing performance metrics of the pose estimation concepts and algorithms under evaluation. The modeling process also provides "truth" pose of the test objects with respect to the sensor frame so that the pose estimation error can be quantified.

Lower limb estimation from sparse landmarks using an articulated shape model.

PubMed

Zhang, Ju; Fernandez, Justin; Hislop-Jambrich, Jacqui; Besier, Thor F

2016-12-08

Rapid generation of lower limb musculoskeletal models is essential for clinically applicable patient-specific gait modeling. Estimation of muscle and joint contact forces requires accurate representation of bone geometry and pose, as well as their muscle attachment sites, which define muscle moment arms. Motion-capture is a routine part of gait assessment but contains relatively sparse geometric information. Standard methods for creating customized models from motion-capture data scale a reference model without considering natural shape variations. We present an articulated statistical shape model of the left lower limb with embedded anatomical landmarks and muscle attachment regions. This model is used in an automatic workflow, implemented in an easy-to-use software application, that robustly and accurately estimates realistic lower limb bone geometry, pose, and muscle attachment regions from seven commonly used motion-capture landmarks. Estimated bone models were validated on noise-free marker positions to have a lower (p=0.001) surface-to-surface root-mean-squared error of 4.28mm, compared to 5.22mm using standard isotropic scaling. Errors at a variety of anatomical landmarks were also lower (8.6mm versus 10.8mm, p=0.001). We improve upon standard lower limb model scaling methods with shape model-constrained realistic bone geometries, regional muscle attachment sites, and higher accuracy. Copyright © 2016 Elsevier Ltd. All rights reserved.

Lane Level Localization; Using Images and HD Maps to Mitigate the Lateral Error

NASA Astrophysics Data System (ADS)

Hosseinyalamdary, S.; Peter, M.

2017-05-01

In urban canyon where the GNSS signals are blocked by buildings, the accuracy of measured position significantly deteriorates. GIS databases have been frequently utilized to improve the accuracy of measured position using map matching approaches. In map matching, the measured position is projected to the road links (centerlines) in this approach and the lateral error of measured position is reduced. By the advancement in data acquision approaches, high definition maps which contain extra information, such as road lanes are generated. These road lanes can be utilized to mitigate the positional error and improve the accuracy in position. In this paper, the image content of a camera mounted on the platform is utilized to detect the road boundaries in the image. We apply color masks to detect the road marks, apply the Hough transform to fit lines to the left and right road boundaries, find the corresponding road segment in GIS database, estimate the homography transformation between the global and image coordinates of the road boundaries, and estimate the camera pose with respect to the global coordinate system. The proposed approach is evaluated on a benchmark. The position is measured by a smartphone's GPS receiver, images are taken from smartphone's camera and the ground truth is provided by using Real-Time Kinematic (RTK) technique. Results show the proposed approach significantly improves the accuracy of measured GPS position. The error in measured GPS position with average and standard deviation of 11.323 and 11.418 meters is reduced to the error in estimated postion with average and standard deviation of 6.725 and 5.899 meters.

Color correction pipeline optimization for digital cameras

NASA Astrophysics Data System (ADS)

Bianco, Simone; Bruna, Arcangelo R.; Naccari, Filippo; Schettini, Raimondo

2013-04-01

The processing pipeline of a digital camera converts the RAW image acquired by the sensor to a representation of the original scene that should be as faithful as possible. There are mainly two modules responsible for the color-rendering accuracy of a digital camera: the former is the illuminant estimation and correction module, and the latter is the color matrix transformation aimed to adapt the color response of the sensor to a standard color space. These two modules together form what may be called the color correction pipeline. We design and test new color correction pipelines that exploit different illuminant estimation and correction algorithms that are tuned and automatically selected on the basis of the image content. Since the illuminant estimation is an ill-posed problem, illuminant correction is not error-free. An adaptive color matrix transformation module is optimized, taking into account the behavior of the first module in order to alleviate the amplification of color errors. The proposed pipelines are tested on a publicly available dataset of RAW images. Experimental results show that exploiting the cross-talks between the modules of the pipeline can lead to a higher color-rendition accuracy.

Fusion of Building Information and Range Imaging for Autonomous Location Estimation in Indoor Environments

PubMed Central

Kohoutek, Tobias K.; Mautz, Rainer; Wegner, Jan D.

2013-01-01

We present a novel approach for autonomous location estimation and navigation in indoor environments using range images and prior scene knowledge from a GIS database (CityGML). What makes this task challenging is the arbitrary relative spatial relation between GIS and Time-of-Flight (ToF) range camera further complicated by a markerless configuration. We propose to estimate the camera's pose solely based on matching of GIS objects and their detected location in image sequences. We develop a coarse-to-fine matching strategy that is able to match point clouds without any initial parameters. Experiments with a state-of-the-art ToF point cloud show that our proposed method delivers an absolute camera position with decimeter accuracy, which is sufficient for many real-world applications (e.g., collision avoidance). PMID:23435055

Effects of LiDAR point density and landscape context on the retrieval of urban forest biomass

NASA Astrophysics Data System (ADS)

Singh, K. K.; Chen, G.; McCarter, J. B.; Meentemeyer, R. K.

2014-12-01

Light Detection and Ranging (LiDAR), as an alternative to conventional optical remote sensing, is being increasingly used to accurately estimate aboveground forest biomass ranging from individual tree to stand levels. Recent advancements in LiDAR technology have resulted in higher point densities and better data accuracies, which however pose challenges to the procurement and processing of LiDAR data for large-area assessments. Reducing point density cuts data acquisition costs and overcome computational challenges for broad-scale forest management. However, how does that impact the accuracy of biomass estimation in an urban environment containing a great level of anthropogenic disturbances? The main goal of this study is to evaluate the effects of LiDAR point density on the biomass estimation of remnant forests in the rapidly urbanizing regions of Charlotte, North Carolina, USA. We used multiple linear regression to establish the statistical relationship between field-measured biomass and predictor variables (PVs) derived from LiDAR point clouds with varying densities. We compared the estimation accuracies between the general Urban Forest models (no discrimination of forest type) and the Forest Type models (evergreen, deciduous, and mixed), which was followed by quantifying the degree to which landscape context influenced biomass estimation. The explained biomass variance of Urban Forest models, adjusted R2, was fairly consistent across the reduced point densities with the highest difference of 11.5% between the 100% and 1% point densities. The combined estimates of Forest Type biomass models outperformed the Urban Forest models using two representative point densities (100% and 40%). The Urban Forest biomass model with development density of 125 m radius produced the highest adjusted R2 (0.83 and 0.82 at 100% and 40% LiDAR point densities, respectively) and the lowest RMSE values, signifying the distance impact of development on biomass estimation. Our evaluation suggests that reducing LiDAR point density is a viable solution to regional-scale forest biomass assessment without compromising the accuracy of estimation, which may further be improved using development density.

Ultra Wide-Band Localization and SLAM: A Comparative Study for Mobile Robot Navigation

PubMed Central

Segura, Marcelo J.; Auat Cheein, Fernando A.; Toibero, Juan M.; Mut, Vicente; Carelli, Ricardo

2011-01-01

In this work, a comparative study between an Ultra Wide-Band (UWB) localization system and a Simultaneous Localization and Mapping (SLAM) algorithm is presented. Due to its high bandwidth and short pulses length, UWB potentially allows great accuracy in range measurements based on Time of Arrival (TOA) estimation. SLAM algorithms recursively estimates the map of an environment and the pose (position and orientation) of a mobile robot within that environment. The comparative study presented here involves the performance analysis of implementing in parallel an UWB localization based system and a SLAM algorithm on a mobile robot navigating within an environment. Real time results as well as error analysis are also shown in this work. PMID:22319397

An Automated Strategy for Binding-Pose Selection and Docking Assessment in Structure-Based Drug Design.

PubMed

Ballante, Flavio; Marshall, Garland R

2016-01-25

Molecular docking is a widely used technique in drug design to predict the binding pose of a candidate compound in a defined therapeutic target. Numerous docking protocols are available, each characterized by different search methods and scoring functions, thus providing variable predictive capability on a same ligand-protein system. To validate a docking protocol, it is necessary to determine a priori the ability to reproduce the experimental binding pose (i.e., by determining the docking accuracy (DA)) in order to select the most appropriate docking procedure and thus estimate the rate of success in docking novel compounds. As common docking programs use generally different root-mean-square deviation (RMSD) formulas, scoring functions, and format results, it is both difficult and time-consuming to consistently determine and compare their predictive capabilities in order to identify the best protocol to use for the target of interest and to extrapolate the binding poses (i.e., best-docked (BD), best-cluster (BC), and best-fit (BF) poses) when applying a given docking program over thousands/millions of molecules during virtual screening. To reduce this difficulty, two new procedures called Clusterizer and DockAccessor have been developed and implemented for use with some common and "free-for-academics" programs such as AutoDock4, AutoDock4(Zn), AutoDock Vina, DOCK, MpSDockZn, PLANTS, and Surflex-Dock to automatically extrapolate BD, BC, and BF poses as well as to perform consistent cluster and DA analyses. Clusterizer and DockAccessor (code available over the Internet) represent two novel tools to collect computationally determined poses and detect the most predictive docking approach. Herein an application to human lysine deacetylase (hKDAC) inhibitors is illustrated.

A pose estimation method for unmanned ground vehicles in GPS denied environments

NASA Astrophysics Data System (ADS)

Tamjidi, Amirhossein; Ye, Cang

2012-06-01

This paper presents a pose estimation method based on the 1-Point RANSAC EKF (Extended Kalman Filter) framework. The method fuses the depth data from a LIDAR and the visual data from a monocular camera to estimate the pose of a Unmanned Ground Vehicle (UGV) in a GPS denied environment. Its estimation framework continuy updates the vehicle's 6D pose state and temporary estimates of the extracted visual features' 3D positions. In contrast to the conventional EKF-SLAM (Simultaneous Localization And Mapping) frameworks, the proposed method discards feature estimates from the extended state vector once they are no longer observed for several steps. As a result, the extended state vector always maintains a reasonable size that is suitable for online calculation. The fusion of laser and visual data is performed both in the feature initialization part of the EKF-SLAM process and in the motion prediction stage. A RANSAC pose calculation procedure is devised to produce pose estimate for the motion model. The proposed method has been successfully tested on the Ford campus's LIDAR-Vision dataset. The results are compared with the ground truth data of the dataset and the estimation error is ~1.9% of the path length.

Head pose estimation in computer vision: a survey.

PubMed

Murphy-Chutorian, Erik; Trivedi, Mohan Manubhai

2009-04-01

The capacity to estimate the head pose of another person is a common human ability that presents a unique challenge for computer vision systems. Compared to face detection and recognition, which have been the primary foci of face-related vision research, identity-invariant head pose estimation has fewer rigorously evaluated systems or generic solutions. In this paper, we discuss the inherent difficulties in head pose estimation and present an organized survey describing the evolution of the field. Our discussion focuses on the advantages and disadvantages of each approach and spans 90 of the most innovative and characteristic papers that have been published on this topic. We compare these systems by focusing on their ability to estimate coarse and fine head pose, highlighting approaches that are well suited for unconstrained environments.

Atmospheric dispersion prediction and source estimation of hazardous gas using artificial neural network, particle swarm optimization and expectation maximization

NASA Astrophysics Data System (ADS)

Qiu, Sihang; Chen, Bin; Wang, Rongxiao; Zhu, Zhengqiu; Wang, Yuan; Qiu, Xiaogang

2018-04-01

Hazardous gas leak accident has posed a potential threat to human beings. Predicting atmospheric dispersion and estimating its source become increasingly important in emergency management. Current dispersion prediction and source estimation models cannot satisfy the requirement of emergency management because they are not equipped with high efficiency and accuracy at the same time. In this paper, we develop a fast and accurate dispersion prediction and source estimation method based on artificial neural network (ANN), particle swarm optimization (PSO) and expectation maximization (EM). The novel method uses a large amount of pre-determined scenarios to train the ANN for dispersion prediction, so that the ANN can predict concentration distribution accurately and efficiently. PSO and EM are applied for estimating the source parameters, which can effectively accelerate the process of convergence. The method is verified by the Indianapolis field study with a SF6 release source. The results demonstrate the effectiveness of the method.

Close-Range Tracking of Underwater Vehicles Using Light Beacons

PubMed Central

Bosch, Josep; Gracias, Nuno; Ridao, Pere; Istenič, Klemen; Ribas, David

2016-01-01

This paper presents a new tracking system for autonomous underwater vehicles (AUVs) navigating in a close formation, based on computer vision and the use of active light markers. While acoustic localization can be very effective from medium to long distances, it is not so advantageous in short distances when the safety of the vehicles requires higher accuracy and update rates. The proposed system allows the estimation of the pose of a target vehicle at short ranges, with high accuracy and execution speed. To extend the field of view, an omnidirectional camera is used. This camera provides a full coverage of the lower hemisphere and enables the concurrent tracking of multiple vehicles in different positions. The system was evaluated in real sea conditions by tracking vehicles in mapping missions, where it demonstrated robust operation during extended periods of time. PMID:27023547

Close-Range Tracking of Underwater Vehicles Using Light Beacons.

PubMed

Bosch, Josep; Gracias, Nuno; Ridao, Pere; Istenič, Klemen; Ribas, David

2016-03-25

This paper presents a new tracking system for autonomous underwater vehicles (AUVs) navigating in a close formation, based on computer vision and the use of active light markers. While acoustic localization can be very effective from medium to long distances, it is not so advantageous in short distances when the safety of the vehicles requires higher accuracy and update rates. The proposed system allows the estimation of the pose of a target vehicle at short ranges, with high accuracy and execution speed. To extend the field of view, an omnidirectional camera is used. This camera provides a full coverage of the lower hemisphere and enables the concurrent tracking of multiple vehicles in different positions. The system was evaluated in real sea conditions by tracking vehicles in mapping missions, where it demonstrated robust operation during extended periods of time.

Endoscopic feature tracking for augmented-reality assisted prosthesis selection in mitral valve repair

NASA Astrophysics Data System (ADS)

Engelhardt, Sandy; Kolb, Silvio; De Simone, Raffaele; Karck, Matthias; Meinzer, Hans-Peter; Wolf, Ivo

2016-03-01

Mitral valve annuloplasty describes a surgical procedure where an artificial prosthesis is sutured onto the anatomical structure of the mitral annulus to re-establish the valve's functionality. Choosing an appropriate commercially available ring size and shape is a difficult decision the surgeon has to make intraoperatively according to his experience. In our augmented-reality framework, digitalized ring models are superimposed onto endoscopic image streams without using any additional hardware. To place the ring model on the proper position within the endoscopic image plane, a pose estimation is performed that depends on the localization of sutures placed by the surgeon around the leaflet origins and punctured through the stiffer structure of the annulus. In this work, the tissue penetration points are tracked by the real-time capable Lucas Kanade optical flow algorithm. The accuracy and robustness of this tracking algorithm is investigated with respect to the question whether outliers influence the subsequent pose estimation. Our results suggest that optical flow is very stable for a variety of different endoscopic scenes and tracking errors do not affect the position of the superimposed virtual objects in the scene, making this approach a viable candidate for annuloplasty augmented reality-enhanced decision support.

Testing and evaluation of a wearable augmented reality system for natural outdoor environments

NASA Astrophysics Data System (ADS)

Roberts, David; Menozzi, Alberico; Cook, James; Sherrill, Todd; Snarski, Stephen; Russler, Pat; Clipp, Brian; Karl, Robert; Wenger, Eric; Bennett, Matthew; Mauger, Jennifer; Church, William; Towles, Herman; MacCabe, Stephen; Webb, Jeffrey; Lupo, Jasper; Frahm, Jan-Michael; Dunn, Enrique; Leslie, Christopher; Welch, Greg

2013-05-01

This paper describes performance evaluation of a wearable augmented reality system for natural outdoor environments. Applied Research Associates (ARA), as prime integrator on the DARPA ULTRA-Vis (Urban Leader Tactical, Response, Awareness, and Visualization) program, is developing a soldier-worn system to provide intuitive `heads-up' visualization of tactically-relevant geo-registered icons. Our system combines a novel pose estimation capability, a helmet-mounted see-through display, and a wearable processing unit to accurately overlay geo-registered iconography (e.g., navigation waypoints, sensor points of interest, blue forces, aircraft) on the soldier's view of reality. We achieve accurate pose estimation through fusion of inertial, magnetic, GPS, terrain data, and computer-vision inputs. We leverage a helmet-mounted camera and custom computer vision algorithms to provide terrain-based measurements of absolute orientation (i.e., orientation of the helmet with respect to the earth). These orientation measurements, which leverage mountainous terrain horizon geometry and mission planning landmarks, enable our system to operate robustly in the presence of external and body-worn magnetic disturbances. Current field testing activities across a variety of mountainous environments indicate that we can achieve high icon geo-registration accuracy (<10mrad) using these vision-based methods.

Human action recognition based on kinematic similarity in real time

PubMed Central

Chen, Longting; Luo, Ailing; Zhang, Sicong

2017-01-01

Human action recognition using 3D pose data has gained a growing interest in the field of computer robotic interfaces and pattern recognition since the availability of hardware to capture human pose. In this paper, we propose a fast, simple, and powerful method of human action recognition based on human kinematic similarity. The key to this method is that the action descriptor consists of joints position, angular velocity and angular acceleration, which can meet the different individual sizes and eliminate the complex normalization. The angular parameters of joints within a short sliding time window (approximately 5 frames) around the current frame are used to express each pose frame of human action sequence. Moreover, three modified KNN (k-nearest-neighbors algorithm) classifiers are employed in our method: one for achieving the confidence of every frame in the training step, one for estimating the frame label of each descriptor, and one for classifying actions. Additional estimating of the frame’s time label makes it possible to address single input frames. This approach can be used on difficult, unsegmented sequences. The proposed method is efficient and can be run in real time. The research shows that many public datasets are irregularly segmented, and a simple method is provided to regularize the datasets. The approach is tested on some challenging datasets such as MSR-Action3D, MSRDailyActivity3D, and UTD-MHAD. The results indicate our method achieves a higher accuracy. PMID:29073131

A general framework for face reconstruction using single still image based on 2D-to-3D transformation kernel.

PubMed

Fooprateepsiri, Rerkchai; Kurutach, Werasak

2014-03-01

Face authentication is a biometric classification method that verifies the identity of a user based on image of their face. Accuracy of the authentication is reduced when the pose, illumination and expression of the training face images are different than the testing image. The methods in this paper are designed to improve the accuracy of a features-based face recognition system when the pose between the input images and training images are different. First, an efficient 2D-to-3D integrated face reconstruction approach is introduced to reconstruct a personalized 3D face model from a single frontal face image with neutral expression and normal illumination. Second, realistic virtual faces with different poses are synthesized based on the personalized 3D face to characterize the face subspace. Finally, face recognition is conducted based on these representative virtual faces. Compared with other related works, this framework has the following advantages: (1) only one single frontal face is required for face recognition, which avoids the burdensome enrollment work; and (2) the synthesized face samples provide the capability to conduct recognition under difficult conditions like complex pose, illumination and expression. From the experimental results, we conclude that the proposed method improves the accuracy of face recognition by varying the pose, illumination and expression. Copyright © 2014 Elsevier Ireland Ltd. All rights reserved.

Rapid transfer alignment of an inertial navigation system using a marginal stochastic integration filter

NASA Astrophysics Data System (ADS)

Zhou, Dapeng; Guo, Lei

2018-01-01

This study aims to address the rapid transfer alignment (RTA) issue of an inertial navigation system with large misalignment angles. The strong nonlinearity and high dimensionality of the system model pose a significant challenge to the estimation of the misalignment angles. In this paper, a 15-dimensional nonlinear model for RTA has been exploited, and it is shown that the functions for the model description exhibit a conditionally linear substructure. Then, a modified stochastic integration filter (SIF) called marginal SIF (MSIF) is developed to incorporate into the nonlinear model, where the number of sample points is significantly reduced but the estimation accuracy of SIF is retained. Comparisons between the MSIF-based RTA and the previously well-known methodologies are carried out through numerical simulations and a van test. The results demonstrate that the newly proposed method has an obvious accuracy advantage over the extended Kalman filter, the unscented Kalman filter and the marginal unscented Kalman filter. Further, the MSIF achieves a comparable performance to SIF, but with a significantly lower computation load.

The accuracy of mother's reports about their children's vaccination status.

PubMed

Gareaballah, E T; Loevinsohn, B P

1989-01-01

Estimates of measles vaccination coverage in the Sudan vary on average by 23 percentage points, depending on whether or not information supplied by mothers who have lost their children's vaccination cards is included. To determine the accuracy of mother's reports, we collected data during four large coverage surveys in which illiterate mothers with vaccination cards were asked about their children's vaccination status and their answers were compared with the information given on the cards. Mothers' replies were very accurate. For example, for measles vaccination, the data supplied were both sensitive (87%) and specific (79%) compared with those on the vaccination cards. For both DPT and measles vaccination, accurate estimates of the true coverage rates could therefore be obtained by relying solely on mothers' reports. Within +/- 1 month, 78% of the women knew the age at which their children had received their first dose of poliovaccine. Ignoring mothers' reports of their children's vaccination status could therefore result in serious underestimates of the true vaccination coverage. A simple method of dealing with the problem posed by lost vaccination cards during coverage surveys is also suggested.

Optimal accelerometer placement on a robot arm for pose estimation

NASA Astrophysics Data System (ADS)

Wijayasinghe, Indika B.; Sanford, Joseph D.; Abubakar, Shamsudeen; Saadatzi, Mohammad Nasser; Das, Sumit K.; Popa, Dan O.

2017-05-01

The performance of robots to carry out tasks depends in part on the sensor information they can utilize. Usually, robots are fitted with angle joint encoders that are used to estimate the position and orientation (or the pose) of its end-effector. However, there are numerous situations, such as in legged locomotion, mobile manipulation, or prosthetics, where such joint sensors may not be present at every, or any joint. In this paper we study the use of inertial sensors, in particular accelerometers, placed on the robot that can be used to estimate the robot pose. Studying accelerometer placement on a robot involves many parameters that affect the performance of the intended positioning task. Parameters such as the number of accelerometers, their size, geometric placement and Signal-to-Noise Ratio (SNR) are included in our study of their effects for robot pose estimation. Due to the ubiquitous availability of inexpensive accelerometers, we investigated pose estimation gains resulting from using increasingly large numbers of sensors. Monte-Carlo simulations are performed with a two-link robot arm to obtain the expected value of an estimation error metric for different accelerometer configurations, which are then compared for optimization. Results show that, with a fixed SNR model, the pose estimation error decreases with increasing number of accelerometers, whereas for a SNR model that scales inversely to the accelerometer footprint, the pose estimation error increases with the number of accelerometers. It is also shown that the optimal placement of the accelerometers depends on the method used for pose estimation. The findings suggest that an integration-based method favors placement of accelerometers at the extremities of the robot links, whereas a kinematic-constraints-based method favors a more uniformly distributed placement along the robot links.

Stereovision-based pose and inertia estimation of unknown and uncooperative space objects

NASA Astrophysics Data System (ADS)

Pesce, Vincenzo; Lavagna, Michèle; Bevilacqua, Riccardo

2017-01-01

Autonomous close proximity operations are an arduous and attractive problem in space mission design. In particular, the estimation of pose, motion and inertia properties of an uncooperative object is a challenging task because of the lack of available a priori information. This paper develops a novel method to estimate the relative position, velocity, angular velocity, attitude and the ratios of the components of the inertia matrix of an uncooperative space object using only stereo-vision measurements. The classical Extended Kalman Filter (EKF) and an Iterated Extended Kalman Filter (IEKF) are used and compared for the estimation procedure. In addition, in order to compute the inertia properties, the ratios of the inertia components are added to the state and a pseudo-measurement equation is considered in the observation model. The relative simplicity of the proposed algorithm could be suitable for an online implementation for real applications. The developed algorithm is validated by numerical simulations in MATLAB using different initial conditions and uncertainty levels. The goal of the simulations is to verify the accuracy and robustness of the proposed estimation algorithm. The obtained results show satisfactory convergence of estimation errors for all the considered quantities. The obtained results, in several simulations, shows some improvements with respect to similar works, which deal with the same problem, present in literature. In addition, a video processing procedure is presented to reconstruct the geometrical properties of a body using cameras. This inertia reconstruction algorithm has been experimentally validated at the ADAMUS (ADvanced Autonomous MUltiple Spacecraft) Lab at the University of Florida. In the future, this different method could be integrated to the inertia ratios estimator to have a complete tool for mass properties recognition.

Space Vehicle Pose Estimation via Optical Correlation and Nonlinear Estimation

NASA Technical Reports Server (NTRS)

Rakoczy, John M.; Herren, Kenneth A.

2008-01-01

A technique for 6-degree-of-freedom (6DOF) pose estimation of space vehicles is being developed. This technique draws upon recent developments in implementing optical correlation measurements in a nonlinear estimator, which relates the optical correlation measurements to the pose states (orientation and position). For the optical correlator, the use of both conjugate filters and binary, phase-only filters in the design of synthetic discriminant function (SDF) filters is explored. A static neural network is trained a priori and used as the nonlinear estimator. New commercial animation and image rendering software is exploited to design the SDF filters and to generate a large filter set with which to train the neural network. The technique is applied to pose estimation for rendezvous and docking of free-flying spacecraft and to terrestrial surface mobility systems for NASA's Vision for Space Exploration. Quantitative pose estimation performance will be reported. Advantages and disadvantages of the implementation of this technique are discussed.

Space Vehicle Pose Estimation via Optical Correlation and Nonlinear Estimation

NASA Technical Reports Server (NTRS)

Rakoczy, John; Herren, Kenneth

2007-01-01

A technique for 6-degree-of-freedom (6DOF) pose estimation of space vehicles is being developed. This technique draws upon recent developments in implementing optical correlation measurements in a nonlinear estimator, which relates the optical correlation measurements to the pose states (orientation and position). For the optical correlator, the use of both conjugate filters and binary, phase-only filters in the design of synthetic discriminant function (SDF) filters is explored. A static neural network is trained a priori and used as the nonlinear estimator. New commercial animation and image rendering software is exploited to design the SDF filters and to generate a large filter set with which to train the neural network. The technique is applied to pose estimation for rendezvous and docking of free-flying spacecraft and to terrestrial surface mobility systems for NASA's Vision for Space Exploration. Quantitative pose estimation performance will be reported. Advantages and disadvantages of the implementation of this technique are discussed.

Photogrammetric Accuracy and Modeling of Rolling Shutter Cameras

NASA Astrophysics Data System (ADS)

Ye, W.; Qiao, G.; Kong, F.; Guo, S.; Ma, X.; Tong, X.; Li, R.

2016-06-01

Global climate change is one of the major challenges that all nations are commonly facing. Long-term observations of the Antarctic ice sheet have been playing a critical role in quantitatively estimating and predicting effects resulting from the global changes. The film-based ARGON reconnaissance imagery provides a remarkable data source for studying the Antarctic ice-sheet in 1960s, thus greatly extending the time period of Antarctica surface observations. To deal with the low-quality images and the unavailability of camera poses, a systematic photogrammetric approach is proposed to reconstruct the interior and exterior orientation information for further glacial mapping applications, including ice flow velocity mapping and mass balance estimation. Some noteworthy details while performing geometric modelling using the ARGON images were introduced, including methods and results for handling specific effects of film deformation, damaged or missing fiducial marks and calibration report, automatic fiducial mark detection, control point selection through Antarctic shadow and ice surface terrain analysis, and others. Several sites in East Antarctica were tested. As an example, four images in the Byrd glacier region were used to assess the accuracy of the geometric modelling. A digital elevation model (DEM) and an orthophoto map of Byrd glacier were generated. The accuracy of the ground positions estimated by using independent check points is within one nominal pixel of 140 m of ARGON imagery. Furthermore, a number of significant features, such as ice flow velocity and regional change patterns, will be extracted and analysed.

Head Pose Estimation on Eyeglasses Using Line Detection and Classification Approach

NASA Astrophysics Data System (ADS)

Setthawong, Pisal; Vannija, Vajirasak

This paper proposes a unique approach for head pose estimation of subjects with eyeglasses by using a combination of line detection and classification approaches. Head pose estimation is considered as an important non-verbal form of communication and could also be used in the area of Human-Computer Interface. A major improvement of the proposed approach is that it allows estimation of head poses at a high yaw/pitch angle when compared with existing geometric approaches, does not require expensive data preparation and training, and is generally fast when compared with other approaches.

Monocular-Based 6-Degree of Freedom Pose Estimation Technology for Robotic Intelligent Grasping Systems

PubMed Central

Liu, Tao; Guo, Yin; Yang, Shourui; Yin, Shibin; Zhu, Jigui

2017-01-01

Industrial robots are expected to undertake ever more advanced tasks in the modern manufacturing industry, such as intelligent grasping, in which robots should be capable of recognizing the position and orientation of a part before grasping it. In this paper, a monocular-based 6-degree of freedom (DOF) pose estimation technology to enable robots to grasp large-size parts at informal poses is proposed. A camera was mounted on the robot end-flange and oriented to measure several featured points on the part before the robot moved to grasp it. In order to estimate the part pose, a nonlinear optimization model based on the camera object space collinearity error in different poses is established, and the initial iteration value is estimated with the differential transformation. Measuring poses of the camera are optimized based on uncertainty analysis. Also, the principle of the robotic intelligent grasping system was developed, with which the robot could adjust its pose to grasp the part. In experimental tests, the part poses estimated with the method described in this paper were compared with those produced by a laser tracker, and results show the RMS angle and position error are about 0.0228° and 0.4603 mm. Robotic intelligent grasping tests were also successfully performed in the experiments. PMID:28216555

Monocular-Based 6-Degree of Freedom Pose Estimation Technology for Robotic Intelligent Grasping Systems.

PubMed

Liu, Tao; Guo, Yin; Yang, Shourui; Yin, Shibin; Zhu, Jigui

2017-02-14

Industrial robots are expected to undertake ever more advanced tasks in the modern manufacturing industry, such as intelligent grasping, in which robots should be capable of recognizing the position and orientation of a part before grasping it. In this paper, a monocular-based 6-degree of freedom (DOF) pose estimation technology to enable robots to grasp large-size parts at informal poses is proposed. A camera was mounted on the robot end-flange and oriented to measure several featured points on the part before the robot moved to grasp it. In order to estimate the part pose, a nonlinear optimization model based on the camera object space collinearity error in different poses is established, and the initial iteration value is estimated with the differential transformation. Measuring poses of the camera are optimized based on uncertainty analysis. Also, the principle of the robotic intelligent grasping system was developed, with which the robot could adjust its pose to grasp the part. In experimental tests, the part poses estimated with the method described in this paper were compared with those produced by a laser tracker, and results show the RMS angle and position error are about 0.0228° and 0.4603 mm. Robotic intelligent grasping tests were also successfully performed in the experiments.

Fast human pose estimation using 3D Zernike descriptors

NASA Astrophysics Data System (ADS)

Berjón, Daniel; Morán, Francisco

2012-03-01

Markerless video-based human pose estimation algorithms face a high-dimensional problem that is frequently broken down into several lower-dimensional ones by estimating the pose of each limb separately. However, in order to do so they need to reliably locate the torso, for which they typically rely on time coherence and tracking algorithms. Their losing track usually results in catastrophic failure of the process, requiring human intervention and thus precluding their usage in real-time applications. We propose a very fast rough pose estimation scheme based on global shape descriptors built on 3D Zernike moments. Using an articulated model that we configure in many poses, a large database of descriptor/pose pairs can be computed off-line. Thus, the only steps that must be done on-line are the extraction of the descriptors for each input volume and a search against the database to get the most likely poses. While the result of such process is not a fine pose estimation, it can be useful to help more sophisticated algorithms to regain track or make more educated guesses when creating new particles in particle-filter-based tracking schemes. We have achieved a performance of about ten fps on a single computer using a database of about one million entries.

Head Pose Estimation Using Multilinear Subspace Analysis for Robot Human Awareness

NASA Technical Reports Server (NTRS)

Ivanov, Tonislav; Matthies, Larry; Vasilescu, M. Alex O.

2009-01-01

Mobile robots, operating in unconstrained indoor and outdoor environments, would benefit in many ways from perception of the human awareness around them. Knowledge of people's head pose and gaze directions would enable the robot to deduce which people are aware of the its presence, and to predict future motions of the people for better path planning. To make such inferences, requires estimating head pose on facial images that are combination of multiple varying factors, such as identity, appearance, head pose, and illumination. By applying multilinear algebra, the algebra of higher-order tensors, we can separate these factors and estimate head pose regardless of subject's identity or image conditions. Furthermore, we can automatically handle uncertainty in the size of the face and its location. We demonstrate a pipeline of on-the-move detection of pedestrians with a robot stereo vision system, segmentation of the head, and head pose estimation in cluttered urban street scenes.

Neuromorphic Event-Based 3D Pose Estimation

PubMed Central

Reverter Valeiras, David; Orchard, Garrick; Ieng, Sio-Hoi; Benosman, Ryad B.

2016-01-01

Pose estimation is a fundamental step in many artificial vision tasks. It consists of estimating the 3D pose of an object with respect to a camera from the object's 2D projection. Current state of the art implementations operate on images. These implementations are computationally expensive, especially for real-time applications. Scenes with fast dynamics exceeding 30–60 Hz can rarely be processed in real-time using conventional hardware. This paper presents a new method for event-based 3D object pose estimation, making full use of the high temporal resolution (1 μs) of asynchronous visual events output from a single neuromorphic camera. Given an initial estimate of the pose, each incoming event is used to update the pose by combining both 3D and 2D criteria. We show that the asynchronous high temporal resolution of the neuromorphic camera allows us to solve the problem in an incremental manner, achieving real-time performance at an update rate of several hundreds kHz on a conventional laptop. We show that the high temporal resolution of neuromorphic cameras is a key feature for performing accurate pose estimation. Experiments are provided showing the performance of the algorithm on real data, including fast moving objects, occlusions, and cases where the neuromorphic camera and the object are both in motion. PMID:26834547

A Subspace Pursuit–based Iterative Greedy Hierarchical Solution to the Neuromagnetic Inverse Problem

PubMed Central

Babadi, Behtash; Obregon-Henao, Gabriel; Lamus, Camilo; Hämäläinen, Matti S.; Brown, Emery N.; Purdon, Patrick L.

2013-01-01

Magnetoencephalography (MEG) is an important non-invasive method for studying activity within the human brain. Source localization methods can be used to estimate spatiotemporal activity from MEG measurements with high temporal resolution, but the spatial resolution of these estimates is poor due to the ill-posed nature of the MEG inverse problem. Recent developments in source localization methodology have emphasized temporal as well as spatial constraints to improve source localization accuracy, but these methods can be computationally intense. Solutions emphasizing spatial sparsity hold tremendous promise, since the underlying neurophysiological processes generating MEG signals are often sparse in nature, whether in the form of focal sources, or distributed sources representing large-scale functional networks. Recent developments in the theory of compressed sensing (CS) provide a rigorous framework to estimate signals with sparse structure. In particular, a class of CS algorithms referred to as greedy pursuit algorithms can provide both high recovery accuracy and low computational complexity. Greedy pursuit algorithms are difficult to apply directly to the MEG inverse problem because of the high-dimensional structure of the MEG source space and the high spatial correlation in MEG measurements. In this paper, we develop a novel greedy pursuit algorithm for sparse MEG source localization that overcomes these fundamental problems. This algorithm, which we refer to as the Subspace Pursuit-based Iterative Greedy Hierarchical (SPIGH) inverse solution, exhibits very low computational complexity while achieving very high localization accuracy. We evaluate the performance of the proposed algorithm using comprehensive simulations, as well as the analysis of human MEG data during spontaneous brain activity and somatosensory stimuli. These studies reveal substantial performance gains provided by the SPIGH algorithm in terms of computational complexity, localization accuracy, and robustness. PMID:24055554

On regularization and error estimates for the backward heat conduction problem with time-dependent thermal diffusivity factor

NASA Astrophysics Data System (ADS)

Karimi, Milad; Moradlou, Fridoun; Hajipour, Mojtaba

2018-10-01

This paper is concerned with a backward heat conduction problem with time-dependent thermal diffusivity factor in an infinite "strip". This problem is drastically ill-posed which is caused by the amplified infinitely growth in the frequency components. A new regularization method based on the Meyer wavelet technique is developed to solve the considered problem. Using the Meyer wavelet technique, some new stable estimates are proposed in the Hölder and Logarithmic types which are optimal in the sense of given by Tautenhahn. The stability and convergence rate of the proposed regularization technique are proved. The good performance and the high-accuracy of this technique is demonstrated through various one and two dimensional examples. Numerical simulations and some comparative results are presented.

Optical correlation based pose estimation using bipolar phase grayscale amplitude spatial light modulators

NASA Astrophysics Data System (ADS)

Outerbridge, Gregory John, II

Pose estimation techniques have been developed on both optical and digital correlator platforms to aid in the autonomous rendezvous and docking of spacecraft. This research has focused on the optical architecture, which utilizes high-speed bipolar-phase grayscale-amplitude spatial light modulators as the image and correlation filter devices. The optical approach has the primary advantage of optical parallel processing: an extremely fast and efficient way of performing complex correlation calculations. However, the constraints imposed on optically implementable filters makes optical correlator based posed estimation technically incompatible with the popular weighted composite filter designs successfully used on the digital platform. This research employs a much simpler "bank of filters" approach to optical pose estimation that exploits the inherent efficiency of optical correlation devices. A novel logarithmically mapped optically implementable matched filter combined with a pose search algorithm resulted in sub-degree standard deviations in angular pose estimation error. These filters were extremely simple to generate, requiring no complicated training sets and resulted in excellent performance even in the presence of significant background noise. Common edge detection and scaling of the input image was the only image pre-processing necessary for accurate pose detection at all alignment distances of interest.

Pose estimation of industrial objects towards robot operation

NASA Astrophysics Data System (ADS)

Niu, Jie; Zhou, Fuqiang; Tan, Haishu; Cao, Yu

2017-10-01

With the advantages of wide range, non-contact and high flexibility, the visual estimation technology of target pose has been widely applied in modern industry, robot guidance and other engineering practices. However, due to the influence of complicated industrial environment, outside interference factors, lack of object characteristics, restrictions of camera and other limitations, the visual estimation technology of target pose is still faced with many challenges. Focusing on the above problems, a pose estimation method of the industrial objects is developed based on 3D models of targets. By matching the extracted shape characteristics of objects with the priori 3D model database of targets, the method realizes the recognition of target. Thus a pose estimation of objects can be determined based on the monocular vision measuring model. The experimental results show that this method can be implemented to estimate the position of rigid objects based on poor images information, and provides guiding basis for the operation of the industrial robot.

Constructing a Database from Multiple 2D Images for Camera Pose Estimation and Robot Localization

NASA Technical Reports Server (NTRS)

Wolf, Michael; Ansar, Adnan I.; Brennan, Shane; Clouse, Daniel S.; Padgett, Curtis W.

2012-01-01

The LMDB (Landmark Database) Builder software identifies persistent image features (landmarks) in a scene viewed multiple times and precisely estimates the landmarks 3D world positions. The software receives as input multiple 2D images of approximately the same scene, along with an initial guess of the camera poses for each image, and a table of features matched pair-wise in each frame. LMDB Builder aggregates landmarks across an arbitrarily large collection of frames with matched features. Range data from stereo vision processing can also be passed to improve the initial guess of the 3D point estimates. The LMDB Builder aggregates feature lists across all frames, manages the process to promote selected features to landmarks, and iteratively calculates the 3D landmark positions using the current camera pose estimations (via an optimal ray projection method), and then improves the camera pose estimates using the 3D landmark positions. Finally, it extracts image patches for each landmark from auto-selected key frames and constructs the landmark database. The landmark database can then be used to estimate future camera poses (and therefore localize a robotic vehicle that may be carrying the cameras) by matching current imagery to landmark database image patches and using the known 3D landmark positions to estimate the current pose.

C-arm rotation encoding with accelerometers.

PubMed

Grzeda, Victor; Fichtinger, Gabor

2010-07-01

Fluoroscopic C-arms are being incorporated in computer-assisted interventions in increasing number. For these applications to work, the relative poses of imaging must be known. To find the pose, tracking methods such as optical cameras, electromagnetic trackers, and radiographic fiducials have been used-all hampered by significant shortcomings. We propose to recover the rotational pose of the C-arm using the angle-sensing ability of accelerometers, by exploiting the capability of the accelerometer to measure tilt angles. By affixing the accelerometer to a C-arm, the accelerometer tracks the C-arm pose during rotations of the C-arm. To demonstrate this concept, a C-arm analogue was constructed with a webcam device affixed to the C-arm model to mimic X-ray imaging. Then, measuring the offset between the accelerometer angle readings to the webcam pose angle, an angle correction equation (ACE) was created to properly tracking the C-arm rotational pose. Several tests were performed on the webcam C-arm model using the ACEs to tracking the primary and secondary angle rotations of the model. We evaluated the capability of linear and polynomial ACEs to tracking the webcam C-arm pose angle for different rotational scenarios. The test results showed that the accelerometer could track the pose of the webcam C-arm model with an accuracy of less than 1.0 degree. The accelerometer was successful in sensing the C-arm's rotation with clinically adequate accuracy in the C-arm webcam model.

FDA approved drugs complexed to their targets: evaluating pose prediction accuracy of docking protocols.

PubMed

Bohari, Mohammed H; Sastry, G Narahari

2012-09-01

Efficient drug discovery programs can be designed by utilizing existing pools of knowledge from the already approved drugs. This can be achieved in one way by repositioning of drugs approved for some indications to newer indications. Complex of drug to its target gives fundamental insight into molecular recognition and a clear understanding of putative binding site. Five popular docking protocols, Glide, Gold, FlexX, Cdocker and LigandFit have been evaluated on a dataset of 199 FDA approved drug-target complexes for their accuracy in predicting the experimental pose. Performance for all the protocols is assessed at default settings, with root mean square deviation (RMSD) between the experimental ligand pose and the docked pose of less than 2.0 Å as the success criteria in predicting the pose. Glide (38.7 %) is found to be the most accurate in top ranked pose and Cdocker (58.8 %) in top RMSD pose. Ligand flexibility is a major bottleneck in failure of docking protocols to correctly predict the pose. Resolution of the crystal structure shows an inverse relationship with the performance of docking protocol. All the protocols perform optimally when a balanced type of hydrophilic and hydrophobic interaction or dominant hydrophilic interaction exists. Overall in 16 different target classes, hydrophobic interactions dominate in the binding site and maximum success is achieved for all the docking protocols in nuclear hormone receptor class while performance for the rest of the classes varied based on individual protocol.

Optimal Control Method of Robot End Position and Orientation Based on Dynamic Tracking Measurement

NASA Astrophysics Data System (ADS)

Liu, Dalong; Xu, Lijuan

2018-01-01

In order to improve the accuracy of robot pose positioning and control, this paper proposed a dynamic tracking measurement robot pose optimization control method based on the actual measurement of D-H parameters of the robot, the parameters is taken with feedback compensation of the robot, according to the geometrical parameters obtained by robot pose tracking measurement, improved multi sensor information fusion the extended Kalan filter method, with continuous self-optimal regression, using the geometric relationship between joint axes for kinematic parameters in the model, link model parameters obtained can timely feedback to the robot, the implementation of parameter correction and compensation, finally we can get the optimal attitude angle, realize the robot pose optimization control experiments were performed. 6R dynamic tracking control of robot joint robot with independent research and development is taken as experimental subject, the simulation results show that the control method improves robot positioning accuracy, and it has the advantages of versatility, simplicity, ease of operation and so on.

Designing a Multi-Objective Multi-Support Accuracy Assessment of the 2001 National Land Cover Data (NLCD 2001) of the Conterminous United States

EPA Science Inventory

The database design and diverse application of NLCD 2001 pose significant challenges for accuracy assessment because numerous objectives are of interest, including accuracy of land cover, percent urban imperviousness, percent tree canopy, land-cover composition, and net change. ...

Automatic C-arm pose estimation via 2D/3D hybrid registration of a radiographic fiducial

NASA Astrophysics Data System (ADS)

Moult, E.; Burdette, E. C.; Song, D. Y.; Abolmaesumi, P.; Fichtinger, G.; Fallavollita, P.

2011-03-01

Motivation: In prostate brachytherapy, real-time dosimetry would be ideal to allow for rapid evaluation of the implant quality intra-operatively. However, such a mechanism requires an imaging system that is both real-time and which provides, via multiple C-arm fluoroscopy images, clear information describing the three-dimensional position of the seeds deposited within the prostate. Thus, accurate tracking of the C-arm poses proves to be of critical importance to the process. Methodology: We compute the pose of the C-arm relative to a stationary radiographic fiducial of known geometry by employing a hybrid registration framework. Firstly, by means of an ellipse segmentation algorithm and a 2D/3D feature based registration, we exploit known FTRAC geometry to recover an initial estimate of the C-arm pose. Using this estimate, we then initialize the intensity-based registration which serves to recover a refined and accurate estimation of the C-arm pose. Results: Ground-truth pose was established for each C-arm image through a published and clinically tested segmentation-based method. Using 169 clinical C-arm images and a +/-10° and +/-10 mm random perturbation of the ground-truth pose, the average rotation and translation errors were 0.68° (std = 0.06°) and 0.64 mm (std = 0.24 mm). Conclusion: Fully automated C-arm pose estimation using a 2D/3D hybrid registration scheme was found to be clinically robust based on human patient data.

Three-Dimensional Object Recognition and Registration for Robotic Grasping Systems Using a Modified Viewpoint Feature Histogram

PubMed Central

Chen, Chin-Sheng; Chen, Po-Chun; Hsu, Chih-Ming

2016-01-01

This paper presents a novel 3D feature descriptor for object recognition and to identify poses when there are six-degrees-of-freedom for mobile manipulation and grasping applications. Firstly, a Microsoft Kinect sensor is used to capture 3D point cloud data. A viewpoint feature histogram (VFH) descriptor for the 3D point cloud data then encodes the geometry and viewpoint, so an object can be simultaneously recognized and registered in a stable pose and the information is stored in a database. The VFH is robust to a large degree of surface noise and missing depth information so it is reliable for stereo data. However, the pose estimation for an object fails when the object is placed symmetrically to the viewpoint. To overcome this problem, this study proposes a modified viewpoint feature histogram (MVFH) descriptor that consists of two parts: a surface shape component that comprises an extended fast point feature histogram and an extended viewpoint direction component. The MVFH descriptor characterizes an object’s pose and enhances the system’s ability to identify objects with mirrored poses. Finally, the refined pose is further estimated using an iterative closest point when the object has been recognized and the pose roughly estimated by the MVFH descriptor and it has been registered on a database. The estimation results demonstrate that the MVFH feature descriptor allows more accurate pose estimation. The experiments also show that the proposed method can be applied in vision-guided robotic grasping systems. PMID:27886080

Bone Pose Estimation in the Presence of Soft Tissue Artifact Using Triangular Cosserat Point Elements.

PubMed

Solav, Dana; Rubin, M B; Cereatti, Andrea; Camomilla, Valentina; Wolf, Alon

2016-04-01

Accurate estimation of the position and orientation (pose) of a bone from a cluster of skin markers is limited mostly by the relative motion between the bone and the markers, which is known as the soft tissue artifact (STA). This work presents a method, based on continuum mechanics, to describe the kinematics of a cluster affected by STA. The cluster is characterized by triangular cosserat point elements (TCPEs) defined by all combinations of three markers. The effects of the STA on the TCPEs are quantified using three parameters describing the strain in each TCPE and the relative rotation and translation between TCPEs. The method was evaluated using previously collected ex vivo kinematic data. Femur pose was estimated from 12 skin markers on the thigh, while its reference pose was measured using bone pins. Analysis revealed that instantaneous subsets of TCPEs exist which estimate bone position and orientation more accurately than the Procrustes Superimposition applied to the cluster of all markers. It has been shown that some of these parameters correlate well with femur pose errors, which suggests that they can be used to select, at each instant, subsets of TCPEs leading an improved estimation of the underlying bone pose.

Real-Time 3D Tracking and Reconstruction on Mobile Phones.

PubMed

Prisacariu, Victor Adrian; Kähler, Olaf; Murray, David W; Reid, Ian D

2015-05-01

We present a novel framework for jointly tracking a camera in 3D and reconstructing the 3D model of an observed object. Due to the region based approach, our formulation can handle untextured objects, partial occlusions, motion blur, dynamic backgrounds and imperfect lighting. Our formulation also allows for a very efficient implementation which achieves real-time performance on a mobile phone, by running the pose estimation and the shape optimisation in parallel. We use a level set based pose estimation but completely avoid the, typically required, explicit computation of a global distance. This leads to tracking rates of more than 100 Hz on a desktop PC and 30 Hz on a mobile phone. Further, we incorporate additional orientation information from the phone's inertial sensor which helps us resolve the tracking ambiguities inherent to region based formulations. The reconstruction step first probabilistically integrates 2D image statistics from selected keyframes into a 3D volume, and then imposes coherency and compactness using a total variational regularisation term. The global optimum of the overall energy function is found using a continuous max-flow algorithm and we show that, similar to tracking, the integration of per voxel posteriors instead of likelihoods improves the precision and accuracy of the reconstruction.

Precise visual navigation using multi-stereo vision and landmark matching

NASA Astrophysics Data System (ADS)

Zhu, Zhiwei; Oskiper, Taragay; Samarasekera, Supun; Kumar, Rakesh

2007-04-01

Traditional vision-based navigation system often drifts over time during navigation. In this paper, we propose a set of techniques which greatly reduce the long term drift and also improve its robustness to many failure conditions. In our approach, two pairs of stereo cameras are integrated to form a forward/backward multi-stereo camera system. As a result, the Field-Of-View of the system is extended significantly to capture more natural landmarks from the scene. This helps to increase the pose estimation accuracy as well as reduce the failure situations. Secondly, a global landmark matching technique is used to recognize the previously visited locations during navigation. Using the matched landmarks, a pose correction technique is used to eliminate the accumulated navigation drift. Finally, in order to further improve the robustness of the system, measurements from low-cost Inertial Measurement Unit (IMU) and Global Positioning System (GPS) sensors are integrated with the visual odometry in an extended Kalman Filtering framework. Our system is significantly more accurate and robust than previously published techniques (1~5% localization error) over long-distance navigation both indoors and outdoors. Real world experiments on a human worn system show that the location can be estimated within 1 meter over 500 meters (around 0.1% localization error averagely) without the use of GPS information.

Coupled multiview autoencoders with locality sensitivity for three-dimensional human pose estimation

NASA Astrophysics Data System (ADS)

Yu, Jialin; Sun, Jifeng; Luo, Shasha; Duan, Bichao

2017-09-01

Estimating three-dimensional (3D) human poses from a single camera is usually implemented by searching pose candidates with image descriptors. Existing methods usually suppose that the mapping from feature space to pose space is linear, but in fact, their mapping relationship is highly nonlinear, which heavily degrades the performance of 3D pose estimation. We propose a method to recover 3D pose from a silhouette image. It is based on the multiview feature embedding (MFE) and the locality-sensitive autoencoders (LSAEs). On the one hand, we first depict the manifold regularized sparse low-rank approximation for MFE and then the input image is characterized by a fused feature descriptor. On the other hand, both the fused feature and its corresponding 3D pose are separately encoded by LSAEs. A two-layer back-propagation neural network is trained by parameter fine-tuning and then used to map the encoded 2D features to encoded 3D poses. Our LSAE ensures a good preservation of the local topology of data points. Experimental results demonstrate the effectiveness of our proposed method.

Empirical mode decomposition-based facial pose estimation inside video sequences

NASA Astrophysics Data System (ADS)

Qing, Chunmei; Jiang, Jianmin; Yang, Zhijing

2010-03-01

We describe a new pose-estimation algorithm via integration of the strength in both empirical mode decomposition (EMD) and mutual information. While mutual information is exploited to measure the similarity between facial images to estimate poses, EMD is exploited to decompose input facial images into a number of intrinsic mode function (IMF) components, which redistribute the effect of noise, expression changes, and illumination variations as such that, when the input facial image is described by the selected IMF components, all the negative effects can be minimized. Extensive experiments were carried out in comparisons to existing representative techniques, and the results show that the proposed algorithm achieves better pose-estimation performances with robustness to noise corruption, illumination variation, and facial expressions.

Recovering the 3d Pose and Shape of Vehicles from Stereo Images

NASA Astrophysics Data System (ADS)

Coenen, M.; Rottensteiner, F.; Heipke, C.

2018-05-01

The precise reconstruction and pose estimation of vehicles plays an important role, e.g. for autonomous driving. We tackle this problem on the basis of street level stereo images obtained from a moving vehicle. Starting from initial vehicle detections, we use a deformable vehicle shape prior learned from CAD vehicle data to fully reconstruct the vehicles in 3D and to recover their 3D pose and shape. To fit a deformable vehicle model to each detection by inferring the optimal parameters for pose and shape, we define an energy function leveraging reconstructed 3D data, image information, the vehicle model and derived scene knowledge. To minimise the energy function, we apply a robust model fitting procedure based on iterative Monte Carlo model particle sampling. We evaluate our approach using the object detection and orientation estimation benchmark of the KITTI dataset (Geiger et al., 2012). Our approach can deal with very coarse pose initialisations and we achieve encouraging results with up to 82 % correct pose estimations. Moreover, we are able to deliver very precise orientation estimation results with an average absolute error smaller than 4°.

Analysis and algorithms for a regularized Cauchy problem arising from a non-linear elliptic PDE for seismic velocity estimation

DOE Office of Scientific and Technical Information (OSTI.GOV)

Cameron, M.K.; Fomel, S.B.; Sethian, J.A.

2009-01-01

In the present work we derive and study a nonlinear elliptic PDE coming from the problem of estimation of sound speed inside the Earth. The physical setting of the PDE allows us to pose only a Cauchy problem, and hence is ill-posed. However we are still able to solve it numerically on a long enough time interval to be of practical use. We used two approaches. The first approach is a finite difference time-marching numerical scheme inspired by the Lax-Friedrichs method. The key features of this scheme is the Lax-Friedrichs averaging and the wide stencil in space. The second approachmore » is a spectral Chebyshev method with truncated series. We show that our schemes work because of (1) the special input corresponding to a positive finite seismic velocity, (2) special initial conditions corresponding to the image rays, (3) the fact that our finite-difference scheme contains small error terms which damp the high harmonics; truncation of the Chebyshev series, and (4) the need to compute the solution only for a short interval of time. We test our numerical scheme on a collection of analytic examples and demonstrate a dramatic improvement in accuracy in the estimation of the sound speed inside the Earth in comparison with the conventional Dix inversion. Our test on the Marmousi example confirms the effectiveness of the proposed approach.« less

3D pose estimation and motion analysis of the articulated human hand-forearm limb in an industrial production environment

NASA Astrophysics Data System (ADS)

Hahn, Markus; Barrois, Björn; Krüger, Lars; Wöhler, Christian; Sagerer, Gerhard; Kummert, Franz

2010-09-01

This study introduces an approach to model-based 3D pose estimation and instantaneous motion analysis of the human hand-forearm limb in the application context of safe human-robot interaction. 3D pose estimation is performed using two approaches: The Multiocular Contracting Curve Density (MOCCD) algorithm is a top-down technique based on pixel statistics around a contour model projected into the images from several cameras. The Iterative Closest Point (ICP) algorithm is a bottom-up approach which uses a motion-attributed 3D point cloud to estimate the object pose. Due to their orthogonal properties, a fusion of these algorithms is shown to be favorable. The fusion is performed by a weighted combination of the extracted pose parameters in an iterative manner. The analysis of object motion is based on the pose estimation result and the motion-attributed 3D points belonging to the hand-forearm limb using an extended constraint-line approach which does not rely on any temporal filtering. A further refinement is obtained using the Shape Flow algorithm, a temporal extension of the MOCCD approach, which estimates the temporal pose derivative based on the current and the two preceding images, corresponding to temporal filtering with a short response time of two or at most three frames. Combining the results of the two motion estimation stages provides information about the instantaneous motion properties of the object. Experimental investigations are performed on real-world image sequences displaying several test persons performing different working actions typically occurring in an industrial production scenario. In all example scenes, the background is cluttered, and the test persons wear various kinds of clothes. For evaluation, independently obtained ground truth data are used. [Figure not available: see fulltext.

Human Pose Estimation from Monocular Images: A Comprehensive Survey

PubMed Central

Gong, Wenjuan; Zhang, Xuena; Gonzàlez, Jordi; Sobral, Andrews; Bouwmans, Thierry; Tu, Changhe; Zahzah, El-hadi

2016-01-01

Human pose estimation refers to the estimation of the location of body parts and how they are connected in an image. Human pose estimation from monocular images has wide applications (e.g., image indexing). Several surveys on human pose estimation can be found in the literature, but they focus on a certain category; for example, model-based approaches or human motion analysis, etc. As far as we know, an overall review of this problem domain has yet to be provided. Furthermore, recent advancements based on deep learning have brought novel algorithms for this problem. In this paper, a comprehensive survey of human pose estimation from monocular images is carried out including milestone works and recent advancements. Based on one standard pipeline for the solution of computer vision problems, this survey splits the problem into several modules: feature extraction and description, human body models, and modeling methods. Problem modeling methods are approached based on two means of categorization in this survey. One way to categorize includes top-down and bottom-up methods, and another way includes generative and discriminative methods. Considering the fact that one direct application of human pose estimation is to provide initialization for automatic video surveillance, there are additional sections for motion-related methods in all modules: motion features, motion models, and motion-based methods. Finally, the paper also collects 26 publicly available data sets for validation and provides error measurement methods that are frequently used. PMID:27898003

Relative Pose Estimation Using Image Feature Triplets

NASA Astrophysics Data System (ADS)

Chuang, T. Y.; Rottensteiner, F.; Heipke, C.

2015-03-01

A fully automated reconstruction of the trajectory of image sequences using point correspondences is turning into a routine practice. However, there are cases in which point features are hardly detectable, cannot be localized in a stable distribution, and consequently lead to an insufficient pose estimation. This paper presents a triplet-wise scheme for calibrated relative pose estimation from image point and line triplets, and investigates the effectiveness of the feature integration upon the relative pose estimation. To this end, we employ an existing point matching technique and propose a method for line triplet matching in which the relative poses are resolved during the matching procedure. The line matching method aims at establishing hypotheses about potential minimal line matches that can be used for determining the parameters of relative orientation (pose estimation) of two images with respect to the reference one; then, quantifying the agreement using the estimated orientation parameters. Rather than randomly choosing the line candidates in the matching process, we generate an associated lookup table to guide the selection of potential line matches. In addition, we integrate the homologous point and line triplets into a common adjustment procedure. In order to be able to also work with image sequences the adjustment is formulated in an incremental manner. The proposed scheme is evaluated with both synthetic and real datasets, demonstrating its satisfactory performance and revealing the effectiveness of image feature integration.

Manifolds for pose tracking from monocular video

NASA Astrophysics Data System (ADS)

Basu, Saurav; Poulin, Joshua; Acton, Scott T.

2015-03-01

We formulate a simple human-pose tracking theory from monocular video based on the fundamental relationship between changes in pose and image motion vectors. We investigate the natural embedding of the low-dimensional body pose space into a high-dimensional space of body configurations that behaves locally in a linear manner. The embedded manifold facilitates the decomposition of the image motion vectors into basis motion vector fields of the tangent space to the manifold. This approach benefits from the style invariance of image motion flow vectors, and experiments to validate the fundamental theory show reasonable accuracy (within 4.9 deg of the ground truth).

Efficient visual grasping alignment for cylinders

NASA Technical Reports Server (NTRS)

Nicewarner, Keith E.; Kelley, Robert B.

1992-01-01

Monocular information from a gripper-mounted camera is used to servo the robot gripper to grasp a cylinder. The fundamental concept for rapid pose estimation is to reduce the amount of information that needs to be processed during each vision update interval. The grasping procedure is divided into four phases: learn, recognition, alignment, and approach. In the learn phase, a cylinder is placed in the gripper and the pose estimate is stored and later used as the servo target. This is performed once as a calibration step. The recognition phase verifies the presence of a cylinder in the camera field of view. An initial pose estimate is computed and uncluttered scan regions are selected. The radius of the cylinder is estimated by moving the robot a fixed distance toward the cylinder and observing the change in the image. The alignment phase processes only the scan regions obtained previously. Rapid pose estimates are used to align the robot with the cylinder at a fixed distance from it. The relative motion of the cylinder is used to generate an extrapolated pose-based trajectory for the robot controller. The approach phase guides the robot gripper to a grasping position. The cylinder can be grasped with a minimal reaction force and torque when only rough global pose information is initially available.

Efficient visual grasping alignment for cylinders

NASA Technical Reports Server (NTRS)

Nicewarner, Keith E.; Kelley, Robert B.

1991-01-01

Monocular information from a gripper-mounted camera is used to servo the robot gripper to grasp a cylinder. The fundamental concept for rapid pose estimation is to reduce the amount of information that needs to be processed during each vision update interval. The grasping procedure is divided into four phases: learn, recognition, alignment, and approach. In the learn phase, a cylinder is placed in the gripper and the pose estimate is stored and later used as the servo target. This is performed once as a calibration step. The recognition phase verifies the presence of a cylinder in the camera field of view. An initial pose estimate is computed and uncluttered scan regions are selected. The radius of the cylinder is estimated by moving the robot a fixed distance toward the cylinder and observing the change in the image. The alignment phase processes only the scan regions obtained previously. Rapid pose estimates are used to align the robot with the cylinder at a fixed distance from it. The relative motion of the cylinder is used to generate an extrapolated pose-based trajectory for the robot controller. The approach phase guides the robot gripper to a grasping position. The cylinder can be grasped with a minimal reaction force and torque when only rough global pose information is initially available.

Hierarchical graphical-based human pose estimation via local multi-resolution convolutional neural network

NASA Astrophysics Data System (ADS)

Zhu, Aichun; Wang, Tian; Snoussi, Hichem

2018-03-01

This paper addresses the problems of the graphical-based human pose estimation in still images, including the diversity of appearances and confounding background clutter. We present a new architecture for estimating human pose using a Convolutional Neural Network (CNN). Firstly, a Relative Mixture Deformable Model (RMDM) is defined by each pair of connected parts to compute the relative spatial information in the graphical model. Secondly, a Local Multi-Resolution Convolutional Neural Network (LMR-CNN) is proposed to train and learn the multi-scale representation of each body parts by combining different levels of part context. Thirdly, a LMR-CNN based hierarchical model is defined to explore the context information of limb parts. Finally, the experimental results demonstrate the effectiveness of the proposed deep learning approach for human pose estimation.

Classification and pose estimation of objects using nonlinear features

NASA Astrophysics Data System (ADS)

Talukder, Ashit; Casasent, David P.

1998-03-01

A new nonlinear feature extraction method called the maximum representation and discrimination feature (MRDF) method is presented for extraction of features from input image data. It implements transformations similar to the Sigma-Pi neural network. However, the weights of the MRDF are obtained in closed form, and offer advantages compared to nonlinear neural network implementations. The features extracted are useful for both object discrimination (classification) and object representation (pose estimation). We show its use in estimating the class and pose of images of real objects and rendered solid CAD models of machine parts from single views using a feature-space trajectory (FST) neural network classifier. We show more accurate classification and pose estimation results than are achieved by standard principal component analysis (PCA) and Fukunaga-Koontz (FK) feature extraction methods.

A combined reconstruction-classification method for diffuse optical tomography.

PubMed

Hiltunen, P; Prince, S J D; Arridge, S

2009-11-07

We present a combined classification and reconstruction algorithm for diffuse optical tomography (DOT). DOT is a nonlinear ill-posed inverse problem. Therefore, some regularization is needed. We present a mixture of Gaussians prior, which regularizes the DOT reconstruction step. During each iteration, the parameters of a mixture model are estimated. These associate each reconstructed pixel with one of several classes based on the current estimate of the optical parameters. This classification is exploited to form a new prior distribution to regularize the reconstruction step and update the optical parameters. The algorithm can be described as an iteration between an optimization scheme with zeroth-order variable mean and variance Tikhonov regularization and an expectation-maximization scheme for estimation of the model parameters. We describe the algorithm in a general Bayesian framework. Results from simulated test cases and phantom measurements show that the algorithm enhances the contrast of the reconstructed images with good spatial accuracy. The probabilistic classifications of each image contain only a few misclassified pixels.

Robust Head-Pose Estimation Based on Partially-Latent Mixture of Linear Regressions.

PubMed

Drouard, Vincent; Horaud, Radu; Deleforge, Antoine; Ba, Sileye; Evangelidis, Georgios

2017-03-01

Head-pose estimation has many applications, such as social event analysis, human-robot and human-computer interaction, driving assistance, and so forth. Head-pose estimation is challenging, because it must cope with changing illumination conditions, variabilities in face orientation and in appearance, partial occlusions of facial landmarks, as well as bounding-box-to-face alignment errors. We propose to use a mixture of linear regressions with partially-latent output. This regression method learns to map high-dimensional feature vectors (extracted from bounding boxes of faces) onto the joint space of head-pose angles and bounding-box shifts, such that they are robustly predicted in the presence of unobservable phenomena. We describe in detail the mapping method that combines the merits of unsupervised manifold learning techniques and of mixtures of regressions. We validate our method with three publicly available data sets and we thoroughly benchmark four variants of the proposed algorithm with several state-of-the-art head-pose estimation methods.

Vision-guided gripping of a cylinder

NASA Technical Reports Server (NTRS)

Nicewarner, Keith E.; Kelley, Robert B.

1991-01-01

The motivation for vision-guided servoing is taken from tasks in automated or telerobotic space assembly and construction. Vision-guided servoing requires the ability to perform rapid pose estimates and provide predictive feature tracking. Monocular information from a gripper-mounted camera is used to servo the gripper to grasp a cylinder. The procedure is divided into recognition and servo phases. The recognition stage verifies the presence of a cylinder in the camera field of view. Then an initial pose estimate is computed and uncluttered scan regions are selected. The servo phase processes only the selected scan regions of the image. Given the knowledge, from the recognition phase, that there is a cylinder in the image and knowing the radius of the cylinder, 4 of the 6 pose parameters can be estimated with minimal computation. The relative motion of the cylinder is obtained by using the current pose and prior pose estimates. The motion information is then used to generate a predictive feature-based trajectory for the path of the gripper.

Stochastic formulation of patient positioning using linac-mounted cone beam imaging with prior knowledge

DOE Office of Scientific and Technical Information (OSTI.GOV)

Hoegele, W.; Loeschel, R.; Dobler, B.

2011-02-15

Purpose: In this work, a novel stochastic framework for patient positioning based on linac-mounted CB projections is introduced. Based on this formulation, the most probable shifts and rotations of the patient are estimated, incorporating interfractional deformations of patient anatomy and other uncertainties associated with patient setup. Methods: The target position is assumed to be defined by and is stochastically determined from positions of various features such as anatomical landmarks or markers in CB projections, i.e., radiographs acquired with a CB-CT system. The patient positioning problem of finding the target location from CB projections is posed as an inverse problem withmore » prior knowledge and is solved using a Bayesian maximum a posteriori (MAP) approach. The prior knowledge is three-fold and includes the accuracy of an initial patient setup (such as in-room laser and skin marks), the plasticity of the body (relative shifts between target and features), and the feature detection error in CB projections (which may vary depending on specific detection algorithm and feature type). For this purpose, MAP estimators are derived and a procedure of using them in clinical practice is outlined. Furthermore, a rule of thumb is theoretically derived, relating basic parameters of the prior knowledge (initial setup accuracy, plasticity of the body, and number of features) and the parameters of CB data acquisition (number of projections and accuracy of feature detection) to the expected estimation accuracy. Results: MAP estimation can be applied to arbitrary features and detection algorithms. However, to experimentally demonstrate its applicability and to perform the validation of the algorithm, a water-equivalent, deformable phantom with features represented by six 1 mm chrome balls were utilized. These features were detected in the cone beam projections (XVI, Elekta Synergy) by a local threshold method for demonstration purposes only. The accuracy of estimation (strongly varying for different plasticity parameters of the body) agreed with the rule of thumb formula. Moreover, based on this rule of thumb formula, about 20 projections for 6 detectable features seem to be sufficient for a target estimation accuracy of 0.2 cm, even for relatively large feature detection errors with standard deviation of 0.5 cm and spatial displacements of the features with standard deviation of 0.5 cm. Conclusions: The authors have introduced a general MAP-based patient setup algorithm accounting for different sources of uncertainties, which are utilized as the prior knowledge in a transparent way. This new framework can be further utilized for different clinical sites, as well as theoretical developments in the field of patient positioning for radiotherapy.« less

An evolutionary firefly algorithm for the estimation of nonlinear biological model parameters.

PubMed

Abdullah, Afnizanfaizal; Deris, Safaai; Anwar, Sohail; Arjunan, Satya N V

2013-01-01

The development of accurate computational models of biological processes is fundamental to computational systems biology. These models are usually represented by mathematical expressions that rely heavily on the system parameters. The measurement of these parameters is often difficult. Therefore, they are commonly estimated by fitting the predicted model to the experimental data using optimization methods. The complexity and nonlinearity of the biological processes pose a significant challenge, however, to the development of accurate and fast optimization methods. We introduce a new hybrid optimization method incorporating the Firefly Algorithm and the evolutionary operation of the Differential Evolution method. The proposed method improves solutions by neighbourhood search using evolutionary procedures. Testing our method on models for the arginine catabolism and the negative feedback loop of the p53 signalling pathway, we found that it estimated the parameters with high accuracy and within a reasonable computation time compared to well-known approaches, including Particle Swarm Optimization, Nelder-Mead, and Firefly Algorithm. We have also verified the reliability of the parameters estimated by the method using an a posteriori practical identifiability test.

An Evolutionary Firefly Algorithm for the Estimation of Nonlinear Biological Model Parameters

PubMed Central

Abdullah, Afnizanfaizal; Deris, Safaai; Anwar, Sohail; Arjunan, Satya N. V.

2013-01-01

The development of accurate computational models of biological processes is fundamental to computational systems biology. These models are usually represented by mathematical expressions that rely heavily on the system parameters. The measurement of these parameters is often difficult. Therefore, they are commonly estimated by fitting the predicted model to the experimental data using optimization methods. The complexity and nonlinearity of the biological processes pose a significant challenge, however, to the development of accurate and fast optimization methods. We introduce a new hybrid optimization method incorporating the Firefly Algorithm and the evolutionary operation of the Differential Evolution method. The proposed method improves solutions by neighbourhood search using evolutionary procedures. Testing our method on models for the arginine catabolism and the negative feedback loop of the p53 signalling pathway, we found that it estimated the parameters with high accuracy and within a reasonable computation time compared to well-known approaches, including Particle Swarm Optimization, Nelder-Mead, and Firefly Algorithm. We have also verified the reliability of the parameters estimated by the method using an a posteriori practical identifiability test. PMID:23469172

FPGA-based architecture for motion recovering in real-time

NASA Astrophysics Data System (ADS)

Arias-Estrada, Miguel; Maya-Rueda, Selene E.; Torres-Huitzil, Cesar

2002-03-01

A key problem in the computer vision field is the measurement of object motion in a scene. The main goal is to compute an approximation of the 3D motion from the analysis of an image sequence. Once computed, this information can be used as a basis to reach higher level goals in different applications. Motion estimation algorithms pose a significant computational load for the sequential processors limiting its use in practical applications. In this work we propose a hardware architecture for motion estimation in real time based on FPGA technology. The technique used for motion estimation is Optical Flow due to its accuracy, and the density of velocity estimation, however other techniques are being explored. The architecture is composed of parallel modules working in a pipeline scheme to reach high throughput rates near gigaflops. The modules are organized in a regular structure to provide a high degree of flexibility to cover different applications. Some results will be presented and the real-time performance will be discussed and analyzed. The architecture is prototyped in an FPGA board with a Virtex device interfaced to a digital imager.

Autonomous Vision-Based Tethered-Assisted Rover Docking

NASA Technical Reports Server (NTRS)

Tsai, Dorian; Nesnas, Issa A.D.; Zarzhitsky, Dimitri

2013-01-01

Many intriguing science discoveries on planetary surfaces, such as the seasonal flows on crater walls and skylight entrances to lava tubes, are at sites that are currently inaccessible to state-of-the-art rovers. The in situ exploration of such sites is likely to require a tethered platform both for mechanical support and for providing power and communication. Mother/daughter architectures have been investigated where a mother deploys a tethered daughter into extreme terrains. Deploying and retracting a tethered daughter requires undocking and re-docking of the daughter to the mother, with the latter being the challenging part. In this paper, we describe a vision-based tether-assisted algorithm for the autonomous re-docking of a daughter to its mother following an extreme terrain excursion. The algorithm uses fiducials mounted on the mother to improve the reliability and accuracy of estimating the pose of the mother relative to the daughter. The tether that is anchored by the mother helps the docking process and increases the system's tolerance to pose uncertainties by mechanically aligning the mating parts in the final docking phase. A preliminary version of the algorithm was developed and field-tested on the Axel rover in the JPL Mars Yard. The algorithm achieved an 80% success rate in 40 experiments in both firm and loose soils and starting from up to 6 m away at up to 40 deg radial angle and 20 deg relative heading. The algorithm does not rely on an initial estimate of the relative pose. The preliminary results are promising and help retire the risk associated with the autonomous docking process enabling consideration in future martian and lunar missions.

An Evaluation of the Plant Density Estimator the Point-Centred Quarter Method (PCQM) Using Monte Carlo Simulation.

PubMed

Khan, Md Nabiul Islam; Hijbeek, Renske; Berger, Uta; Koedam, Nico; Grueters, Uwe; Islam, S M Zahirul; Hasan, Md Asadul; Dahdouh-Guebas, Farid

2016-01-01

In the Point-Centred Quarter Method (PCQM), the mean distance of the first nearest plants in each quadrant of a number of random sample points is converted to plant density. It is a quick method for plant density estimation. In recent publications the estimator equations of simple PCQM (PCQM1) and higher order ones (PCQM2 and PCQM3, which uses the distance of the second and third nearest plants, respectively) show discrepancy. This study attempts to review PCQM estimators in order to find the most accurate equation form. We tested the accuracy of different PCQM equations using Monte Carlo Simulations in simulated (having 'random', 'aggregated' and 'regular' spatial patterns) plant populations and empirical ones. PCQM requires at least 50 sample points to ensure a desired level of accuracy. PCQM with a corrected estimator is more accurate than with a previously published estimator. The published PCQM versions (PCQM1, PCQM2 and PCQM3) show significant differences in accuracy of density estimation, i.e. the higher order PCQM provides higher accuracy. However, the corrected PCQM versions show no significant differences among them as tested in various spatial patterns except in plant assemblages with a strong repulsion (plant competition). If N is number of sample points and R is distance, the corrected estimator of PCQM1 is 4(4N - 1)/(π ∑ R2) but not 12N/(π ∑ R2), of PCQM2 is 4(8N - 1)/(π ∑ R2) but not 28N/(π ∑ R2) and of PCQM3 is 4(12N - 1)/(π ∑ R2) but not 44N/(π ∑ R2) as published. If the spatial pattern of a plant association is random, PCQM1 with a corrected equation estimator and over 50 sample points would be sufficient to provide accurate density estimation. PCQM using just the nearest tree in each quadrant is therefore sufficient, which facilitates sampling of trees, particularly in areas with just a few hundred trees per hectare. PCQM3 provides the best density estimations for all types of plant assemblages including the repulsion process. Since in practice, the spatial pattern of a plant association remains unknown before starting a vegetation survey, for field applications the use of PCQM3 along with the corrected estimator is recommended. However, for sparse plant populations, where the use of PCQM3 may pose practical limitations, the PCQM2 or PCQM1 would be applied. During application of PCQM in the field, care should be taken to summarize the distance data based on 'the inverse summation of squared distances' but not 'the summation of inverse squared distances' as erroneously published.

Drogue pose estimation for unmanned aerial vehicle autonomous aerial refueling system based on infrared vision sensor

NASA Astrophysics Data System (ADS)

Chen, Shanjun; Duan, Haibin; Deng, Yimin; Li, Cong; Zhao, Guozhi; Xu, Yan

2017-12-01

Autonomous aerial refueling is a significant technology that can significantly extend the endurance of unmanned aerial vehicles. A reliable method that can accurately estimate the position and attitude of the probe relative to the drogue is the key to such a capability. A drogue pose estimation method based on infrared vision sensor is introduced with the general goal of yielding an accurate and reliable drogue state estimate. First, by employing direct least squares ellipse fitting and convex hull in OpenCV, a feature point matching and interference point elimination method is proposed. In addition, considering the conditions that some infrared LEDs are damaged or occluded, a missing point estimation method based on perspective transformation and affine transformation is designed. Finally, an accurate and robust pose estimation algorithm improved by the runner-root algorithm is proposed. The feasibility of the designed visual measurement system is demonstrated by flight test, and the results indicate that our proposed method enables precise and reliable pose estimation of the probe relative to the drogue, even in some poor conditions.

An eye model for uncalibrated eye gaze estimation under variable head pose

NASA Astrophysics Data System (ADS)

Hnatow, Justin; Savakis, Andreas

2007-04-01

Gaze estimation is an important component of computer vision systems that monitor human activity for surveillance, human-computer interaction, and various other applications including iris recognition. Gaze estimation methods are particularly valuable when they are non-intrusive, do not require calibration, and generalize well across users. This paper presents a novel eye model that is employed for efficiently performing uncalibrated eye gaze estimation. The proposed eye model was constructed from a geometric simplification of the eye and anthropometric data about eye feature sizes in order to circumvent the requirement of calibration procedures for each individual user. The positions of the two eye corners and the midpupil, the distance between the two eye corners, and the radius of the eye sphere are required for gaze angle calculation. The locations of the eye corners and midpupil are estimated via processing following eye detection, and the remaining parameters are obtained from anthropometric data. This eye model is easily extended to estimating eye gaze under variable head pose. The eye model was tested on still images of subjects at frontal pose (0 °) and side pose (34 °). An upper bound of the model's performance was obtained by manually selecting the eye feature locations. The resulting average absolute error was 2.98 ° for frontal pose and 2.87 ° for side pose. The error was consistent across subjects, which indicates that good generalization was obtained. This level of performance compares well with other gaze estimation systems that utilize a calibration procedure to measure eye features.

Tehran Air Pollutants Prediction Based on Random Forest Feature Selection Method

NASA Astrophysics Data System (ADS)

Shamsoddini, A.; Aboodi, M. R.; Karami, J.

2017-09-01

Air pollution as one of the most serious forms of environmental pollutions poses huge threat to human life. Air pollution leads to environmental instability, and has harmful and undesirable effects on the environment. Modern prediction methods of the pollutant concentration are able to improve decision making and provide appropriate solutions. This study examines the performance of the Random Forest feature selection in combination with multiple-linear regression and Multilayer Perceptron Artificial Neural Networks methods, in order to achieve an efficient model to estimate carbon monoxide and nitrogen dioxide, sulfur dioxide and PM2.5 contents in the air. The results indicated that Artificial Neural Networks fed by the attributes selected by Random Forest feature selection method performed more accurate than other models for the modeling of all pollutants. The estimation accuracy of sulfur dioxide emissions was lower than the other air contaminants whereas the nitrogen dioxide was predicted more accurate than the other pollutants.

Face pose tracking using the four-point algorithm

NASA Astrophysics Data System (ADS)

Fung, Ho Yin; Wong, Kin Hong; Yu, Ying Kin; Tsui, Kwan Pang; Kam, Ho Chuen

2017-06-01

In this paper, we have developed an algorithm to track the pose of a human face robustly and efficiently. Face pose estimation is very useful in many applications such as building virtual reality systems and creating an alternative input method for the disabled. Firstly, we have modified a face detection toolbox called DLib for the detection of a face in front of a camera. The detected face features are passed to a pose estimation method, known as the four-point algorithm, for pose computation. The theory applied and the technical problems encountered during system development are discussed in the paper. It is demonstrated that the system is able to track the pose of a face in real time using a consumer grade laptop computer.

Wavelet-promoted sparsity for non-invasive reconstruction of electrical activity of the heart.

PubMed

Cluitmans, Matthijs; Karel, Joël; Bonizzi, Pietro; Volders, Paul; Westra, Ronald; Peeters, Ralf

2018-05-12

We investigated a novel sparsity-based regularization method in the wavelet domain of the inverse problem of electrocardiography that aims at preserving the spatiotemporal characteristics of heart-surface potentials. In three normal, anesthetized dogs, electrodes were implanted around the epicardium and body-surface electrodes were attached to the torso. Potential recordings were obtained simultaneously on the body surface and on the epicardium. A CT scan was used to digitize a homogeneous geometry which consisted of the body-surface electrodes and the epicardial surface. A novel multitask elastic-net-based method was introduced to regularize the ill-posed inverse problem. The method simultaneously pursues a sparse wavelet representation in time-frequency and exploits correlations in space. Performance was assessed in terms of quality of reconstructed epicardial potentials, estimated activation and recovery time, and estimated locations of pacing, and compared with performance of Tikhonov zeroth-order regularization. Results in the wavelet domain obtained higher sparsity than those in the time domain. Epicardial potentials were non-invasively reconstructed with higher accuracy than with Tikhonov zeroth-order regularization (p < 0.05), and recovery times were improved (p < 0.05). No significant improvement was found in terms of activation times and localization of origin of pacing. Next to improved estimation of recovery isochrones, which is important when assessing substrate for cardiac arrhythmias, this novel technique opens potentially powerful opportunities for clinical application, by allowing to choose wavelet bases that are optimized for specific clinical questions. Graphical Abstract The inverse problem of electrocardiography is to reconstruct heart-surface potentials from recorded bodysurface electrocardiograms (ECGs) and a torso-heart geometry. However, it is ill-posed and solving it requires additional constraints for regularization. We introduce a regularization method that simultaneously pursues a sparse wavelet representation in time-frequency and exploits correlations in space. Our approach reconstructs epicardial (heart-surface) potentials with higher accuracy than common methods. It also improves the reconstruction of recovery isochrones, which is important when assessing substrate for cardiac arrhythmias. This novel technique opens potentially powerful opportunities for clinical application, by allowing to choose wavelet bases that are optimized for specific clinical questions.

Efficient Wide Baseline Structure from Motion

NASA Astrophysics Data System (ADS)

Michelini, Mario; Mayer, Helmut

2016-06-01

This paper presents a Structure from Motion approach for complex unorganized image sets. To achieve high accuracy and robustness, image triplets are employed and (an approximate) camera calibration is assumed to be known. The focus lies on a complete linking of images even in case of large image distortions, e.g., caused by wide baselines, as well as weak baselines. A method for embedding image descriptors into Hamming space is proposed for fast image similarity ranking. The later is employed to limit the number of pairs to be matched by a wide baseline method. An iterative graph-based approach is proposed formulating image linking as the search for a terminal Steiner minimum tree in a line graph. Finally, additional links are determined and employed to improve the accuracy of the pose estimation. By this means, loops in long image sequences are implicitly closed. The potential of the proposed approach is demonstrated by results for several complex image sets also in comparison with VisualSFM.

An Analysis of Spacecraft Localization from Descent Image Data for Pinpoint Landing on Mars and other Cratered Bodies Data Acquisition

NASA Technical Reports Server (NTRS)

Ansar, Adnan; Cheng, Yang

2005-01-01

A pinpoint landing capability will be a critical component for many planned NASA missions to Mars and beyond. Implicit in the requirement is the ability to accurately localize the spacecraft with respect to the terrain during descent. In this paper, we present evidence that a vision-based solution using craters as landmarks is both practical and will meet the requirements of next generation missions. Our emphasis in this paper is on the feasibility of such a system in terms of (a) localization accuracy and (b) applicability to Martian terrain. We show that accuracy of well under 100 meters can be expected under suitable conditions. We also present a sensitivity analysis that makes an explicit connection between input data and robustness of our pose estimate. In addition, we present an analysis of the susceptibility of our technique to inherently ambiguous configurations of craters. We show that probability of failure due to such ambiguity is becoming increasingly small.

An investigation into multi-dimensional prediction models to estimate the pose error of a quadcopter in a CSP plant setting

NASA Astrophysics Data System (ADS)

Lock, Jacobus C.; Smit, Willie J.; Treurnicht, Johann

2016-05-01

The Solar Thermal Energy Research Group (STERG) is investigating ways to make heliostats cheaper to reduce the total cost of a concentrating solar power (CSP) plant. One avenue of research is to use unmanned aerial vehicles (UAVs) to automate and assist with the heliostat calibration process. To do this, the pose estimation error of each UAV must be determined and integrated into a calibration procedure. A computer vision (CV) system is used to measure the pose of a quadcopter UAV. However, this CV system contains considerable measurement errors. Since this is a high-dimensional problem, a sophisticated prediction model must be used to estimate the measurement error of the CV system for any given pose measurement vector. This paper attempts to train and validate such a model with the aim of using it to determine the pose error of a quadcopter in a CSP plant setting.

Non-lambertian reflectance modeling and shape recovery of faces using tensor splines.

PubMed

Kumar, Ritwik; Barmpoutis, Angelos; Banerjee, Arunava; Vemuri, Baba C

2011-03-01

Modeling illumination effects and pose variations of a face is of fundamental importance in the field of facial image analysis. Most of the conventional techniques that simultaneously address both of these problems work with the Lambertian assumption and thus fall short of accurately capturing the complex intensity variation that the facial images exhibit or recovering their 3D shape in the presence of specularities and cast shadows. In this paper, we present a novel Tensor-Spline-based framework for facial image analysis. We show that, using this framework, the facial apparent BRDF field can be accurately estimated while seamlessly accounting for cast shadows and specularities. Further, using local neighborhood information, the same framework can be exploited to recover the 3D shape of the face (to handle pose variation). We quantitatively validate the accuracy of the Tensor Spline model using a more general model based on the mixture of single-lobed spherical functions. We demonstrate the effectiveness of our technique by presenting extensive experimental results for face relighting, 3D shape recovery, and face recognition using the Extended Yale B and CMU PIE benchmark data sets.

Real-time upper-body human pose estimation from depth data using Kalman filter for simulator

NASA Astrophysics Data System (ADS)

Lee, D.; Chi, S.; Park, C.; Yoon, H.; Kim, J.; Park, C. H.

2014-08-01

Recently, many studies show that an indoor horse riding exercise has a positive effect on promoting health and diet. However, if a rider has an incorrect posture, it will be the cause of back pain. In spite of this problem, there is only few research on analyzing rider's posture. Therefore, the purpose of this study is to estimate a rider pose from a depth image using the Asus's Xtion sensor in real time. In the experiments, we show the performance of our pose estimation algorithm in order to comparing the results between our joint estimation algorithm and ground truth data.

An improved silhouette for human pose estimation

NASA Astrophysics Data System (ADS)

Hawes, Anthony H.; Iftekharuddin, Khan M.

2017-08-01

We propose a novel method for analyzing images that exploits the natural lines of a human poses to find areas where self-occlusion could be present. Errors caused by self-occlusion cause several modern human pose estimation methods to mis-identify body parts, which reduces the performance of most action recognition algorithms. Our method is motivated by the observation that, in several cases, occlusion can be reasoned using only boundary lines of limbs. An intelligent edge detection algorithm based on the above principle could be used to augment the silhouette with information useful for pose estimation algorithms and push forward progress on occlusion handling for human action recognition. The algorithm described is applicable to computer vision scenarios involving 2D images and (appropriated flattened) 3D images.

Fast Kalman Filtering for Relative Spacecraft Position and Attitude Estimation for the Raven ISS Hosted Payload

NASA Technical Reports Server (NTRS)

Galante, Joseph M.; Van Eepoel, John; D'Souza, Chris; Patrick, Bryan

2016-01-01

The Raven ISS Hosted Payload will feature several pose measurement sensors on a pan/tilt gimbal which will be used to autonomously track resupply vehicles as they approach and depart the International Space Station. This paper discusses the derivation of a Relative Navigation Filter (RNF) to fuse measurements from the different pose measurement sensors to produce relative position and attitude estimates. The RNF relies on relative translation and orientation kinematics and careful pose sensor modeling to eliminate dependence on orbital position information and associated orbital dynamics models. The filter state is augmented with sensor biases to provide a mechanism for the filter to estimate and mitigate the offset between the measurements from different pose sensors

Fast Kalman Filtering for Relative Spacecraft Position and Attitude Estimation for the Raven ISS Hosted Payload

NASA Technical Reports Server (NTRS)

Galante, Joseph M.; Van Eepoel, John; D' Souza, Chris; Patrick, Bryan

2016-01-01

The Raven ISS Hosted Payload will feature several pose measurement sensors on a pan/tilt gimbal which will be used to autonomously track resupply vehicles as they approach and depart the International Space Station. This paper discusses the derivation of a Relative Navigation Filter (RNF) to fuse measurements from the different pose measurement sensors to produce relative position and attitude estimates. The RNF relies on relative translation and orientation kinematics and careful pose sensor modeling to eliminate dependence on orbital position information and associated orbital dynamics models. The filter state is augmented with sensor biases to provide a mechanism for the filter to estimate and mitigate the offset between the measurements from different pose sensors.

Timing constraints on remote sensing of wildland fire burned area in the southeastern US

USGS Publications Warehouse

Picotte, J.J.; Robertson, K.

2011-01-01

Remote sensing using Landsat Thematic Mapper (TM) satellite imagery is increasingly used for mapping wildland fire burned area and burn severity, owing to its frequency of collection, relatively high resolution, and availability free of charge. However, rapid response of vegetation following fire and frequent cloud cover pose challenges to this approach in the southeastern US. We assessed these timing constraints by using a series of Landsat TM images to determine how rapidly the remotely sensed burn scar signature fades following prescribed burns in wet flatwoods and depression swamp community types in the Apalachicola National Forest, Florida, USA during 2006. We used both the Normalized Burn Ratio (NBR) of reflectance bands sensitive to vegetation and exposed soil cover, as well as the change in NBR from before to after fire (dNBR), to estimate burned area. We also determined the average and maximum amount of time following fire required to obtain a cloud-free image for burns in each month of the year, as well as the predicted effect of this time lag on percent accuracy of burn scar estimates. Using both NBR and dNBR, the detectable area decreased linearly 9% per month on average over the first four months following fire. Our findings suggest that the NBR and dNBR methods for monitoring burned area in common southeastern US vegetation community types are limited to an average of 78-90% accuracy among months of the year, with individual burns having values as low as 38%, if restricted to use of Landsat 5 TM imagery. However, the majority of burns can still be mapped at accuracies similar to those in other regions of the US, and access to additional sources of satellite imagery would improve overall accuracy. ?? 2011 by the authors.

Timing constraints on remote sensing of wildland fire burned area in the southeastern US

USGS Publications Warehouse

Picotte, Joshua J.; Robertson, Kevin

2011-01-01

Remote sensing using Landsat Thematic Mapper (TM) satellite imagery is increasingly used for mapping wildland fire burned area and burn severity, owing to its frequency of collection, relatively high resolution, and availability free of charge. However, rapid response of vegetation following fire and frequent cloud cover pose challenges to this approach in the southeastern US. We assessed these timing constraints by using a series of Landsat TM images to determine how rapidly the remotely sensed burn scar signature fades following prescribed burns in wet flatwoods and depression swamp community types in the Apalachicola National Forest, Florida, USA during 2006. We used both the Normalized Burn Ratio (NBR) of reflectance bands sensitive to vegetation and exposed soil cover, as well as the change in NBR from before to after fire (dNBR), to estimate burned area. We also determined the average and maximum amount of time following fire required to obtain a cloud-free image for burns in each month of the year, as well as the predicted effect of this time lag on percent accuracy of burn scar estimates. Using both NBR and dNBR, the detectable area decreased linearly 9% per month on average over the first four months following fire. Our findings suggest that the NBR and dNBR methods for monitoring burned area in common southeastern US vegetation community types are limited to an average of 78–90% accuracy among months of the year, with individual burns having values as low as 38%, if restricted to use of Landsat 5 TM imagery. However, the majority of burns can still be mapped at accuracies similar to those in other regions of the US, and access to additional sources of satellite imagery would improve overall accuracy.

On avoiding framing effects in experienced decision makers.

PubMed

Garcia-Retamero, Rocio; Dhami, Mandeep K

2013-01-01

The present study aimed to (a) demonstrate the effect of positive-negative framing on experienced criminal justice decision makers, (b) examine the debiasing effect of visually structured risk messages, and (c) investigate whether risk perceptions mediate the debiasing effect of visual aids on decision making. In two phases, 60 senior police officers estimated the accuracy of a counterterrorism technique in identifying whether a known terror suspect poses an imminent danger and decided whether they would recommend the technique to policy makers. Officers also rated their confidence in this recommendation. When information about the effectiveness of the counterterrorism technique was presented in a numerical format, officers' perceptions of accuracy and recommendation decisions were susceptible to the framing effect: The technique was perceived to be more accurate and was more likely to be recommended when its effectiveness was presented in a positive than in a negative frame. However, when the information was represented visually using icon arrays, there were no such framing effects. Finally, perceptions of accuracy mediated the debiasing effect of visual aids on recommendation decisions. We offer potential explanations for the debiasing effect of visual aids and implications for communicating risk to experienced, professional decision makers.

Development of a machine vision system for automated structural assembly

NASA Technical Reports Server (NTRS)

Sydow, P. Daniel; Cooper, Eric G.

1992-01-01

Research is being conducted at the LaRC to develop a telerobotic assembly system designed to construct large space truss structures. This research program was initiated within the past several years, and a ground-based test-bed was developed to evaluate and expand the state of the art. Test-bed operations currently use predetermined ('taught') points for truss structural assembly. Total dependence on the use of taught points for joint receptacle capture and strut installation is neither robust nor reliable enough for space operations. Therefore, a machine vision sensor guidance system is being developed to locate and guide the robot to a passive target mounted on the truss joint receptacle. The vision system hardware includes a miniature video camera, passive targets mounted on the joint receptacles, target illumination hardware, and an image processing system. Discrimination of the target from background clutter is accomplished through standard digital processing techniques. Once the target is identified, a pose estimation algorithm is invoked to determine the location, in three-dimensional space, of the target relative to the robots end-effector. Preliminary test results of the vision system in the Automated Structural Assembly Laboratory with a range of lighting and background conditions indicate that it is fully capable of successfully identifying joint receptacle targets throughout the required operational range. Controlled optical bench test results indicate that the system can also provide the pose estimation accuracy to define the target position.

Callous-Unemotional Traits Are Related to Combined Deficits in Recognizing Afraid Faces and Body Poses

ERIC Educational Resources Information Center

Munoz, Luna C.

2009-01-01

Results from a study that involves letting boys aged 8-16 years label emotional faces and static body poses show that callous-unemotional traits are related to poor accuracy in the tests. The results imply that a general "fear-blindness" is associated to a lack of empathy and to violence and antisocial behavior.

Adjusting for sampling variability in sparse data: geostatistical approaches to disease mapping

PubMed Central

2011-01-01

Background Disease maps of crude rates from routinely collected health data indexed at a small geographical resolution pose specific statistical problems due to the sparse nature of the data. Spatial smoothers allow areas to borrow strength from neighboring regions to produce a more stable estimate of the areal value. Geostatistical smoothers are able to quantify the uncertainty in smoothed rate estimates without a high computational burden. In this paper, we introduce a uniform model extension of Bayesian Maximum Entropy (UMBME) and compare its performance to that of Poisson kriging in measures of smoothing strength and estimation accuracy as applied to simulated data and the real data example of HIV infection in North Carolina. The aim is to produce more reliable maps of disease rates in small areas to improve identification of spatial trends at the local level. Results In all data environments, Poisson kriging exhibited greater smoothing strength than UMBME. With the simulated data where the true latent rate of infection was known, Poisson kriging resulted in greater estimation accuracy with data that displayed low spatial autocorrelation, while UMBME provided more accurate estimators with data that displayed higher spatial autocorrelation. With the HIV data, UMBME performed slightly better than Poisson kriging in cross-validatory predictive checks, with both models performing better than the observed data model with no smoothing. Conclusions Smoothing methods have different advantages depending upon both internal model assumptions that affect smoothing strength and external data environments, such as spatial correlation of the observed data. Further model comparisons in different data environments are required to provide public health practitioners with guidelines needed in choosing the most appropriate smoothing method for their particular health dataset. PMID:21978359

Adjusting for sampling variability in sparse data: geostatistical approaches to disease mapping.

PubMed

Hampton, Kristen H; Serre, Marc L; Gesink, Dionne C; Pilcher, Christopher D; Miller, William C

2011-10-06

Disease maps of crude rates from routinely collected health data indexed at a small geographical resolution pose specific statistical problems due to the sparse nature of the data. Spatial smoothers allow areas to borrow strength from neighboring regions to produce a more stable estimate of the areal value. Geostatistical smoothers are able to quantify the uncertainty in smoothed rate estimates without a high computational burden. In this paper, we introduce a uniform model extension of Bayesian Maximum Entropy (UMBME) and compare its performance to that of Poisson kriging in measures of smoothing strength and estimation accuracy as applied to simulated data and the real data example of HIV infection in North Carolina. The aim is to produce more reliable maps of disease rates in small areas to improve identification of spatial trends at the local level. In all data environments, Poisson kriging exhibited greater smoothing strength than UMBME. With the simulated data where the true latent rate of infection was known, Poisson kriging resulted in greater estimation accuracy with data that displayed low spatial autocorrelation, while UMBME provided more accurate estimators with data that displayed higher spatial autocorrelation. With the HIV data, UMBME performed slightly better than Poisson kriging in cross-validatory predictive checks, with both models performing better than the observed data model with no smoothing. Smoothing methods have different advantages depending upon both internal model assumptions that affect smoothing strength and external data environments, such as spatial correlation of the observed data. Further model comparisons in different data environments are required to provide public health practitioners with guidelines needed in choosing the most appropriate smoothing method for their particular health dataset.

A Support System for the Electric Appliance Control Using Pose Recognition

NASA Astrophysics Data System (ADS)

Kawano, Takuya; Yamamoto, Kazuhiko; Kato, Kunihito; Hongo, Hitoshi

In this paper, we propose an electric appliance control support system for aged and bedridden people using pose recognition. We proposed a pose recognition system that distinguishes between seven poses of the user on the bed. First, the face and arm regions of the user are detected by using the skin color. Our system focuses a recognition region surrounding the face region. Next, the higher order local autocorrelation features within the region are extracted. The linear discriminant analysis creates the coefficient matrix that can optimally distinguish among training data from the seven poses. Our algorithm can recognize the seven poses even if the subject wears different clothes and slightly shifts or slants on the bed. From the experimental results, our system achieved an accuracy rate of over 99 %. Then, we show that it possibles to construct one of a user-friendly system.

Ill Posed Problems: Numerical and Statistical Methods for Mildly, Moderately and Severely Ill Posed Problems with Noisy Data.

DTIC Science & Technology

1980-02-01

to estimate f -..ell, -noderately ,-ell, or- poorly. 1 ’The sansitivity *of a rec-ilarized estimate of f to the noise is made explicit. After giving the...AD-A 7 .SA92 925 WISCONSIN UN! V-MADISON DEFT OF STATISTICS F /S 11,’ 1 ILL POSED PRORLEMS: NUMERICAL ANn STATISTICAL METHODS FOR MILOL-ETC(U FEB 80 a...estimate f given z. We first define the 1 intrinsic rank of the problem where jK(tit) f (t)dt is known exactly. This 0 definition is used to provide insight

Development and calibration of an accurate 6-degree-of-freedom measurement system with total station

NASA Astrophysics Data System (ADS)

Gao, Yang; Lin, Jiarui; Yang, Linghui; Zhu, Jigui

2016-12-01

To meet the demand of high-accuracy, long-range and portable use in large-scale metrology for pose measurement, this paper develops a 6-degree-of-freedom (6-DOF) measurement system based on total station by utilizing its advantages of long range and relative high accuracy. The cooperative target sensor, which is mainly composed of a pinhole prism, an industrial lens, a camera and a biaxial inclinometer, is designed to be portable in use. Subsequently, a precise mathematical model is proposed from the input variables observed by total station, imaging system and inclinometer to the output six pose variables. The model must be calibrated in two levels: the intrinsic parameters of imaging system, and the rotation matrix between coordinate systems of the camera and the inclinometer. Then corresponding approaches are presented. For the first level, we introduce a precise two-axis rotary table as a calibration reference. And for the second level, we propose a calibration method by varying the pose of a rigid body with the target sensor and a reference prism on it. Finally, through simulations and various experiments, the feasibilities of the measurement model and calibration methods are validated, and the measurement accuracy of the system is evaluated.

Measuring emotional and cognitive empathy using dynamic, naturalistic, and spontaneous emotion displays.

PubMed

Buck, Ross; Powers, Stacie R; Hull, Kyle S

2017-10-01

Most measures of nonverbal receiving ability use posed expressions as stimuli. As empathy measures, such stimuli lack ecological validity, as the participant is not actually experiencing emotion. An alternative approach uses natural and dynamic displays of spontaneous expressions. The Communication of Affect Receiving Ability Test (CARAT) uses as stimuli spontaneous facial expressions and gestures filmed by an unobtrusive camera of solitary participants responding to emotional images. This article reports the development and initial validation of the CARAT-Spontaneous, Posed, Regulated (CARAT-SPR), which measures both abilities to detect emotion from spontaneous displays (emotion communication accuracy) and to differentiate spontaneous, posed, and regulated displays (expression categorization ability). Although spontaneous displays are natural responses to emotional images, posed displays involve asking the sender to display "as if" responding to a particular sort of image when no image is in fact present (simulation), while Regulated displays involve asking the sender to display "as if" responding to a particular sort of image when an image of opposite valence is in fact present (masking). Expression categorization ability involves judging deception-simulation and masking-and conceptually involves a kind of perspective-taking or cognitive empathy. Emotion communication using spontaneous clips achieved a high level of accuracy and was strongly correlated with ratings of sender expressivity. Expression categorization ability was not significantly correlated with expressivity ratings and was modestly negatively correlated with emotion communication accuracy. In a brief version of the CARAT-SPR, women showed evidence of greater emotion signal detection, whereas men reported greater confidence in expression categorization. (PsycINFO Database Record (c) 2017 APA, all rights reserved).

Estimating aquatic hazards posed by prescription pharmaceutical residues from municipal wastewater

EPA Science Inventory

Risks posed by pharmaceuticals in the environment are hard to estimate due to limited monitoring capacity and difficulty interpreting monitoring results. In order to partially address these issues, we suggest a method for prioritizing pharmaceuticals for monitoring, and a framewo...

A Nonrigid Kernel-Based Framework for 2D-3D Pose Estimation and 2D Image Segmentation

PubMed Central

Sandhu, Romeil; Dambreville, Samuel; Yezzi, Anthony; Tannenbaum, Allen

2013-01-01

In this work, we present a nonrigid approach to jointly solving the tasks of 2D-3D pose estimation and 2D image segmentation. In general, most frameworks that couple both pose estimation and segmentation assume that one has exact knowledge of the 3D object. However, under nonideal conditions, this assumption may be violated if only a general class to which a given shape belongs is given (e.g., cars, boats, or planes). Thus, we propose to solve the 2D-3D pose estimation and 2D image segmentation via nonlinear manifold learning of 3D embedded shapes for a general class of objects or deformations for which one may not be able to associate a skeleton model. Thus, the novelty of our method is threefold: First, we present and derive a gradient flow for the task of nonrigid pose estimation and segmentation. Second, due to the possible nonlinear structures of one’s training set, we evolve the preimage obtained through kernel PCA for the task of shape analysis. Third, we show that the derivation for shape weights is general. This allows us to use various kernels, as well as other statistical learning methodologies, with only minimal changes needing to be made to the overall shape evolution scheme. In contrast with other techniques, we approach the nonrigid problem, which is an infinite-dimensional task, with a finite-dimensional optimization scheme. More importantly, we do not explicitly need to know the interaction between various shapes such as that needed for skeleton models as this is done implicitly through shape learning. We provide experimental results on several challenging pose estimation and segmentation scenarios. PMID:20733218

Sparse reconstruction of liver cirrhosis from monocular mini-laparoscopic sequences

NASA Astrophysics Data System (ADS)

Marcinczak, Jan Marek; Painer, Sven; Grigat, Rolf-Rainer

2015-03-01

Mini-laparoscopy is a technique which is used by clinicians to inspect the liver surface with ultra-thin laparoscopes. However, so far no quantitative measures based on mini-laparoscopic sequences are possible. This paper presents a Structure from Motion (SfM) based methodology to do 3D reconstruction of liver cirrhosis from mini-laparoscopic videos. The approach combines state-of-the-art tracking, pose estimation, outlier rejection and global optimization to obtain a sparse reconstruction of the cirrhotic liver surface. Specular reflection segmentation is included into the reconstruction framework to increase the robustness of the reconstruction. The presented approach is evaluated on 15 endoscopic sequences using three cirrhotic liver phantoms. The median reconstruction accuracy ranges from 0.3 mm to 1 mm.

Localized Dictionaries Based Orientation Field Estimation for Latent Fingerprints.

PubMed

Xiao Yang; Jianjiang Feng; Jie Zhou

2014-05-01

Dictionary based orientation field estimation approach has shown promising performance for latent fingerprints. In this paper, we seek to exploit stronger prior knowledge of fingerprints in order to further improve the performance. Realizing that ridge orientations at different locations of fingerprints have different characteristics, we propose a localized dictionaries-based orientation field estimation algorithm, in which noisy orientation patch at a location output by a local estimation approach is replaced by real orientation patch in the local dictionary at the same location. The precondition of applying localized dictionaries is that the pose of the latent fingerprint needs to be estimated. We propose a Hough transform-based fingerprint pose estimation algorithm, in which the predictions about fingerprint pose made by all orientation patches in the latent fingerprint are accumulated. Experimental results on challenging latent fingerprint datasets show the proposed method outperforms previous ones markedly.

Curve Set Feature-Based Robust and Fast Pose Estimation Algorithm

PubMed Central

Hashimoto, Koichi

2017-01-01

Bin picking refers to picking the randomly-piled objects from a bin for industrial production purposes, and robotic bin picking is always used in automated assembly lines. In order to achieve a higher productivity, a fast and robust pose estimation algorithm is necessary to recognize and localize the randomly-piled parts. This paper proposes a pose estimation algorithm for bin picking tasks using point cloud data. A novel descriptor Curve Set Feature (CSF) is proposed to describe a point by the surface fluctuation around this point and is also capable of evaluating poses. The Rotation Match Feature (RMF) is proposed to match CSF efficiently. The matching process combines the idea of the matching in 2D space of origin Point Pair Feature (PPF) algorithm with nearest neighbor search. A voxel-based pose verification method is introduced to evaluate the poses and proved to be more than 30-times faster than the kd-tree-based verification method. Our algorithm is evaluated against a large number of synthetic and real scenes and proven to be robust to noise, able to detect metal parts, more accurately and more than 10-times faster than PPF and Oriented, Unique and Repeatable (OUR)-Clustered Viewpoint Feature Histogram (CVFH). PMID:28771216

Orientation estimation of anatomical structures in medical images for object recognition

NASA Astrophysics Data System (ADS)

Bağci, Ulaş; Udupa, Jayaram K.; Chen, Xinjian

2011-03-01

Recognition of anatomical structures is an important step in model based medical image segmentation. It provides pose estimation of objects and information about "where" roughly the objects are in the image and distinguishing them from other object-like entities. In,1 we presented a general method of model-based multi-object recognition to assist in segmentation (delineation) tasks. It exploits the pose relationship that can be encoded, via the concept of ball scale (b-scale), between the binary training objects and their associated grey images. The goal was to place the model, in a single shot, close to the right pose (position, orientation, and scale) in a given image so that the model boundaries fall in the close vicinity of object boundaries in the image. Unlike position and scale parameters, we observe that orientation parameters require more attention when estimating the pose of the model as even small differences in orientation parameters can lead to inappropriate recognition. Motivated from the non-Euclidean nature of the pose information, we propose in this paper the use of non-Euclidean metrics to estimate orientation of the anatomical structures for more accurate recognition and segmentation. We statistically analyze and evaluate the following metrics for orientation estimation: Euclidean, Log-Euclidean, Root-Euclidean, Procrustes Size-and-Shape, and mean Hermitian metrics. The results show that mean Hermitian and Cholesky decomposition metrics provide more accurate orientation estimates than other Euclidean and non-Euclidean metrics.

Dynamic photogrammetric calibration of industrial robots

NASA Astrophysics Data System (ADS)

Maas, Hans-Gerd

1997-07-01

Today's developments in industrial robots focus on aims like gain of flexibility, improvement of the interaction between robots and reduction of down-times. A very important method to achieve these goals are off-line programming techniques. In contrast to conventional teach-in-robot programming techniques, where sequences of actions are defined step-by- step via remote control on the real object, off-line programming techniques design complete robot (inter-)action programs in a CAD/CAM environment. This poses high requirements to the geometric accuracy of a robot. While the repeatability of robot poses in the teach-in mode is often better than 0.1 mm, the absolute pose accuracy potential of industrial robots is usually much worse due to tolerances, eccentricities, elasticities, play, wear-out, load, temperature and insufficient knowledge of model parameters for the transformation from poses into robot axis angles. This fact necessitates robot calibration techniques, including the formulation of a robot model describing kinematics and dynamics of the robot, and a measurement technique to provide reference data. Digital photogrammetry as an accurate, economic technique with realtime potential offers itself for this purpose. The paper analyzes the requirements posed to a measurement technique by industrial robot calibration tasks. After an overview on measurement techniques used for robot calibration purposes in the past, a photogrammetric robot calibration system based on off-the- shelf lowcost hardware components will be shown and results of pilot studies will be discussed. Besides aspects of accuracy, reliability and self-calibration in a fully automatic dynamic photogrammetric system, realtime capabilities are discussed. In the pilot studies, standard deviations of 0.05 - 0.25 mm in the three coordinate directions could be achieved over a robot work range of 1.7 X 1.5 X 1.0 m3. The realtime capabilities of the technique allow to go beyond kinematic robot calibration and perform dynamic robot calibration as well as photogrammetric on-line control of a robot in action.

Binding pose and affinity prediction in the 2016 D3R Grand Challenge 2 using the Wilma-SIE method

NASA Astrophysics Data System (ADS)

Hogues, Hervé; Sulea, Traian; Gaudreault, Francis; Corbeil, Christopher R.; Purisima, Enrico O.

2018-01-01

The Farnesoid X receptor (FXR) exhibits significant backbone movement in response to the binding of various ligands and can be a challenge for pose prediction algorithms. As part of the D3R Grand Challenge 2, we tested Wilma-SIE, a rigid-protein docking method, on a set of 36 FXR ligands for which the crystal structures had originally been blinded. These ligands covered several classes of compounds. To overcome the rigid protein limitations of the method, we used an ensemble of publicly available structures for FXR from the PDB. The use of the ensemble allowed Wilma-SIE to predict poses with average and median RMSDs of 2.3 and 1.4 Å, respectively. It was quite clear, however, that had we used a single structure for the receptor the success rate would have been much lower. The most successful predictions were obtained on chemical classes for which one or more crystal structures of the receptor bound to a molecule of the same class was available. In the absence of a crystal structure for the class, observing a consensus binding mode for the ligands of the class using one or more receptor structures of other classes seemed to be indicative of a reasonable pose prediction. Affinity prediction proved to be more challenging with generally poor correlation with experimental IC50s (Kendall tau 0.3). Even when the 36 crystal structures were used the accuracy of the predicted affinities was not appreciably improved. A possible cause of difficulty is the internal energy strain arising from conformational differences in the receptor across complexes, which may need to be properly estimated and incorporated into the SIE scoring function.

Predicting binding poses and affinities for protein - ligand complexes in the 2015 D3R Grand Challenge using a physical model with a statistical parameter estimation

NASA Astrophysics Data System (ADS)

Grudinin, Sergei; Kadukova, Maria; Eisenbarth, Andreas; Marillet, Simon; Cazals, Frédéric

2016-09-01

The 2015 D3R Grand Challenge provided an opportunity to test our new model for the binding free energy of small molecules, as well as to assess our protocol to predict binding poses for protein-ligand complexes. Our pose predictions were ranked 3-9 for the HSP90 dataset, depending on the assessment metric. For the MAP4K dataset the ranks are very dispersed and equal to 2-35, depending on the assessment metric, which does not provide any insight into the accuracy of the method. The main success of our pose prediction protocol was the re-scoring stage using the recently developed Convex-PL potential. We make a thorough analysis of our docking predictions made with AutoDock Vina and discuss the effect of the choice of rigid receptor templates, the number of flexible residues in the binding pocket, the binding pocket size, and the benefits of re-scoring. However, the main challenge was to predict experimentally determined binding affinities for two blind test sets. Our affinity prediction model consisted of two terms, a pairwise-additive enthalpy, and a non pairwise-additive entropy. We trained the free parameters of the model with a regularized regression using affinity and structural data from the PDBBind database. Our model performed very well on the training set, however, failed on the two test sets. We explain the drawback and pitfalls of our model, in particular in terms of relative coverage of the test set by the training set and missed dynamical properties from crystal structures, and discuss different routes to improve it.

Vision based object pose estimation for mobile robots

NASA Technical Reports Server (NTRS)

Wu, Annie; Bidlack, Clint; Katkere, Arun; Feague, Roy; Weymouth, Terry

1994-01-01

Mobile robot navigation using visual sensors requires that a robot be able to detect landmarks and obtain pose information from a camera image. This paper presents a vision system for finding man-made markers of known size and calculating the pose of these markers. The algorithm detects and identifies the markers using a weighted pattern matching template. Geometric constraints are then used to calculate the position of the markers relative to the robot. The selection of geometric constraints comes from the typical pose of most man-made signs, such as the sign standing vertical and the dimensions of known size. This system has been tested successfully on a wide range of real images. Marker detection is reliable, even in cluttered environments, and under certain marker orientations, estimation of the orientation has proven accurate to within 2 degrees, and distance estimation to within 0.3 meters.

Volumetric segmentation of range images for printed circuit board inspection

NASA Astrophysics Data System (ADS)

Van Dop, Erik R.; Regtien, Paul P. L.

1996-10-01

Conventional computer vision approaches towards object recognition and pose estimation employ 2D grey-value or color imaging. As a consequence these images contain information about projections of a 3D scene only. The subsequent image processing will then be difficult, because the object coordinates are represented with just image coordinates. Only complicated low-level vision modules like depth from stereo or depth from shading can recover some of the surface geometry of the scene. Recent advances in fast range imaging have however paved the way towards 3D computer vision, since range data of the scene can now be obtained with sufficient accuracy and speed for object recognition and pose estimation purposes. This article proposes the coded-light range-imaging method together with superquadric segmentation to approach this task. Superquadric segments are volumetric primitives that describe global object properties with 5 parameters, which provide the main features for object recognition. Besides, the principle axes of a superquadric segment determine the phase of an object in the scene. The volumetric segmentation of a range image can be used to detect missing, false or badly placed components on assembled printed circuit boards. Furthermore, this approach will be useful to recognize and extract valuable or toxic electronic components on printed circuit boards scrap that currently burden the environment during electronic waste processing. Results on synthetic range images with errors constructed according to a verified noise model illustrate the capabilities of this approach.

The inverse problem of estimating the gravitational time dilation

DOE Office of Scientific and Technical Information (OSTI.GOV)

Gusev, A. V., E-mail: avg@sai.msu.ru; Litvinov, D. A.; Rudenko, V. N.

2016-11-15

Precise testing of the gravitational time dilation effect suggests comparing the clocks at points with different gravitational potentials. Such a configuration arises when radio frequency standards are installed at orbital and ground stations. The ground-based standard is accessible directly, while the spaceborne one is accessible only via the electromagnetic signal exchange. Reconstructing the current frequency of the spaceborne standard is an ill-posed inverse problem whose solution depends significantly on the characteristics of the stochastic electromagnetic background. The solution for Gaussian noise is known, but the nature of the standards themselves is associated with nonstationary fluctuations of a wide class ofmore » distributions. A solution is proposed for a background of flicker fluctuations with a spectrum (1/f){sup γ}, where 1 < γ < 3, and stationary increments. The results include formulas for the error in reconstructing the frequency of the spaceborne standard and numerical estimates for the accuracy of measuring the relativistic redshift effect.« less

Building machine learning force fields for nanoclusters

NASA Astrophysics Data System (ADS)

Zeni, Claudio; Rossi, Kevin; Glielmo, Aldo; Fekete, Ádám; Gaston, Nicola; Baletto, Francesca; De Vita, Alessandro

2018-06-01

We assess Gaussian process (GP) regression as a technique to model interatomic forces in metal nanoclusters by analyzing the performance of 2-body, 3-body, and many-body kernel functions on a set of 19-atom Ni cluster structures. We find that 2-body GP kernels fail to provide faithful force estimates, despite succeeding in bulk Ni systems. However, both 3- and many-body kernels predict forces within an ˜0.1 eV/Å average error even for small training datasets and achieve high accuracy even on out-of-sample, high temperature structures. While training and testing on the same structure always provide satisfactory accuracy, cross-testing on dissimilar structures leads to higher prediction errors, posing an extrapolation problem. This can be cured using heterogeneous training on databases that contain more than one structure, which results in a good trade-off between versatility and overall accuracy. Starting from a 3-body kernel trained this way, we build an efficient non-parametric 3-body force field that allows accurate prediction of structural properties at finite temperatures, following a newly developed scheme [A. Glielmo et al., Phys. Rev. B 95, 214302 (2017)]. We use this to assess the thermal stability of Ni19 nanoclusters at a fractional cost of full ab initio calculations.

Viewpoint Integration for Hand-Based Recognition of Social Interactions from a First-Person View.

PubMed

Bambach, Sven; Crandall, David J; Yu, Chen

2015-11-01

Wearable devices are becoming part of everyday life, from first-person cameras (GoPro, Google Glass), to smart watches (Apple Watch), to activity trackers (FitBit). These devices are often equipped with advanced sensors that gather data about the wearer and the environment. These sensors enable new ways of recognizing and analyzing the wearer's everyday personal activities, which could be used for intelligent human-computer interfaces and other applications. We explore one possible application by investigating how egocentric video data collected from head-mounted cameras can be used to recognize social activities between two interacting partners (e.g. playing chess or cards). In particular, we demonstrate that just the positions and poses of hands within the first-person view are highly informative for activity recognition, and present a computer vision approach that detects hands to automatically estimate activities. While hand pose detection is imperfect, we show that combining evidence across first-person views from the two social partners significantly improves activity recognition accuracy. This result highlights how integrating weak but complimentary sources of evidence from social partners engaged in the same task can help to recognize the nature of their interaction.

Viewpoint Integration for Hand-Based Recognition of Social Interactions from a First-Person View

PubMed Central

Bambach, Sven; Crandall, David J.; Yu, Chen

2016-01-01

Wearable devices are becoming part of everyday life, from first-person cameras (GoPro, Google Glass), to smart watches (Apple Watch), to activity trackers (FitBit). These devices are often equipped with advanced sensors that gather data about the wearer and the environment. These sensors enable new ways of recognizing and analyzing the wearer’s everyday personal activities, which could be used for intelligent human-computer interfaces and other applications. We explore one possible application by investigating how egocentric video data collected from head-mounted cameras can be used to recognize social activities between two interacting partners (e.g. playing chess or cards). In particular, we demonstrate that just the positions and poses of hands within the first-person view are highly informative for activity recognition, and present a computer vision approach that detects hands to automatically estimate activities. While hand pose detection is imperfect, we show that combining evidence across first-person views from the two social partners significantly improves activity recognition accuracy. This result highlights how integrating weak but complimentary sources of evidence from social partners engaged in the same task can help to recognize the nature of their interaction. PMID:28966999

Plasticity of the Binding Site of Renin: Optimized Selection of Protein Structures for Ensemble Docking.

PubMed

Strecker, Claas; Meyer, Bernd

2018-05-29

Protein flexibility poses a major challenge to docking of potential ligands in that the binding site can adopt different shapes. Docking algorithms usually keep the protein rigid and only allow the ligand to be treated as flexible. However, a wrong assessment of the shape of the binding pocket can prevent a ligand from adapting a correct pose. Ensemble docking is a simple yet promising method to solve this problem: Ligands are docked into multiple structures, and the results are subsequently merged. Selection of protein structures is a significant factor for this approach. In this work we perform a comprehensive and comparative study evaluating the impact of structure selection on ensemble docking. We perform ensemble docking with several crystal structures and with structures derived from molecular dynamics simulations of renin, an attractive target for antihypertensive drugs. Here, 500 ns of MD simulations revealed binding site shapes not found in any available crystal structure. We evaluate the importance of structure selection for ensemble docking by comparing binding pose prediction, ability to rank actives above nonactives (screening utility), and scoring accuracy. As a result, for ensemble definition k-means clustering appears to be better suited than hierarchical clustering with average linkage. The best performing ensemble consists of four crystal structures and is able to reproduce the native ligand poses better than any individual crystal structure. Moreover this ensemble outperforms 88% of all individual crystal structures in terms of screening utility as well as scoring accuracy. Similarly, ensembles of MD-derived structures perform on average better than 75% of any individual crystal structure in terms of scoring accuracy at all inspected ensembles sizes.

A fuzzy integral method based on the ensemble of neural networks to analyze fMRI data for cognitive state classification across multiple subjects.

PubMed

Cacha, L A; Parida, S; Dehuri, S; Cho, S-B; Poznanski, R R

2016-12-01

The huge number of voxels in fMRI over time poses a major challenge to for effective analysis. Fast, accurate, and reliable classifiers are required for estimating the decoding accuracy of brain activities. Although machine-learning classifiers seem promising, individual classifiers have their own limitations. To address this limitation, the present paper proposes a method based on the ensemble of neural networks to analyze fMRI data for cognitive state classification for application across multiple subjects. Similarly, the fuzzy integral (FI) approach has been employed as an efficient tool for combining different classifiers. The FI approach led to the development of a classifiers ensemble technique that performs better than any of the single classifier by reducing the misclassification, the bias, and the variance. The proposed method successfully classified the different cognitive states for multiple subjects with high accuracy of classification. Comparison of the performance improvement, while applying ensemble neural networks method, vs. that of the individual neural network strongly points toward the usefulness of the proposed method.

Ultrasonic Multiple-Access Ranging System Using Spread Spectrum and MEMS Technology for Indoor Localization

PubMed Central

Segers, Laurent; Tiete, Jelmer; Braeken, An; Touhafi, Abdellah

2014-01-01

Indoor localization of persons and objects poses a great engineering challenge. Previously developed localization systems demonstrate the use of wideband techniques in ultrasound ranging systems. Direct sequence and frequency hopping spread spectrum ultrasound signals have been proven to achieve a high level of accuracy. A novel ranging method using the frequency hopping spread spectrum with finite impulse response filtering will be investigated and compared against the direct sequence spread spectrum. In the first setup, distances are estimated in a single-access environment, while in the second setup, two senders and one receiver are used. During the experiments, the micro-electromechanical systems are used as ultrasonic sensors, while the senders were implemented using field programmable gate arrays. Results show that in a single-access environment, the direct sequence spread spectrum method offers slightly better accuracy and precision performance compared to the frequency hopping spread spectrum. When two senders are used, measurements point out that the frequency hopping spread spectrum is more robust to near-far effects than the direct sequence spread spectrum. PMID:24553084

Attribute And-Or Grammar for Joint Parsing of Human Pose, Parts and Attributes.

PubMed

Park, Seyoung; Nie, Xiaohan; Zhu, Song-Chun

2017-07-25

This paper presents an attribute and-or grammar (A-AOG) model for jointly inferring human body pose and human attributes in a parse graph with attributes augmented to nodes in the hierarchical representation. In contrast to other popular methods in the current literature that train separate classifiers for poses and individual attributes, our method explicitly represents the decomposition and articulation of body parts, and account for the correlations between poses and attributes. The A-AOG model is an amalgamation of three traditional grammar formulations: (i)Phrase structure grammar representing the hierarchical decomposition of the human body from whole to parts; (ii)Dependency grammar modeling the geometric articulation by a kinematic graph of the body pose; and (iii)Attribute grammar accounting for the compatibility relations between different parts in the hierarchy so that their appearances follow a consistent style. The parse graph outputs human detection, pose estimation, and attribute prediction simultaneously, which are intuitive and interpretable. We conduct experiments on two tasks on two datasets, and experimental results demonstrate the advantage of joint modeling in comparison with computing poses and attributes independently. Furthermore, our model obtains better performance over existing methods for both pose estimation and attribute prediction tasks.

IMU-based Real-time Pose Measurement system for Anterior Pelvic Plane in Total Hip Replacement Surgeries.

PubMed

Zhe Cao; Shaojie Su; Hao Tang; Yixin Zhou; Zhihua Wang; Hong Chen

2017-07-01

With the aging of population, the number of Total Hip Replacement Surgeries (THR) increased year by year. In THR, inaccurate position of the implanted prosthesis may lead to the failure of the operation. In order to reduce the failure rate and acquire the real-time pose of Anterior Pelvic Plane (APP), we propose a measurement system in this paper. The measurement system includes two parts: Initial Pose Measurement Instrument (IPMI) and Real-time Pose Measurement Instrument (RPMI). IPMI is used to acquire the initial pose of the APP, and RPMI is used to estimate the real-time pose of the APP. Both are composed of an Inertial Measurement Unit (IMU) and magnetometer sensors. To estimate the attitude of the measurement system, the Extended Kalman Filter (EKF) is adopted in this paper. The real-time pose of the APP could be acquired together with the algorithm designed in the paper. The experiment results show that the Root Mean Square Error (RMSE) is within 1.6 degrees, which meets the requirement of THR operations.

Comparison of Models and Whole-Genome Profiling Approaches for Genomic-Enabled Prediction of Septoria Tritici Blotch, Stagonospora Nodorum Blotch, and Tan Spot Resistance in Wheat.

PubMed

Juliana, Philomin; Singh, Ravi P; Singh, Pawan K; Crossa, Jose; Rutkoski, Jessica E; Poland, Jesse A; Bergstrom, Gary C; Sorrells, Mark E

2017-07-01

The leaf spotting diseases in wheat that include Septoria tritici blotch (STB) caused by , Stagonospora nodorum blotch (SNB) caused by , and tan spot (TS) caused by pose challenges to breeding programs in selecting for resistance. A promising approach that could enable selection prior to phenotyping is genomic selection that uses genome-wide markers to estimate breeding values (BVs) for quantitative traits. To evaluate this approach for seedling and/or adult plant resistance (APR) to STB, SNB, and TS, we compared the predictive ability of least-squares (LS) approach with genomic-enabled prediction models including genomic best linear unbiased predictor (GBLUP), Bayesian ridge regression (BRR), Bayes A (BA), Bayes B (BB), Bayes Cπ (BC), Bayesian least absolute shrinkage and selection operator (BL), and reproducing kernel Hilbert spaces markers (RKHS-M), a pedigree-based model (RKHS-P) and RKHS markers and pedigree (RKHS-MP). We observed that LS gave the lowest prediction accuracies and RKHS-MP, the highest. The genomic-enabled prediction models and RKHS-P gave similar accuracies. The increase in accuracy using genomic prediction models over LS was 48%. The mean genomic prediction accuracies were 0.45 for STB (APR), 0.55 for SNB (seedling), 0.66 for TS (seedling) and 0.48 for TS (APR). We also compared markers from two whole-genome profiling approaches: genotyping by sequencing (GBS) and diversity arrays technology sequencing (DArTseq) for prediction. While, GBS markers performed slightly better than DArTseq, combining markers from the two approaches did not improve accuracies. We conclude that implementing GS in breeding for these diseases would help to achieve higher accuracies and rapid gains from selection. Copyright © 2017 Crop Science Society of America.

Pose Self-Calibration of Stereo Vision Systems for Autonomous Vehicle Applications.

PubMed

Musleh, Basam; Martín, David; Armingol, José María; de la Escalera, Arturo

2016-09-14

Nowadays, intelligent systems applied to vehicles have grown very rapidly; their goal is not only the improvement of safety, but also making autonomous driving possible. Many of these intelligent systems are based on making use of computer vision in order to know the environment and act accordingly. It is of great importance to be able to estimate the pose of the vision system because the measurement matching between the perception system (pixels) and the vehicle environment (meters) depends on the relative position between the perception system and the environment. A new method of camera pose estimation for stereo systems is presented in this paper, whose main contribution regarding the state of the art on the subject is the estimation of the pitch angle without being affected by the roll angle. The validation of the self-calibration method is accomplished by comparing it with relevant methods of camera pose estimation, where a synthetic sequence is used in order to measure the continuous error with a ground truth. This validation is enriched by the experimental results of the method in real traffic environments.

Pose Self-Calibration of Stereo Vision Systems for Autonomous Vehicle Applications

PubMed Central

Musleh, Basam; Martín, David; Armingol, José María; de la Escalera, Arturo

2016-01-01

Nowadays, intelligent systems applied to vehicles have grown very rapidly; their goal is not only the improvement of safety, but also making autonomous driving possible. Many of these intelligent systems are based on making use of computer vision in order to know the environment and act accordingly. It is of great importance to be able to estimate the pose of the vision system because the measurement matching between the perception system (pixels) and the vehicle environment (meters) depends on the relative position between the perception system and the environment. A new method of camera pose estimation for stereo systems is presented in this paper, whose main contribution regarding the state of the art on the subject is the estimation of the pitch angle without being affected by the roll angle. The validation of the self-calibration method is accomplished by comparing it with relevant methods of camera pose estimation, where a synthetic sequence is used in order to measure the continuous error with a ground truth. This validation is enriched by the experimental results of the method in real traffic environments. PMID:27649178

Discriminating Projections for Estimating Face Age in Wild Images

DOE Office of Scientific and Technical Information (OSTI.GOV)

Tokola, Ryan A; Bolme, David S; Ricanek, Karl

2014-01-01

We introduce a novel approach to estimating the age of a human from a single uncontrolled image. Current face age estimation algorithms work well in highly controlled images, and some are robust to changes in illumination, but it is usually assumed that images are close to frontal. This bias is clearly seen in the datasets that are commonly used to evaluate age estimation, which either entirely or mostly consist of frontal images. Using pose-specific projections, our algorithm maps image features into a pose-insensitive latent space that is discriminative with respect to age. Age estimation is then performed using a multi-classmore » SVM. We show that our approach outperforms other published results on the Images of Groups dataset, which is the only age-related dataset with a non-trivial number of off-axis face images, and that we are competitive with recent age estimation algorithms on the mostly-frontal FG-NET dataset. We also experimentally demonstrate that our feature projections introduce insensitivity to pose.« less

SKATE: a docking program that decouples systematic sampling from scoring.

PubMed

Feng, Jianwen A; Marshall, Garland R

2010-11-15

SKATE is a docking prototype that decouples systematic sampling from scoring. This novel approach removes any interdependence between sampling and scoring functions to achieve better sampling and, thus, improves docking accuracy. SKATE systematically samples a ligand's conformational, rotational and translational degrees of freedom, as constrained by a receptor pocket, to find sterically allowed poses. Efficient systematic sampling is achieved by pruning the combinatorial tree using aggregate assembly, discriminant analysis, adaptive sampling, radial sampling, and clustering. Because systematic sampling is decoupled from scoring, the poses generated by SKATE can be ranked by any published, or in-house, scoring function. To test the performance of SKATE, ligands from the Asetex/CDCC set, the Surflex set, and the Vertex set, a total of 266 complexes, were redocked to their respective receptors. The results show that SKATE was able to sample poses within 2 A RMSD of the native structure for 98, 95, and 98% of the cases in the Astex/CDCC, Surflex, and Vertex sets, respectively. Cross-docking accuracy of SKATE was also assessed by docking 10 ligands to thymidine kinase and 73 ligands to cyclin-dependent kinase. 2010 Wiley Periodicals, Inc.

How is this child feeling? Preschool-aged children’s ability to recognize emotion in faces and body poses

PubMed Central

Parker, Alison E.; Mathis, Erin T.; Kupersmidt, Janis B.

2016-01-01

The study examined children’s recognition of emotion from faces and body poses, as well as gender differences in these recognition abilities. Preschool-aged children (N = 55) and their parents and teachers participated in the study. Preschool-aged children completed a web-based measure of emotion recognition skills, which included five tasks (three with faces and two with bodies). Parents and teachers reported on children’s aggressive behaviors and social skills. Children’s emotion accuracy on two of the three facial tasks and one of the body tasks was related to teacher reports of social skills. Some of these relations were moderated by child gender. In particular, the relationships between emotion recognition accuracy and reports of children’s behavior were stronger for boys than girls. Identifying preschool-aged children’s strengths and weaknesses in identification of emotion from faces and body poses may be helpful in guiding interventions with children who have problems with social and behavioral functioning that may be due, in part, to emotional knowledge deficits. Further developmental implications of these findings are discussed. PMID:27057129

Methods for intraoperative, sterile pose-setting of patient-specific microstereotactic frames

NASA Astrophysics Data System (ADS)

Vollmann, Benjamin; Müller, Samuel; Kundrat, Dennis; Ortmaier, Tobias; Kahrs, Lüder A.

2015-03-01

This work proposes new methods for a microstereotactic frame based on bone cement fixation. Microstereotactic frames are under investigation for minimal invasive temporal bone surgery, e.g. cochlear implantation, or for deep brain stimulation, where products are already on the market. The correct pose of the microstereotactic frame is either adjusted outside or inside the operating room and the frame is used for e.g. drill or electrode guidance. We present a patientspecific, disposable frame that allows intraoperative, sterile pose-setting. Key idea of our approach is bone cement between two plates that cures while the plates are positioned with a mechatronics system in the desired pose. This paper includes new designs of microstereotactic frames, a system for alignment and first measurements to analyze accuracy and applicable load.

Predicting ready biodegradability of premanufacture notice chemicals.

PubMed

Boethling, Robert S; Lynch, David G; Thom, Gary C

2003-04-01

Chemical substances other than pesticides, drugs, and food additives are regulated by the U.S. Environmental Protection Agency (U.S. EPA) under the Toxic Substances Control Act (TSCA), but the United States does not require that new substances be tested automatically for such critical properties as biodegradability. The resulting lack of submitted data has fostered the development of estimation methods, and the BioWIN models for predicting biodegradability from chemical structure have played a prominent role in premanufacture notice (PMN) review. Until now, validation efforts have used only the Japanese Ministry of International Trade and Industry (MITI) test data and have not included all models. To assess BioWIN performance with PMN substances, we assembled a database of PMNs for which ready biodegradation data had been submitted over the period 1995 through 2001. The 305 PMN structures are highly varied and pose major challenges to chemical property estimation. Despite the variability of ready biodegradation tests, the use of at least six different test methods, and widely varying quality of submitted data, accuracy of four of six BioWIN models (MITI linear, MITI nonlinear, survey ultimate, survey primary) was in the 80+% range for predicting ready biodegradability. Greater accuracy (>90%) can be achieved by using model estimates only when the four models agree (true for 3/4 of the PMNs). The BioWIN linear and nonlinear probability models did not perform as well even when classification criteria were optimized. The results suggest that the MITI and survey BioWIN models are suitable for use in screening-level applications.

Using river distance and existing hydrography data can improve the geostatistical estimation of fish tissue mercury at unsampled locations.

PubMed

Money, Eric S; Sackett, Dana K; Aday, D Derek; Serre, Marc L

2011-09-15

Mercury in fish tissue is a major human health concern. Consumption of mercury-contaminated fish poses risks to the general population, including potentially serious developmental defects and neurological damage in young children. Therefore, it is important to accurately identify areas that have the potential for high levels of bioaccumulated mercury. However, due to time and resource constraints, it is difficult to adequately assess fish tissue mercury on a basin wide scale. We hypothesized that, given the nature of fish movement along streams, an analytical approach that takes into account distance traveled along these streams would improve the estimation accuracy for fish tissue mercury in unsampled streams. Therefore, we used a river-based Bayesian Maximum Entropy framework (river-BME) for modern space/time geostatistics to estimate fish tissue mercury at unsampled locations in the Cape Fear and Lumber Basins in eastern North Carolina. We also compared the space/time geostatistical estimation using river-BME to the more traditional Euclidean-based BME approach, with and without the inclusion of a secondary variable. Results showed that this river-based approach reduced the estimation error of fish tissue mercury by more than 13% and that the median estimate of fish tissue mercury exceeded the EPA action level of 0.3 ppm in more than 90% of river miles for the study domain.

Evaluation of the Intel RealSense SR300 camera for image-guided interventions and application in vertebral level localization

NASA Astrophysics Data System (ADS)

House, Rachael; Lasso, Andras; Harish, Vinyas; Baum, Zachary; Fichtinger, Gabor

2017-03-01

PURPOSE: Optical pose tracking of medical instruments is often used in image-guided interventions. Unfortunately, compared to commonly used computing devices, optical trackers tend to be large, heavy, and expensive devices. Compact 3D vision systems, such as Intel RealSense cameras can capture 3D pose information at several magnitudes lower cost, size, and weight. We propose to use Intel SR300 device for applications where it is not practical or feasible to use conventional trackers and limited range and tracking accuracy is acceptable. We also put forward a vertebral level localization application utilizing the SR300 to reduce risk of wrong-level surgery. METHODS: The SR300 was utilized as an object tracker by extending the PLUS toolkit to support data collection from RealSense cameras. Accuracy of the camera was tested by comparing to a high-accuracy optical tracker. CT images of a lumbar spine phantom were obtained and used to create a 3D model in 3D Slicer. The SR300 was used to obtain a surface model of the phantom. Markers were attached to the phantom and a pointer and tracked using Intel RealSense SDK's built-in object tracking feature. 3D Slicer was used to align CT image with phantom using landmark registration and display the CT image overlaid on the optical image. RESULTS: Accuracy of the camera yielded a median position error of 3.3mm (95th percentile 6.7mm) and orientation error of 1.6° (95th percentile 4.3°) in a 20x16x10cm workspace, constantly maintaining proper marker orientation. The model and surface correctly aligned demonstrating the vertebral level localization application. CONCLUSION: The SR300 may be usable for pose tracking in medical procedures where limited accuracy is acceptable. Initial results suggest the SR300 is suitable for vertebral level localization.

Ultra-wideband pose detection system for boom-type roadheader based on Caffery transform and Taylor series expansion

NASA Astrophysics Data System (ADS)

Fu, Shichen; Li, Yiming; Zhang, Minjun; Zong, Kai; Cheng, Long; Wu, Miao

2018-01-01

To realize unmanned pose detection of a coalmine boom-type roadheader, an ultra-wideband (UWB) pose detection system (UPDS) for a roadheader is designed, which consists of four UWB positioning base stations and three roadheader positioning nodes. The positioning base stations are used in turn to locate the positioning nodes of the roadheader fuselage. Using 12 sets of distance measurement information, a time-of-arrival (TOA) positioning model is established to calculate the 3D coordinates of three positioning nodes of the roadheader fuselage, and the three attitude angles (heading, pitch, and roll angles) of the roadheader fuselage are solved. A range accuracy experiment of a UWB P440 module was carried out in a narrow and closed tunnel, and the experiment data show that the mean error and standard deviation of the module can reach below 2 cm. Based on the TOA positioning model of the UPDS, we propose a fusion-positioning algorithm based on a Caffery transform and Taylor series expansion (CTFPA). We derived the complete calculation process, designed a flowchart, and carried out a simulation of CTFPA in MATLAB, comparing 1000 simulated positioning nodes of CTFPA and the Caffery positioning algorithm (CPA) for a 95 m long tunnel. The positioning error field of the tunnel was established, and the influence of the spatial variation on the positioning accuracy of CPA and CTFPA was analysed. The simulation results show that, compared with CPA, the positioning accuracy of CTFPA is clearly improved, and the accuracy of each axis can reach more than 5 mm. The accuracy of the X-axis is higher than that of the Y- and Z-axes. In section X-Y of the tunnel, the root mean square error (RMSE) contours of CTFPA are clear and orderly, and with an increase in the measuring distance, RMSE increases linearly. In section X-Z, the RMSE contours are concentric circles, and the variation ratio is nonlinear.

A novel multi-planar radiography method for three dimensional pose reconstruction of the patellofemoral and tibiofemoral joints after arthroplasty.

PubMed

Amiri, Shahram; Wilson, David R; Masri, Bassam A; Sharma, Gulshan; Anglin, Carolyn

2011-06-03

Determining the 3D pose of the patella after total knee arthroplasty is challenging. The commonly used single-plane fluoroscopy is prone to large errors in the clinically relevant mediolateral direction. A conventional fixed bi-planar setup is limited in the minimum angular distance between the imaging planes necessary for visualizing the patellar component, and requires a highly flexible setup to adjust for the subject-specific geometries. As an alternative solution, this study investigated the use of a novel multi-planar imaging setup that consists of a C-arm tracked by an external optoelectric tracking system, to acquire calibrated radiographs from multiple orientations. To determine the accuracies, a knee prosthesis was implanted on artificial bones and imaged in simulated 'Supine' and 'Weightbearing' configurations. The results were compared with measures from a coordinate measuring machine as the ground-truth reference. The weightbearing configuration was the preferred imaging direction with RMS errors of 0.48 mm and 1.32 ° for mediolateral shift and tilt of the patella, respectively, the two most clinically relevant measures. The 'imaging accuracies' of the system, defined as the accuracies in 3D reconstruction of a cylindrical ball bearing phantom (so as to avoid the influence of the shape and orientation of the imaging object), showed an order of magnitude (11.5 times) reduction in the out-of-plane RMS errors in comparison to single-plane fluoroscopy. With this new method, complete 3D pose of the patellofemoral and tibiofemoral joints during quasi-static activities can be determined with a many-fold (up to 8 times) (3.4mm) improvement in the out-of-plane accuracies compared to a conventional single-plane fluoroscopy setup. Copyright © 2011 Elsevier Ltd. All rights reserved.

Nonlinear scoring functions for similarity-based ligand docking and binding affinity prediction.

PubMed

Brylinski, Michal

2013-11-25

A common strategy for virtual screening considers a systematic docking of a large library of organic compounds into the target sites in protein receptors with promising leads selected based on favorable intermolecular interactions. Despite a continuous progress in the modeling of protein-ligand interactions for pharmaceutical design, important challenges still remain, thus the development of novel techniques is required. In this communication, we describe eSimDock, a new approach to ligand docking and binding affinity prediction. eSimDock employs nonlinear machine learning-based scoring functions to improve the accuracy of ligand ranking and similarity-based binding pose prediction, and to increase the tolerance to structural imperfections in the target structures. In large-scale benchmarking using the Astex/CCDC data set, we show that 53.9% (67.9%) of the predicted ligand poses have RMSD of <2 Å (<3 Å). Moreover, using binding sites predicted by recently developed eFindSite, eSimDock models ligand binding poses with an RMSD of 4 Å for 50.0-39.7% of the complexes at the protein homology level limited to 80-40%. Simulations against non-native receptor structures, whose mean backbone rearrangements vary from 0.5 to 5.0 Å Cα-RMSD, show that the ratio of docking accuracy and the estimated upper bound is at a constant level of ∼0.65. Pearson correlation coefficient between experimental and predicted by eSimDock Ki values for a large data set of the crystal structures of protein-ligand complexes from BindingDB is 0.58, which decreases only to 0.46 when target structures distorted to 3.0 Å Cα-RMSD are used. Finally, two case studies demonstrate that eSimDock can be customized to specific applications as well. These encouraging results show that the performance of eSimDock is largely unaffected by the deformations of ligand binding regions, thus it represents a practical strategy for across-proteome virtual screening using protein models. eSimDock is freely available to the academic community as a Web server at http://www.brylinski.org/esimdock .

Intra-operative fiducial-based CT/fluoroscope image registration framework for image-guided robot-assisted joint fracture surgery.

PubMed

Dagnino, Giulio; Georgilas, Ioannis; Morad, Samir; Gibbons, Peter; Tarassoli, Payam; Atkins, Roger; Dogramadzi, Sanja

2017-08-01

Joint fractures must be accurately reduced minimising soft tissue damages to avoid negative surgical outcomes. To this regard, we have developed the RAFS surgical system, which allows the percutaneous reduction of intra-articular fractures and provides intra-operative real-time 3D image guidance to the surgeon. Earlier experiments showed the effectiveness of the RAFS system on phantoms, but also key issues which precluded its use in a clinical application. This work proposes a redesign of the RAFS's navigation system overcoming the earlier version's issues, aiming to move the RAFS system into a surgical environment. The navigation system is improved through an image registration framework allowing the intra-operative registration between pre-operative CT images and intra-operative fluoroscopic images of a fractured bone using a custom-made fiducial marker. The objective of the registration is to estimate the relative pose between a bone fragment and an orthopaedic manipulation pin inserted into it intra-operatively. The actual pose of the bone fragment can be updated in real time using an optical tracker, enabling the image guidance. Experiments on phantom and cadavers demonstrated the accuracy and reliability of the registration framework, showing a reduction accuracy (sTRE) of about [Formula: see text] (phantom) and [Formula: see text] (cadavers). Four distal femur fractures were successfully reduced in cadaveric specimens using the improved navigation system and the RAFS system following the new clinical workflow (reduction error [Formula: see text], [Formula: see text]. Experiments showed the feasibility of the image registration framework. It was successfully integrated into the navigation system, allowing the use of the RAFS system in a realistic surgical application.

A model-based 3D template matching technique for pose acquisition of an uncooperative space object.

PubMed

Opromolla, Roberto; Fasano, Giancarmine; Rufino, Giancarlo; Grassi, Michele

2015-03-16

This paper presents a customized three-dimensional template matching technique for autonomous pose determination of uncooperative targets. This topic is relevant to advanced space applications, like active debris removal and on-orbit servicing. The proposed technique is model-based and produces estimates of the target pose without any prior pose information, by processing three-dimensional point clouds provided by a LIDAR. These estimates are then used to initialize a pose tracking algorithm. Peculiar features of the proposed approach are the use of a reduced number of templates and the idea of building the database of templates on-line, thus significantly reducing the amount of on-board stored data with respect to traditional techniques. An algorithm variant is also introduced aimed at further accelerating the pose acquisition time and reducing the computational cost. Technique performance is investigated within a realistic numerical simulation environment comprising a target model, LIDAR operation and various target-chaser relative dynamics scenarios, relevant to close-proximity flight operations. Specifically, the capability of the proposed techniques to provide a pose solution suitable to initialize the tracking algorithm is demonstrated, as well as their robustness against highly variable pose conditions determined by the relative dynamics. Finally, a criterion for autonomous failure detection of the presented techniques is presented.

Neuro-fuzzy model for estimating race and gender from geometric distances of human face across pose

NASA Astrophysics Data System (ADS)

Nanaa, K.; Rahman, M. N. A.; Rizon, M.; Mohamad, F. S.; Mamat, M.

2018-03-01

Classifying human face based on race and gender is a vital process in face recognition. It contributes to an index database and eases 3D synthesis of the human face. Identifying race and gender based on intrinsic factor is problematic, which is more fitting to utilizing nonlinear model for estimating process. In this paper, we aim to estimate race and gender in varied head pose. For this purpose, we collect dataset from PICS and CAS-PEAL databases, detect the landmarks and rotate them to the frontal pose. After geometric distances are calculated, all of distance values will be normalized. Implementation is carried out by using Neural Network Model and Fuzzy Logic Model. These models are combined by using Adaptive Neuro-Fuzzy Model. The experimental results showed that the optimization of address fuzzy membership. Model gives a better assessment rate and found that estimating race contributing to a more accurate gender assessment.

Incremental inverse kinematics based vision servo for autonomous robotic capture of non-cooperative space debris

NASA Astrophysics Data System (ADS)

Dong, Gangqi; Zhu, Z. H.

2016-04-01

This paper proposed a new incremental inverse kinematics based vision servo approach for robotic manipulators to capture a non-cooperative target autonomously. The target's pose and motion are estimated by a vision system using integrated photogrammetry and EKF algorithm. Based on the estimated pose and motion of the target, the instantaneous desired position of the end-effector is predicted by inverse kinematics and the robotic manipulator is moved incrementally from its current configuration subject to the joint speed limits. This approach effectively eliminates the multiple solutions in the inverse kinematics and increases the robustness of the control algorithm. The proposed approach is validated by a hardware-in-the-loop simulation, where the pose and motion of the non-cooperative target is estimated by a real vision system. The simulation results demonstrate the effectiveness and robustness of the proposed estimation approach for the target and the incremental control strategy for the robotic manipulator.

Feature space trajectory for distorted-object classification and pose estimation in synthetic aperture radar

NASA Astrophysics Data System (ADS)

Casasent, David P.; Shenoy, Rajesh

1997-10-01

Classification and pose estimation of distorted input objects are considered. The feature space trajectory representation of distorted views of an object is used with a new eigenfeature space. For a distorted input object, the closest trajectory denotes the class of the input and the closest line segment on it denotes its pose. If an input point is too far from a trajectory, it is rejected as clutter. New methods for selecting Fukunaga-Koontz discriminant vectors, the number of dominant eigenvectors per class and for determining training, and test set compatibility are presented.

Spectroscopic analysis of soil metal contamination around a derelict mine site in the Blue Mountains, Australia

NASA Astrophysics Data System (ADS)

Shamsoddini, A.; Raval, S.; Taplin, R.

2014-09-01

Abandoned mine sites pose the potential threat of the heavy metal pollution spread through streams and via runoff leading to contamination of soil and water in their surrounding areas. Regular monitoring of these areas is critical to minimise impacts on water resources, flora and fauna. Conventional ground based monitoring is expensive and sometimes impractical; spectroscopic methods have been emerged as a reliable alternative for this purpose. In this study, the capabilities of the spectroscopy method were examined for modelling soil contamination from around the abandoned silver-zinc mine located at Yerranderie, NSW Australia. The diagnostic characteristics of the original reflectance data were compared with models derived from first and second derivatives of the reflectance data. The results indicate that the models derived from the first derivative of the reflectance data estimate heavy metals significantly more accurately than model derived from the original reflectance. It was also found in this study that there is no need to use second derivative for modelling heavy metal soil contamination. Finally, the results indicate that estimates were of greater accuracy for arsenic and lead compared to other heavy metals, while the estimation for silver was found to be the most erroneous.

Hand pose estimation in depth image using CNN and random forest

NASA Astrophysics Data System (ADS)

Chen, Xi; Cao, Zhiguo; Xiao, Yang; Fang, Zhiwen

2018-03-01

Thanks to the availability of low cost depth cameras, like Microsoft Kinect, 3D hand pose estimation attracted special research attention in these years. Due to the large variations in hand`s viewpoint and the high dimension of hand motion, 3D hand pose estimation is still challenging. In this paper we propose a two-stage framework which joint with CNN and Random Forest to boost the performance of hand pose estimation. First, we use a standard Convolutional Neural Network (CNN) to regress the hand joints` locations. Second, using a Random Forest to refine the joints from the first stage. In the second stage, we propose a pyramid feature which merges the information flow of the CNN. Specifically, we get the rough joints` location from first stage, then rotate the convolutional feature maps (and image). After this, for each joint, we map its location to each feature map (and image) firstly, then crop features at each feature map (and image) around its location, put extracted features to Random Forest to refine at last. Experimentally, we evaluate our proposed method on ICVL dataset and get the mean error about 11mm, our method is also real-time on a desktop.

Three-dimensional estimates of tree canopies: Scaling from high-resolution UAV data to satellite observations

NASA Astrophysics Data System (ADS)

Sankey, T.; Donald, J.; McVay, J.

2015-12-01

High resolution remote sensing images and datasets are typically acquired at a large cost, which poses big a challenge for many scientists. Northern Arizona University recently acquired a custom-engineered, cutting-edge UAV and we can now generate our own images with the instrument. The UAV has a unique capability to carry a large payload including a hyperspectral sensor, which images the Earth surface in over 350 spectral bands at 5 cm resolution, and a lidar scanner, which images the land surface and vegetation in 3-dimensions. Both sensors represent the newest available technology with very high resolution, precision, and accuracy. Using the UAV sensors, we are monitoring the effects of regional forest restoration treatment efforts. Individual tree canopy width and height are measured in the field and via the UAV sensors. The high-resolution UAV images are then used to segment individual tree canopies and to derive 3-dimensional estimates. The UAV image-derived variables are then correlated to the field-based measurements and scaled to satellite-derived tree canopy measurements. The relationships between the field-based and UAV-derived estimates are then extrapolated to a larger area to scale the tree canopy dimensions and to estimate tree density within restored and control forest sites.

Vision Based SLAM in Dynamic Scenes

DTIC Science & Technology

2012-12-20

the correct relative poses between cameras at frame F. For this purpose, we detect and match SURF features between cameras in dilierent groups, and...all cameras in s uch a challenging case. For a compa rison, we disabled the ’ inte r-camera pose estimation’ and applied the ’ intra-camera pose esti

Adaptation of an articulated fetal skeleton model to three-dimensional fetal image data

NASA Astrophysics Data System (ADS)

Klinder, Tobias; Wendland, Hannes; Wachter-Stehle, Irina; Roundhill, David; Lorenz, Cristian

2015-03-01

The automatic interpretation of three-dimensional fetal images poses specific challenges compared to other three-dimensional diagnostic data, especially since the orientation of the fetus in the uterus and the position of the extremities is highly variable. In this paper, we present a comprehensive articulated model of the fetal skeleton and the adaptation of the articulation for pose estimation in three-dimensional fetal images. The model is composed out of rigid bodies where the articulations are represented as rigid body transformations. Given a set of target landmarks, the model constellation can be estimated by optimization of the pose parameters. Experiments are carried out on 3D fetal MRI data yielding an average error per case of 12.03+/-3.36 mm between target and estimated landmark positions.

Singular value decomposition: a diagnostic tool for ill-posed inverse problems in optical computed tomography

NASA Astrophysics Data System (ADS)

Lanen, Theo A.; Watt, David W.

1995-10-01

Singular value decomposition has served as a diagnostic tool in optical computed tomography by using its capability to provide insight into the condition of ill-posed inverse problems. Various tomographic geometries are compared to one another through the singular value spectrum of their weight matrices. The number of significant singular values in the singular value spectrum of a weight matrix is a quantitative measure of the condition of the system of linear equations defined by a tomographic geometery. The analysis involves variation of the following five parameters, characterizing a tomographic geometry: 1) the spatial resolution of the reconstruction domain, 2) the number of views, 3) the number of projection rays per view, 4) the total observation angle spanned by the views, and 5) the selected basis function. Five local basis functions are considered: the square pulse, the triangle, the cubic B-spline, the Hanning window, and the Gaussian distribution. Also items like the presence of noise in the views, the coding accuracy of the weight matrix, as well as the accuracy of the accuracy of the singular value decomposition procedure itself are assessed.

Predicting 3D pose in partially overlapped X-ray images of knee prostheses using model-based Roentgen stereophotogrammetric analysis (RSA).

PubMed

Hsu, Chi-Pin; Lin, Shang-Chih; Shih, Kao-Shang; Huang, Chang-Hung; Lee, Chian-Her

2014-12-01

After total knee replacement, the model-based Roentgen stereophotogrammetric analysis (RSA) technique has been used to monitor the status of prosthetic wear, misalignment, and even failure. However, the overlap of the prosthetic outlines inevitably increases errors in the estimation of prosthetic poses due to the limited amount of available outlines. In the literature, quite a few studies have investigated the problems induced by the overlapped outlines, and manual adjustment is still the mainstream. This study proposes two methods to automate the image processing of overlapped outlines prior to the pose registration of prosthetic models. The outline-separated method defines the intersected points and segments the overlapped outlines. The feature-recognized method uses the point and line features of the remaining outlines to initiate registration. Overlap percentage is defined as the ratio of overlapped to non-overlapped outlines. The simulated images with five overlapping percentages are used to evaluate the robustness and accuracy of the proposed methods. Compared with non-overlapped images, overlapped images reduce the number of outlines available for model-based RSA calculation. The maximum and root mean square errors for a prosthetic outline are 0.35 and 0.04 mm, respectively. The mean translation and rotation errors are 0.11 mm and 0.18°, respectively. The errors of the model-based RSA results are increased when the overlap percentage is beyond about 9%. In conclusion, both outline-separated and feature-recognized methods can be seamlessly integrated to automate the calculation of rough registration. This can significantly increase the clinical practicability of the model-based RSA technique.

A multi-camera system for real-time pose estimation

NASA Astrophysics Data System (ADS)

Savakis, Andreas; Erhard, Matthew; Schimmel, James; Hnatow, Justin

2007-04-01

This paper presents a multi-camera system that performs face detection and pose estimation in real-time and may be used for intelligent computing within a visual sensor network for surveillance or human-computer interaction. The system consists of a Scene View Camera (SVC), which operates at a fixed zoom level, and an Object View Camera (OVC), which continuously adjusts its zoom level to match objects of interest. The SVC is set to survey the whole filed of view. Once a region has been identified by the SVC as a potential object of interest, e.g. a face, the OVC zooms in to locate specific features. In this system, face candidate regions are selected based on skin color and face detection is accomplished using a Support Vector Machine classifier. The locations of the eyes and mouth are detected inside the face region using neural network feature detectors. Pose estimation is performed based on a geometrical model, where the head is modeled as a spherical object that rotates upon the vertical axis. The triangle formed by the mouth and eyes defines a vertical plane that intersects the head sphere. By projecting the eyes-mouth triangle onto a two dimensional viewing plane, equations were obtained that describe the change in its angles as the yaw pose angle increases. These equations are then combined and used for efficient pose estimation. The system achieves real-time performance for live video input. Testing results assessing system performance are presented for both still images and video.

A Synergy-Based Optimally Designed Sensing Glove for Functional Grasp Recognition

PubMed Central

Ciotti, Simone; Battaglia, Edoardo; Carbonaro, Nicola; Bicchi, Antonio; Tognetti, Alessandro; Bianchi, Matteo

2016-01-01

Achieving accurate and reliable kinematic hand pose reconstructions represents a challenging task. The main reason for this is the complexity of hand biomechanics, where several degrees of freedom are distributed along a continuous deformable structure. Wearable sensing can represent a viable solution to tackle this issue, since it enables a more natural kinematic monitoring. However, the intrinsic accuracy (as well as the number of sensing elements) of wearable hand pose reconstruction (HPR) systems can be severely limited by ergonomics and cost considerations. In this paper, we combined the theoretical foundations of the optimal design of HPR devices based on hand synergy information, i.e., the inter-joint covariation patterns, with textile goniometers based on knitted piezoresistive fabrics (KPF) technology, to develop, for the first time, an optimally-designed under-sensed glove for measuring hand kinematics. We used only five sensors optimally placed on the hand and completed hand pose reconstruction (described according to a kinematic model with 19 degrees of freedom) leveraging upon synergistic information. The reconstructions we obtained from five different subjects were used to implement an unsupervised method for the recognition of eight functional grasps, showing a high degree of accuracy and robustness. PMID:27271621

A Synergy-Based Optimally Designed Sensing Glove for Functional Grasp Recognition.

PubMed

Ciotti, Simone; Battaglia, Edoardo; Carbonaro, Nicola; Bicchi, Antonio; Tognetti, Alessandro; Bianchi, Matteo

2016-06-02

Achieving accurate and reliable kinematic hand pose reconstructions represents a challenging task. The main reason for this is the complexity of hand biomechanics, where several degrees of freedom are distributed along a continuous deformable structure. Wearable sensing can represent a viable solution to tackle this issue, since it enables a more natural kinematic monitoring. However, the intrinsic accuracy (as well as the number of sensing elements) of wearable hand pose reconstruction (HPR) systems can be severely limited by ergonomics and cost considerations. In this paper, we combined the theoretical foundations of the optimal design of HPR devices based on hand synergy information, i.e., the inter-joint covariation patterns, with textile goniometers based on knitted piezoresistive fabrics (KPF) technology, to develop, for the first time, an optimally-designed under-sensed glove for measuring hand kinematics. We used only five sensors optimally placed on the hand and completed hand pose reconstruction (described according to a kinematic model with 19 degrees of freedom) leveraging upon synergistic information. The reconstructions we obtained from five different subjects were used to implement an unsupervised method for the recognition of eight functional grasps, showing a high degree of accuracy and robustness.

Bioaccessibility, release kinetics, and molecular speciation of arsenic and lead in geo-dusts from the Iron King Mine Federal Superfund site in Humboldt, Arizona.

PubMed

Menka, Nazune; Root, Rob; Chorover, Jon

2014-01-01

Mine tailings contain multiple toxic metal(loid)s that pose a threat to human health via inhalation and ingestion. The goals of this research include understanding the speciation and molecular environment of these toxic metal(loid)s (arsenic and lead) as well as the impacts particle size and residence time have on their bioaccessibilty in simulated gastric and lung fluid. Additionally, future work will include smaller size fractions (PM10 and PM2.5) of surface mine tailings, with the goal of increasing our understanding of multi-metal release from contaminated geo-dusts in simulated bio-fluids. This research is important to environmental human health risk assessment as it increases the accuracy of exposure estimations to toxic metal(loid)s.

Improved biovolume estimation of Microcystis aeruginosa colonies: A statistical approach.

PubMed

Alcántara, I; Piccini, C; Segura, A M; Deus, S; González, C; Martínez de la Escalera, G; Kruk, C

2018-05-27

The Microcystis aeruginosa complex (MAC) clusters many of the most common freshwater and brackish bloom-forming cyanobacteria. In monitoring protocols, biovolume estimation is a common approach to determine MAC colonies biomass and useful for prediction purposes. Biovolume (μm 3 mL -1 ) is calculated multiplying organism abundance (orgL -1 ) by colonial volume (μm 3 org -1 ). Colonial volume is estimated based on geometric shapes and requires accurate measurements of dimensions using optical microscopy. A trade-off between easy-to-measure but low-accuracy simple shapes (e.g. sphere) and time costly but high-accuracy complex shapes (e.g. ellipsoid) volume estimation is posed. Overestimations effects in ecological studies and management decisions associated to harmful blooms are significant due to the large sizes of MAC colonies. In this work, we aimed to increase the precision of MAC biovolume estimations by developing a statistical model based on two easy-to-measure dimensions. We analyzed field data from a wide environmental gradient (800 km) spanning freshwater to estuarine and seawater. We measured length, width and depth from ca. 5700 colonies under an inverted microscope and estimated colonial volume using three different recommended geometrical shapes (sphere, prolate spheroid and ellipsoid). Because of the non-spherical shape of MAC the ellipsoid resulted in the most accurate approximation, whereas the sphere overestimated colonial volume (3-80) especially for large colonies (MLD higher than 300 μm). Ellipsoid requires measuring three dimensions and is time-consuming. Therefore, we constructed different statistical models to predict organisms depth based on length and width. Splitting the data into training (2/3) and test (1/3) sets, all models resulted in low training (1.41-1.44%) and testing average error (1.3-2.0%). The models were also evaluated using three other independent datasets. The multiple linear model was finally selected to calculate MAC volume as an ellipsoid based on length and width. This work contributes to achieve a better estimation of MAC volume applicable to monitoring programs as well as to ecological research. Copyright © 2017. Published by Elsevier B.V.

Locally linear regression for pose-invariant face recognition.

PubMed

Chai, Xiujuan; Shan, Shiguang; Chen, Xilin; Gao, Wen

2007-07-01

The variation of facial appearance due to the viewpoint (/pose) degrades face recognition systems considerably, which is one of the bottlenecks in face recognition. One of the possible solutions is generating virtual frontal view from any given nonfrontal view to obtain a virtual gallery/probe face. Following this idea, this paper proposes a simple, but efficient, novel locally linear regression (LLR) method, which generates the virtual frontal view from a given nonfrontal face image. We first justify the basic assumption of the paper that there exists an approximate linear mapping between a nonfrontal face image and its frontal counterpart. Then, by formulating the estimation of the linear mapping as a prediction problem, we present the regression-based solution, i.e., globally linear regression. To improve the prediction accuracy in the case of coarse alignment, LLR is further proposed. In LLR, we first perform dense sampling in the nonfrontal face image to obtain many overlapped local patches. Then, the linear regression technique is applied to each small patch for the prediction of its virtual frontal patch. Through the combination of all these patches, the virtual frontal view is generated. The experimental results on the CMU PIE database show distinct advantage of the proposed method over Eigen light-field method.

GBAS Ionospheric Anomaly Monitoring Based on a Two-Step Approach

PubMed Central

Zhao, Lin; Yang, Fuxin; Li, Liang; Ding, Jicheng; Zhao, Yuxin

2016-01-01

As one significant component of space environmental weather, the ionosphere has to be monitored using Global Positioning System (GPS) receivers for the Ground-Based Augmentation System (GBAS). This is because an ionospheric anomaly can pose a potential threat for GBAS to support safety-critical services. The traditional code-carrier divergence (CCD) methods, which have been widely used to detect the variants of the ionospheric gradient for GBAS, adopt a linear time-invariant low-pass filter to suppress the effect of high frequency noise on the detection of the ionospheric anomaly. However, there is a counterbalance between response time and estimation accuracy due to the fixed time constants. In order to release the limitation, a two-step approach (TSA) is proposed by integrating the cascaded linear time-invariant low-pass filters with the adaptive Kalman filter to detect the ionospheric gradient anomaly. The performance of the proposed method is tested by using simulated and real-world data, respectively. The simulation results show that the TSA can detect ionospheric gradient anomalies quickly, even when the noise is severer. Compared to the traditional CCD methods, the experiments from real-world GPS data indicate that the average estimation accuracy of the ionospheric gradient improves by more than 31.3%, and the average response time to the ionospheric gradient at a rate of 0.018 m/s improves by more than 59.3%, which demonstrates the ability of TSA to detect a small ionospheric gradient more rapidly. PMID:27240367

First stereo video dataset with ground truth for remote car pose estimation using satellite markers

NASA Astrophysics Data System (ADS)

Gil, Gustavo; Savino, Giovanni; Pierini, Marco

2018-04-01

Leading causes of PTW (Powered Two-Wheeler) crashes and near misses in urban areas are on the part of a failure or delayed prediction of the changing trajectories of other vehicles. Regrettably, misperception from both car drivers and motorcycle riders results in fatal or serious consequences for riders. Intelligent vehicles could provide early warning about possible collisions, helping to avoid the crash. There is evidence that stereo cameras can be used for estimating the heading angle of other vehicles, which is key to anticipate their imminent location, but there is limited heading ground truth data available in the public domain. Consequently, we employed a marker-based technique for creating ground truth of car pose and create a dataset∗ for computer vision benchmarking purposes. This dataset of a moving vehicle collected from a static mounted stereo camera is a simplification of a complex and dynamic reality, which serves as a test bed for car pose estimation algorithms. The dataset contains the accurate pose of the moving obstacle, and realistic imagery including texture-less and non-lambertian surfaces (e.g. reflectance and transparency).

Driver head pose tracking with thermal camera

NASA Astrophysics Data System (ADS)

Bole, S.; Fournier, C.; Lavergne, C.; Druart, G.; Lépine, T.

2016-09-01

Head pose can be seen as a coarse estimation of gaze direction. In automotive industry, knowledge about gaze direction could optimize Human-Machine Interface (HMI) and Advanced Driver Assistance Systems (ADAS). Pose estimation systems are often based on camera when applications have to be contactless. In this paper, we explore uncooled thermal imagery (8-14μm) for its intrinsic night vision capabilities and for its invariance versus lighting variations. Two methods are implemented and compared, both are aided by a 3D model of the head. The 3D model, mapped with thermal texture, allows to synthesize a base of 2D projected models, differently oriented and labeled in yaw and pitch. The first method is based on keypoints. Keypoints of models are matched with those of the query image. These sets of matchings, aided with the 3D shape of the model, allow to estimate 3D pose. The second method is a global appearance approach. Among all 2D models of the base, algorithm searches the one which is the closest to the query image thanks to a weighted least squares difference.

Multi-object segmentation using coupled nonparametric shape and relative pose priors

NASA Astrophysics Data System (ADS)

Uzunbas, Mustafa Gökhan; Soldea, Octavian; Çetin, Müjdat; Ünal, Gözde; Erçil, Aytül; Unay, Devrim; Ekin, Ahmet; Firat, Zeynep

2009-02-01

We present a new method for multi-object segmentation in a maximum a posteriori estimation framework. Our method is motivated by the observation that neighboring or coupling objects in images generate configurations and co-dependencies which could potentially aid in segmentation if properly exploited. Our approach employs coupled shape and inter-shape pose priors that are computed using training images in a nonparametric multi-variate kernel density estimation framework. The coupled shape prior is obtained by estimating the joint shape distribution of multiple objects and the inter-shape pose priors are modeled via standard moments. Based on such statistical models, we formulate an optimization problem for segmentation, which we solve by an algorithm based on active contours. Our technique provides significant improvements in the segmentation of weakly contrasted objects in a number of applications. In particular for medical image analysis, we use our method to extract brain Basal Ganglia structures, which are members of a complex multi-object system posing a challenging segmentation problem. We also apply our technique to the problem of handwritten character segmentation. Finally, we use our method to segment cars in urban scenes.

Holoentropy enabled-decision tree for automatic classification of diabetic retinopathy using retinal fundus images.

PubMed

Mane, Vijay Mahadeo; Jadhav, D V

2017-05-24

Diabetic retinopathy (DR) is the most common diabetic eye disease. Doctors are using various test methods to detect DR. But, the availability of test methods and requirements of domain experts pose a new challenge in the automatic detection of DR. In order to fulfill this objective, a variety of algorithms has been developed in the literature. In this paper, we propose a system consisting of a novel sparking process and a holoentropy-based decision tree for automatic classification of DR images to further improve the effectiveness. The sparking process algorithm is developed for automatic segmentation of blood vessels through the estimation of optimal threshold. The holoentropy enabled decision tree is newly developed for automatic classification of retinal images into normal or abnormal using hybrid features which preserve the disease-level patterns even more than the signal level of the feature. The effectiveness of the proposed system is analyzed using standard fundus image databases DIARETDB0 and DIARETDB1 for sensitivity, specificity and accuracy. The proposed system yields sensitivity, specificity and accuracy values of 96.72%, 97.01% and 96.45%, respectively. The experimental result reveals that the proposed technique outperforms the existing algorithms.

2D-3D registration for cranial radiation therapy using a 3D kV CBCT and a single limited field-of-view 2D kV radiograph.

PubMed

Munbodh, Reshma; Knisely, Jonathan Ps; Jaffray, David A; Moseley, Douglas J

2018-05-01

We present and evaluate a fully automated 2D-3D intensity-based registration framework using a single limited field-of-view (FOV) 2D kV radiograph and a 3D kV CBCT for 3D estimation of patient setup errors during brain radiotherapy. We evaluated two similarity measures, the Pearson correlation coefficient on image intensity values (ICC) and maximum likelihood measure with Gaussian noise (MLG), derived from the statistics of transmission images. Pose determination experiments were conducted on 2D kV radiographs in the anterior-posterior (AP) and left lateral (LL) views and 3D kV CBCTs of an anthropomorphic head phantom. In order to minimize radiation exposure and exclude nonrigid structures from the registration, limited FOV 2D kV radiographs were employed. A spatial frequency band useful for the 2D-3D registration was identified from the bone-to-no-bone spectral ratio (BNBSR) of digitally reconstructed radiographs (DRRs) computed from the 3D kV planning CT of the phantom. The images being registered were filtered accordingly prior to computation of the similarity measures. We evaluated the registration accuracy achievable with a single 2D kV radiograph and with the registration results from the AP and LL views combined. We also compared the performance of the 2D-3D registration solutions proposed to that of a commercial 3D-3D registration algorithm, which used the entire skull for the registration. The ground truth was determined from markers affixed to the phantom and visible in the CBCT images. The accuracy of the 2D-3D registration solutions, as quantified by the root mean squared value of the target registration error (TRE) calculated over a radius of 3 cm for all poses tested, was ICC AP : 0.56 mm, MLG AP : 0.74 mm, ICC LL : 0.57 mm, MLG LL : 0.54 mm, ICC (AP and LL combined): 0.19 mm, and MLG (AP and LL combined): 0.21 mm. The accuracy of the 3D-3D registration algorithm was 0.27 mm. There was no significant difference in mean TRE for the 2D-3D registration algorithms using a single 2D kV radiograph with similarity measure and image view point. There was no significant difference in mean TRE between ICC LL , MLG LL , ICC (AP and LL combined), MLG (AP and LL combined), and the 3D-3D registration algorithm despite the smaller FOV used for the 2D-3D registration. While submillimeter registration accuracy was obtained with both ICC and MLG using a single 2D kV radiograph, combining the results from the two projection views resulted in a significantly smaller (P≤0.05) mean TRE. Our results indicate that it is possible to achieve submillimeter registration accuracy with both ICC and MLG using either single or dual limited FOV 2D kV radiographs of the head in the AP and LL views. The registration accuracy suggests that the 2D-3D registration solutions presented are suitable for the estimation of patient setup errors not only during conventional brain radiation therapy, but also during stereotactic procedures and proton radiation therapy where tighter setup margins are required. © 2018 American Association of Physicists in Medicine.

A New 3D Object Pose Detection Method Using LIDAR Shape Set

PubMed Central

Kim, Jung-Un

2018-01-01

In object detection systems for autonomous driving, LIDAR sensors provide very useful information. However, problems occur because the object representation is greatly distorted by changes in distance. To solve this problem, we propose a LIDAR shape set that reconstructs the shape surrounding the object more clearly by using the LIDAR point information projected on the object. The LIDAR shape set restores object shape edges from a bird’s eye view by filtering LIDAR points projected on a 2D pixel-based front view. In this study, we use this shape set for two purposes. The first is to supplement the shape set with a LIDAR Feature map, and the second is to divide the entire shape set according to the gradient of the depth and density to create a 2D and 3D bounding box proposal for each object. We present a multimodal fusion framework that classifies objects and restores the 3D pose of each object using enhanced feature maps and shape-based proposals. The network structure consists of a VGG -based object classifier that receives multiple inputs and a LIDAR-based Region Proposal Networks (RPN) that identifies object poses. It works in a very intuitive and efficient manner and can be extended to other classes other than vehicles. Our research has outperformed object classification accuracy (Average Precision, AP) and 3D pose restoration accuracy (3D bounding box recall rate) based on the latest studies conducted with KITTI data sets. PMID:29547551

A New 3D Object Pose Detection Method Using LIDAR Shape Set.

PubMed

Kim, Jung-Un; Kang, Hang-Bong

2018-03-16

In object detection systems for autonomous driving, LIDAR sensors provide very useful information. However, problems occur because the object representation is greatly distorted by changes in distance. To solve this problem, we propose a LIDAR shape set that reconstructs the shape surrounding the object more clearly by using the LIDAR point information projected on the object. The LIDAR shape set restores object shape edges from a bird's eye view by filtering LIDAR points projected on a 2D pixel-based front view. In this study, we use this shape set for two purposes. The first is to supplement the shape set with a LIDAR Feature map, and the second is to divide the entire shape set according to the gradient of the depth and density to create a 2D and 3D bounding box proposal for each object. We present a multimodal fusion framework that classifies objects and restores the 3D pose of each object using enhanced feature maps and shape-based proposals. The network structure consists of a VGG -based object classifier that receives multiple inputs and a LIDAR-based Region Proposal Networks (RPN) that identifies object poses. It works in a very intuitive and efficient manner and can be extended to other classes other than vehicles. Our research has outperformed object classification accuracy (Average Precision, AP) and 3D pose restoration accuracy (3D bounding box recall rate) based on the latest studies conducted with KITTI data sets.

Multiscale approach to pest insect monitoring: Random walks, pattern formation, synchronization, and networks

NASA Astrophysics Data System (ADS)

Petrovskii, Sergei; Petrovskaya, Natalia; Bearup, Daniel

2014-09-01

Pest insects pose a significant threat to food production worldwide resulting in annual losses worth hundreds of billions of dollars. Pest control attempts to prevent pest outbreaks that could otherwise destroy a sward. It is good practice in integrated pest management to recommend control actions (usually pesticides application) only when the pest density exceeds a certain threshold. Accurate estimation of pest population density in ecosystems, especially in agro-ecosystems, is therefore very important, and this is the overall goal of the pest insect monitoring. However, this is a complex and challenging task; providing accurate information about pest abundance is hardly possible without taking into account the complexity of ecosystems' dynamics, in particular, the existence of multiple scales. In the case of pest insects, monitoring has three different spatial scales, each of them having their own scale-specific goal and their own approaches to data collection and interpretation. In this paper, we review recent progress in mathematical models and methods applied at each of these scales and show how it helps to improve the accuracy and robustness of pest population density estimation.

Visual navigation using edge curve matching for pinpoint planetary landing

NASA Astrophysics Data System (ADS)

Cui, Pingyuan; Gao, Xizhen; Zhu, Shengying; Shao, Wei

2018-05-01

Pinpoint landing is challenging for future Mars and asteroid exploration missions. Vision-based navigation scheme based on feature detection and matching is practical and can achieve the required precision. However, existing algorithms are computationally prohibitive and utilize poor-performance measurements, which pose great challenges for the application of visual navigation. This paper proposes an innovative visual navigation scheme using crater edge curves during descent and landing phase. In the algorithm, the edge curves of the craters tracked from two sequential images are utilized to determine the relative attitude and position of the lander through a normalized method. Then, considering error accumulation of relative navigation, a method is developed. That is to integrate the crater-based relative navigation method with crater-based absolute navigation method that identifies craters using a georeferenced database for continuous estimation of absolute states. In addition, expressions of the relative state estimate bias are derived. Novel necessary and sufficient observability criteria based on error analysis are provided to improve the navigation performance, which hold true for similar navigation systems. Simulation results demonstrate the effectiveness and high accuracy of the proposed navigation method.

Towards Unmanned Systems for Dismounted Operations in the Canadian Forces

DTIC Science & Technology

2011-01-01

LIDAR , and RADAR) and lower power/mass, passive imaging techniques such as structure from motion and simultaneous localisation and mapping ( SLAM ...sensors and learning algorithms. 5.1.2 Simultaneous localisation and mapping SLAM algorithms concurrently estimate a robot pose and a map of unique...locations and vehicle pose are part of the SLAM state vector and are estimated in each update step. AISS developed a monocular camera-based SLAM

A Neural-Dynamic Architecture for Concurrent Estimation of Object Pose and Identity

PubMed Central

Lomp, Oliver; Faubel, Christian; Schöner, Gregor

2017-01-01

Handling objects or interacting with a human user about objects on a shared tabletop requires that objects be identified after learning from a small number of views and that object pose be estimated. We present a neurally inspired architecture that learns object instances by storing features extracted from a single view of each object. Input features are color and edge histograms from a localized area that is updated during processing. The system finds the best-matching view for the object in a novel input image while concurrently estimating the object’s pose, aligning the learned view with current input. The system is based on neural dynamics, computationally operating in real time, and can handle dynamic scenes directly off live video input. In a scenario with 30 everyday objects, the system achieves recognition rates of 87.2% from a single training view for each object, while also estimating pose quite precisely. We further demonstrate that the system can track moving objects, and that it can segment the visual array, selecting and recognizing one object while suppressing input from another known object in the immediate vicinity. Evaluation on the COIL-100 dataset, in which objects are depicted from different viewing angles, revealed recognition rates of 91.1% on the first 30 objects, each learned from four training views. PMID:28503145

A Simulation Environment for Benchmarking Sensor Fusion-Based Pose Estimators.

PubMed

Ligorio, Gabriele; Sabatini, Angelo Maria

2015-12-19

In-depth analysis and performance evaluation of sensor fusion-based estimators may be critical when performed using real-world sensor data. For this reason, simulation is widely recognized as one of the most powerful tools for algorithm benchmarking. In this paper, we present a simulation framework suitable for assessing the performance of sensor fusion-based pose estimators. The systems used for implementing the framework were magnetic/inertial measurement units (MIMUs) and a camera, although the addition of further sensing modalities is straightforward. Typical nuisance factors were also included for each sensor. The proposed simulation environment was validated using real-life sensor data employed for motion tracking. The higher mismatch between real and simulated sensors was about 5% of the measured quantity (for the camera simulation), whereas a lower correlation was found for an axis of the gyroscope (0.90). In addition, a real benchmarking example of an extended Kalman filter for pose estimation from MIMU and camera data is presented.

Improving 3D Character Posing with a Gestural Interface.

PubMed

Kyto, Mikko; Dhinakaran, Krupakar; Martikainen, Aki; Hamalainen, Perttu

2017-01-01

The most time-consuming part of character animation is 3D character posing. Posing using a mouse is a slow and tedious task that involves sequences of selecting on-screen control handles and manipulating the handles to adjust character parameters, such as joint rotations and end effector positions. Thus, various 3D user interfaces have been proposed to make animating easier, but they typically provide less accuracy. The proposed interface combines a mouse with the Leap Motion device to provide 3D input. A usability study showed that users preferred the Leap Motion over a mouse as a 3D gestural input device. The Leap Motion drastically decreased the number of required operations and the task completion time, especially for novice users.

Pose estimation of teeth through crown-shape matching

NASA Astrophysics Data System (ADS)

Mok, Vevin; Ong, Sim Heng; Foong, Kelvin W. C.; Kondo, Toshiaki

2002-05-01

This paper presents a technique for determining a tooth's pose given a dental plaster cast and a set of generic tooth models. The ultimate goal of pose estimation is to obtain information about the sizes and positions of the roots, which lie hidden within the gums, without the use of X-rays, CT or MRI. In our approach, the tooth of interest is first extracted from the 3D dental cast image through segmentation. 2D views are then generated from the extracted tooth and are matched against a target view generated from the generic model with known pose. Additional views are generated in the vicinity of the best view and the entire process is repeated until convergence. Upon convergence, the generic tooth is superimposed onto the dental cast to show the position of the root. The results of applying the technique to canines demonstrate the excellent potential of the algorithm for generic tooth fitting.

The relative pose estimation of aircraft based on contour model

NASA Astrophysics Data System (ADS)

Fu, Tai; Sun, Xiangyi

2017-02-01

This paper proposes a relative pose estimation approach based on object contour model. The first step is to obtain a two-dimensional (2D) projection of three-dimensional (3D)-model-based target, which will be divided into 40 forms by clustering and LDA analysis. Then we proceed by extracting the target contour in each image and computing their Pseudo-Zernike Moments (PZM), thus a model library is constructed in an offline mode. Next, we spot a projection contour that resembles the target silhouette most in the present image from the model library with reference of PZM; then similarity transformation parameters are generated as the shape context is applied to match the silhouette sampling location, from which the identification parameters of target can be further derived. Identification parameters are converted to relative pose parameters, in the premise that these values are the initial result calculated via iterative refinement algorithm, as the relative pose parameter is in the neighborhood of actual ones. At last, Distance Image Iterative Least Squares (DI-ILS) is employed to acquire the ultimate relative pose parameters.

Inverse modelling for real-time estimation of radiological consequences in the early stage of an accidental radioactivity release.

PubMed

Pecha, Petr; Šmídl, Václav

2016-11-01

A stepwise sequential assimilation algorithm is proposed based on an optimisation approach for recursive parameter estimation and tracking of radioactive plume propagation in the early stage of a radiation accident. Predictions of the radiological situation in each time step of the plume propagation are driven by an existing short-term meteorological forecast and the assimilation procedure manipulates the model parameters to match the observations incoming concurrently from the terrain. Mathematically, the task is a typical ill-posed inverse problem of estimating the parameters of the release. The proposed method is designated as a stepwise re-estimation of the source term release dynamics and an improvement of several input model parameters. It results in a more precise determination of the adversely affected areas in the terrain. The nonlinear least-squares regression methodology is applied for estimation of the unknowns. The fast and adequately accurate segmented Gaussian plume model (SGPM) is used in the first stage of direct (forward) modelling. The subsequent inverse procedure infers (re-estimates) the values of important model parameters from the actual observations. Accuracy and sensitivity of the proposed method for real-time forecasting of the accident propagation is studied. First, a twin experiment generating noiseless simulated "artificial" observations is studied to verify the minimisation algorithm. Second, the impact of the measurement noise on the re-estimated source release rate is examined. In addition, the presented method can be used as a proposal for more advanced statistical techniques using, e.g., importance sampling. Copyright © 2016 Elsevier Ltd. All rights reserved.

Real-time Accurate Surface Reconstruction Pipeline for Vision Guided Planetary Exploration Using Unmanned Ground and Aerial Vehicles

NASA Technical Reports Server (NTRS)

Almeida, Eduardo DeBrito

2012-01-01

This report discusses work completed over the summer at the Jet Propulsion Laboratory (JPL), California Institute of Technology. A system is presented to guide ground or aerial unmanned robots using computer vision. The system performs accurate camera calibration, camera pose refinement and surface extraction from images collected by a camera mounted on the vehicle. The application motivating the research is planetary exploration and the vehicles are typically rovers or unmanned aerial vehicles. The information extracted from imagery is used primarily for navigation, as robot location is the same as the camera location and the surfaces represent the terrain that rovers traverse. The processed information must be very accurate and acquired very fast in order to be useful in practice. The main challenge being addressed by this project is to achieve high estimation accuracy and high computation speed simultaneously, a difficult task due to many technical reasons.

Multithreaded hybrid feature tracking for markerless augmented reality.

PubMed

Lee, Taehee; Höllerer, Tobias

2009-01-01

We describe a novel markerless camera tracking approach and user interaction methodology for augmented reality (AR) on unprepared tabletop environments. We propose a real-time system architecture that combines two types of feature tracking. Distinctive image features of the scene are detected and tracked frame-to-frame by computing optical flow. In order to achieve real-time performance, multiple operations are processed in a synchronized multi-threaded manner: capturing a video frame, tracking features using optical flow, detecting distinctive invariant features, and rendering an output frame. We also introduce user interaction methodology for establishing a global coordinate system and for placing virtual objects in the AR environment by tracking a user's outstretched hand and estimating a camera pose relative to it. We evaluate the speed and accuracy of our hybrid feature tracking approach, and demonstrate a proof-of-concept application for enabling AR in unprepared tabletop environments, using bare hands for interaction.

The research and application of visual saliency and adaptive support vector machine in target tracking field.

PubMed

Chen, Yuantao; Xu, Weihong; Kuang, Fangjun; Gao, Shangbing

2013-01-01

The efficient target tracking algorithm researches have become current research focus of intelligent robots. The main problems of target tracking process in mobile robot face environmental uncertainty. They are very difficult to estimate the target states, illumination change, target shape changes, complex backgrounds, and other factors and all affect the occlusion in tracking robustness. To further improve the target tracking's accuracy and reliability, we present a novel target tracking algorithm to use visual saliency and adaptive support vector machine (ASVM). Furthermore, the paper's algorithm has been based on the mixture saliency of image features. These features include color, brightness, and sport feature. The execution process used visual saliency features and those common characteristics have been expressed as the target's saliency. Numerous experiments demonstrate the effectiveness and timeliness of the proposed target tracking algorithm in video sequences where the target objects undergo large changes in pose, scale, and illumination.

Face Recognition Using Local Quantized Patterns and Gabor Filters

NASA Astrophysics Data System (ADS)

Khryashchev, V.; Priorov, A.; Stepanova, O.; Nikitin, A.

2015-05-01

The problem of face recognition in a natural or artificial environment has received a great deal of researchers' attention over the last few years. A lot of methods for accurate face recognition have been proposed. Nevertheless, these methods often fail to accurately recognize the person in difficult scenarios, e.g. low resolution, low contrast, pose variations, etc. We therefore propose an approach for accurate and robust face recognition by using local quantized patterns and Gabor filters. The estimation of the eye centers is used as a preprocessing stage. The evaluation of our algorithm on different samples from a standardized FERET database shows that our method is invariant to the general variations of lighting, expression, occlusion and aging. The proposed approach allows about 20% correct recognition accuracy increase compared with the known face recognition algorithms from the OpenCV library. The additional use of Gabor filters can significantly improve the robustness to changes in lighting conditions.

The anchoring bias reflects rational use of cognitive resources.

PubMed

Lieder, Falk; Griffiths, Thomas L; M Huys, Quentin J; Goodman, Noah D

2018-02-01

Cognitive biases, such as the anchoring bias, pose a serious challenge to rational accounts of human cognition. We investigate whether rational theories can meet this challenge by taking into account the mind's bounded cognitive resources. We asked what reasoning under uncertainty would look like if people made rational use of their finite time and limited cognitive resources. To answer this question, we applied a mathematical theory of bounded rationality to the problem of numerical estimation. Our analysis led to a rational process model that can be interpreted in terms of anchoring-and-adjustment. This model provided a unifying explanation for ten anchoring phenomena including the differential effect of accuracy motivation on the bias towards provided versus self-generated anchors. Our results illustrate the potential of resource-rational analysis to provide formal theories that can unify a wide range of empirical results and reconcile the impressive capacities of the human mind with its apparently irrational cognitive biases.

Assessing 3D tunnel position in ACL reconstruction using a novel single image 3D-2D registration

NASA Astrophysics Data System (ADS)

Kang, X.; Yau, W. P.; Otake, Y.; Cheung, P. Y. S.; Hu, Y.; Taylor, R. H.

2012-02-01

The routinely used procedure for evaluating tunnel positions following anterior cruciate ligament (ACL) reconstructions based on standard X-ray images is known to pose difficulties in terms of obtaining accurate measures, especially in providing three-dimensional tunnel positions. This is largely due to the variability in individual knee joint pose relative to X-ray plates. Accurate results were reported using postoperative CT. However, its extensive usage in clinical routine is hampered by its major requirement of having CT scans of individual patients, which is not available for most ACL reconstructions. These difficulties are addressed through the proposed method, which aligns a knee model to X-ray images using our novel single-image 3D-2D registration method and then estimates the 3D tunnel position. In the proposed method, the alignment is achieved by using a novel contour-based 3D-2D registration method wherein image contours are treated as a set of oriented points. However, instead of using some form of orientation weighting function and multiplying it with a distance function, we formulate the 3D-2D registration as a probability density estimation using a mixture of von Mises-Fisher-Gaussian (vMFG) distributions and solve it through an expectation maximization (EM) algorithm. Compared with the ground-truth established from postoperative CT, our registration method in an experiment using a plastic phantom showed accurate results with errors of (-0.43°+/-1.19°, 0.45°+/-2.17°, 0.23°+/-1.05°) and (0.03+/-0.55, -0.03+/-0.54, -2.73+/-1.64) mm. As for the entry point of the ACL tunnel, one of the key measurements, it was obtained with high accuracy of 0.53+/-0.30 mm distance errors.

Probabilistic Elastic Part Model: A Pose-Invariant Representation for Real-World Face Verification.

PubMed

Li, Haoxiang; Hua, Gang

2018-04-01

Pose variation remains to be a major challenge for real-world face recognition. We approach this problem through a probabilistic elastic part model. We extract local descriptors (e.g., LBP or SIFT) from densely sampled multi-scale image patches. By augmenting each descriptor with its location, a Gaussian mixture model (GMM) is trained to capture the spatial-appearance distribution of the face parts of all face images in the training corpus, namely the probabilistic elastic part (PEP) model. Each mixture component of the GMM is confined to be a spherical Gaussian to balance the influence of the appearance and the location terms, which naturally defines a part. Given one or multiple face images of the same subject, the PEP-model builds its PEP representation by sequentially concatenating descriptors identified by each Gaussian component in a maximum likelihood sense. We further propose a joint Bayesian adaptation algorithm to adapt the universally trained GMM to better model the pose variations between the target pair of faces/face tracks, which consistently improves face verification accuracy. Our experiments show that we achieve state-of-the-art face verification accuracy with the proposed representations on the Labeled Face in the Wild (LFW) dataset, the YouTube video face database, and the CMU MultiPIE dataset.

A robotic orbital emulator with lidar-based SLAM and AMCL for multiple entity pose estimation

NASA Astrophysics Data System (ADS)

Shen, Dan; Xiang, Xingyu; Jia, Bin; Wang, Zhonghai; Chen, Genshe; Blasch, Erik; Pham, Khanh

2018-05-01

This paper revises and evaluates an orbital emulator (OE) for space situational awareness (SSA). The OE can produce 3D satellite movements using capabilities generated from omni-wheeled robot and robotic arm motions. The 3D motion of satellite is partitioned into the movements in the equatorial plane and the up-down motions in the vertical plane. The 3D actions are emulated by omni-wheeled robot models while the up-down motions are performed by a stepped-motorcontrolled- ball along a rod (robotic arm), which is attached to the robot. Lidar only measurements are used to estimate the pose information of the multiple robots. SLAM (simultaneous localization and mapping) is running on one robot to generate the map and compute the pose for the robot. Based on the SLAM map maintained by the robot, the other robots run the adaptive Monte Carlo localization (AMCL) method to estimate their poses. The controller is designed to guide the robot to follow a given orbit. The controllability is analyzed by using a feedback linearization method. Experiments are conducted to show the convergence of AMCL and the orbit tracking performance.

Linear Combinations of Multiple Outcome Measures to Improve the Power of Efficacy Analysis ---Application to Clinical Trials on Early Stage Alzheimer Disease

PubMed Central

Xiong, Chengjie; Luo, Jingqin; Morris, John C; Bateman, Randall

2018-01-01

Modern clinical trials on Alzheimer disease (AD) focus on the early symptomatic stage or even the preclinical stage. Subtle disease progression at the early stages, however, poses a major challenge in designing such clinical trials. We propose a multivariate mixed model on repeated measures to model the disease progression over time on multiple efficacy outcomes, and derive the optimum weights to combine multiple outcome measures by minimizing the sample sizes to adequately power the clinical trials. A cross-validation simulation study is conducted to assess the accuracy for the estimated weights as well as the improvement in reducing the sample sizes for such trials. The proposed methodology is applied to the multiple cognitive tests from the ongoing observational study of the Dominantly Inherited Alzheimer Network (DIAN) to power future clinical trials in the DIAN with a cognitive endpoint. Our results show that the optimum weights to combine multiple outcome measures can be accurately estimated, and that compared to the individual outcomes, the combined efficacy outcome with these weights significantly reduces the sample size required to adequately power clinical trials. When applied to the clinical trial in the DIAN, the estimated linear combination of six cognitive tests can adequately power the clinical trial. PMID:29546251

Visual Persons Behavior Diary Generation Model based on Trajectories and Pose Estimation

NASA Astrophysics Data System (ADS)

Gang, Chen; Bin, Chen; Yuming, Liu; Hui, Li

2018-03-01

The behavior pattern of persons was the important output of the surveillance analysis. This paper focus on the generation model of visual person behavior diary. The pipeline includes the person detection, tracking, and the person behavior classify. This paper adopts the deep convolutional neural model YOLO (You Only Look Once)V2 for person detection module. Multi person tracking was based on the detection framework. The Hungarian assignment algorithm was used to the matching. The person appearance model was integrated by HSV color model and Hash code model. The person object motion was estimated by the Kalman Filter. The multi objects were matching with exist tracklets through the appearance and motion location distance by the Hungarian assignment method. A long continuous trajectory for one person was get by the spatial-temporal continual linking algorithm. And the face recognition information was used to identify the trajectory. The trajectories with identification information can be used to generate the visual diary of person behavior based on the scene context information and person action estimation. The relevant modules are tested in public data sets and our own capture video sets. The test results show that the method can be used to generate the visual person behavior pattern diary with certain accuracy.

Accuracy Rates of Ancestry Estimation by Forensic Anthropologists Using Identified Forensic Cases.

PubMed

Thomas, Richard M; Parks, Connie L; Richard, Adam H

2017-07-01

A common task in forensic anthropology involves the estimation of the ancestry of a decedent by comparing their skeletal morphology and measurements to skeletons of individuals from known geographic groups. However, the accuracy rates of ancestry estimation methods in actual forensic casework have rarely been studied. This article uses 99 forensic cases with identified skeletal remains to develop accuracy rates for ancestry estimations conducted by forensic anthropologists. The overall rate of correct ancestry estimation from these cases is 90.9%, which is comparable to most research-derived rates and those reported by individual practitioners. Statistical tests showed no significant difference in accuracy rates depending on examiner education level or on the estimated or identified ancestry. More recent cases showed a significantly higher accuracy rate. The incorporation of metric analyses into the ancestry estimate in these cases led to a higher accuracy rate. © 2017 American Academy of Forensic Sciences.

Maximal likelihood correspondence estimation for face recognition across pose.

PubMed

Li, Shaoxin; Liu, Xin; Chai, Xiujuan; Zhang, Haihong; Lao, Shihong; Shan, Shiguang

2014-10-01

Due to the misalignment of image features, the performance of many conventional face recognition methods degrades considerably in across pose scenario. To address this problem, many image matching-based methods are proposed to estimate semantic correspondence between faces in different poses. In this paper, we aim to solve two critical problems in previous image matching-based correspondence learning methods: 1) fail to fully exploit face specific structure information in correspondence estimation and 2) fail to learn personalized correspondence for each probe image. To this end, we first build a model, termed as morphable displacement field (MDF), to encode face specific structure information of semantic correspondence from a set of real samples of correspondences calculated from 3D face models. Then, we propose a maximal likelihood correspondence estimation (MLCE) method to learn personalized correspondence based on maximal likelihood frontal face assumption. After obtaining the semantic correspondence encoded in the learned displacement, we can synthesize virtual frontal images of the profile faces for subsequent recognition. Using linear discriminant analysis method with pixel-intensity features, state-of-the-art performance is achieved on three multipose benchmarks, i.e., CMU-PIE, FERET, and MultiPIE databases. Owe to the rational MDF regularization and the usage of novel maximal likelihood objective, the proposed MLCE method can reliably learn correspondence between faces in different poses even in complex wild environment, i.e., labeled face in the wild database.

Power transformations improve interpolation of grids for molecular mechanics interaction energies.

PubMed

Minh, David D L

2018-02-18

A common strategy for speeding up molecular docking calculations is to precompute nonbonded interaction energies between a receptor molecule and a set of three-dimensional grids. The grids are then interpolated to compute energies for ligand atoms in many different binding poses. Here, I evaluate a smoothing strategy of taking a power transformation of grid point energies and inverse transformation of the result from trilinear interpolation. For molecular docking poses from 85 protein-ligand complexes, this smoothing procedure leads to significant accuracy improvements, including an approximately twofold reduction in the root mean square error at a grid spacing of 0.4 Å and retaining the ability to rank docking poses even at a grid spacing of 0.7 Å. © 2018 Wiley Periodicals, Inc. © 2018 Wiley Periodicals, Inc.

On Inertial Body Tracking in the Presence of Model Calibration Errors

PubMed Central

Miezal, Markus; Taetz, Bertram; Bleser, Gabriele

2016-01-01

In inertial body tracking, the human body is commonly represented as a biomechanical model consisting of rigid segments with known lengths and connecting joints. The model state is then estimated via sensor fusion methods based on data from attached inertial measurement units (IMUs). This requires the relative poses of the IMUs w.r.t. the segments—the IMU-to-segment calibrations, subsequently called I2S calibrations—to be known. Since calibration methods based on static poses, movements and manual measurements are still the most widely used, potentially large human-induced calibration errors have to be expected. This work compares three newly developed/adapted extended Kalman filter (EKF) and optimization-based sensor fusion methods with an existing EKF-based method w.r.t. their segment orientation estimation accuracy in the presence of model calibration errors with and without using magnetometer information. While the existing EKF-based method uses a segment-centered kinematic chain biomechanical model and a constant angular acceleration motion model, the newly developed/adapted methods are all based on a free segments model, where each segment is represented with six degrees of freedom in the global frame. Moreover, these methods differ in the assumed motion model (constant angular acceleration, constant angular velocity, inertial data as control input), the state representation (segment-centered, IMU-centered) and the estimation method (EKF, sliding window optimization). In addition to the free segments representation, the optimization-based method also represents each IMU with six degrees of freedom in the global frame. In the evaluation on simulated and real data from a three segment model (an arm), the optimization-based method showed the smallest mean errors, standard deviations and maximum errors throughout all tests. It also showed the lowest dependency on magnetometer information and motion agility. Moreover, it was insensitive w.r.t. I2S position and segment length errors in the tested ranges. Errors in the I2S orientations were, however, linearly propagated into the estimated segment orientations. In the absence of magnetic disturbances, severe model calibration errors and fast motion changes, the newly developed IMU centered EKF-based method yielded comparable results with lower computational complexity. PMID:27455266

Applying species-tree analyses to deep phylogenetic histories: challenges and potential suggested from a survey of empirical phylogenetic studies.

PubMed

Lanier, Hayley C; Knowles, L Lacey

2015-02-01

Coalescent-based methods for species-tree estimation are becoming a dominant approach for reconstructing species histories from multi-locus data, with most of the studies examining these methodologies focused on recently diverged species. However, deeper phylogenies, such as the datasets that comprise many Tree of Life (ToL) studies, also exhibit gene-tree discordance. This discord may also arise from the stochastic sorting of gene lineages during the speciation process (i.e., reflecting the random coalescence of gene lineages in ancestral populations). It remains unknown whether guidelines regarding methodologies and numbers of loci established by simulation studies at shallow tree depths translate into accurate species relationships for deeper phylogenetic histories. We address this knowledge gap and specifically identify the challenges and limitations of species-tree methods that account for coalescent variance for deeper phylogenies. Using simulated data with characteristics informed by empirical studies, we evaluate both the accuracy of estimated species trees and the characteristics associated with recalcitrant nodes, with a specific focus on whether coalescent variance is generally responsible for the lack of resolution. By determining the proportion of coalescent genealogies that support a particular node, we demonstrate that (1) species-tree methods account for coalescent variance at deep nodes and (2) mutational variance - not gene-tree discord arising from the coalescent - posed the primary challenge for accurate reconstruction across the tree. For example, many nodes were accurately resolved despite predicted discord from the random coalescence of gene lineages and nodes with poor support were distributed across a range of depths (i.e., they were not restricted to a particular recent divergences). Given their broad taxonomic scope and large sampling of taxa, deep level phylogenies pose several potential methodological complications including difficulties with MCMC convergence and estimation of requisite population genetic parameters for coalescent-based approaches. Despite these difficulties, the findings generally support the utility of species-tree analyses for the estimation of species relationships throughout the ToL. We discuss strategies for successful application of species-tree approaches to deep phylogenies. Copyright © 2014 Elsevier Inc. All rights reserved.

Prospective evaluation of shape similarity based pose prediction method in D3R Grand Challenge 2015

NASA Astrophysics Data System (ADS)

Kumar, Ashutosh; Zhang, Kam Y. J.

2016-09-01

Evaluation of ligand three-dimensional (3D) shape similarity is one of the commonly used approaches to identify ligands similar to one or more known active compounds from a library of small molecules. Apart from using ligand shape similarity as a virtual screening tool, its role in pose prediction and pose scoring has also been reported. We have recently developed a method that utilizes ligand 3D shape similarity with known crystallographic ligands to predict binding poses of query ligands. Here, we report the prospective evaluation of our pose prediction method through the participation in drug design data resource (D3R) Grand Challenge 2015. Our pose prediction method was used to predict binding poses of heat shock protein 90 (HSP90) and mitogen activated protein kinase kinase kinase kinase (MAP4K4) ligands and it was able to predict the pose within 2 Å root mean square deviation (RMSD) either as the top pose or among the best of five poses in a majority of cases. Specifically for HSP90 protein, a median RMSD of 0.73 and 0.68 Å was obtained for the top and the best of five predictions respectively. For MAP4K4 target, although the median RMSD for our top prediction was only 2.87 Å but the median RMSD of 1.67 Å for the best of five predictions was well within the limit for successful prediction. Furthermore, the performance of our pose prediction method for HSP90 and MAP4K4 ligands was always among the top five groups. Particularly, for MAP4K4 protein our pose prediction method was ranked number one both in terms of mean and median RMSD when the best of five predictions were considered. Overall, our D3R Grand Challenge 2015 results demonstrated that ligand 3D shape similarity with the crystal ligand is sufficient to predict binding poses of new ligands with acceptable accuracy.

The Limitations of Model-Based Experimental Design and Parameter Estimation in Sloppy Systems.

PubMed

White, Andrew; Tolman, Malachi; Thames, Howard D; Withers, Hubert Rodney; Mason, Kathy A; Transtrum, Mark K

2016-12-01

We explore the relationship among experimental design, parameter estimation, and systematic error in sloppy models. We show that the approximate nature of mathematical models poses challenges for experimental design in sloppy models. In many models of complex biological processes it is unknown what are the relevant physical mechanisms that must be included to explain system behaviors. As a consequence, models are often overly complex, with many practically unidentifiable parameters. Furthermore, which mechanisms are relevant/irrelevant vary among experiments. By selecting complementary experiments, experimental design may inadvertently make details that were ommitted from the model become relevant. When this occurs, the model will have a large systematic error and fail to give a good fit to the data. We use a simple hyper-model of model error to quantify a model's discrepancy and apply it to two models of complex biological processes (EGFR signaling and DNA repair) with optimally selected experiments. We find that although parameters may be accurately estimated, the discrepancy in the model renders it less predictive than it was in the sloppy regime where systematic error is small. We introduce the concept of a sloppy system-a sequence of models of increasing complexity that become sloppy in the limit of microscopic accuracy. We explore the limits of accurate parameter estimation in sloppy systems and argue that identifying underlying mechanisms controlling system behavior is better approached by considering a hierarchy of models of varying detail rather than focusing on parameter estimation in a single model.

The Limitations of Model-Based Experimental Design and Parameter Estimation in Sloppy Systems

PubMed Central

Tolman, Malachi; Thames, Howard D.; Mason, Kathy A.

2016-01-01

We explore the relationship among experimental design, parameter estimation, and systematic error in sloppy models. We show that the approximate nature of mathematical models poses challenges for experimental design in sloppy models. In many models of complex biological processes it is unknown what are the relevant physical mechanisms that must be included to explain system behaviors. As a consequence, models are often overly complex, with many practically unidentifiable parameters. Furthermore, which mechanisms are relevant/irrelevant vary among experiments. By selecting complementary experiments, experimental design may inadvertently make details that were ommitted from the model become relevant. When this occurs, the model will have a large systematic error and fail to give a good fit to the data. We use a simple hyper-model of model error to quantify a model’s discrepancy and apply it to two models of complex biological processes (EGFR signaling and DNA repair) with optimally selected experiments. We find that although parameters may be accurately estimated, the discrepancy in the model renders it less predictive than it was in the sloppy regime where systematic error is small. We introduce the concept of a sloppy system–a sequence of models of increasing complexity that become sloppy in the limit of microscopic accuracy. We explore the limits of accurate parameter estimation in sloppy systems and argue that identifying underlying mechanisms controlling system behavior is better approached by considering a hierarchy of models of varying detail rather than focusing on parameter estimation in a single model. PMID:27923060

A review of cooperative and uncooperative spacecraft pose determination techniques for close-proximity operations

NASA Astrophysics Data System (ADS)

Opromolla, Roberto; Fasano, Giancarmine; Rufino, Giancarlo; Grassi, Michele

2017-08-01

The capability of an active spacecraft to accurately estimate its relative position and attitude (pose) with respect to an active/inactive, artificial/natural space object (target) orbiting in close-proximity is required to carry out various activities like formation flying, on-orbit servicing, active debris removal, and space exploration. According to the specific mission scenario, the pose determination task involves both theoretical and technological challenges related to the search for the most suitable algorithmic solution and sensor architecture, respectively. As regards the latter aspect, electro-optical sensors represent the best option as their use is compatible with mass and power limitation of micro and small satellites, and their measurements can be processed to estimate all the pose parameters. Overall, the degree of complexity of the challenges related to pose determination largely varies depending on the nature of the targets, which may be actively/passively cooperative, uncooperative but known, or uncooperative and unknown space objects. In this respect, while cooperative pose determination has been successfully demonstrated in orbit, the uncooperative case is still under study by universities, research centers, space agencies and private companies. However, in both the cases, the demand for space applications involving relative navigation maneuvers, also in close-proximity, for which pose determination capabilities are mandatory, is significantly increasing. In this framework, a review of state-of-the-art techniques and algorithms developed in the last decades for cooperative and uncooperative pose determination by processing data provided by electro-optical sensors is herein presented. Specifically, their main advantages and drawbacks in terms of achieved performance, computational complexity, and sensitivity to variability of pose and target geometry, are highlighted.

Accuracy Considerations in Image-guided Cardiac Interventions: Experience and Lessons Learned

PubMed Central

Linte, Cristian A.; Lang, Pencilla; Rettmann, Maryam E.; Cho, Daniel S.; Holmes, David R.; Robb, Richard A.; Peters, Terry M.

2014-01-01

Motivation Medical imaging and its application in interventional guidance has revolutionized the development of minimally invasive surgical procedures leading to reduced patient trauma, fewer risks, and shorter recovery times. However, a frequently posed question with regards to an image guidance system is “how accurate is it?” On one hand, the accuracy challenge can be posed in terms of the tolerable clinical error associated with the procedure; on the other hand, accuracy is bound by the limitations of the system’s components, including modeling, patient registration, and surgical instrument tracking, all of which ultimately impact the overall targeting capabilities of the system. Methods While these processes are not unique to any interventional specialty, this paper discusses them in the context of two different cardiac image-guidance platforms: a model-enhanced ultrasound platform for intracardiac interventions and a prototype system for advanced visualization in image-guided cardiac ablation therapy. Results Pre-operative modeling techniques involving manual, semi-automatic and registration-based segmentation are discussed. The performance and limitations of clinically feasible approaches for patient registration evaluated both in the laboratory and operating room are presented. Our experience with two different magnetic tracking systems for instrument and ultrasound transducer localization is reported. Ultimately, the overall accuracy of the systems is discussed based on both in vitro and preliminary in vivo experience. Conclusion While clinical accuracy is specific to a particular patient and procedure and vastly dependent on the surgeon’s experience, the system’s engineering limitations are critical to determine whether the clinical requirements can be met. PMID:21671097

Impact of heart disease and calibration interval on accuracy of pulse transit time-based blood pressure estimation.

PubMed

Ding, Xiaorong; Zhang, Yuanting; Tsang, Hon Ki

2016-02-01

Continuous blood pressure (BP) measurement without a cuff is advantageous for the early detection and prevention of hypertension. The pulse transit time (PTT) method has proven to be promising for continuous cuffless BP measurement. However, the problem of accuracy is one of the most challenging aspects before the large-scale clinical application of this method. Since PTT-based BP estimation relies primarily on the relationship between PTT and BP under certain assumptions, estimation accuracy will be affected by cardiovascular disorders that impair this relationship and by the calibration frequency, which may violate these assumptions. This study sought to examine the impact of heart disease and the calibration interval on the accuracy of PTT-based BP estimation. The accuracy of a PTT-BP algorithm was investigated in 37 healthy subjects and 48 patients with heart disease at different calibration intervals, namely 15 min, 2 weeks, and 1 month after initial calibration. The results showed that the overall accuracy of systolic BP estimation was significantly lower in subjects with heart disease than in healthy subjects, but diastolic BP estimation was more accurate in patients than in healthy subjects. The accuracy of systolic and diastolic BP estimation becomes less reliable with longer calibration intervals. These findings demonstrate that both heart disease and the calibration interval can influence the accuracy of PTT-based BP estimation and should be taken into consideration to improve estimation accuracy.

Accuracy of lagoon gas emissions using an inverse dispersion method

USDA-ARS?s Scientific Manuscript database

Measuring gas emissions from treatment lagoons and storage ponds poses challenging conditions for existing micrometeorological techniques because of non-ideal wind conditions. These include those induced by trees and crops surrounding the lagoons, and lagoons with dimensions too small to establish ...

Calculating an optimal box size for ligand docking and virtual screening against experimental and predicted binding pockets.

PubMed

Feinstein, Wei P; Brylinski, Michal

2015-01-01

Computational approaches have emerged as an instrumental methodology in modern research. For example, virtual screening by molecular docking is routinely used in computer-aided drug discovery. One of the critical parameters for ligand docking is the size of a search space used to identify low-energy binding poses of drug candidates. Currently available docking packages often come with a default protocol for calculating the box size, however, many of these procedures have not been systematically evaluated. In this study, we investigate how the docking accuracy of AutoDock Vina is affected by the selection of a search space. We propose a new procedure for calculating the optimal docking box size that maximizes the accuracy of binding pose prediction against a non-redundant and representative dataset of 3,659 protein-ligand complexes selected from the Protein Data Bank. Subsequently, we use the Directory of Useful Decoys, Enhanced to demonstrate that the optimized docking box size also yields an improved ranking in virtual screening. Binding pockets in both datasets are derived from the experimental complex structures and, additionally, predicted by eFindSite. A systematic analysis of ligand binding poses generated by AutoDock Vina shows that the highest accuracy is achieved when the dimensions of the search space are 2.9 times larger than the radius of gyration of a docking compound. Subsequent virtual screening benchmarks demonstrate that this optimized docking box size also improves compound ranking. For instance, using predicted ligand binding sites, the average enrichment factor calculated for the top 1 % (10 %) of the screening library is 8.20 (3.28) for the optimized protocol, compared to 7.67 (3.19) for the default procedure. Depending on the evaluation metric, the optimal docking box size gives better ranking in virtual screening for about two-thirds of target proteins. This fully automated procedure can be used to optimize docking protocols in order to improve the ranking accuracy in production virtual screening simulations. Importantly, the optimized search space systematically yields better results than the default method not only for experimental pockets, but also for those predicted from protein structures. A script for calculating the optimal docking box size is freely available at www.brylinski.org/content/docking-box-size. Graphical AbstractWe developed a procedure to optimize the box size in molecular docking calculations. Left panel shows the predicted binding pose of NADP (green sticks) compared to the experimental complex structure of human aldose reductase (blue sticks) using a default protocol. Right panel shows the docking accuracy using an optimized box size.

Evaluation of approaches for estimating the accuracy of genomic prediction in plant breeding

PubMed Central

2013-01-01

Background In genomic prediction, an important measure of accuracy is the correlation between the predicted and the true breeding values. Direct computation of this quantity for real datasets is not possible, because the true breeding value is unknown. Instead, the correlation between the predicted breeding values and the observed phenotypic values, called predictive ability, is often computed. In order to indirectly estimate predictive accuracy, this latter correlation is usually divided by an estimate of the square root of heritability. In this study we use simulation to evaluate estimates of predictive accuracy for seven methods, four (1 to 4) of which use an estimate of heritability to divide predictive ability computed by cross-validation. Between them the seven methods cover balanced and unbalanced datasets as well as correlated and uncorrelated genotypes. We propose one new indirect method (4) and two direct methods (5 and 6) for estimating predictive accuracy and compare their performances and those of four other existing approaches (three indirect (1 to 3) and one direct (7)) with simulated true predictive accuracy as the benchmark and with each other. Results The size of the estimated genetic variance and hence heritability exerted the strongest influence on the variation in the estimated predictive accuracy. Increasing the number of genotypes considerably increases the time required to compute predictive accuracy by all the seven methods, most notably for the five methods that require cross-validation (Methods 1, 2, 3, 4 and 6). A new method that we propose (Method 5) and an existing method (Method 7) used in animal breeding programs were the fastest and gave the least biased, most precise and stable estimates of predictive accuracy. Of the methods that use cross-validation Methods 4 and 6 were often the best. Conclusions The estimated genetic variance and the number of genotypes had the greatest influence on predictive accuracy. Methods 5 and 7 were the fastest and produced the least biased, the most precise, robust and stable estimates of predictive accuracy. These properties argue for routinely using Methods 5 and 7 to assess predictive accuracy in genomic selection studies. PMID:24314298

Evaluation of approaches for estimating the accuracy of genomic prediction in plant breeding.

PubMed

Ould Estaghvirou, Sidi Boubacar; Ogutu, Joseph O; Schulz-Streeck, Torben; Knaak, Carsten; Ouzunova, Milena; Gordillo, Andres; Piepho, Hans-Peter

2013-12-06

In genomic prediction, an important measure of accuracy is the correlation between the predicted and the true breeding values. Direct computation of this quantity for real datasets is not possible, because the true breeding value is unknown. Instead, the correlation between the predicted breeding values and the observed phenotypic values, called predictive ability, is often computed. In order to indirectly estimate predictive accuracy, this latter correlation is usually divided by an estimate of the square root of heritability. In this study we use simulation to evaluate estimates of predictive accuracy for seven methods, four (1 to 4) of which use an estimate of heritability to divide predictive ability computed by cross-validation. Between them the seven methods cover balanced and unbalanced datasets as well as correlated and uncorrelated genotypes. We propose one new indirect method (4) and two direct methods (5 and 6) for estimating predictive accuracy and compare their performances and those of four other existing approaches (three indirect (1 to 3) and one direct (7)) with simulated true predictive accuracy as the benchmark and with each other. The size of the estimated genetic variance and hence heritability exerted the strongest influence on the variation in the estimated predictive accuracy. Increasing the number of genotypes considerably increases the time required to compute predictive accuracy by all the seven methods, most notably for the five methods that require cross-validation (Methods 1, 2, 3, 4 and 6). A new method that we propose (Method 5) and an existing method (Method 7) used in animal breeding programs were the fastest and gave the least biased, most precise and stable estimates of predictive accuracy. Of the methods that use cross-validation Methods 4 and 6 were often the best. The estimated genetic variance and the number of genotypes had the greatest influence on predictive accuracy. Methods 5 and 7 were the fastest and produced the least biased, the most precise, robust and stable estimates of predictive accuracy. These properties argue for routinely using Methods 5 and 7 to assess predictive accuracy in genomic selection studies.

Enriching 3D optical surface scans with prior knowledge: tissue thickness computation by exploiting local neighborhoods.

PubMed

Wissel, Tobias; Stüber, Patrick; Wagner, Benjamin; Bruder, Ralf; Schweikard, Achim; Ernst, Floris

2016-04-01

Patient immobilization and X-ray-based imaging provide neither a convenient nor a very accurate way to ensure low repositioning errors or to compensate for motion in cranial radiotherapy. We therefore propose an optical tracking device that exploits subcutaneous structures as landmarks in addition to merely spatial registration. To develop such head tracking algorithms, precise and robust computation of these structures is necessary. Here, we show that the tissue thickness can be predicted with high accuracy and moreover exploit local neighborhood information within the laser spot grid on the forehead to further increase this estimation accuracy. We use statistical learning with Support Vector Regression and Gaussian Processes to learn a relationship between optical backscatter features and an MR tissue thickness ground truth. We compare different kernel functions for the data of five different subjects. The incident angle of the laser on the forehead as well as local neighborhoods is incorporated into the feature space. The latter represent the backscatter features from four neighboring laser spots. We confirm that the incident angle has a positive effect on the estimation error of the tissue thickness. The root-mean-square error falls even below 0.15 mm when adding the complete neighborhood information. This prior knowledge also leads to a smoothing effect on the reconstructed skin patch. Learning between different head poses yields similar results. The partial overlap of the point clouds makes the trade-off between novel information and increased feature space dimension obvious and hence feature selection by e.g., sequential forward selection necessary.

Students' Accuracy of Measurement Estimation: Context, Units, and Logical Thinking

ERIC Educational Resources Information Center

Jones, M. Gail; Gardner, Grant E.; Taylor, Amy R.; Forrester, Jennifer H.; Andre, Thomas

2012-01-01

This study examined students' accuracy of measurement estimation for linear distances, different units of measure, task context, and the relationship between accuracy estimation and logical thinking. Middle school students completed a series of tasks that included estimating the length of various objects in different contexts and completed a test…

Statistical Sensor Fusion of a 9-DOF Mems Imu for Indoor Navigation

NASA Astrophysics Data System (ADS)

Chow, J. C. K.

2017-09-01

Sensor fusion of a MEMS IMU with a magnetometer is a popular system design, because such 9-DoF (degrees of freedom) systems are capable of achieving drift-free 3D orientation tracking. However, these systems are often vulnerable to ambient magnetic distortions and lack useful position information; in the absence of external position aiding (e.g. satellite/ultra-wideband positioning systems) the dead-reckoned position accuracy from a 9-DoF MEMS IMU deteriorates rapidly due to unmodelled errors. Positioning information is valuable in many satellite-denied geomatics applications (e.g. indoor navigation, location-based services, etc.). This paper proposes an improved 9-DoF IMU indoor pose tracking method using batch optimization. By adopting a robust in-situ user self-calibration approach to model the systematic errors of the accelerometer, gyroscope, and magnetometer simultaneously in a tightly-coupled post-processed least-squares framework, the accuracy of the estimated trajectory from a 9-DoF MEMS IMU can be improved. Through a combination of relative magnetic measurement updates and a robust weight function, the method is able to tolerate a high level of magnetic distortions. The proposed auto-calibration method was tested in-use under various heterogeneous magnetic field conditions to mimic a person walking with the sensor in their pocket, a person checking their phone, and a person walking with a smartwatch. In these experiments, the presented algorithm improved the in-situ dead-reckoning orientation accuracy by 79.8-89.5 % and the dead-reckoned positioning accuracy by 72.9-92.8 %, thus reducing the relative positioning error from metre-level to decimetre-level after ten seconds of integration, without making assumptions about the user's dynamics.

GC-ASM: Synergistic Integration of Graph-Cut and Active Shape Model Strategies for Medical Image Segmentation

PubMed Central

Chen, Xinjian; Udupa, Jayaram K.; Alavi, Abass; Torigian, Drew A.

2013-01-01

Image segmentation methods may be classified into two categories: purely image based and model based. Each of these two classes has its own advantages and disadvantages. In this paper, we propose a novel synergistic combination of the image based graph-cut (GC) method with the model based ASM method to arrive at the GC-ASM method for medical image segmentation. A multi-object GC cost function is proposed which effectively integrates the ASM shape information into the GC framework. The proposed method consists of two phases: model building and segmentation. In the model building phase, the ASM model is built and the parameters of the GC are estimated. The segmentation phase consists of two main steps: initialization (recognition) and delineation. For initialization, an automatic method is proposed which estimates the pose (translation, orientation, and scale) of the model, and obtains a rough segmentation result which also provides the shape information for the GC method. For delineation, an iterative GC-ASM algorithm is proposed which performs finer delineation based on the initialization results. The proposed methods are implemented to operate on 2D images and evaluated on clinical chest CT, abdominal CT, and foot MRI data sets. The results show the following: (a) An overall delineation accuracy of TPVF > 96%, FPVF < 0.6% can be achieved via GC-ASM for different objects, modalities, and body regions. (b) GC-ASM improves over ASM in its accuracy and precision to search region. (c) GC-ASM requires far fewer landmarks (about 1/3 of ASM) than ASM. (d) GC-ASM achieves full automation in the segmentation step compared to GC which requires seed specification and improves on the accuracy of GC. (e) One disadvantage of GC-ASM is its increased computational expense owing to the iterative nature of the algorithm. PMID:23585712

GC-ASM: Synergistic Integration of Graph-Cut and Active Shape Model Strategies for Medical Image Segmentation.

PubMed

Chen, Xinjian; Udupa, Jayaram K; Alavi, Abass; Torigian, Drew A

2013-05-01

Image segmentation methods may be classified into two categories: purely image based and model based. Each of these two classes has its own advantages and disadvantages. In this paper, we propose a novel synergistic combination of the image based graph-cut (GC) method with the model based ASM method to arrive at the GC-ASM method for medical image segmentation. A multi-object GC cost function is proposed which effectively integrates the ASM shape information into the GC framework. The proposed method consists of two phases: model building and segmentation. In the model building phase, the ASM model is built and the parameters of the GC are estimated. The segmentation phase consists of two main steps: initialization (recognition) and delineation. For initialization, an automatic method is proposed which estimates the pose (translation, orientation, and scale) of the model, and obtains a rough segmentation result which also provides the shape information for the GC method. For delineation, an iterative GC-ASM algorithm is proposed which performs finer delineation based on the initialization results. The proposed methods are implemented to operate on 2D images and evaluated on clinical chest CT, abdominal CT, and foot MRI data sets. The results show the following: (a) An overall delineation accuracy of TPVF > 96%, FPVF < 0.6% can be achieved via GC-ASM for different objects, modalities, and body regions. (b) GC-ASM improves over ASM in its accuracy and precision to search region. (c) GC-ASM requires far fewer landmarks (about 1/3 of ASM) than ASM. (d) GC-ASM achieves full automation in the segmentation step compared to GC which requires seed specification and improves on the accuracy of GC. (e) One disadvantage of GC-ASM is its increased computational expense owing to the iterative nature of the algorithm.

Blind Insight: Metacognitive Discrimination Despite Chance Task Performance

PubMed Central

Dienes, Zoltan; Barrett, Adam B.; Bor, Daniel; Seth, Anil K.

2014-01-01

Blindsight and other examples of unconscious knowledge and perception demonstrate dissociations between judgment accuracy and metacognition: Studies reveal that participants’ judgment accuracy can be above chance while their confidence ratings fail to discriminate right from wrong answers. Here, we demonstrated the opposite dissociation: a reliable relationship between confidence and judgment accuracy (demonstrating metacognition) despite judgment accuracy being no better than chance. We evaluated the judgments of 450 participants who completed an AGL task. For each trial, participants decided whether a stimulus conformed to a given set of rules and rated their confidence in that judgment. We identified participants who performed at chance on the discrimination task, utilizing a subset of their responses, and then assessed the accuracy and the confidence-accuracy relationship of their remaining responses. Analyses revealed above-chance metacognition among participants who did not exhibit decision accuracy. This important new phenomenon, which we term blind insight, poses critical challenges to prevailing models of metacognition grounded in signal detection theory. PMID:25384551

Determining the accuracy of maximum likelihood parameter estimates with colored residuals

NASA Technical Reports Server (NTRS)

Morelli, Eugene A.; Klein, Vladislav

1994-01-01

An important part of building high fidelity mathematical models based on measured data is calculating the accuracy associated with statistical estimates of the model parameters. Indeed, without some idea of the accuracy of parameter estimates, the estimates themselves have limited value. In this work, an expression based on theoretical analysis was developed to properly compute parameter accuracy measures for maximum likelihood estimates with colored residuals. This result is important because experience from the analysis of measured data reveals that the residuals from maximum likelihood estimation are almost always colored. The calculations involved can be appended to conventional maximum likelihood estimation algorithms. Simulated data runs were used to show that the parameter accuracy measures computed with this technique accurately reflect the quality of the parameter estimates from maximum likelihood estimation without the need for analysis of the output residuals in the frequency domain or heuristically determined multiplication factors. The result is general, although the application studied here is maximum likelihood estimation of aerodynamic model parameters from flight test data.

Estimation of cardiac motion in cine-MRI sequences by correlation transform optical flow of monogenic features distance

NASA Astrophysics Data System (ADS)

Gao, Bin; Liu, Wanyu; Wang, Liang; Liu, Zhengjun; Croisille, Pierre; Delachartre, Philippe; Clarysse, Patrick

2016-12-01

Cine-MRI is widely used for the analysis of cardiac function in clinical routine, because of its high soft tissue contrast and relatively short acquisition time in comparison with other cardiac MRI techniques. The gray level distribution in cardiac cine-MRI is relatively homogenous within the myocardium, and can therefore make motion quantification difficult. To ensure that the motion estimation problem is well posed, more image features have to be considered. This work is inspired by a method previously developed for color image processing. The monogenic signal provides a framework to estimate the local phase, orientation, and amplitude, of an image, three features which locally characterize the 2D intensity profile. The independent monogenic features are combined into a 3D matrix for motion estimation. To improve motion estimation accuracy, we chose the zero-mean normalized cross-correlation as a matching measure, and implemented a bilateral filter for denoising and edge-preservation. The monogenic features distance is used in lieu of the color space distance in the bilateral filter. Results obtained from four realistic simulated sequences outperformed two other state of the art methods even in the presence of noise. The motion estimation errors (end point error) using our proposed method were reduced by about 20% in comparison with those obtained by the other tested methods. The new methodology was evaluated on four clinical sequences from patients presenting with cardiac motion dysfunctions and one healthy volunteer. The derived strain fields were analyzed favorably in their ability to identify myocardial regions with impaired motion.

Mapping land water and energy balance relations through conditional sampling of remote sensing estimates of atmospheric forcing and surface states

NASA Astrophysics Data System (ADS)

Farhadi, Leila; Entekhabi, Dara; Salvucci, Guido

2016-04-01

In this study, we develop and apply a mapping estimation capability for key unknown parameters that link the surface water and energy balance equations. The method is applied to the Gourma region in West Africa. The accuracy of the estimation method at point scale was previously examined using flux tower data. In this study, the capability is scaled to be applicable with remotely sensed data products and hence allow mapping. Parameters of the system are estimated through a process that links atmospheric forcing (precipitation and incident radiation), surface states, and unknown parameters. Based on conditional averaging of land surface temperature and moisture states, respectively, a single objective function is posed that measures moisture and temperature-dependent errors solely in terms of observed forcings and surface states. This objective function is minimized with respect to parameters to identify evapotranspiration and drainage models and estimate water and energy balance flux components. The uncertainty of the estimated parameters (and associated statistical confidence limits) is obtained through the inverse of Hessian of the objective function, which is an approximation of the covariance matrix. This calibration-free method is applied to the mesoscale region of Gourma in West Africa using multiplatform remote sensing data. The retrievals are verified against tower-flux field site data and physiographic characteristics of the region. The focus is to find the functional form of the evaporative fraction dependence on soil moisture, a key closure function for surface and subsurface heat and moisture dynamics, using remote sensing data.

Multi-pose facial correction based on Gaussian process with combined kernel function

NASA Astrophysics Data System (ADS)

Shi, Shuyan; Ji, Ruirui; Zhang, Fan

2018-04-01

In order to improve the recognition rate of various postures, this paper proposes a method of facial correction based on Gaussian Process which build a nonlinear regression model between the front and the side face with combined kernel function. The face images with horizontal angle from -45° to +45° can be properly corrected to front faces. Finally, Support Vector Machine is employed for face recognition. Experiments on CAS PEAL R1 face database show that Gaussian process can weaken the influence of pose changes and improve the accuracy of face recognition to certain extent.

Optimizing the Terzaghi Estimator of the 3D Distribution of Rock Fracture Orientations

NASA Astrophysics Data System (ADS)

Tang, Huiming; Huang, Lei; Juang, C. Hsein; Zhang, Junrong

2017-08-01

Orientation statistics are prone to bias when surveyed with the scanline mapping technique in which the observed probabilities differ, depending on the intersection angle between the fracture and the scanline. This bias leads to 1D frequency statistical data that are poorly representative of the 3D distribution. A widely accessible estimator named after Terzaghi was developed to estimate 3D frequencies from 1D biased observations, but the estimation accuracy is limited for fractures at narrow intersection angles to scanlines (termed the blind zone). Although numerous works have concentrated on accuracy with respect to the blind zone, accuracy outside the blind zone has rarely been studied. This work contributes to the limited investigations of accuracy outside the blind zone through a qualitative assessment that deploys a mathematical derivation of the Terzaghi equation in conjunction with a quantitative evaluation that uses fractures simulation and verification of natural fractures. The results show that the estimator does not provide a precise estimate of 3D distributions and that the estimation accuracy is correlated with the grid size adopted by the estimator. To explore the potential for improving accuracy, the particular grid size producing maximum accuracy is identified from 168 combinations of grid sizes and two other parameters. The results demonstrate that the 2° × 2° grid size provides maximum accuracy for the estimator in most cases when applied outside the blind zone. However, if the global sample density exceeds 0.5°-2, then maximum accuracy occurs at a grid size of 1° × 1°.

Object recognition and localization from 3D point clouds by maximum-likelihood estimation

NASA Astrophysics Data System (ADS)

Dantanarayana, Harshana G.; Huntley, Jonathan M.

2017-08-01

We present an algorithm based on maximum-likelihood analysis for the automated recognition of objects, and estimation of their pose, from 3D point clouds. Surfaces segmented from depth images are used as the features, unlike `interest point'-based algorithms which normally discard such data. Compared to the 6D Hough transform, it has negligible memory requirements, and is computationally efficient compared to iterative closest point algorithms. The same method is applicable to both the initial recognition/pose estimation problem as well as subsequent pose refinement through appropriate choice of the dispersion of the probability density functions. This single unified approach therefore avoids the usual requirement for different algorithms for these two tasks. In addition to the theoretical description, a simple 2 degrees of freedom (d.f.) example is given, followed by a full 6 d.f. analysis of 3D point cloud data from a cluttered scene acquired by a projected fringe-based scanner, which demonstrated an RMS alignment error as low as 0.3 mm.

Robust automatic measurement of 3D scanned models for the human body fat estimation.

PubMed

Giachetti, Andrea; Lovato, Christian; Piscitelli, Francesco; Milanese, Chiara; Zancanaro, Carlo

2015-03-01

In this paper, we present an automatic tool for estimating geometrical parameters from 3-D human scans independent on pose and robustly against the topological noise. It is based on an automatic segmentation of body parts exploiting curve skeleton processing and ad hoc heuristics able to remove problems due to different acquisition poses and body types. The software is able to locate body trunk and limbs, detect their directions, and compute parameters like volumes, areas, girths, and lengths. Experimental results demonstrate that measurements provided by our system on 3-D body scans of normal and overweight subjects acquired in different poses are highly correlated with the body fat estimates obtained on the same subjects with dual-energy X-rays absorptiometry (DXA) scanning. In particular, maximal lengths and girths, not requiring precise localization of anatomical landmarks, demonstrate a good correlation (up to 96%) with the body fat and trunk fat. Regression models based on our automatic measurements can be used to predict body fat values reasonably well.

Surflex-Dock: Docking benchmarks and real-world application

NASA Astrophysics Data System (ADS)

Spitzer, Russell; Jain, Ajay N.

2012-06-01

Benchmarks for molecular docking have historically focused on re-docking the cognate ligand of a well-determined protein-ligand complex to measure geometric pose prediction accuracy, and measurement of virtual screening performance has been focused on increasingly large and diverse sets of target protein structures, cognate ligands, and various types of decoy sets. Here, pose prediction is reported on the Astex Diverse set of 85 protein ligand complexes, and virtual screening performance is reported on the DUD set of 40 protein targets. In both cases, prepared structures of targets and ligands were provided by symposium organizers. The re-prepared data sets yielded results not significantly different than previous reports of Surflex-Dock on the two benchmarks. Minor changes to protein coordinates resulting from complex pre-optimization had large effects on observed performance, highlighting the limitations of cognate ligand re-docking for pose prediction assessment. Docking protocols developed for cross-docking, which address protein flexibility and produce discrete families of predicted poses, produced substantially better performance for pose prediction. Performance on virtual screening performance was shown to benefit by employing and combining multiple screening methods: docking, 2D molecular similarity, and 3D molecular similarity. In addition, use of multiple protein conformations significantly improved screening enrichment.

Towards a Unified Framework for Pose, Expression, and Occlusion Tolerant Automatic Facial Alignment.

PubMed

Seshadri, Keshav; Savvides, Marios

2016-10-01

We propose a facial alignment algorithm that is able to jointly deal with the presence of facial pose variation, partial occlusion of the face, and varying illumination and expressions. Our approach proceeds from sparse to dense landmarking steps using a set of specific models trained to best account for the shape and texture variation manifested by facial landmarks and facial shapes across pose and various expressions. We also propose the use of a novel l1-regularized least squares approach that we incorporate into our shape model, which is an improvement over the shape model used by several prior Active Shape Model (ASM) based facial landmark localization algorithms. Our approach is compared against several state-of-the-art methods on many challenging test datasets and exhibits a higher fitting accuracy on all of them.

Multiscale weighted colored graphs for protein flexibility and rigidity analysis

NASA Astrophysics Data System (ADS)

Bramer, David; Wei, Guo-Wei

2018-02-01

Protein structural fluctuation, measured by Debye-Waller factors or B-factors, is known to correlate to protein flexibility and function. A variety of methods has been developed for protein Debye-Waller factor prediction and related applications to domain separation, docking pose ranking, entropy calculation, hinge detection, stability analysis, etc. Nevertheless, none of the current methodologies are able to deliver an accuracy of 0.7 in terms of the Pearson correlation coefficients averaged over a large set of proteins. In this work, we introduce a paradigm-shifting geometric graph model, multiscale weighted colored graph (MWCG), to provide a new generation of computational algorithms to significantly change the current status of protein structural fluctuation analysis. Our MWCG model divides a protein graph into multiple subgraphs based on interaction types between graph nodes and represents the protein rigidity by generalized centralities of subgraphs. MWCGs not only predict the B-factors of protein residues but also accurately analyze the flexibility of all atoms in a protein. The MWCG model is validated over a number of protein test sets and compared with many standard methods. An extensive numerical study indicates that the proposed MWCG offers an accuracy of over 0.8 and thus provides perhaps the first reliable method for estimating protein flexibility and B-factors. It also simultaneously predicts all-atom flexibility in a molecule.

Error modeling and sensitivity analysis of a parallel robot with SCARA(selective compliance assembly robot arm) motions

NASA Astrophysics Data System (ADS)

Chen, Yuzhen; Xie, Fugui; Liu, Xinjun; Zhou, Yanhua

2014-07-01

Parallel robots with SCARA(selective compliance assembly robot arm) motions are utilized widely in the field of high speed pick-and-place manipulation. Error modeling for these robots generally simplifies the parallelogram structures included by the robots as a link. As the established error model fails to reflect the error feature of the parallelogram structures, the effect of accuracy design and kinematic calibration based on the error model come to be undermined. An error modeling methodology is proposed to establish an error model of parallel robots with parallelogram structures. The error model can embody the geometric errors of all joints, including the joints of parallelogram structures. Thus it can contain more exhaustively the factors that reduce the accuracy of the robot. Based on the error model and some sensitivity indices defined in the sense of statistics, sensitivity analysis is carried out. Accordingly, some atlases are depicted to express each geometric error's influence on the moving platform's pose errors. From these atlases, the geometric errors that have greater impact on the accuracy of the moving platform are identified, and some sensitive areas where the pose errors of the moving platform are extremely sensitive to the geometric errors are also figured out. By taking into account the error factors which are generally neglected in all existing modeling methods, the proposed modeling method can thoroughly disclose the process of error transmission and enhance the efficacy of accuracy design and calibration.

Multiscale approach to pest insect monitoring: random walks, pattern formation, synchronization, and networks.

PubMed

Petrovskii, Sergei; Petrovskaya, Natalia; Bearup, Daniel

2014-09-01

Pest insects pose a significant threat to food production worldwide resulting in annual losses worth hundreds of billions of dollars. Pest control attempts to prevent pest outbreaks that could otherwise destroy a sward. It is good practice in integrated pest management to recommend control actions (usually pesticides application) only when the pest density exceeds a certain threshold. Accurate estimation of pest population density in ecosystems, especially in agro-ecosystems, is therefore very important, and this is the overall goal of the pest insect monitoring. However, this is a complex and challenging task; providing accurate information about pest abundance is hardly possible without taking into account the complexity of ecosystems' dynamics, in particular, the existence of multiple scales. In the case of pest insects, monitoring has three different spatial scales, each of them having their own scale-specific goal and their own approaches to data collection and interpretation. In this paper, we review recent progress in mathematical models and methods applied at each of these scales and show how it helps to improve the accuracy and robustness of pest population density estimation. Copyright © 2014 Elsevier B.V. All rights reserved.

Robust dead reckoning system for mobile robots based on particle filter and raw range scan.

PubMed

Duan, Zhuohua; Cai, Zixing; Min, Huaqing

2014-09-04

Robust dead reckoning is a complicated problem for wheeled mobile robots (WMRs), where the robots are faulty, such as the sticking of sensors or the slippage of wheels, for the discrete fault models and the continuous states have to be estimated simultaneously to reach a reliable fault diagnosis and accurate dead reckoning. Particle filters are one of the most promising approaches to handle hybrid system estimation problems, and they have also been widely used in many WMRs applications, such as pose tracking, SLAM, video tracking, fault identification, etc. In this paper, the readings of a laser range finder, which may be also interfered with by noises, are used to reach accurate dead reckoning. The main contribution is that a systematic method to implement fault diagnosis and dead reckoning in a particle filter framework concurrently is proposed. Firstly, the perception model of a laser range finder is given, where the raw scan may be faulty. Secondly, the kinematics of the normal model and different fault models for WMRs are given. Thirdly, the particle filter for fault diagnosis and dead reckoning is discussed. At last, experiments and analyses are reported to show the accuracy and efficiency of the presented method.

Robust Dead Reckoning System for Mobile Robots Based on Particle Filter and Raw Range Scan

PubMed Central

Duan, Zhuohua; Cai, Zixing; Min, Huaqing

2014-01-01

Robust dead reckoning is a complicated problem for wheeled mobile robots (WMRs), where the robots are faulty, such as the sticking of sensors or the slippage of wheels, for the discrete fault models and the continuous states have to be estimated simultaneously to reach a reliable fault diagnosis and accurate dead reckoning. Particle filters are one of the most promising approaches to handle hybrid system estimation problems, and they have also been widely used in many WMRs applications, such as pose tracking, SLAM, video tracking, fault identification, etc. In this paper, the readings of a laser range finder, which may be also interfered with by noises, are used to reach accurate dead reckoning. The main contribution is that a systematic method to implement fault diagnosis and dead reckoning in a particle filter framework concurrently is proposed. Firstly, the perception model of a laser range finder is given, where the raw scan may be faulty. Secondly, the kinematics of the normal model and different fault models for WMRs are given. Thirdly, the particle filter for fault diagnosis and dead reckoning is discussed. At last, experiments and analyses are reported to show the accuracy and efficiency of the presented method. PMID:25192318

Robust face alignment under occlusion via regional predictive power estimation.

PubMed

Heng Yang; Xuming He; Xuhui Jia; Patras, Ioannis

2015-08-01

Face alignment has been well studied in recent years, however, when a face alignment model is applied on facial images with heavy partial occlusion, the performance deteriorates significantly. In this paper, instead of training an occlusion-aware model with visibility annotation, we address this issue via a model adaptation scheme that uses the result of a local regression forest (RF) voting method. In the proposed scheme, the consistency of the votes of the local RF in each of several oversegmented regions is used to determine the reliability of predicting the location of the facial landmarks. The latter is what we call regional predictive power (RPP). Subsequently, we adapt a holistic voting method (cascaded pose regression based on random ferns) by putting weights on the votes of each fern according to the RPP of the regions used in the fern tests. The proposed method shows superior performance over existing face alignment models in the most challenging data sets (COFW and 300-W). Moreover, it can also estimate with high accuracy (72.4% overlap ratio) which image areas belong to the face or nonface objects, on the heavily occluded images of the COFW data set, without explicit occlusion modeling.

Experiments on robot-assisted navigated drilling and milling of bones for pedicle screw placement.

PubMed

Ortmaier, T; Weiss, H; Döbele, S; Schreiber, U

2006-12-01

This article presents experimental results for robot-assisted navigated drilling and milling for pedicle screw placement. The preliminary study was carried out in order to gain first insights into positioning accuracies and machining forces during hands-on robotic spine surgery. Additionally, the results formed the basis for the development of a new robot for surgery. A simplified anatomical model is used to derive the accuracy requirements. The experimental set-up consists of a navigation system and an impedance-controlled light-weight robot holding the surgical instrument. The navigation system is used to position the surgical instrument and to compensate for pose errors during machining. Holes are drilled in artificial bone and bovine spine. A quantitative comparison of the drill-hole diameters was achieved using a computer. The interaction forces and pose errors are discussed with respect to the chosen machining technology and control parameters. Within the technological boundaries of the experimental set-up, it is shown that the accuracy requirements can be met and that milling is superior to drilling. It is expected that robot assisted navigated surgery helps to improve the reliability of surgical procedures. Further experiments are necessary to take the whole workflow into account. Copyright 2006 John Wiley & Sons, Ltd.

Bayesian Estimation of Combined Accuracy for Tests with Verification Bias

PubMed Central

Broemeling, Lyle D.

2011-01-01

This presentation will emphasize the estimation of the combined accuracy of two or more tests when verification bias is present. Verification bias occurs when some of the subjects are not subject to the gold standard. The approach is Bayesian where the estimation of test accuracy is based on the posterior distribution of the relevant parameter. Accuracy of two combined binary tests is estimated employing either “believe the positive” or “believe the negative” rule, then the true and false positive fractions for each rule are computed for two tests. In order to perform the analysis, the missing at random assumption is imposed, and an interesting example is provided by estimating the combined accuracy of CT and MRI to diagnose lung cancer. The Bayesian approach is extended to two ordinal tests when verification bias is present, and the accuracy of the combined tests is based on the ROC area of the risk function. An example involving mammography with two readers with extreme verification bias illustrates the estimation of the combined test accuracy for ordinal tests. PMID:26859487

Digital stereophotogrammetry based on circular markers and zooming cameras: evaluation of a method for 3D analysis of small motions in orthopaedic research

PubMed Central

2011-01-01

Background Orthopaedic research projects focusing on small displacements in a small measurement volume require a radiation free, three dimensional motion analysis system. A stereophotogrammetrical motion analysis system can track wireless, small, light-weight markers attached to the objects. Thereby the disturbance of the measured objects through the marker tracking can be kept at minimum. The purpose of this study was to develop and evaluate a non-position fixed compact motion analysis system configured for a small measurement volume and able to zoom while tracking small round flat markers in respect to a fiducial marker which was used for the camera pose estimation. Methods The system consisted of two web cameras and the fiducial marker placed in front of them. The markers to track were black circles on a white background. The algorithm to detect a centre of the projected circle on the image plane was described and applied. In order to evaluate the accuracy (mean measurement error) and precision (standard deviation of the measurement error) of the optical measurement system, two experiments were performed: 1) inter-marker distance measurement and 2) marker displacement measurement. Results The first experiment of the 10 mm distances measurement showed a total accuracy of 0.0086 mm and precision of ± 0.1002 mm. In the second experiment, translations from 0.5 mm to 5 mm were measured with total accuracy of 0.0038 mm and precision of ± 0.0461 mm. The rotations of 2.25° amount were measured with the entire accuracy of 0.058° and the precision was of ± 0.172°. Conclusions The description of the non-proprietary measurement device with very good levels of accuracy and precision may provide opportunities for new, cost effective applications of stereophotogrammetrical analysis in musculoskeletal research projects, focusing on kinematics of small displacements in a small measurement volume. PMID:21284867

ConsDock: A new program for the consensus analysis of protein-ligand interactions.

PubMed

Paul, Nicodème; Rognan, Didier

2002-06-01

Protein-based virtual screening of chemical libraries is a powerful technique for identifying new molecules that may interact with a macromolecular target of interest. Because of docking and scoring limitations, it is more difficult to apply as a lead optimization method because it requires that the docking/scoring tool is able to propose as few solutions as possible and all of them with a very good accuracy for both the protein-bound orientation and the conformation of the ligand. In the present study, we present a consensus docking approach (ConsDock) that takes advantage of three widely used docking tools (Dock, FlexX, and Gold). The consensus analysis of all possible poses generated by several docking tools is performed sequentially in four steps: (i) hierarchical clustering of all poses generated by a docking tool into families represented by a leader; (ii) definition of all consensus pairs from leaders generated by different docking programs; (iii) clustering of consensus pairs into classes, represented by a mean structure; and (iv) ranking the different means starting from the most populated class of consensus pairs. When applied to a test set of 100 protein-ligand complexes from the Protein Data Bank, ConsDock significantly outperforms single docking with respect to the docking accuracy of the top-ranked pose. In 60% of the cases investigated here, ConsDock was able to rank as top solution a pose within 2 A RMSD of the X-ray structure. It can be applied as a postprocessing filter to either single- or multiple-docking programs to prioritize three-dimensional guided lead optimization from the most likely docking solution. Copyright 2002 Wiley-Liss, Inc.

An ROC-type measure of diagnostic accuracy when the gold standard is continuous-scale.

PubMed

Obuchowski, Nancy A

2006-02-15

ROC curves and summary measures of accuracy derived from them, such as the area under the ROC curve, have become the standard for describing and comparing the accuracy of diagnostic tests. Methods for estimating ROC curves rely on the existence of a gold standard which dichotomizes patients into disease present or absent. There are, however, many examples of diagnostic tests whose gold standards are not binary-scale, but rather continuous-scale. Unnatural dichotomization of these gold standards leads to bias and inconsistency in estimates of diagnostic accuracy. In this paper, we propose a non-parametric estimator of diagnostic test accuracy which does not require dichotomization of the gold standard. This estimator has an interpretation analogous to the area under the ROC curve. We propose a confidence interval for test accuracy and a statistical test for comparing accuracies of tests from paired designs. We compare the performance (i.e. CI coverage, type I error rate, power) of the proposed methods with several alternatives. An example is presented where the accuracies of two quick blood tests for measuring serum iron concentrations are estimated and compared.

Accuracy Estimation and Parameter Advising for Protein Multiple Sequence Alignment

PubMed Central

DeBlasio, Dan

2013-01-01

Abstract We develop a novel and general approach to estimating the accuracy of multiple sequence alignments without knowledge of a reference alignment, and use our approach to address a new task that we call parameter advising: the problem of choosing values for alignment scoring function parameters from a given set of choices to maximize the accuracy of a computed alignment. For protein alignments, we consider twelve independent features that contribute to a quality alignment. An accuracy estimator is learned that is a polynomial function of these features; its coefficients are determined by minimizing its error with respect to true accuracy using mathematical optimization. Compared to prior approaches for estimating accuracy, our new approach (a) introduces novel feature functions that measure nonlocal properties of an alignment yet are fast to evaluate, (b) considers more general classes of estimators beyond linear combinations of features, and (c) develops new regression formulations for learning an estimator from examples; in addition, for parameter advising, we (d) determine the optimal parameter set of a given cardinality, which specifies the best parameter values from which to choose. Our estimator, which we call Facet (for “feature-based accuracy estimator”), yields a parameter advisor that on the hardest benchmarks provides more than a 27% improvement in accuracy over the best default parameter choice, and for parameter advising significantly outperforms the best prior approaches to assessing alignment quality. PMID:23489379

Implications of Negative Pressure Imaging for Microcrack Detection and Salmonella Contamination in Shell Eggs

USDA-ARS?s Scientific Manuscript database

Microcracks in eggshells are difficult for human graders to detect and pose an important food safety risk. Negative pressure imaging technology has been developed with 99.6% accuracy in detecting microcracks. A study was conducted to determine if the microcrack detection system would increase pene...

Robust Vision-Based Pose Estimation Algorithm for AN Uav with Known Gravity Vector

NASA Astrophysics Data System (ADS)

Kniaz, V. V.

2016-06-01

Accurate estimation of camera external orientation with respect to a known object is one of the central problems in photogrammetry and computer vision. In recent years this problem is gaining an increasing attention in the field of UAV autonomous flight. Such application requires a real-time performance and robustness of the external orientation estimation algorithm. The accuracy of the solution is strongly dependent on the number of reference points visible on the given image. The problem only has an analytical solution if 3 or more reference points are visible. However, in limited visibility conditions it is often needed to perform external orientation with only 2 visible reference points. In such case the solution could be found if the gravity vector direction in the camera coordinate system is known. A number of algorithms for external orientation estimation for the case of 2 known reference points and a gravity vector were developed to date. Most of these algorithms provide analytical solution in the form of polynomial equation that is subject to large errors in the case of complex reference points configurations. This paper is focused on the development of a new computationally effective and robust algorithm for external orientation based on positions of 2 known reference points and a gravity vector. The algorithm implementation for guidance of a Parrot AR.Drone 2.0 micro-UAV is discussed. The experimental evaluation of the algorithm proved its computational efficiency and robustness against errors in reference points positions and complex configurations.

Effect of atmospheric anisoplanatism on earth-to-satellite time transfer over laser communication links.

PubMed

Belmonte, Aniceto; Taylor, Michael T; Hollberg, Leo; Kahn, Joseph M

2017-07-10

The need for an accurate time reference on orbiting platforms motivates study of time transfer via free-space optical communication links. The impact of atmospheric turbulence on earth-to-satellite optical time transfer has not been fully characterized, however. We analyze limits to two-way laser time transfer accuracy posed by anisoplanatic non-reciprocity between uplink and downlink. We show that despite limited reciprocity, two-way time transfer can still achieve sub-picosecond accuracy in realistic propagation scenarios over a single satellite visibility period.

Monotonically improving approximate answers to relational algebra queries

NASA Technical Reports Server (NTRS)

Smith, Kenneth P.; Liu, J. W. S.

1989-01-01

We present here a query processing method that produces approximate answers to queries posed in standard relational algebra. This method is monotone in the sense that the accuracy of the approximate result improves with the amount of time spent producing the result. This strategy enables us to trade the time to produce the result for the accuracy of the result. An approximate relational model that characterizes appromimate relations and a partial order for comparing them is developed. Relational operators which operate on and return approximate relations are defined.

Structure-based CoMFA as a predictive model - CYP2C9 inhibitors as a test case.

PubMed

Yasuo, Kazuya; Yamaotsu, Noriyuki; Gouda, Hiroaki; Tsujishita, Hideki; Hirono, Shuichi

2009-04-01

In this study, we tried to establish a general scheme to create a model that could predict the affinity of small compounds to their target proteins. This scheme consists of a search for ligand-binding sites on a protein, a generation of bound conformations (poses) of ligands in each of the sites by docking, identifications of the correct poses of each ligand by consensus scoring and MM-PBSA analysis, and a construction of a CoMFA model with the obtained poses to predict the affinity of the ligands. By using a crystal structure of CYP 2C9 and the twenty known CYP inhibitors as a test case, we obtained a CoMFA model with a good statistics, which suggested that the classification of the binding sites as well as the predicted bound poses of the ligands should be reasonable enough. The scheme described here would give a method to predict the affinity of small compounds with a reasonable accuracy, which is expected to heighten the value of computational chemistry in the drug design process.

A truncated generalized singular value decomposition algorithm for moving force identification with ill-posed problems

NASA Astrophysics Data System (ADS)

Chen, Zhen; Chan, Tommy H. T.

2017-08-01

This paper proposes a new methodology for moving force identification (MFI) from the responses of bridge deck. Based on the existing time domain method (TDM), the MFI problem eventually becomes solving the linear algebraic equation in the form Ax = b . The vector b is usually contaminated by an unknown error e generating from measurement error, which often called the vector e as ''noise''. With the ill-posed problems that exist in the inverse problem, the identification force would be sensitive to the noise e . The proposed truncated generalized singular value decomposition method (TGSVD) aims at obtaining an acceptable solution and making the noise to be less sensitive to perturbations with the ill-posed problems. The illustrated results show that the TGSVD has many advantages such as higher precision, better adaptability and noise immunity compared with TDM. In addition, choosing a proper regularization matrix L and a truncation parameter k are very useful to improve the identification accuracy and to solve ill-posed problems when it is used to identify the moving force on bridge.

Mapping of West Siberian taiga wetland complexes using Landsat imagery: implications for methane emissions

NASA Astrophysics Data System (ADS)

Evgenievna Terentieva, Irina; Vladimirovich Glagolev, Mikhail; Dmitrievna Lapshina, Elena; Faritovich Sabrekov, Alexandr; Maksyutov, Shamil

2016-08-01

High-latitude wetlands are important for understanding climate change risks because these environments sink carbon dioxide and emit methane. However, fine-scale heterogeneity of wetland landscapes poses a serious challenge when generating regional-scale estimates of greenhouse gas fluxes from point observations. In order to reduce uncertainties at the regional scale, we mapped wetlands and water bodies in the taiga zone of The West Siberia Lowland (WSL) on a scene-by-scene basis using a supervised classification of Landsat imagery. Training data consist of high-resolution images and extensive field data collected at 28 test areas. The classification scheme aims at supporting methane inventory applications and includes seven wetland ecosystem types comprising nine wetland complexes distinguishable at the Landsat resolution. To merge typologies, mean relative areas of wetland ecosystems within each wetland complex type were estimated using high-resolution images. Accuracy assessment based on 1082 validation polygons of 10 × 10 pixel size indicated an overall map accuracy of 79 %. The total area of the WSL wetlands and water bodies was estimated to be 52.4 Mha or 4-12 % of the global wetland area. Ridge-hollow complexes prevail in WSL's taiga zone accounting for 33 % of the total wetland area, followed by pine bogs or "ryams" (23 %), ridge-hollow-lake complexes (16 %), open fens (8 %), palsa complexes (7 %), open bogs (5 %), patterned fens (4 %), and swamps (4 %). Various oligotrophic environments are dominant among wetland ecosystems, while poor fens cover only 14 % of the area. Because of the significant change in the wetland ecosystem coverage in comparison to previous studies, a considerable reevaluation of the total CH4 emissions from the entire region is expected. A new Landsat-based map of WSL's taiga wetlands provides a benchmark for validation of coarse-resolution global land cover products and wetland data sets in high latitudes.

Inferring invasive species abundance using removal data from management actions

USGS Publications Warehouse

Davis, Amy J.; Hooten, Mevin B.; Miller, Ryan S.; Farnsworth, Matthew L.; Lewis, Jesse S.; Moxcey, Michael; Pepin, Kim M.

2016-01-01

Evaluation of the progress of management programs for invasive species is crucial for demonstrating impacts to stakeholders and strategic planning of resource allocation. Estimates of abundance before and after management activities can serve as a useful metric of population management programs. However, many methods of estimating population size are too labor intensive and costly to implement, posing restrictive levels of burden on operational programs. Removal models are a reliable method for estimating abundance before and after management using data from the removal activities exclusively, thus requiring no work in addition to management. We developed a Bayesian hierarchical model to estimate abundance from removal data accounting for varying levels of effort, and used simulations to assess the conditions under which reliable population estimates are obtained. We applied this model to estimate site-specific abundance of an invasive species, feral swine (Sus scrofa), using removal data from aerial gunning in 59 site/time-frame combinations (480–19,600 acres) throughout Oklahoma and Texas, USA. Simulations showed that abundance estimates were generally accurate when effective removal rates (removal rate accounting for total effort) were above 0.40. However, when abundances were small (<50) the effective removal rate needed to accurately estimates abundances was considerably higher (0.70). Based on our post-validation method, 78% of our site/time frame estimates were accurate. To use this modeling framework it is important to have multiple removals (more than three) within a time frame during which demographic changes are minimized (i.e., a closed population; ≤3 months for feral swine). Our results show that the probability of accurately estimating abundance from this model improves with increased sampling effort (8+ flight hours across the 3-month window is best) and increased removal rate. Based on the inverse relationship between inaccurate abundances and inaccurate removal rates, we suggest auxiliary information that could be collected and included in the model as covariates (e.g., habitat effects, differences between pilots) to improve accuracy of removal rates and hence abundance estimates.

Efficient and robust pupil size and blink estimation from near-field video sequences for human-machine interaction.

PubMed

Chen, Siyuan; Epps, Julien

2014-12-01

Monitoring pupil and blink dynamics has applications in cognitive load measurement during human-machine interaction. However, accurate, efficient, and robust pupil size and blink estimation pose significant challenges to the efficacy of real-time applications due to the variability of eye images, hence to date, require manual intervention for fine tuning of parameters. In this paper, a novel self-tuning threshold method, which is applicable to any infrared-illuminated eye images without a tuning parameter, is proposed for segmenting the pupil from the background images recorded by a low cost webcam placed near the eye. A convex hull and a dual-ellipse fitting method are also proposed to select pupil boundary points and to detect the eyelid occlusion state. Experimental results on a realistic video dataset show that the measurement accuracy using the proposed methods is higher than that of widely used manually tuned parameter methods or fixed parameter methods. Importantly, it demonstrates convenience and robustness for an accurate and fast estimate of eye activity in the presence of variations due to different users, task types, load, and environments. Cognitive load measurement in human-machine interaction can benefit from this computationally efficient implementation without requiring a threshold calibration beforehand. Thus, one can envisage a mini IR camera embedded in a lightweight glasses frame, like Google Glass, for convenient applications of real-time adaptive aiding and task management in the future.

An Adaptive Nonlinear Basal-Bolus Calculator for Patients With Type 1 Diabetes

PubMed Central

Boiroux, Dimitri; Aradóttir, Tinna Björk; Nørgaard, Kirsten; Poulsen, Niels Kjølstad; Madsen, Henrik; Jørgensen, John Bagterp

2016-01-01

Background: Bolus calculators help patients with type 1 diabetes to mitigate the effect of meals on their blood glucose by administering a large amount of insulin at mealtime. Intraindividual changes in patients physiology and nonlinearity in insulin-glucose dynamics pose a challenge to the accuracy of such calculators. Method: We propose a method based on a continuous-discrete unscented Kalman filter to continuously track the postprandial glucose dynamics and the insulin sensitivity. We augment the Medtronic Virtual Patient (MVP) model to simulate noise-corrupted data from a continuous glucose monitor (CGM). The basal rate is determined by calculating the steady state of the model and is adjusted once a day before breakfast. The bolus size is determined by optimizing the postprandial glucose values based on an estimate of the insulin sensitivity and states, as well as the announced meal size. Following meal announcements, the meal compartment and the meal time constant are estimated, otherwise insulin sensitivity is estimated. Results: We compare the performance of a conventional linear bolus calculator with the proposed bolus calculator. The proposed basal-bolus calculator significantly improves the time spent in glucose target (P < .01) compared to the conventional bolus calculator. Conclusion: An adaptive nonlinear basal-bolus calculator can efficiently compensate for physiological changes. Further clinical studies will be needed to validate the results. PMID:27613658

Object recognition and pose estimation of planar objects from range data

NASA Technical Reports Server (NTRS)

Pendleton, Thomas W.; Chien, Chiun Hong; Littlefield, Mark L.; Magee, Michael

1994-01-01

The Extravehicular Activity Helper/Retriever (EVAHR) is a robotic device currently under development at the NASA Johnson Space Center that is designed to fetch objects or to assist in retrieving an astronaut who may have become inadvertently de-tethered. The EVAHR will be required to exhibit a high degree of intelligent autonomous operation and will base much of its reasoning upon information obtained from one or more three-dimensional sensors that it will carry and control. At the highest level of visual cognition and reasoning, the EVAHR will be required to detect objects, recognize them, and estimate their spatial orientation and location. The recognition phase and estimation of spatial pose will depend on the ability of the vision system to reliably extract geometric features of the objects such as whether the surface topologies observed are planar or curved and the spatial relationships between the component surfaces. In order to achieve these tasks, three-dimensional sensing of the operational environment and objects in the environment will therefore be essential. One of the sensors being considered to provide image data for object recognition and pose estimation is a phase-shift laser scanner. The characteristics of the data provided by this scanner have been studied and algorithms have been developed for segmenting range images into planar surfaces, extracting basic features such as surface area, and recognizing the object based on the characteristics of extracted features. Also, an approach has been developed for estimating the spatial orientation and location of the recognized object based on orientations of extracted planes and their intersection points. This paper presents some of the algorithms that have been developed for the purpose of recognizing and estimating the pose of objects as viewed by the laser scanner, and characterizes the desirability and utility of these algorithms within the context of the scanner itself, considering data quality and noise.

Motion compensation using origin ensembles in awake small animal positron emission tomography

NASA Astrophysics Data System (ADS)

Gillam, John E.; Angelis, Georgios I.; Kyme, Andre Z.; Meikle, Steven R.

2017-02-01

In emission tomographic imaging, the stochastic origin ensembles algorithm provides unique information regarding the detected counts given the measured data. Precision in both voxel and region-wise parameters may be determined for a single data set based on the posterior distribution of the count density allowing uncertainty estimates to be allocated to quantitative measures. Uncertainty estimates are of particular importance in awake animal neurological and behavioral studies for which head motion, unique for each acquired data set, perturbs the measured data. Motion compensation can be conducted when rigid head pose is measured during the scan. However, errors in pose measurements used for compensation can degrade the data and hence quantitative outcomes. In this investigation motion compensation and detector resolution models were incorporated into the basic origin ensembles algorithm and an efficient approach to computation was developed. The approach was validated against maximum liklihood—expectation maximisation and tested using simulated data. The resultant algorithm was then used to analyse quantitative uncertainty in regional activity estimates arising from changes in pose measurement precision. Finally, the posterior covariance acquired from a single data set was used to describe correlations between regions of interest providing information about pose measurement precision that may be useful in system analysis and design. The investigation demonstrates the use of origin ensembles as a powerful framework for evaluating statistical uncertainty of voxel and regional estimates. While in this investigation rigid motion was considered in the context of awake animal PET, the extension to arbitrary motion may provide clinical utility where respiratory or cardiac motion perturb the measured data.

Segmentation, classification, and pose estimation of military vehicles in low resolution laser radar images

NASA Astrophysics Data System (ADS)

Neulist, Joerg; Armbruster, Walter

2005-05-01

Model-based object recognition in range imagery typically involves matching the image data to the expected model data for each feasible model and pose hypothesis. Since the matching procedure is computationally expensive, the key to efficient object recognition is the reduction of the set of feasible hypotheses. This is particularly important for military vehicles, which may consist of several large moving parts such as the hull, turret, and gun of a tank, and hence require an eight or higher dimensional pose space to be searched. The presented paper outlines techniques for reducing the set of feasible hypotheses based on an estimation of target dimensions and orientation. Furthermore, the presence of a turret and a main gun and their orientations are determined. The vehicle parts dimensions as well as their error estimates restrict the number of model hypotheses whereas the position and orientation estimates and their error bounds reduce the number of pose hypotheses needing to be verified. The techniques are applied to several hundred laser radar images of eight different military vehicles with various part classifications and orientations. On-target resolution in azimuth, elevation and range is about 30 cm. The range images contain up to 20% dropouts due to atmospheric absorption. Additionally some target retro-reflectors produce outliers due to signal crosstalk. The presented algorithms are extremely robust with respect to these and other error sources. The hypothesis space for hull orientation is reduced to about 5 degrees as is the error for turret rotation and gun elevation, provided the main gun is visible.

Trajectory-based visual localization in underwater surveying missions.

PubMed

Burguera, Antoni; Bonin-Font, Francisco; Oliver, Gabriel

2015-01-14

We present a new vision-based localization system applied to an autonomous underwater vehicle (AUV) with limited sensing and computation capabilities. The traditional EKF-SLAM approaches are usually expensive in terms of execution time; the approach presented in this paper strengthens this method by adopting a trajectory-based schema that reduces the computational requirements. The pose of the vehicle is estimated using an extended Kalman filter (EKF), which predicts the vehicle motion by means of a visual odometer and corrects these predictions using the data associations (loop closures) between the current frame and the previous ones. One of the most important steps in this procedure is the image registration method, as it reinforces the data association and, thus, makes it possible to close loops reliably. Since the use of standard EKFs entail linearization errors that can distort the vehicle pose estimations, the approach has also been tested using an iterated Kalman filter (IEKF). Experiments have been conducted using a real underwater vehicle in controlled scenarios and in shallow sea waters, showing an excellent performance with very small errors, both in the vehicle pose and in the overall trajectory estimates.

Generalized Centroid Estimators in Bioinformatics

PubMed Central

Hamada, Michiaki; Kiryu, Hisanori; Iwasaki, Wataru; Asai, Kiyoshi

2011-01-01

In a number of estimation problems in bioinformatics, accuracy measures of the target problem are usually given, and it is important to design estimators that are suitable to those accuracy measures. However, there is often a discrepancy between an employed estimator and a given accuracy measure of the problem. In this study, we introduce a general class of efficient estimators for estimation problems on high-dimensional binary spaces, which represent many fundamental problems in bioinformatics. Theoretical analysis reveals that the proposed estimators generally fit with commonly-used accuracy measures (e.g. sensitivity, PPV, MCC and F-score) as well as it can be computed efficiently in many cases, and cover a wide range of problems in bioinformatics from the viewpoint of the principle of maximum expected accuracy (MEA). It is also shown that some important algorithms in bioinformatics can be interpreted in a unified manner. Not only the concept presented in this paper gives a useful framework to design MEA-based estimators but also it is highly extendable and sheds new light on many problems in bioinformatics. PMID:21365017

Hip joint centre position estimation using a dual unscented Kalman filter for computer-assisted orthopaedic surgery.

PubMed

Beretta, Elisa; De Momi, Elena; Camomilla, Valentina; Cereatti, Andrea; Cappozzo, Aurelio; Ferrigno, Giancarlo

2014-09-01

In computer-assisted knee surgery, the accuracy of the localization of the femur centre of rotation relative to the hip-bone (hip joint centre) is affected by the unavoidable and untracked pelvic movements because only the femoral pose is acquired during passive pivoting manoeuvres. We present a dual unscented Kalman filter algorithm that allows the estimation of the hip joint centre also using as input the position of a pelvic reference point that can be acquired with a skin marker placed on the hip, without increasing the invasiveness of the surgical procedure. A comparative assessment of the algorithm was carried out using data provided by in vitro experiments mimicking in vivo surgical conditions. Soft tissue artefacts were simulated and superimposed onto the position of a pelvic landmark. Femoral pivoting made of a sequence of star-like quasi-planar movements followed by a circumduction was performed. The dual unscented Kalman filter method proved to be less sensitive to pelvic displacements, which were shown to be larger during the manoeuvres in which the femur was more adducted. Comparable accuracy between all the analysed methods resulted for hip joint centre displacements smaller than 1 mm (error: 2.2 ± [0.2; 0.3] mm, median ± [inter-quartile range 25%; inter-quartile range 75%]) and between 1 and 6 mm (error: 4.8 ± [0.5; 0.8] mm) during planar movements. When the hip joint centre displacement exceeded 6 mm, the dual unscented Kalman filter proved to be more accurate than the other methods by 30% during multi-planar movements (error: 5.2 ± [1.2; 1] mm). © IMechE 2014.

Human action recognition based on spatial-temporal descriptors using key poses

NASA Astrophysics Data System (ADS)

Hu, Shuo; Chen, Yuxin; Wang, Huaibao; Zuo, Yaqing

2014-11-01

Human action recognition is an important area of pattern recognition today due to its direct application and need in various occasions like surveillance and virtual reality. In this paper, a simple and effective human action recognition method is presented based on the key poses of human silhouette and the spatio-temporal feature. Firstly, the contour points of human silhouette have been gotten, and the key poses are learned by means of K-means clustering based on the Euclidean distance between each contour point and the centre point of the human silhouette, and then the type of each action is labeled for further match. Secondly, we obtain the trajectories of centre point of each frame, and create a spatio-temporal feature value represented by W to describe the motion direction and speed of each action. The value W contains the information of location and temporal order of each point on the trajectories. Finally, the matching stage is performed by comparing the key poses and W between training sequences and test sequences, the nearest neighbor sequences is found and its label supplied the final result. Experiments on the public available Weizmann datasets show the proposed method can improve accuracy by distinguishing amphibious poses and increase suitability for real-time applications by reducing the computational cost.

An evaluation of data-driven motion estimation in comparison to the usage of external-surrogates in cardiac SPECT imaging

PubMed Central

Mukherjee, Joyeeta Mitra; Hutton, Brian F; Johnson, Karen L; Pretorius, P Hendrik; King, Michael A

2014-01-01

Motion estimation methods in single photon emission computed tomography (SPECT) can be classified into methods which depend on just the emission data (data-driven), or those that use some other source of information such as an external surrogate. The surrogate-based methods estimate the motion exhibited externally which may not correlate exactly with the movement of organs inside the body. The accuracy of data-driven strategies on the other hand is affected by the type and timing of motion occurrence during acquisition, the source distribution, and various degrading factors such as attenuation, scatter, and system spatial resolution. The goal of this paper is to investigate the performance of two data-driven motion estimation schemes based on the rigid-body registration of projections of motion-transformed source distributions to the acquired projection data for cardiac SPECT studies. Comparison is also made of six intensity based registration metrics to an external surrogate-based method. In the data-driven schemes, a partially reconstructed heart is used as the initial source distribution. The partially-reconstructed heart has inaccuracies due to limited angle artifacts resulting from using only a part of the SPECT projections acquired while the patient maintained the same pose. The performance of different cost functions in quantifying consistency with the SPECT projection data in the data-driven schemes was compared for clinically realistic patient motion occurring as discrete pose changes, one or two times during acquisition. The six intensity-based metrics studied were mean-squared difference (MSD), mutual information (MI), normalized mutual information (NMI), pattern intensity (PI), normalized cross-correlation (NCC) and entropy of the difference (EDI). Quantitative and qualitative analysis of the performance is reported using Monte-Carlo simulations of a realistic heart phantom including degradation factors such as attenuation, scatter and system spatial resolution. Further the visual appearance of motion-corrected images using data-driven motion estimates was compared to that obtained using the external motion-tracking system in patient studies. Pattern intensity and normalized mutual information cost functions were observed to have the best performance in terms of lowest average position error and stability with degradation of image quality of the partial reconstruction in simulations. In all patients, the visual quality of PI-based estimation was either significantly better or comparable to NMI-based estimation. Best visual quality was obtained with PI-based estimation in 1 of the 5 patient studies, and with external-surrogate based correction in 3 out of 5 patients. In the remaining patient study there was little motion and all methods yielded similar visual image quality. PMID:24107647

Effects of LiDAR point density, sampling size and height threshold on estimation accuracy of crop biophysical parameters.

PubMed

Luo, Shezhou; Chen, Jing M; Wang, Cheng; Xi, Xiaohuan; Zeng, Hongcheng; Peng, Dailiang; Li, Dong

2016-05-30

Vegetation leaf area index (LAI), height, and aboveground biomass are key biophysical parameters. Corn is an important and globally distributed crop, and reliable estimations of these parameters are essential for corn yield forecasting, health monitoring and ecosystem modeling. Light Detection and Ranging (LiDAR) is considered an effective technology for estimating vegetation biophysical parameters. However, the estimation accuracies of these parameters are affected by multiple factors. In this study, we first estimated corn LAI, height and biomass (R² = 0.80, 0.874 and 0.838, respectively) using the original LiDAR data (7.32 points/m²), and the results showed that LiDAR data could accurately estimate these biophysical parameters. Second, comprehensive research was conducted on the effects of LiDAR point density, sampling size and height threshold on the estimation accuracy of LAI, height and biomass. Our findings indicated that LiDAR point density had an important effect on the estimation accuracy for vegetation biophysical parameters, however, high point density did not always produce highly accurate estimates, and reduced point density could deliver reasonable estimation results. Furthermore, the results showed that sampling size and height threshold were additional key factors that affect the estimation accuracy of biophysical parameters. Therefore, the optimal sampling size and the height threshold should be determined to improve the estimation accuracy of biophysical parameters. Our results also implied that a higher LiDAR point density, larger sampling size and height threshold were required to obtain accurate corn LAI estimation when compared with height and biomass estimations. In general, our results provide valuable guidance for LiDAR data acquisition and estimation of vegetation biophysical parameters using LiDAR data.

ACCURACY OF THE 1992 NATIONAL LAND COVER DATASET AREA ESTIMATES: AN ANALYSIS AT MULTIPLE SPATIAL EXTENTS

EPA Science Inventory

Abstract for poster presentation:

Site-specific accuracy assessments evaluate fine-scale accuracy of land-use/land-cover(LULC) datasets but provide little insight into accuracy of area estimates of LULC

classes derived from sampling units of varying size. Additiona...

A study on facial expressions recognition

NASA Astrophysics Data System (ADS)

Xu, Jingjing

2017-09-01

In terms of communication, postures and facial expressions of such feelings like happiness, anger and sadness play important roles in conveying information. With the development of the technology, recently a number of algorithms dealing with face alignment, face landmark detection, classification, facial landmark localization and pose estimation have been put forward. However, there are a lot of challenges and problems need to be fixed. In this paper, a few technologies have been concluded and analyzed, and they all relate to handling facial expressions recognition and poses like pose-indexed based multi-view method for face alignment, robust facial landmark detection under significant head pose and occlusion, partitioning the input domain for classification, robust statistics face formalization.

Studying Language Learning Opportunities Afforded by a Collaborative CALL Task

ERIC Educational Resources Information Center

Leahy, Christine

2016-01-01

This research study explores the learning potential of a computer-assisted language learning (CALL) activity. Research suggests that the dual emphasis on content development and language accuracy, as well as the complexity of L2 production in natural settings, can potentially create cognitive overload. This study poses the question whether, and…

The Effect of the Ill-posed Problem on Quantitative Error Assessment in Digital Image Correlation

DOE Office of Scientific and Technical Information (OSTI.GOV)

Lehoucq, R. B.; Reu, P. L.; Turner, D. Z.

Here, this work explores the effect of the ill-posed problem on uncertainty quantification for motion estimation using digital image correlation (DIC) (Sutton et al. 2009). We develop a correction factor for standard uncertainty estimates based on the cosine of the angle between the true motion and the image gradients, in an integral sense over a subregion of the image. This correction factor accounts for variability in the DIC solution previously unaccounted for when considering only image noise, interpolation bias, contrast, and the software settings such as subset size and spacing.

The Effect of the Ill-posed Problem on Quantitative Error Assessment in Digital Image Correlation

DOE PAGES

Lehoucq, R. B.; Reu, P. L.; Turner, D. Z.

2017-11-27

Here, this work explores the effect of the ill-posed problem on uncertainty quantification for motion estimation using digital image correlation (DIC) (Sutton et al. 2009). We develop a correction factor for standard uncertainty estimates based on the cosine of the angle between the true motion and the image gradients, in an integral sense over a subregion of the image. This correction factor accounts for variability in the DIC solution previously unaccounted for when considering only image noise, interpolation bias, contrast, and the software settings such as subset size and spacing.

Solving ill-posed control problems by stabilized finite element methods: an alternative to Tikhonov regularization

NASA Astrophysics Data System (ADS)

Burman, Erik; Hansbo, Peter; Larson, Mats G.

2018-03-01

Tikhonov regularization is one of the most commonly used methods for the regularization of ill-posed problems. In the setting of finite element solutions of elliptic partial differential control problems, Tikhonov regularization amounts to adding suitably weighted least squares terms of the control variable, or derivatives thereof, to the Lagrangian determining the optimality system. In this note we show that the stabilization methods for discretely ill-posed problems developed in the setting of convection-dominated convection-diffusion problems, can be highly suitable for stabilizing optimal control problems, and that Tikhonov regularization will lead to less accurate discrete solutions. We consider some inverse problems for Poisson’s equation as an illustration and derive new error estimates both for the reconstruction of the solution from the measured data and reconstruction of the source term from the measured data. These estimates include both the effect of the discretization error and error in the measurements.

Virtual screening of integrase inhibitors by large scale binding free energy calculations: the SAMPL4 challenge

PubMed Central

Gallicchio, Emilio; Deng, Nanjie; He, Peng; Wickstrom, Lauren; Perryman, Alexander L.; Santiago, Daniel N.; Forli, Stefano; Olson, Arthur J.; Levy, Ronald M.

2014-01-01

As part of the SAMPL4 blind challenge, filtered AutoDock Vina ligand docking predictions and large scale binding energy distribution analysis method binding free energy calculations have been applied to the virtual screening of a focused library of candidate binders to the LEDGF site of the HIV integrase protein. The computational protocol leveraged docking and high level atomistic models to improve enrichment. The enrichment factor of our blind predictions ranked best among all of the computational submissions, and second best overall. This work represents to our knowledge the first example of the application of an all-atom physics-based binding free energy model to large scale virtual screening. A total of 285 parallel Hamiltonian replica exchange molecular dynamics absolute protein-ligand binding free energy simulations were conducted starting from docked poses. The setup of the simulations was fully automated, calculations were distributed on multiple computing resources and were completed in a 6-weeks period. The accuracy of the docked poses and the inclusion of intramolecular strain and entropic losses in the binding free energy estimates were the major factors behind the success of the method. Lack of sufficient time and computing resources to investigate additional protonation states of the ligands was a major cause of mispredictions. The experiment demonstrated the applicability of binding free energy modeling to improve hit rates in challenging virtual screening of focused ligand libraries during lead optimization. PMID:24504704

Three-dimensional hysteresis compensation enhances accuracy of robotic artificial muscles

NASA Astrophysics Data System (ADS)

Zhang, Jun; Simeonov, Anthony; Yip, Michael C.

2018-03-01

Robotic artificial muscles are compliant and can generate straight contractions. They are increasingly popular as driving mechanisms for robotic systems. However, their strain and tension force often vary simultaneously under varying loads and inputs, resulting in three-dimensional hysteretic relationships. The three-dimensional hysteresis in robotic artificial muscles poses difficulties in estimating how they work and how to make them perform designed motions. This study proposes an approach to driving robotic artificial muscles to generate designed motions and forces by modeling and compensating for their three-dimensional hysteresis. The proposed scheme captures the nonlinearity by embedding two hysteresis models. The effectiveness of the model is confirmed by testing three popular robotic artificial muscles. Inverting the proposed model allows us to compensate for the hysteresis among temperature surrogate, contraction length, and tension force of a shape memory alloy (SMA) actuator. Feedforward control of an SMA-actuated robotic bicep is demonstrated. This study can be generalized to other robotic artificial muscles, thus enabling muscle-powered machines to generate desired motions.

A novel teaching system for industrial robots.

PubMed

Lin, Hsien-I; Lin, Yu-Hsiang

2014-03-27

The most important tool for controlling an industrial robotic arm is a teach pendant, which controls the robotic arm movement in work spaces and accomplishes teaching tasks. A good teaching tool should be easy to operate and can complete teaching tasks rapidly and effortlessly. In this study, a new teaching system is proposed for enabling users to operate robotic arms and accomplish teaching tasks easily. The proposed teaching system consists of the teach pen, optical markers on the pen, a motion capture system, and the pen tip estimation algorithm. With the marker positions captured by the motion capture system, the pose of the teach pen is accurately calculated by the pen tip algorithm and used to control the robot tool frame. In addition, Fitts' Law is adopted to verify the usefulness of this new system, and the results show that the system provides high accuracy, excellent operation performance, and a stable error rate. In addition, the system maintains superior performance, even when users work on platforms with different inclination angles.

A Novel Teaching System for Industrial Robots

PubMed Central

Lin, Hsien-I; Lin, Yu-Hsiang

2014-01-01

The most important tool for controlling an industrial robotic arm is a teach pendant, which controls the robotic arm movement in work spaces and accomplishes teaching tasks. A good teaching tool should be easy to operate and can complete teaching tasks rapidly and effortlessly. In this study, a new teaching system is proposed for enabling users to operate robotic arms and accomplish teaching tasks easily. The proposed teaching system consists of the teach pen, optical markers on the pen, a motion capture system, and the pen tip estimation algorithm. With the marker positions captured by the motion capture system, the pose of the teach pen is accurately calculated by the pen tip algorithm and used to control the robot tool frame. In addition, Fitts' Law is adopted to verify the usefulness of this new system, and the results show that the system provides high accuracy, excellent operation performance, and a stable error rate. In addition, the system maintains superior performance, even when users work on platforms with different inclination angles. PMID:24681669

On the Soil Roughness Parameterization Problem in Soil Moisture Retrieval of Bare Surfaces from Synthetic Aperture Radar

PubMed Central

Verhoest, Niko E.C; Lievens, Hans; Wagner, Wolfgang; Álvarez-Mozos, Jesús; Moran, M. Susan; Mattia, Francesco

2008-01-01

Synthetic Aperture Radar has shown its large potential for retrieving soil moisture maps at regional scales. However, since the backscattered signal is determined by several surface characteristics, the retrieval of soil moisture is an ill-posed problem when using single configuration imagery. Unless accurate surface roughness parameter values are available, retrieving soil moisture from radar backscatter usually provides inaccurate estimates. The characterization of soil roughness is not fully understood, and a large range of roughness parameter values can be obtained for the same surface when different measurement methodologies are used. In this paper, a literature review is made that summarizes the problems encountered when parameterizing soil roughness as well as the reported impact of the errors made on the retrieved soil moisture. A number of suggestions were made for resolving issues in roughness parameterization and studying the impact of these roughness problems on the soil moisture retrieval accuracy and scale. PMID:27879932

Real-time depth camera tracking with geometrically stable weight algorithm

NASA Astrophysics Data System (ADS)

Fu, Xingyin; Zhu, Feng; Qi, Feng; Wang, Mingming

2017-03-01

We present an approach for real-time camera tracking with depth stream. Existing methods are prone to drift in sceneries without sufficient geometric information. First, we propose a new weight method for an iterative closest point algorithm commonly used in real-time dense mapping and tracking systems. By detecting uncertainty in pose and increasing weight of points that constrain unstable transformations, our system achieves accurate and robust trajectory estimation results. Our pipeline can be fully parallelized with GPU and incorporated into the current real-time depth camera tracking system seamlessly. Second, we compare the state-of-the-art weight algorithms and propose a weight degradation algorithm according to the measurement characteristics of a consumer depth camera. Third, we use Nvidia Kepler Shuffle instructions during warp and block reduction to improve the efficiency of our system. Results on the public TUM RGB-D database benchmark demonstrate that our camera tracking system achieves state-of-the-art results both in accuracy and efficiency.

Eye pupil detection system using an ensemble of regression forest and fast radial symmetry transform with a near infrared camera

NASA Astrophysics Data System (ADS)

Jeong, Mira; Nam, Jae-Yeal; Ko, Byoung Chul

2017-09-01

In this paper, we focus on pupil center detection in various video sequences that include head poses and changes in illumination. To detect the pupil center, we first find four eye landmarks in each eye by using cascade local regression based on a regression forest. Based on the rough location of the pupil, a fast radial symmetric transform is applied using the previously found pupil location to rearrange the fine pupil center. As the final step, the pupil displacement is estimated between the previous frame and the current frame to maintain the level of accuracy against a false locating result occurring in a particular frame. We generated a new face dataset, called Keimyung University pupil detection (KMUPD), with infrared camera. The proposed method was successfully applied to the KMUPD dataset, and the results indicate that its pupil center detection capability is better than that of other methods and with a shorter processing time.

Accuracy assessment: The statistical approach to performance evaluation in LACIE. [Great Plains corridor, United States

NASA Technical Reports Server (NTRS)

Houston, A. G.; Feiveson, A. H.; Chhikara, R. S.; Hsu, E. M. (Principal Investigator)

1979-01-01

A statistical methodology was developed to check the accuracy of the products of the experimental operations throughout crop growth and to determine whether the procedures are adequate to accomplish the desired accuracy and reliability goals. It has allowed the identification and isolation of key problems in wheat area yield estimation, some of which have been corrected and some of which remain to be resolved. The major unresolved problem in accuracy assessment is that of precisely estimating the bias of the LACIE production estimator. Topics covered include: (1) evaluation techniques; (2) variance and bias estimation for the wheat production estimate; (3) the 90/90 evaluation; (4) comparison of the LACIE estimate with reference standards; and (5) first and second order error source investigations.

Effect of time discretization of the imaging process on the accuracy of trajectory estimation in fluorescence microscopy

PubMed Central

Wong, Yau; Chao, Jerry; Lin, Zhiping; Ober, Raimund J.

2014-01-01

In fluorescence microscopy, high-speed imaging is often necessary for the proper visualization and analysis of fast subcellular dynamics. Here, we examine how the speed of image acquisition affects the accuracy with which parameters such as the starting position and speed of a microscopic non-stationary fluorescent object can be estimated from the resulting image sequence. Specifically, we use a Fisher information-based performance bound to investigate the detector-dependent effect of frame rate on the accuracy of parameter estimation. We demonstrate that when a charge-coupled device detector is used, the estimation accuracy deteriorates as the frame rate increases beyond a point where the detector’s readout noise begins to overwhelm the low number of photons detected in each frame. In contrast, we show that when an electron-multiplying charge-coupled device (EMCCD) detector is used, the estimation accuracy improves with increasing frame rate. In fact, at high frame rates where the low number of photons detected in each frame renders the fluorescent object difficult to detect visually, imaging with an EMCCD detector represents a natural implementation of the Ultrahigh Accuracy Imaging Modality, and enables estimation with an accuracy approaching that which is attainable only when a hypothetical noiseless detector is used. PMID:25321248

Accuracy Of LTPP Traffic Loading Estimates

DOT National Transportation Integrated Search

1998-07-01

The accuracy and reliability of traffic load estimates are key to determining a pavement's life expectancy. To better understand the variability of traffic loading rates and its effect on the accuracy of the Long Term Pavement Performance (LTPP) prog...

Empirical Accuracies of U.S. Space Surveillance Network Reentry Predictions

NASA Technical Reports Server (NTRS)

Johnson, Nicholas L.

2008-01-01

The U.S. Space Surveillance Network (SSN) issues formal satellite reentry predictions for objects which have the potential for generating debris which could pose a hazard to people or property on Earth. These prognostications, known as Tracking and Impact Prediction (TIP) messages, are nominally distributed at daily intervals beginning four days prior to the anticipated reentry and several times during the final 24 hours in orbit. The accuracy of these messages depends on the nature of the satellite s orbit, the characteristics of the space vehicle, solar activity, and many other factors. Despite the many influences on the time and the location of reentry, a useful assessment of the accuracies of TIP messages can be derived and compared with the official accuracies included with each TIP message. This paper summarizes the results of a study of numerous uncontrolled reentries of spacecraft and rocket bodies from nearly circular orbits over a span of several years. Insights are provided into the empirical accuracies and utility of SSN TIP messages.

A Bayesian Framework for Coupled Estimation of Key Unknown Parameters of Land Water and Energy Balance Equations

NASA Astrophysics Data System (ADS)

Farhadi, L.; Abdolghafoorian, A.

2015-12-01

The land surface is a key component of climate system. It controls the partitioning of available energy at the surface between sensible and latent heat, and partitioning of available water between evaporation and runoff. Water and energy cycle are intrinsically coupled through evaporation, which represents a heat exchange as latent heat flux. Accurate estimation of fluxes of heat and moisture are of significant importance in many fields such as hydrology, climatology and meteorology. In this study we develop and apply a Bayesian framework for estimating the key unknown parameters of terrestrial water and energy balance equations (i.e. moisture and heat diffusion) and their uncertainty in land surface models. These equations are coupled through flux of evaporation. The estimation system is based on the adjoint method for solving a least-squares optimization problem. The cost function consists of aggregated errors on state (i.e. moisture and temperature) with respect to observation and parameters estimation with respect to prior values over the entire assimilation period. This cost function is minimized with respect to parameters to identify models of sensible heat, latent heat/evaporation and drainage and runoff. Inverse of Hessian of the cost function is an approximation of the posterior uncertainty of parameter estimates. Uncertainty of estimated fluxes is estimated by propagating the uncertainty for linear and nonlinear function of key parameters through the method of First Order Second Moment (FOSM). Uncertainty analysis is used in this method to guide the formulation of a well-posed estimation problem. Accuracy of the method is assessed at point scale using surface energy and water fluxes generated by the Simultaneous Heat and Water (SHAW) model at the selected AmeriFlux stations. This method can be applied to diverse climates and land surface conditions with different spatial scales, using remotely sensed measurements of surface moisture and temperature states

Meta-epidemiologic study showed frequent time trends in summary estimates from meta-analyses of diagnostic accuracy studies.

PubMed

Cohen, Jérémie F; Korevaar, Daniël A; Wang, Junfeng; Leeflang, Mariska M; Bossuyt, Patrick M

2016-09-01

To evaluate changes over time in summary estimates from meta-analyses of diagnostic accuracy studies. We included 48 meta-analyses from 35 MEDLINE-indexed systematic reviews published between September 2011 and January 2012 (743 diagnostic accuracy studies; 344,015 participants). Within each meta-analysis, we ranked studies by publication date. We applied random-effects cumulative meta-analysis to follow how summary estimates of sensitivity and specificity evolved over time. Time trends were assessed by fitting a weighted linear regression model of the summary accuracy estimate against rank of publication. The median of the 48 slopes was -0.02 (-0.08 to 0.03) for sensitivity and -0.01 (-0.03 to 0.03) for specificity. Twelve of 96 (12.5%) time trends in sensitivity or specificity were statistically significant. We found a significant time trend in at least one accuracy measure for 11 of the 48 (23%) meta-analyses. Time trends in summary estimates are relatively frequent in meta-analyses of diagnostic accuracy studies. Results from early meta-analyses of diagnostic accuracy studies should be considered with caution. Copyright © 2016 Elsevier Inc. All rights reserved.

Librations and obliquity of Mercury from the BepiColombo laser altimetry, radio science and camera experiments

NASA Astrophysics Data System (ADS)

Pfyffer, G.; van Hoolst, T.; Dehant, V. M.

2010-12-01

Through its anomalously high uncompressed density implying a metal fraction of 60% or more by mass, Mercury represents an extreme outcome of planetary formation in the inner solar system. The space missions MESSENGER and BepiColombo are expected to advance largely our knowledge of the structure, formation, and evolution of Mercury. In particular, insight into Mercury's deep interior will be obtained from observations of the obliquity, the 88-day forced libration, the planetary induced librations and the degree-two coefficients of the gravity field of Mercury. We report here on aspects of the observational strategy of ESA’s BepiColombo mission to determine the libration amplitude and obliquity, taking into account the space as well as the ground segment of the experiment. Repeated photographic measurements of selected target positions on the surface of Mercury are central to the strategy to determine the obliquity and libration in the frame of the BepiColombo mission, but a significant constraint is posed by the fact that the planetary surface can only be photographed under very strict illumination conditions. We therefore study the possibility to use the information embedded in the groundtrack crossings (crosstracks) of the BepiColombo laser altimeter (BELA) in addition to the primary photographic data in order to estimate the librations and obliquity of Mercury. An advantage of the laser altimetry data is that it does not depend on the solar incidence angle on the surface nor on the presence of specific surface features as required for the camera data in the camera rotation experiment. Both laser and photographic measurements were simulated in a realistic set-up in order to estimate the accuracy of the reconstruction of the orientation and rotational motion of the planet as a function of the amount of measurements made, the number of different targets and crosstrack points considered and their locations on the surface of the planet. Such an analysis requires the use of an accurate model of the rotation of Mercury, which takes into account longitudinal librations additional to the main 88 day libration due to planetary perturbations on Mercury's orbit. Our simulations show that the achievable level of accuracy on the libration amplitude and obliquity will only be sufficient to constrain the size and physical state of the core of Mercury if certain conditions are satisfied. If the orbiter follows the ESA baseline mission scenario, and at least 25 landmarks are imaged at least twice over the mission duration (360 days), the annual libration amplitude and obliquity can be determined with sufficient accuracy. Also the Jupiter induced libration amplitude can pose an additional constraint on the interior of the planet. We will discuss the relative contributions of the different methods will enable us to determine the optimum combinations of the observations with consequences for the mission planning and the instrument performances.

Assessing disease severity: accuracy and reliability of rater estimates in relation to number of diagrams in a standard area diagram set

USDA-ARS?s Scientific Manuscript database

Error in rater estimates of plant disease severity occur, and standard area diagrams (SADs) help improve accuracy and reliability. The effects of diagram number in a SAD set on accuracy and reliability is unknown. The objective of this study was to compare estimates of pecan scab severity made witho...

[RS estimation of inventory parameters and carbon storage of moso bamboo forest based on synergistic use of object-based image analysis and decision tree].

PubMed

Du, Hua Qiang; Sun, Xiao Yan; Han, Ning; Mao, Fang Jie

2017-10-01

By synergistically using the object-based image analysis (OBIA) and the classification and regression tree (CART) methods, the distribution information, the indexes (including diameter at breast, tree height, and crown closure), and the aboveground carbon storage (AGC) of moso bamboo forest in Shanchuan Town, Anji County, Zhejiang Province were investigated. The results showed that the moso bamboo forest could be accurately delineated by integrating the multi-scale ima ge segmentation in OBIA technique and CART, which connected the image objects at various scales, with a pretty good producer's accuracy of 89.1%. The investigation of indexes estimated by regression tree model that was constructed based on the features extracted from the image objects reached normal or better accuracy, in which the crown closure model archived the best estimating accuracy of 67.9%. The estimating accuracy of diameter at breast and tree height was relatively low, which was consistent with conclusion that estimating diameter at breast and tree height using optical remote sensing could not achieve satisfactory results. Estimation of AGC reached relatively high accuracy, and accuracy of the region of high value achieved above 80%.

Machine-learning scoring functions for identifying native poses of ligands docked to known and novel proteins.

PubMed

Ashtawy, Hossam M; Mahapatra, Nihar R

2015-01-01

Molecular docking is a widely-employed method in structure-based drug design. An essential component of molecular docking programs is a scoring function (SF) that can be used to identify the most stable binding pose of a ligand, when bound to a receptor protein, from among a large set of candidate poses. Despite intense efforts in developing conventional SFs, which are either force-field based, knowledge-based, or empirical, their limited docking power (or ability to successfully identify the correct pose) has been a major impediment to cost-effective drug discovery. Therefore, in this work, we explore a range of novel SFs employing different machine-learning (ML) approaches in conjunction with physicochemical and geometrical features characterizing protein-ligand complexes to predict the native or near-native pose of a ligand docked to a receptor protein's binding site. We assess the docking accuracies of these new ML SFs as well as those of conventional SFs in the context of the 2007 PDBbind benchmark dataset on both diverse and homogeneous (protein-family-specific) test sets. Further, we perform a systematic analysis of the performance of the proposed SFs in identifying native poses of ligands that are docked to novel protein targets. We find that the best performing ML SF has a success rate of 80% in identifying poses that are within 1 Å root-mean-square deviation from the native poses of 65 different protein families. This is in comparison to a success rate of only 70% achieved by the best conventional SF, ASP, employed in the commercial docking software GOLD. In addition, the proposed ML SFs perform better on novel proteins that they were never trained on before. We also observed steady gains in the performance of these scoring functions as the training set size and number of features were increased by considering more protein-ligand complexes and/or more computationally-generated poses for each complex.

Machine-learning scoring functions for identifying native poses of ligands docked to known and novel proteins

PubMed Central

2015-01-01

Background Molecular docking is a widely-employed method in structure-based drug design. An essential component of molecular docking programs is a scoring function (SF) that can be used to identify the most stable binding pose of a ligand, when bound to a receptor protein, from among a large set of candidate poses. Despite intense efforts in developing conventional SFs, which are either force-field based, knowledge-based, or empirical, their limited docking power (or ability to successfully identify the correct pose) has been a major impediment to cost-effective drug discovery. Therefore, in this work, we explore a range of novel SFs employing different machine-learning (ML) approaches in conjunction with physicochemical and geometrical features characterizing protein-ligand complexes to predict the native or near-native pose of a ligand docked to a receptor protein's binding site. We assess the docking accuracies of these new ML SFs as well as those of conventional SFs in the context of the 2007 PDBbind benchmark dataset on both diverse and homogeneous (protein-family-specific) test sets. Further, we perform a systematic analysis of the performance of the proposed SFs in identifying native poses of ligands that are docked to novel protein targets. Results and conclusion We find that the best performing ML SF has a success rate of 80% in identifying poses that are within 1 Å root-mean-square deviation from the native poses of 65 different protein families. This is in comparison to a success rate of only 70% achieved by the best conventional SF, ASP, employed in the commercial docking software GOLD. In addition, the proposed ML SFs perform better on novel proteins that they were never trained on before. We also observed steady gains in the performance of these scoring functions as the training set size and number of features were increased by considering more protein-ligand complexes and/or more computationally-generated poses for each complex. PMID:25916860

Binding Free Energy Calculations for Lead Optimization: Assessment of Their Accuracy in an Industrial Drug Design Context.

PubMed

Homeyer, Nadine; Stoll, Friederike; Hillisch, Alexander; Gohlke, Holger

2014-08-12

Correctly ranking compounds according to their computed relative binding affinities will be of great value for decision making in the lead optimization phase of industrial drug discovery. However, the performance of existing computationally demanding binding free energy calculation methods in this context is largely unknown. We analyzed the performance of the molecular mechanics continuum solvent, the linear interaction energy (LIE), and the thermodynamic integration (TI) approach for three sets of compounds from industrial lead optimization projects. The data sets pose challenges typical for this early stage of drug discovery. None of the methods was sufficiently predictive when applied out of the box without considering these challenges. Detailed investigations of failures revealed critical points that are essential for good binding free energy predictions. When data set-specific features were considered accordingly, predictions valuable for lead optimization could be obtained for all approaches but LIE. Our findings lead to clear recommendations for when to use which of the above approaches. Our findings also stress the important role of expert knowledge in this process, not least for estimating the accuracy of prediction results by TI, using indicators such as the size and chemical structure of exchanged groups and the statistical error in the predictions. Such knowledge will be invaluable when it comes to the question which of the TI results can be trusted for decision making.

The Theory and Practice of Estimating the Accuracy of Dynamic Flight-Determined Coefficients

NASA Technical Reports Server (NTRS)

Maine, R. E.; Iliff, K. W.

1981-01-01

Means of assessing the accuracy of maximum likelihood parameter estimates obtained from dynamic flight data are discussed. The most commonly used analytical predictors of accuracy are derived and compared from both statistical and simplified geometrics standpoints. The accuracy predictions are evaluated with real and simulated data, with an emphasis on practical considerations, such as modeling error. Improved computations of the Cramer-Rao bound to correct large discrepancies due to colored noise and modeling error are presented. The corrected Cramer-Rao bound is shown to be the best available analytical predictor of accuracy, and several practical examples of the use of the Cramer-Rao bound are given. Engineering judgement, aided by such analytical tools, is the final arbiter of accuracy estimation.

Next-generation sequencing of the Trichinella murrelli mitochondrial genome allows comprehensive comparison of its divergence from the principal agent of human trichinellosis, Trichinella spiralis.

PubMed

Webb, Kristen M; Rosenthal, Benjamin M

2011-01-01

The mitochondrial genome's non-recombinant mode of inheritance and relatively rapid rate of evolution has promoted its use as a marker for studying the biogeographic history and evolutionary interrelationships among many metazoan species. A modest portion of the mitochondrial genome has been defined for 12 species and genotypes of parasites in the genus Trichinella, but its adequacy in representing the mitochondrial genome as a whole remains unclear, as the complete coding sequence has been characterized only for Trichinella spiralis. Here, we sought to comprehensively describe the extent and nature of divergence between the mitochondrial genomes of T. spiralis (which poses the most appreciable zoonotic risk owing to its capacity to establish persistent infections in domestic pigs) and Trichinella murrelli (which is the most prevalent species in North American wildlife hosts, but which poses relatively little risk to the safety of pork). Next generation sequencing methodologies and scaffold and de novo assembly strategies were employed. The entire protein-coding region was sequenced (13,917 bp), along with a portion of the highly repetitive non-coding region (1524 bp) of the mitochondrial genome of T. murrelli with a combined average read depth of 250 reads. The accuracy of base calling, estimated from coding region sequence was found to exceed 99.3%. Genome content and gene order was not found to be significantly different from that of T. spiralis. An overall inter-species sequence divergence of 9.5% was estimated. Significant variation was identified when the amount of variation between species at each gene is compared to the average amount of variation between species across the coding region. Next generation sequencing is a highly effective means to obtain previously unknown mitochondrial genome sequence. Particular to parasites, the extremely deep coverage achieved through this method allows for the detection of sequence heterogeneity between the multiple individuals that necessarily comprise such templates. Copyright © 2010 Elsevier B.V. All rights reserved.

Estimation of Full-Body Poses Using Only Five Inertial Sensors: An Eager or Lazy Learning Approach?

PubMed Central

Wouda, Frank J.; Giuberti, Matteo; Bellusci, Giovanni; Veltink, Peter H.

2016-01-01

Human movement analysis has become easier with the wide availability of motion capture systems. Inertial sensing has made it possible to capture human motion without external infrastructure, therefore allowing measurements in any environment. As high-quality motion capture data is available in large quantities, this creates possibilities to further simplify hardware setups, by use of data-driven methods to decrease the number of body-worn sensors. In this work, we contribute to this field by analyzing the capabilities of using either artificial neural networks (eager learning) or nearest neighbor search (lazy learning) for such a problem. Sparse orientation features, resulting from sensor fusion of only five inertial measurement units with magnetometers, are mapped to full-body poses. Both eager and lazy learning algorithms are shown to be capable of constructing this mapping. The full-body output poses are visually plausible with an average joint position error of approximately 7 cm, and average joint angle error of 7∘. Additionally, the effects of magnetic disturbances typical in orientation tracking on the estimation of full-body poses was also investigated, where nearest neighbor search showed better performance for such disturbances. PMID:27983676

Estimation of Full-Body Poses Using Only Five Inertial Sensors: An Eager or Lazy Learning Approach?

PubMed

Wouda, Frank J; Giuberti, Matteo; Bellusci, Giovanni; Veltink, Peter H

2016-12-15

Human movement analysis has become easier with the wide availability of motion capture systems. Inertial sensing has made it possible to capture human motion without external infrastructure, therefore allowing measurements in any environment. As high-quality motion capture data is available in large quantities, this creates possibilities to further simplify hardware setups, by use of data-driven methods to decrease the number of body-worn sensors. In this work, we contribute to this field by analyzing the capabilities of using either artificial neural networks (eager learning) or nearest neighbor search (lazy learning) for such a problem. Sparse orientation features, resulting from sensor fusion of only five inertial measurement units with magnetometers, are mapped to full-body poses. Both eager and lazy learning algorithms are shown to be capable of constructing this mapping. The full-body output poses are visually plausible with an average joint position error of approximately 7 cm, and average joint angle error of 7 ∘ . Additionally, the effects of magnetic disturbances typical in orientation tracking on the estimation of full-body poses was also investigated, where nearest neighbor search showed better performance for such disturbances.

Vision System for Coarsely Estimating Motion Parameters for Unknown Fast Moving Objects in Space

PubMed Central

Chen, Min; Hashimoto, Koichi

2017-01-01

Motivated by biological interests in analyzing navigation behaviors of flying animals, we attempt to build a system measuring their motion states. To do this, in this paper, we build a vision system to detect unknown fast moving objects within a given space, calculating their motion parameters represented by positions and poses. We proposed a novel method to detect reliable interest points from images of moving objects, which can be hardly detected by general purpose interest point detectors. 3D points reconstructed using these interest points are then grouped and maintained for detected objects, according to a careful schedule, considering appearance and perspective changes. In the estimation step, a method is introduced to adapt the robust estimation procedure used for dense point set to the case for sparse set, reducing the potential risk of greatly biased estimation. Experiments are conducted against real scenes, showing the capability of the system of detecting multiple unknown moving objects and estimating their positions and poses. PMID:29206189

Inverse statistical estimation via order statistics: a resolution of the ill-posed inverse problem of PERT scheduling

NASA Astrophysics Data System (ADS)

Pickard, William F.

2004-10-01

The classical PERT inverse statistics problem requires estimation of the mean, \\skew1\\bar{m} , and standard deviation, s, of a unimodal distribution given estimates of its mode, m, and of the smallest, a, and largest, b, values likely to be encountered. After placing the problem in historical perspective and showing that it is ill-posed because it is underdetermined, this paper offers an approach to resolve the ill-posedness: (a) by interpreting a and b modes of order statistic distributions; (b) by requiring also an estimate of the number of samples, N, considered in estimating the set {m, a, b}; and (c) by maximizing a suitable likelihood, having made the traditional assumption that the underlying distribution is beta. Exact formulae relating the four parameters of the beta distribution to {m, a, b, N} and the assumed likelihood function are then used to compute the four underlying parameters of the beta distribution; and from them, \\skew1\\bar{m} and s are computed using exact formulae.

Three-dimensional face pose detection and tracking using monocular videos: tool and application.

PubMed

Dornaika, Fadi; Raducanu, Bogdan

2009-08-01

Recently, we have proposed a real-time tracker that simultaneously tracks the 3-D head pose and facial actions in monocular video sequences that can be provided by low quality cameras. This paper has two main contributions. First, we propose an automatic 3-D face pose initialization scheme for the real-time tracker by adopting a 2-D face detector and an eigenface system. Second, we use the proposed methods-the initialization and tracking-for enhancing the human-machine interaction functionality of an AIBO robot. More precisely, we show how the orientation of the robot's camera (or any active vision system) can be controlled through the estimation of the user's head pose. Applications based on head-pose imitation such as telepresence, virtual reality, and video games can directly exploit the proposed techniques. Experiments on real videos confirm the robustness and usefulness of the proposed methods.

Monte Carlo Simulations: Number of Iterations and Accuracy

DTIC Science & Technology

2015-07-01

iterations because of its added complexity compared to the WM . We recommend that the WM be used for a priori estimates of the number of MC ...inaccurate.15 Although the WM and the WSM have generally proven useful in estimating the number of MC iterations and addressing the accuracy of the MC ...Theorem 3 3. A Priori Estimate of Number of MC Iterations 7 4. MC Result Accuracy 11 5. Using Percentage Error of the Mean to Estimate Number of MC

A Foot-Arch Parameter Measurement System Using a RGB-D Camera.

PubMed

Chun, Sungkuk; Kong, Sejin; Mun, Kyung-Ryoul; Kim, Jinwook

2017-08-04

The conventional method of measuring foot-arch parameters is highly dependent on the measurer's skill level, so accurate measurements are difficult to obtain. To solve this problem, we propose an autonomous geometric foot-arch analysis platform that is capable of capturing the sole of the foot and yields three foot-arch parameters: arch index (AI), arch width (AW) and arch height (AH). The proposed system captures 3D geometric and color data on the plantar surface of the foot in a static standing pose using a commercial RGB-D camera. It detects the region of the foot surface in contact with the footplate by applying the clustering and Markov random field (MRF)-based image segmentation methods. The system computes the foot-arch parameters by analyzing the 2/3D shape of the contact region. Validation experiments were carried out to assess the accuracy and repeatability of the system. The average errors for AI, AW, and AH estimation on 99 data collected from 11 subjects during 3 days were -0.17%, 0.95 mm, and 0.52 mm, respectively. Reliability and statistical analysis on the estimated foot-arch parameters, the robustness to the change of weights used in the MRF, the processing time were also performed to show the feasibility of the system.

A Foot-Arch Parameter Measurement System Using a RGB-D Camera

PubMed Central

Kong, Sejin; Mun, Kyung-Ryoul; Kim, Jinwook

2017-01-01

The conventional method of measuring foot-arch parameters is highly dependent on the measurer’s skill level, so accurate measurements are difficult to obtain. To solve this problem, we propose an autonomous geometric foot-arch analysis platform that is capable of capturing the sole of the foot and yields three foot-arch parameters: arch index (AI), arch width (AW) and arch height (AH). The proposed system captures 3D geometric and color data on the plantar surface of the foot in a static standing pose using a commercial RGB-D camera. It detects the region of the foot surface in contact with the footplate by applying the clustering and Markov random field (MRF)-based image segmentation methods. The system computes the foot-arch parameters by analyzing the 2/3D shape of the contact region. Validation experiments were carried out to assess the accuracy and repeatability of the system. The average errors for AI, AW, and AH estimation on 99 data collected from 11 subjects during 3 days were −0.17%, 0.95 mm, and 0.52 mm, respectively. Reliability and statistical analysis on the estimated foot-arch parameters, the robustness to the change of weights used in the MRF, the processing time were also performed to show the feasibility of the system. PMID:28777349

Reconstruction method for inversion problems in an acoustic tomography based temperature distribution measurement

NASA Astrophysics Data System (ADS)

Liu, Sha; Liu, Shi; Tong, Guowei

2017-11-01

In industrial areas, temperature distribution information provides a powerful data support for improving system efficiency, reducing pollutant emission, ensuring safety operation, etc. As a noninvasive measurement technology, acoustic tomography (AT) has been widely used to measure temperature distribution where the efficiency of the reconstruction algorithm is crucial for the reliability of the measurement results. Different from traditional reconstruction techniques, in this paper a two-phase reconstruction method is proposed to ameliorate the reconstruction accuracy (RA). In the first phase, the measurement domain is discretized by a coarse square grid to reduce the number of unknown variables to mitigate the ill-posed nature of the AT inverse problem. By taking into consideration the inaccuracy of the measured time-of-flight data, a new cost function is constructed to improve the robustness of the estimation, and a grey wolf optimizer is used to solve the proposed cost function to obtain the temperature distribution on the coarse grid. In the second phase, the Adaboost.RT based BP neural network algorithm is developed for predicting the temperature distribution on the refined grid in accordance with the temperature distribution data estimated in the first phase. Numerical simulations and experiment measurement results validate the superiority of the proposed reconstruction algorithm in improving the robustness and RA.

A Tale of Three Cases: Examining Accuracy, Efficiency, and Process Differences in Diagnosing Virtual Patient Cases

ERIC Educational Resources Information Center

Doleck, Tenzin; Jarrell, Amanda; Poitras, Eric G.; Chaouachi, Maher; Lajoie, Susanne P.

2016-01-01

Clinical reasoning is a central skill in diagnosing cases. However, diagnosing a clinical case poses several challenges that are inherent to solving multifaceted ill-structured problems. In particular, when solving such problems, the complexity stems from the existence of multiple paths to arriving at the correct solution (Lajoie, 2003). Moreover,…

The Burden of Zoonoses in Kyrgyzstan: A Systematic Review.

PubMed

Counotte, Michel J; Minbaeva, Gulnara; Usubalieva, Jumagul; Abdykerimov, Kubanychbek; Torgerson, Paul R

2016-07-01

Zoonotic disease (ZD) pose a serious threat to human health in low-income countries. In these countries the human burden of disease is often underestimated due to insufficient monitoring because of insufficient funding. Quantification of the impact of zoonoses helps in prioritizing healthcare needs. Kyrgyzstan is a poor, mountainous country with 48% of the population employed in agriculture and one third of the population living below the poverty line. We have assessed the burden of zoonoses in Kyrgyzstan by conducting a systematic review. We have used the collected data to estimate the burden of ZDs and addressed the underestimation in officially reported disease incidence. The estimated incidences of the ZDs were used to calculate incidence-based Disability Adjusted Life Years (DALYs). This standardized health gap measure enhances comparability between injuries and diseases. The combined burden for alveolar echinococcosis, cystic echinococcosis, brucellosis, campylobacteriosis, congenital toxoplasmosis, non-typhoidal salmonellosis and rabies in Kyrgyzstan in 2013 was 35,209 DALYs [95% Uncertainty interval (UI):13,413-83,777]; 576 deaths [95% UI: 279-1,168] were attributed to these infections. We estimate a combined median incidence of ZDs of 141,583 cases [95% UI: 33,912-250,924] in 2013. The highest burden was caused by non-typhoidal Salmonella and Echinococcus multilocularis, respectively 14,792 DALYs [95% UI: 3,966-41,532] and 11,915 DALYs [95% UI: 4,705-27,114] per year. The health impact of zoonoses in Kyrgyzstan is substantial, comparable to that of HIV. Community-based surveillance studies and hospital-based registration of all occurrences of zoonoses would increase the accuracy of the estimates.

Iterative updating of model error for Bayesian inversion

NASA Astrophysics Data System (ADS)

Calvetti, Daniela; Dunlop, Matthew; Somersalo, Erkki; Stuart, Andrew

2018-02-01

In computational inverse problems, it is common that a detailed and accurate forward model is approximated by a computationally less challenging substitute. The model reduction may be necessary to meet constraints in computing time when optimization algorithms are used to find a single estimate, or to speed up Markov chain Monte Carlo (MCMC) calculations in the Bayesian framework. The use of an approximate model introduces a discrepancy, or modeling error, that may have a detrimental effect on the solution of the ill-posed inverse problem, or it may severely distort the estimate of the posterior distribution. In the Bayesian paradigm, the modeling error can be considered as a random variable, and by using an estimate of the probability distribution of the unknown, one may estimate the probability distribution of the modeling error and incorporate it into the inversion. We introduce an algorithm which iterates this idea to update the distribution of the model error, leading to a sequence of posterior distributions that are demonstrated empirically to capture the underlying truth with increasing accuracy. Since the algorithm is not based on rejections, it requires only limited full model evaluations. We show analytically that, in the linear Gaussian case, the algorithm converges geometrically fast with respect to the number of iterations when the data is finite dimensional. For more general models, we introduce particle approximations of the iteratively generated sequence of distributions; we also prove that each element of the sequence converges in the large particle limit under a simplifying assumption. We show numerically that, as in the linear case, rapid convergence occurs with respect to the number of iterations. Additionally, we show through computed examples that point estimates obtained from this iterative algorithm are superior to those obtained by neglecting the model error.

On three dimensional object recognition and pose-determination: An abstraction based approach. Ph.D. Thesis - Michigan Univ. Final Report

NASA Technical Reports Server (NTRS)

Quek, Kok How Francis

1990-01-01

A method of computing reliable Gaussian and mean curvature sign-map descriptors from the polynomial approximation of surfaces was demonstrated. Such descriptors which are invariant under perspective variation are suitable for hypothesis generation. A means for determining the pose of constructed geometric forms whose algebraic surface descriptors are nonlinear in terms of their orienting parameters was developed. This was done by means of linear functions which are capable of approximating nonlinear forms and determining their parameters. It was shown that biquadratic surfaces are suitable companion linear forms for cylindrical approximation and parameter estimation. The estimates provided the initial parametric approximations necessary for a nonlinear regression stage to fine tune the estimates by fitting the actual nonlinear form to the data. A hypothesis-based split-merge algorithm for extraction and pose determination of cylinders and planes which merge smoothly into other surfaces was developed. It was shown that all split-merge algorithms are hypothesis-based. A finite-state algorithm for the extraction of the boundaries of run-length regions was developed. The computation takes advantage of the run list topology and boundary direction constraints implicit in the run-length encoding.

A new computerized ionosphere tomography model using the mapping function and an application to the study of seismic-ionosphere disturbance

NASA Astrophysics Data System (ADS)

Kong, Jian; Yao, Yibin; Liu, Lei; Zhai, Changzhi; Wang, Zemin

2016-08-01

A new algorithm for ionosphere tomography using the mapping function is proposed in this paper. First, the new solution splits the integration process into four layers along the observation ray, and then, the single-layer model (SLM) is applied to each integration part using a mapping function. Next, the model parameters are estimated layer by layer with the Kalman filtering method by introducing the scale factor (SF) γ to solve the ill-posed problem. Finally, the inversed images of different layers are combined into the final CIT image. We utilized simulated data from 23 IGS GPS stations around Europe to verify the estimation accuracy of the new algorithm; the results show that the new CIT model has better accuracy than the SLM in dense data areas and the CIT residuals are more closely grouped. The stability of the new algorithm is discussed by analyzing model accuracy under different error levels (the max errors are 5TECU, 10TECU, 15TECU, respectively). In addition, the key preset parameter, SFγ , which is given by the International Reference Ionosphere model (IRI2012). The experiment is designed to test the sensitivity of the new algorithm to SF variations. The results show that the IRI2012 is capable of providing initial SF values. Also in this paper, the seismic-ionosphere disturbance (SID) of the 2011 Japan earthquake is studied using the new CIT algorithm. Combined with the TEC time sequence of Sat.15, we find that the SID occurrence time and reaction area are highly related to the main shock time and epicenter. According to CIT images, there is a clear vertical electron density upward movement (from the 150-km layer to the 450-km layer) during this SID event; however, the peak value areas in the different layers were different, which means that the horizontal movement velocity is not consistent among the layers. The potential physical triggering mechanism is also discussed in this paper. Compared with the SLM, the RMS of the new CIT model is improved by 16.78%, while the CIT model could provide the three-dimensional variation in the ionosphere.

An evaluation of the efficiency of minnow traps for estimating the abundance of minnows in desert spring systems

USGS Publications Warehouse

Peterson, James T.; Scheerer, Paul D.; Clements, Shaun

2015-01-01

Desert springs are sensitive aquatic ecosystems that pose unique challenges to natural resource managers and researchers. Among the most important of these is the need to accurately quantify population parameters for resident fish, particularly when the species are of special conservation concern. We evaluated the efficiency of baited minnow traps for estimating the abundance of two at-risk species, Foskett Speckled Dace Rhinichthys osculus ssp. and Borax Lake Chub Gila boraxobius, in desert spring systems in southeastern Oregon. We evaluated alternative sample designs using simulation and found that capture–recapture designs with four capture occasions would maximize the accuracy of estimates and minimize fish handling. We implemented the design and estimated capture and recapture probabilities using the Huggins closed-capture estimator. Trap capture probabilities averaged 23% and 26% for Foskett Speckled Dace and Borax Lake Chub, respectively, but differed substantially among sample locations, through time, and nonlinearly with fish body size. Recapture probabilities for Foskett Speckled Dace were, on average, 1.6 times greater than (first) capture probabilities, suggesting “trap-happy” behavior. Comparison of population estimates from the Huggins model with the commonly used Lincoln–Petersen estimator indicated that the latter underestimated Foskett Speckled Dace and Borax Lake Chub population size by 48% and by 20%, respectively. These biases were due to variability in capture and recapture probabilities. Simulation of fish monitoring that included the range of capture and recapture probabilities observed indicated that variability in capture and recapture probabilities in time negatively affected the ability to detect annual decreases by up to 20% in fish population size. Failure to account for variability in capture and recapture probabilities can lead to poor quality data and study inferences. Therefore, we recommend that fishery researchers and managers employ sample designs and estimators that can account for this variability.

Accuracy Rates of Sex Estimation by Forensic Anthropologists through Comparison with DNA Typing Results in Forensic Casework.

PubMed

Thomas, Richard M; Parks, Connie L; Richard, Adam H

2016-09-01

A common task in forensic anthropology involves the estimation of the biological sex of a decedent by exploiting the sexual dimorphism between males and females. Estimation methods are often based on analysis of skeletal collections of known sex and most include a research-based accuracy rate. However, the accuracy rates of sex estimation methods in actual forensic casework have rarely been studied. This article uses sex determinations based on DNA results from 360 forensic cases to develop accuracy rates for sex estimations conducted by forensic anthropologists. The overall rate of correct sex estimation from these cases is 94.7% with increasing accuracy rates as more skeletal material is available for analysis and as the education level and certification of the examiner increases. Nine of 19 incorrect assessments resulted from cases in which one skeletal element was available, suggesting that the use of an "undetermined" result may be more appropriate for these cases. Published 2016. This article is a U.S. Government work and is in the public domain in the USA.

A Practical Torque Estimation Method for Interior Permanent Magnet Synchronous Machine in Electric Vehicles.

PubMed

Wu, Zhihong; Lu, Ke; Zhu, Yuan

2015-01-01

The torque output accuracy of the IPMSM in electric vehicles using a state of the art MTPA strategy highly depends on the accuracy of machine parameters, thus, a torque estimation method is necessary for the safety of the vehicle. In this paper, a torque estimation method based on flux estimator with a modified low pass filter is presented. Moreover, by taking into account the non-ideal characteristic of the inverter, the torque estimation accuracy is improved significantly. The effectiveness of the proposed method is demonstrated through MATLAB/Simulink simulation and experiment.

A Practical Torque Estimation Method for Interior Permanent Magnet Synchronous Machine in Electric Vehicles

PubMed Central

Zhu, Yuan

2015-01-01

The torque output accuracy of the IPMSM in electric vehicles using a state of the art MTPA strategy highly depends on the accuracy of machine parameters, thus, a torque estimation method is necessary for the safety of the vehicle. In this paper, a torque estimation method based on flux estimator with a modified low pass filter is presented. Moreover, by taking into account the non-ideal characteristic of the inverter, the torque estimation accuracy is improved significantly. The effectiveness of the proposed method is demonstrated through MATLAB/Simulink simulation and experiment. PMID:26114557

Estimation of dietary nutritional content using an online system with ability to assess the dieticians' accuracy.

PubMed

Aoki, Takeshi; Nakai, Shigeru; Yamauchi, Kazunobu

2006-01-01

We developed an online system for estimating dietary nutritional content. It also had the function of assessing the accuracy of the participating dieticians and ranking their performance. People who wished to have their meal estimated (i.e. clients) submitted images of their meal taken by digital camera to the server via the Internet, and dieticians estimated the nutritional content (i.e. calorie and protein content). The system assessed the accuracy of the dieticians and if it was satisfactory, the results were sent to the client. Clients received details of the calorie and protein content of their meals within 24 h by email. A total of 93 dieticians (71 students and 22 licensed practitioners) used the system. A two-way analysis of variance showed that there was a significant variation (P=0.004) among dieticians in their ability to estimate both calorie and protein content. There was a significant difference in values of both calorie (P=0.02) and protein (P<0.001) estimation accuracy between student dieticians and licensed dieticians. The estimation accuracy of the licensed nutritionists was 85% (SD 10) for calorie content and 78% (SD 17) for protein content.

GALA: group analysis leads to accuracy, a novel approach for solving the inverse problem in exploratory analysis of group MEG recordings

PubMed Central

Kozunov, Vladimir V.; Ossadtchi, Alexei

2015-01-01

Although MEG/EEG signals are highly variable between subjects, they allow characterizing systematic changes of cortical activity in both space and time. Traditionally a two-step procedure is used. The first step is a transition from sensor to source space by the means of solving an ill-posed inverse problem for each subject individually. The second is mapping of cortical regions consistently active across subjects. In practice the first step often leads to a set of active cortical regions whose location and timecourses display a great amount of interindividual variability hindering the subsequent group analysis. We propose Group Analysis Leads to Accuracy (GALA)—a solution that combines the two steps into one. GALA takes advantage of individual variations of cortical geometry and sensor locations. It exploits the ensuing variability in electromagnetic forward model as a source of additional information. We assume that for different subjects functionally identical cortical regions are located in close proximity and partially overlap and their timecourses are correlated. This relaxed similarity constraint on the inverse solution can be expressed within a probabilistic framework, allowing for an iterative algorithm solving the inverse problem jointly for all subjects. A systematic simulation study showed that GALA, as compared with the standard min-norm approach, improves accuracy of true activity recovery, when accuracy is assessed both in terms of spatial proximity of the estimated and true activations and correct specification of spatial extent of the activated regions. This improvement obtained without using any noise normalization techniques for both solutions, preserved for a wide range of between-subject variations in both spatial and temporal features of regional activation. The corresponding activation timecourses exhibit significantly higher similarity across subjects. Similar results were obtained for a real MEG dataset of face-specific evoked responses. PMID:25954141

Estimating ecological integrity in the interior Columbia River basin.

Treesearch

Thomas M. Quigley; Richard W. Haynes; Wendel J. Hann

2001-01-01

The adoption of ecosystem-based management strategies focuses attention on the need for broad scale estimates of ecological conditions; this poses two challenges for the science community: estimating broad scale ecosystem conditions from highly disparate data, often observed at different spatial scales, and interpreting these conditions relative to goals such as...

Data accuracy assessment using enterprise architecture

NASA Astrophysics Data System (ADS)

Närman, Per; Holm, Hannes; Johnson, Pontus; König, Johan; Chenine, Moustafa; Ekstedt, Mathias

2011-02-01

Errors in business processes result in poor data accuracy. This article proposes an architecture analysis method which utilises ArchiMate and the Probabilistic Relational Model formalism to model and analyse data accuracy. Since the resources available for architecture analysis are usually quite scarce, the method advocates interviews as the primary data collection technique. A case study demonstrates that the method yields correct data accuracy estimates and is more resource-efficient than a competing sampling-based data accuracy estimation method.

Robust and Accurate Image-Based Georeferencing Exploiting Relative Orientation Constraints

NASA Astrophysics Data System (ADS)

Cavegn, S.; Blaser, S.; Nebiker, S.; Haala, N.

2018-05-01

Urban environments with extended areas of poor GNSS coverage as well as indoor spaces that often rely on real-time SLAM algorithms for camera pose estimation require sophisticated georeferencing in order to fulfill our high requirements of a few centimeters for absolute 3D point measurement accuracies. Since we focus on image-based mobile mapping, we extended the structure-from-motion pipeline COLMAP with georeferencing capabilities by integrating exterior orientation parameters from direct sensor orientation or SLAM as well as ground control points into bundle adjustment. Furthermore, we exploit constraints for relative orientation parameters among all cameras in bundle adjustment, which leads to a significant robustness and accuracy increase especially by incorporating highly redundant multi-view image sequences. We evaluated our integrated georeferencing approach on two data sets, one captured outdoors by a vehicle-based multi-stereo mobile mapping system and the other captured indoors by a portable panoramic mobile mapping system. We obtained mean RMSE values for check point residuals between image-based georeferencing and tachymetry of 2 cm in an indoor area, and 3 cm in an urban environment where the measurement distances are a multiple compared to indoors. Moreover, in comparison to a solely image-based procedure, our integrated georeferencing approach showed a consistent accuracy increase by a factor of 2-3 at our outdoor test site. Due to pre-calibrated relative orientation parameters, images of all camera heads were oriented correctly in our challenging indoor environment. By performing self-calibration of relative orientation parameters among respective cameras of our vehicle-based mobile mapping system, remaining inaccuracies from suboptimal test field calibration were successfully compensated.

Predicting the affinity of Farnesoid X Receptor ligands through a hierarchical ranking protocol: a D3R Grand Challenge 2 case study

NASA Astrophysics Data System (ADS)

Réau, Manon; Langenfeld, Florent; Zagury, Jean-François; Montes, Matthieu

2018-01-01

The Drug Design Data Resource (D3R) Grand Challenges are blind contests organized to assess the state-of-the-art methods accuracy in predicting binding modes and relative binding free energies of experimentally validated ligands for a given target. The second stage of the D3R Grand Challenge 2 (GC2) was focused on ranking 102 compounds according to their predicted affinity for Farnesoid X Receptor. In this task, our workflow was ranked 5th out of the 77 submissions in the structure-based category. Our strategy consisted in (1) a combination of molecular docking using AutoDock 4.2 and manual edition of available structures for binding poses generation using SeeSAR, (2) the use of HYDE scoring for pose selection, and (3) a hierarchical ranking using HYDE and MM/GBSA. In this report, we detail our pose generation and ligands ranking protocols and provide guidelines to be used in a prospective computer aided drug design program.

Step Detection Robust against the Dynamics of Smartphones

PubMed Central

Lee, Hwan-hee; Choi, Suji; Lee, Myeong-jin

2015-01-01

A novel algorithm is proposed for robust step detection irrespective of step mode and device pose in smartphone usage environments. The dynamics of smartphones are decoupled into a peak-valley relationship with adaptive magnitude and temporal thresholds. For extracted peaks and valleys in the magnitude of acceleration, a step is defined as consisting of a peak and its adjacent valley. Adaptive magnitude thresholds consisting of step average and step deviation are applied to suppress pseudo peaks or valleys that mostly occur during the transition among step modes or device poses. Adaptive temporal thresholds are applied to time intervals between peaks or valleys to consider the time-varying pace of human walking or running for the correct selection of peaks or valleys. From the experimental results, it can be seen that the proposed step detection algorithm shows more than 98.6% average accuracy for any combination of step mode and device pose and outperforms state-of-the-art algorithms. PMID:26516857

Alternative evaluation metrics for risk adjustment methods.

PubMed

Park, Sungchul; Basu, Anirban

2018-06-01

Risk adjustment is instituted to counter risk selection by accurately equating payments with expected expenditures. Traditional risk-adjustment methods are designed to estimate accurate payments at the group level. However, this generates residual risks at the individual level, especially for high-expenditure individuals, thereby inducing health plans to avoid those with high residual risks. To identify an optimal risk-adjustment method, we perform a comprehensive comparison of prediction accuracies at the group level, at the tail distributions, and at the individual level across 19 estimators: 9 parametric regression, 7 machine learning, and 3 distributional estimators. Using the 2013-2014 MarketScan database, we find that no one estimator performs best in all prediction accuracies. Generally, machine learning and distribution-based estimators achieve higher group-level prediction accuracy than parametric regression estimators. However, parametric regression estimators show higher tail distribution prediction accuracy and individual-level prediction accuracy, especially at the tails of the distribution. This suggests that there is a trade-off in selecting an appropriate risk-adjustment method between estimating accurate payments at the group level and lower residual risks at the individual level. Our results indicate that an optimal method cannot be determined solely on the basis of statistical metrics but rather needs to account for simulating plans' risk selective behaviors. Copyright © 2018 John Wiley & Sons, Ltd.

Boundary conditions estimation on a road network using compressed sensing.

DOT National Transportation Integrated Search

2016-02-01

This report presents a new boundary condition estimation framework for transportation networks in which : the state is modeled by a first order scalar conservation law. Using an equivalent formulation based on a : Hamilton-Jacobi equation, we pose th...

Enhancement Strategies for Frame-To Uas Stereo Visual Odometry

NASA Astrophysics Data System (ADS)

Kersten, J.; Rodehorst, V.

2016-06-01

Autonomous navigation of indoor unmanned aircraft systems (UAS) requires accurate pose estimations usually obtained from indirect measurements. Navigation based on inertial measurement units (IMU) is known to be affected by high drift rates. The incorporation of cameras provides complementary information due to the different underlying measurement principle. The scale ambiguity problem for monocular cameras is avoided when a light-weight stereo camera setup is used. However, also frame-to-frame stereo visual odometry (VO) approaches are known to accumulate pose estimation errors over time. Several valuable real-time capable techniques for outlier detection and drift reduction in frame-to-frame VO, for example robust relative orientation estimation using random sample consensus (RANSAC) and bundle adjustment, are available. This study addresses the problem of choosing appropriate VO components. We propose a frame-to-frame stereo VO method based on carefully selected components and parameters. This method is evaluated regarding the impact and value of different outlier detection and drift-reduction strategies, for example keyframe selection and sparse bundle adjustment (SBA), using reference benchmark data as well as own real stereo data. The experimental results demonstrate that our VO method is able to estimate quite accurate trajectories. Feature bucketing and keyframe selection are simple but effective strategies which further improve the VO results. Furthermore, introducing the stereo baseline constraint in pose graph optimization (PGO) leads to significant improvements.

What do parents know about their children's comprehension of emotions? accuracy of parental estimates in a community sample of pre-schoolers.

PubMed

Kårstad, S B; Kvello, O; Wichstrøm, L; Berg-Nielsen, T S

2014-05-01

Parents' ability to correctly perceive their child's skills has implications for how the child develops. In some studies, parents have shown to overestimate their child's abilities in areas such as IQ, memory and language. Emotion Comprehension (EC) is a skill central to children's emotion regulation, initially learned from their parents. In this cross-sectional study we first tested children's EC and then asked parents to estimate the child's performance. Thus, a measure of accuracy between child performance and parents' estimates was obtained. Subsequently, we obtained information on child and parent factors that might predict parents' accuracy in estimating their child's EC. Child EC and parental accuracy of estimation was tested by studying a community sample of 882 4-year-olds who completed the Test of Emotion Comprehension (TEC). The parents were instructed to guess their children's responses on the TEC. Predictors of parental accuracy of estimation were child actual performance on the TEC, child language comprehension, observed parent-child interaction, the education level of the parent, and child mental health. Ninety-one per cent of the parents overestimated their children's EC. On average, parents estimated that their 4-year-old children would display the level of EC corresponding to a 7-year-old. Accuracy of parental estimation was predicted by child high performance on the TEC, child advanced language comprehension, and more optimal parent-child interaction. Parents' ability to estimate the level of their child's EC was characterized by a substantial overestimation. The more competent the child, and the more sensitive and structuring the parent was interacting with the child, the more accurate the parent was in the estimation of their child's EC. © 2013 John Wiley & Sons Ltd.

Segmentation of multiple heart cavities in 3-D transesophageal ultrasound images.

PubMed

Haak, Alexander; Vegas-Sánchez-Ferrero, Gonzalo; Mulder, Harriët W; Ren, Ben; Kirişli, Hortense A; Metz, Coert; van Burken, Gerard; van Stralen, Marijn; Pluim, Josien P W; van der Steen, Antonius F W; van Walsum, Theo; Bosch, Johannes G

2015-06-01

Three-dimensional transesophageal echocardiography (TEE) is an excellent modality for real-time visualization of the heart and monitoring of interventions. To improve the usability of 3-D TEE for intervention monitoring and catheter guidance, automated segmentation is desired. However, 3-D TEE segmentation is still a challenging task due to the complex anatomy with multiple cavities, the limited TEE field of view, and typical ultrasound artifacts. We propose to segment all cavities within the TEE view with a multi-cavity active shape model (ASM) in conjunction with a tissue/blood classification based on a gamma mixture model (GMM). 3-D TEE image data of twenty patients were acquired with a Philips X7-2t matrix TEE probe. Tissue probability maps were estimated by a two-class (blood/tissue) GMM. A statistical shape model containing the left ventricle, right ventricle, left atrium, right atrium, and aorta was derived from computed tomography angiography (CTA) segmentations by principal component analysis. ASMs of the whole heart and individual cavities were generated and consecutively fitted to tissue probability maps. First, an average whole-heart model was aligned with the 3-D TEE based on three manually indicated anatomical landmarks. Second, pose and shape of the whole-heart ASM were fitted by a weighted update scheme excluding parts outside of the image sector. Third, pose and shape of ASM for individual heart cavities were initialized by the previous whole heart ASM and updated in a regularized manner to fit the tissue probability maps. The ASM segmentations were validated against manual outlines by two observers and CTA derived segmentations. Dice coefficients and point-to-surface distances were used to determine segmentation accuracy. ASM segmentations were successful in 19 of 20 cases. The median Dice coefficient for all successful segmentations versus the average observer ranged from 90% to 71% compared with an inter-observer range of 95% to 84%. The agreement against the CTA segmentations was slightly lower with a median Dice coefficient between 85% and 57%. In this work, we successfully showed the accuracy and robustness of the proposed multi-cavity segmentation scheme. This is a promising development for intraoperative procedure guidance, e.g., in cardiac electrophysiology.

Pose-Invariant Face Recognition via RGB-D Images.

PubMed

Sang, Gaoli; Li, Jing; Zhao, Qijun

2016-01-01

Three-dimensional (3D) face models can intrinsically handle large pose face recognition problem. In this paper, we propose a novel pose-invariant face recognition method via RGB-D images. By employing depth, our method is able to handle self-occlusion and deformation, both of which are challenging problems in two-dimensional (2D) face recognition. Texture images in the gallery can be rendered to the same view as the probe via depth. Meanwhile, depth is also used for similarity measure via frontalization and symmetric filling. Finally, both texture and depth contribute to the final identity estimation. Experiments on Bosphorus, CurtinFaces, Eurecom, and Kiwi databases demonstrate that the additional depth information has improved the performance of face recognition with large pose variations and under even more challenging conditions.

Recalibration of the Klales et al. (2012) method of sexing the human innominate for Mexican populations.

PubMed

Gómez-Valdés, Jorge A; Menéndez Garmendia, Antinea; García-Barzola, Lizbeth; Sánchez-Mejorada, Gabriela; Karam, Carlos; Baraybar, José Pablo; Klales, Alexandra

2017-03-01

The aim of this study was to test the accuracy of the Klales et al. (2012) equation for sex estimation in contemporary Mexican population. Our investigation was carried out on a sample of 203 left innominates of identified adult skeletons from the UNAM-Collection and the Santa María Xigui Cemetery, in Central Mexico. The Klales' original equation produces a sex bias in sex estimation against males (86-92% accuracy versus 100% accuracy in females). Based on these results, the Klales et al. (2012) method was recalibrated for a new cutt-of-point for sex estimation in contemporary Mexican populations. The results show cross-validated classification accuracy rates as high as 100% after recalibrating the original logistic regression equation. Recalibration improved classification accuracy and eliminated sex bias. This new formula will improve sex estimation for Mexican contemporary populations. © 2017 Wiley Periodicals, Inc.

Improved accuracy and precision of tracer kinetic parameters by joint fitting to variable flip angle and dynamic contrast enhanced MRI data.

PubMed

Dickie, Ben R; Banerji, Anita; Kershaw, Lucy E; McPartlin, Andrew; Choudhury, Ananya; West, Catharine M; Rose, Chris J

2016-10-01

To improve the accuracy and precision of tracer kinetic model parameter estimates for use in dynamic contrast enhanced (DCE) MRI studies of solid tumors. Quantitative DCE-MRI requires an estimate of precontrast T1 , which is obtained prior to fitting a tracer kinetic model. As T1 mapping and tracer kinetic signal models are both a function of precontrast T1 it was hypothesized that its joint estimation would improve the accuracy and precision of both precontrast T1 and tracer kinetic model parameters. Accuracy and/or precision of two-compartment exchange model (2CXM) parameters were evaluated for standard and joint fitting methods in well-controlled synthetic data and for 36 bladder cancer patients. Methods were compared under a number of experimental conditions. In synthetic data, joint estimation led to statistically significant improvements in the accuracy of estimated parameters in 30 of 42 conditions (improvements between 1.8% and 49%). Reduced accuracy was observed in 7 of the remaining 12 conditions. Significant improvements in precision were observed in 35 of 42 conditions (between 4.7% and 50%). In clinical data, significant improvements in precision were observed in 18 of 21 conditions (between 4.6% and 38%). Accuracy and precision of DCE-MRI parameter estimates are improved when signal models are fit jointly rather than sequentially. Magn Reson Med 76:1270-1281, 2016. © 2015 Wiley Periodicals, Inc. © 2015 Wiley Periodicals, Inc.

Geometric Integration of Hybrid Correspondences for RGB-D Unidirectional Tracking

PubMed Central

Tang, Shengjun; Chen, Wu; Wang, Weixi; Li, Xiaoming; Li, Wenbin; Huang, Zhengdong; Hu, Han; Guo, Renzhong

2018-01-01

Traditionally, visual-based RGB-D SLAM systems only use correspondences with valid depth values for camera tracking, thus ignoring the regions without 3D information. Due to the strict limitation on measurement distance and view angle, such systems adopt only short-range constraints which may introduce larger drift errors during long-distance unidirectional tracking. In this paper, we propose a novel geometric integration method that makes use of both 2D and 3D correspondences for RGB-D tracking. Our method handles the problem by exploring visual features both when depth information is available and when it is unknown. The system comprises two parts: coarse pose tracking with 3D correspondences, and geometric integration with hybrid correspondences. First, the coarse pose tracking generates the initial camera pose using 3D correspondences with frame-by-frame registration. The initial camera poses are then used as inputs for the geometric integration model, along with 3D correspondences, 2D-3D correspondences and 2D correspondences identified from frame pairs. The initial 3D location of the correspondence is determined in two ways, from depth image and by using the initial poses to triangulate. The model improves the camera poses and decreases drift error during long-distance RGB-D tracking iteratively. Experiments were conducted using data sequences collected by commercial Structure Sensors. The results verify that the geometric integration of hybrid correspondences effectively decreases the drift error and improves mapping accuracy. Furthermore, the model enables a comparative and synergistic use of datasets, including both 2D and 3D features. PMID:29723974

Geometric Integration of Hybrid Correspondences for RGB-D Unidirectional Tracking.

PubMed

Tang, Shengjun; Chen, Wu; Wang, Weixi; Li, Xiaoming; Darwish, Walid; Li, Wenbin; Huang, Zhengdong; Hu, Han; Guo, Renzhong

2018-05-01

Traditionally, visual-based RGB-D SLAM systems only use correspondences with valid depth values for camera tracking, thus ignoring the regions without 3D information. Due to the strict limitation on measurement distance and view angle, such systems adopt only short-range constraints which may introduce larger drift errors during long-distance unidirectional tracking. In this paper, we propose a novel geometric integration method that makes use of both 2D and 3D correspondences for RGB-D tracking. Our method handles the problem by exploring visual features both when depth information is available and when it is unknown. The system comprises two parts: coarse pose tracking with 3D correspondences, and geometric integration with hybrid correspondences. First, the coarse pose tracking generates the initial camera pose using 3D correspondences with frame-by-frame registration. The initial camera poses are then used as inputs for the geometric integration model, along with 3D correspondences, 2D-3D correspondences and 2D correspondences identified from frame pairs. The initial 3D location of the correspondence is determined in two ways, from depth image and by using the initial poses to triangulate. The model improves the camera poses and decreases drift error during long-distance RGB-D tracking iteratively. Experiments were conducted using data sequences collected by commercial Structure Sensors. The results verify that the geometric integration of hybrid correspondences effectively decreases the drift error and improves mapping accuracy. Furthermore, the model enables a comparative and synergistic use of datasets, including both 2D and 3D features.

Accuracy of aging ducks in the U.S. Fish and Wildlife Service Waterfowl Parts Collection Survey

USGS Publications Warehouse

Pearse, Aaron T.; Johnson, Douglas H.; Richkus, Kenneth D.; Rohwer, Frank C.; Cox, Robert R.; Padding, Paul I.

2014-01-01

The U.S. Fish and Wildlife Service conducts an annual Waterfowl Parts Collection Survey to estimate composition of harvested waterfowl by species, sex, and age (i.e., juv or ad). The survey relies on interpretation of duck wings by a group of experienced biologists at annual meetings (hereafter, flyway wingbees). Our objectives were to estimate accuracy of age assignment at flyway wingbees and to explore how accuracy rates may influence bias of age composition estimates. We used banded mallards (Anas platyrhynchos; n = 791), wood ducks (Aix sponsa; n = 242), and blue-winged teal (Anas discors; n = 39) harvested and donated by hunters as our source of birds used in accuracy assessments. We sent wings of donated birds to wingbees after the 2002–2003 and 2003–2004 hunting seasons and compared species, sex, and age determinations made at wingbees with our assessments based on internal and external examination of birds and corresponding banding records. Determinations of species and sex of mallards, wood ducks, and blue-winged teal were accurate (>99%). Accuracy of aging adult mallards increased with harvest date, whereas accuracy of aging juvenile male wood ducks and juvenile blue-winged teal decreased with harvest date. Accuracy rates were highest (96% and 95%) for adult and juvenile mallards, moderate for adult and juvenile wood ducks (92% and 92%), and lowest for adult and juvenile blue-winged teal (84% and 82%). We used these estimates to calculate bias for all possible age compositions (0–100% proportion juv) and determined the range of age compositions estimated with acceptable levels of bias. Comparing these ranges with age compositions estimated from Parts Collection Surveys conducted from 1961 to 2008 revealed that mallard and wood duck age compositions were estimated with insignificant levels of bias in all national surveys. However, 69% of age compositions for blue-winged teal were estimated with an unacceptable level of bias. The low preliminary accuracy rates of aging blue-winged teal based on our limited sample suggest a more extensive accuracy assessment study may be considered for interpreting age compositions of this species.

Modified truncated randomized singular value decomposition (MTRSVD) algorithms for large scale discrete ill-posed problems with general-form regularization

NASA Astrophysics Data System (ADS)

Jia, Zhongxiao; Yang, Yanfei

2018-05-01

In this paper, we propose new randomization based algorithms for large scale linear discrete ill-posed problems with general-form regularization: subject to , where L is a regularization matrix. Our algorithms are inspired by the modified truncated singular value decomposition (MTSVD) method, which suits only for small to medium scale problems, and randomized SVD (RSVD) algorithms that generate good low rank approximations to A. We use rank-k truncated randomized SVD (TRSVD) approximations to A by truncating the rank- RSVD approximations to A, where q is an oversampling parameter. The resulting algorithms are called modified TRSVD (MTRSVD) methods. At every step, we use the LSQR algorithm to solve the resulting inner least squares problem, which is proved to become better conditioned as k increases so that LSQR converges faster. We present sharp bounds for the approximation accuracy of the RSVDs and TRSVDs for severely, moderately and mildly ill-posed problems, and substantially improve a known basic bound for TRSVD approximations. We prove how to choose the stopping tolerance for LSQR in order to guarantee that the computed and exact best regularized solutions have the same accuracy. Numerical experiments illustrate that the best regularized solutions by MTRSVD are as accurate as the ones by the truncated generalized singular value decomposition (TGSVD) algorithm, and at least as accurate as those by some existing truncated randomized generalized singular value decomposition (TRGSVD) algorithms. This work was supported in part by the National Science Foundation of China (Nos. 11771249 and 11371219).

Interrater Reliability Estimators Commonly Used in Scoring Language Assessments: A Monte Carlo Investigation of Estimator Accuracy

ERIC Educational Resources Information Center

Morgan, Grant B.; Zhu, Min; Johnson, Robert L.; Hodge, Kari J.

2014-01-01

Common estimators of interrater reliability include Pearson product-moment correlation coefficients, Spearman rank-order correlations, and the generalizability coefficient. The purpose of this study was to examine the accuracy of estimators of interrater reliability when varying the true reliability, number of scale categories, and number of…

Aquatic concentrations of chemical analytes compared to ecotoxicity estimates

EPA Science Inventory

We describe screening level estimates of potential aquatic toxicity posed by 227 chemical analytes that were measured in 25 ambient water samples collected as part of a joint USGS/USEPA drinking water plant study. Measured concentrations were compared to biological effect concent...

Evaluation of Fuel Oxygenate Degradation in the Vadose Zone

DTIC Science & Technology

2005-03-01

Goltz (Member) date AFIT/GES/ENV/05M-05 Abstract Groundwater contamination by petroleum products poses a potential human health...this experiment. The column porosity was estimated from work conducted by a contractor, Jason Lach. An estimate of the column soil porosity

Sparse Unorganized Point Cloud Based Relative Pose Estimation for Uncooperative Space Target.

PubMed

Yin, Fang; Chou, Wusheng; Wu, Yun; Yang, Guang; Xu, Song

2018-03-28

This paper proposes an autonomous algorithm to determine the relative pose between the chaser spacecraft and the uncooperative space target, which is essential in advanced space applications, e.g., on-orbit serving missions. The proposed method, named Congruent Tetrahedron Align (CTA) algorithm, uses the very sparse unorganized 3D point cloud acquired by a LIDAR sensor, and does not require any prior pose information. The core of the method is to determine the relative pose by looking for the congruent tetrahedron in scanning point cloud and model point cloud on the basis of its known model. The two-level index hash table is built for speeding up the search speed. In addition, the Iterative Closest Point (ICP) algorithm is used for pose tracking after CTA. In order to evaluate the method in arbitrary initial attitude, a simulated system is presented. Specifically, the performance of the proposed method to provide the initial pose needed for the tracking algorithm is demonstrated, as well as their robustness against noise. Finally, a field experiment is conducted and the results demonstrated the effectiveness of the proposed method.

Sparse Unorganized Point Cloud Based Relative Pose Estimation for Uncooperative Space Target

PubMed Central

Chou, Wusheng; Wu, Yun; Yang, Guang; Xu, Song

2018-01-01

This paper proposes an autonomous algorithm to determine the relative pose between the chaser spacecraft and the uncooperative space target, which is essential in advanced space applications, e.g., on-orbit serving missions. The proposed method, named Congruent Tetrahedron Align (CTA) algorithm, uses the very sparse unorganized 3D point cloud acquired by a LIDAR sensor, and does not require any prior pose information. The core of the method is to determine the relative pose by looking for the congruent tetrahedron in scanning point cloud and model point cloud on the basis of its known model. The two-level index hash table is built for speeding up the search speed. In addition, the Iterative Closest Point (ICP) algorithm is used for pose tracking after CTA. In order to evaluate the method in arbitrary initial attitude, a simulated system is presented. Specifically, the performance of the proposed method to provide the initial pose needed for the tracking algorithm is demonstrated, as well as their robustness against noise. Finally, a field experiment is conducted and the results demonstrated the effectiveness of the proposed method. PMID:29597323

Estimating discharge in rivers using remotely sensed hydraulic information

USGS Publications Warehouse

Bjerklie, D.M.; Moller, D.; Smith, L.C.; Dingman, S.L.

2005-01-01

A methodology to estimate in-bank river discharge exclusively from remotely sensed hydraulic data is developed. Water-surface width and maximum channel width measured from 26 aerial and digital orthophotos of 17 single channel rivers and 41 SAR images of three braided rivers were coupled with channel slope data obtained from topographic maps to estimate the discharge. The standard error of the discharge estimates were within a factor of 1.5-2 (50-100%) of the observed, with the mean estimate accuracy within 10%. This level of accuracy was achieved using calibration functions developed from observed discharge. The calibration functions use reach specific geomorphic variables, the maximum channel width and the channel slope, to predict a correction factor. The calibration functions are related to channel type. Surface velocity and width information, obtained from a single C-band image obtained by the Jet Propulsion Laboratory's (JPL's) AirSAR was also used to estimate discharge for a reach of the Missouri River. Without using a calibration function, the estimate accuracy was +72% of the observed discharge, which is within the expected range of uncertainty for the method. However, using the observed velocity to calibrate the initial estimate improved the estimate accuracy to within +10% of the observed. Remotely sensed discharge estimates with accuracies reported in this paper could be useful for regional or continental scale hydrologic studies, or in regions where ground-based data is lacking. ?? 2004 Elsevier B.V. All rights reserved.

Linear estimation of coherent structures in wall-bounded turbulence at Re τ = 2000

NASA Astrophysics Data System (ADS)

Oehler, S.; Garcia–Gutiérrez, A.; Illingworth, S.

2018-04-01

The estimation problem for a fully-developed turbulent channel flow at Re τ = 2000 is considered. Specifically, a Kalman filter is designed using a Navier–Stokes-based linear model. The estimator uses time-resolved velocity measurements at a single wall-normal location (provided by DNS) to estimate the time-resolved velocity field at other wall-normal locations. The estimator is able to reproduce the largest scales with reasonable accuracy for a range of wavenumber pairs, measurement locations and estimation locations. Importantly, the linear model is also able to predict with reasonable accuracy the performance that will be achieved by the estimator when applied to the DNS. A more practical estimation scheme using the shear stress at the wall as measurement is also considered. The estimator is still able to estimate the largest scales with reasonable accuracy, although the estimator’s performance is reduced.

Art critic: Multisignal vision and speech interaction system in a gaming context.

PubMed

Reale, Michael J; Liu, Peng; Yin, Lijun; Canavan, Shaun

2013-12-01

True immersion of a player within a game can only occur when the world simulated looks and behaves as close to reality as possible. This implies that the game must correctly read and understand, among other things, the player's focus, attitude toward the objects/persons in focus, gestures, and speech. In this paper, we proposed a novel system that integrates eye gaze estimation, head pose estimation, facial expression recognition, speech recognition, and text-to-speech components for use in real-time games. Both the eye gaze and head pose components utilize underlying 3-D models, and our novel head pose estimation algorithm uniquely combines scene flow with a generic head model. The facial expression recognition module uses the local binary patterns with three orthogonal planes approach on the 2-D shape index domain rather than the pixel domain, resulting in improved classification. Our system has also been extended to use a pan-tilt-zoom camera driven by the Kinect, allowing us to track a moving player. A test game, Art Critic, is also presented, which not only demonstrates the utility of our system but also provides a template for player/non-player character (NPC) interaction in a gaming context. The player alters his/her view of the 3-D world using head pose, looks at paintings/NPCs using eye gaze, and makes an evaluation based on the player's expression and speech. The NPC artist will respond with facial expression and synthetic speech based on its personality. Both qualitative and quantitative evaluations of the system are performed to illustrate the system's effectiveness.

Further development of the attitude difference method for estimating deflections of the vertical in real time

NASA Astrophysics Data System (ADS)

Zhu, Jing; Zhou, Zebo; Li, Yong; Rizos, Chris; Wang, Xingshu

2016-07-01

An improvement of the attitude difference method (ADM) to estimate deflections of the vertical (DOV) in real time is described in this paper. The ADM without offline processing estimates the DOV with a limited accuracy due to the response delay. The proposed model selection-based self-adaptive delay feedback (SDF) method takes the results of the ADM as the a priori information, then uses fitting and extrapolation to estimate the DOV at the current epoch. The active region selection factor F th is used to take full advantage of the Earth model EGM2008 and the SDF with different DOV exhibitions. The factors which affect the DOV estimation accuracy are analyzed and modeled. An external observation which is specified by the velocity difference between the global navigation satellite system (GNSS) and the inertial navigation system (INS) with DOV compensated is used to select the optimal model. The response delay induced by the weak observability of an integrated INS/GNSS to the violent DOV disturbances in the ADM is compensated. The DOV estimation accuracy of the SDF method is improved by approximately 40% and 50% respectively compared to that of the EGM2008 and the ADM. With an increase in GNSS accuracy, the DOV estimation accuracy could improve further.

How to select electrical end-use meters for proper measurement of DSM impact estimates

DOE Office of Scientific and Technical Information (OSTI.GOV)

Bowman, M.

1994-12-31

Does metering actually provide higher accuracy impact estimates? The answer is sometimes yes, sometimes no. It depends on how the metered data will be used. DSM impact estimates can be achieved in a variety of ways, including engineering algorithms, modeling and statistical methods. Yet for all of these methods, impacts can be calculated as the difference in pre- and post-installation annual load shapes. Increasingly, end-use metering is being used to either adjust and calibrate a particular estimate method, or measure load shapes directly. It is therefore not surprising that metering has become synonymous with higher accuracy impact estimates. If meteredmore » data is used as a component in an estimating methodology, its relative contribution to accuracy can be analyzed through propagation of error or {open_quotes}POE{close_quotes} analysis. POE analysis is a framework which can be used to evaluate different metering options and their relative effects on cost and accuracy. If metered data is used to directly measure pre- and post-installation load shapes to calculate energy and demand impacts, then the accuracy of the whole metering process directly affects the accuracy of the impact estimate. This paper is devoted to the latter case, where the decision has been made to collect high-accuracy metered data of electrical energy and demand. The underlying assumption is that all meters can yield good results if applied within the scope of their limitations. The objective is to know the application, understand what meters are actually doing to measure and record power, and decide with confidence when a sophisticated meter is required, and when a less expensive type will suffice.« less

Generation of a high-accuracy regional DEM based on ALOS/PRISM imagery of East Antarctica

NASA Astrophysics Data System (ADS)

Shiramizu, Kaoru; Doi, Koichiro; Aoyama, Yuichi

2017-12-01

A digital elevation model (DEM) is used to estimate ice-flow velocities for an ice sheet and glaciers via Differential Interferometric Synthetic Aperture Radar (DInSAR) processing. The accuracy of DInSAR-derived displacement estimates depends upon the accuracy of the DEM. Therefore, we used stereo optical images, obtained with a panchromatic remote-sensing instrument for stereo mapping (PRISM) sensor mounted onboard the Advanced Land Observing Satellite (ALOS), to produce a new DEM ("PRISM-DEM") of part of the coastal region of Lützow-Holm Bay in Dronning Maud Land, East Antarctica. We verified the accuracy of the PRISM-DEM by comparing ellipsoidal heights with those of existing DEMs and values obtained by satellite laser altimetry (ICESat/GLAS) and Global Navigation Satellite System surveying. The accuracy of the PRISM-DEM is estimated to be 2.80 m over ice sheet, 4.86 m over individual glaciers, and 6.63 m over rock outcrops. By comparison, the estimated accuracy of the ASTER-GDEM, widely used in polar regions, is 33.45 m over ice sheet, 14.61 m over glaciers, and 19.95 m over rock outcrops. For displacement measurements made along the radar line-of-sight by DInSAR, in conjunction with ALOS/PALSAR data, the accuracy of the PRISM-DEM and ASTER-GDEM correspond to estimation errors of <6.3 mm and <31.8 mm, respectively.

Accurate 3D kinematic measurement of temporomandibular joint using X-ray fluoroscopic images

NASA Astrophysics Data System (ADS)

Yamazaki, Takaharu; Matsumoto, Akiko; Sugamoto, Kazuomi; Matsumoto, Ken; Kakimoto, Naoya; Yura, Yoshiaki

2014-04-01

Accurate measurement and analysis of 3D kinematics of temporomandibular joint (TMJ) is very important for assisting clinical diagnosis and treatment of prosthodontics and orthodontics, and oral surgery. This study presents a new 3D kinematic measurement technique of the TMJ using X-ray fluoroscopic images, which can easily obtain the TMJ kinematic data in natural motion. In vivo kinematics of the TMJ (maxilla and mandibular bone) is determined using a feature-based 2D/3D registration, which uses beads silhouette on fluoroscopic images and 3D surface bone models with beads. The 3D surface models of maxilla and mandibular bone with beads were created from CT scans data of the subject using the mouthpiece with the seven strategically placed beads. In order to validate the accuracy of pose estimation for the maxilla and mandibular bone, computer simulation test was performed using five patterns of synthetic tantalum beads silhouette images. In the clinical applications, dynamic movement during jaw opening and closing was conducted, and the relative pose of the mandibular bone with respect to the maxilla bone was determined. The results of computer simulation test showed that the root mean square errors were sufficiently smaller than 1.0 mm and 1.0 degree. In the results of clinical application, during jaw opening from 0.0 to 36.8 degree of rotation, mandibular condyle exhibited 19.8 mm of anterior sliding relative to maxillary articular fossa, and these measurement values were clinically similar to the previous reports. Consequently, present technique was thought to be suitable for the 3D TMJ kinematic analysis.

In vitro quantification of the performance of model-based mono-planar and bi-planar fluoroscopy for 3D joint kinematics estimation.

PubMed

Tersi, Luca; Barré, Arnaud; Fantozzi, Silvia; Stagni, Rita

2013-03-01

Model-based mono-planar and bi-planar 3D fluoroscopy methods can quantify intact joints kinematics with performance/cost trade-off. The aim of this study was to compare the performances of mono- and bi-planar setups to a marker-based gold-standard, during dynamic phantom knee acquisitions. Absolute pose errors for in-plane parameters were lower than 0.6 mm or 0.6° for both mono- and bi-planar setups. Mono-planar setups resulted critical in quantifying the out-of-plane translation (error < 6.5 mm), and bi-planar in quantifying the rotation along bone longitudinal axis (error < 1.3°). These errors propagated to joint angles and translations differently depending on the alignment of the anatomical axes and the fluoroscopic reference frames. Internal-external rotation was the least accurate angle both with mono- (error < 4.4°) and bi-planar (error < 1.7°) setups, due to bone longitudinal symmetries. Results highlighted that accuracy for mono-planar in-plane pose parameters is comparable to bi-planar, but with halved computational costs, halved segmentation time and halved ionizing radiation dose. Bi-planar analysis better compensated for the out-of-plane uncertainty that is differently propagated to relative kinematics depending on the setup. To take its full benefits, the motion task to be investigated should be designed to maintain the joint inside the visible volume introducing constraints with respect to mono-planar analysis.

Low-Cost 3-D Flow Estimation of Blood With Clutter.

PubMed

Wei, Siyuan; Yang, Ming; Zhou, Jian; Sampson, Richard; Kripfgans, Oliver D; Fowlkes, J Brian; Wenisch, Thomas F; Chakrabarti, Chaitali

2017-05-01

Volumetric flow rate estimation is an important ultrasound medical imaging modality that is used for diagnosing cardiovascular diseases. Flow rates are obtained by integrating velocity estimates over a cross-sectional plane. Speckle tracking is a promising approach that overcomes the angle dependency of traditional Doppler methods, but suffers from poor lateral resolution. Recent work improves lateral velocity estimation accuracy by reconstructing a synthetic lateral phase (SLP) signal. However, the estimation accuracy of such approaches is compromised by the presence of clutter. Eigen-based clutter filtering has been shown to be effective in removing the clutter signal; but it is computationally expensive, precluding its use at high volume rates. In this paper, we propose low-complexity schemes for both velocity estimation and clutter filtering. We use a two-tiered motion estimation scheme to combine the low complexity sum-of-absolute-difference and SLP methods to achieve subpixel lateral accuracy. We reduce the complexity of eigen-based clutter filtering by processing in subgroups and replacing singular value decomposition with less compute-intensive power iteration and subspace iteration methods. Finally, to improve flow rate estimation accuracy, we use kernel power weighting when integrating the velocity estimates. We evaluate our method for fast- and slow-moving clutter for beam-to-flow angles of 90° and 60° using Field II simulations, demonstrating high estimation accuracy across scenarios. For instance, for a beam-to-flow angle of 90° and fast-moving clutter, our estimation method provides a bias of -8.8% and standard deviation of 3.1% relative to the actual flow rate.

Methodology for an occupational risk assessment: an evaluation of four processes for the fabrication of photovoltaic cells.

PubMed

Ungers, L J; Moskowitz, P D; Owens, T W; Harmon, A D; Briggs, T M

1982-02-01

Determining occupational health and safety risks posed by emerging technologies is difficult because of limited statistics. Nevertheless, estimates of such risks must be constructed to permit comparison of various technologies to identify the most attractive processes. One way to estimate risks is to use statistics on related industries. Based on process labor requirements and associated occupational health data, risks to workers and to society posed by an emerging technology can be calculated. Using data from the California semiconductor industry, this study applies a five-step occupational risk assessment procedure to four processes for the fabrication of photovoltaic cells. The validity of the occupational risk assessment method is discussed.

Inferring invasive species abundance using removal data from management actions.

PubMed

Davis, Amy J; Hooten, Mevin B; Miller, Ryan S; Farnsworth, Matthew L; Lewis, Jesse; Moxcey, Michael; Pepin, Kim M

2016-10-01

Evaluation of the progress of management programs for invasive species is crucial for demonstrating impacts to stakeholders and strategic planning of resource allocation. Estimates of abundance before and after management activities can serve as a useful metric of population management programs. However, many methods of estimating population size are too labor intensive and costly to implement, posing restrictive levels of burden on operational programs. Removal models are a reliable method for estimating abundance before and after management using data from the removal activities exclusively, thus requiring no work in addition to management. We developed a Bayesian hierarchical model to estimate abundance from removal data accounting for varying levels of effort, and used simulations to assess the conditions under which reliable population estimates are obtained. We applied this model to estimate site-specific abundance of an invasive species, feral swine (Sus scrofa), using removal data from aerial gunning in 59 site/time-frame combinations (480-19,600 acres) throughout Oklahoma and Texas, USA. Simulations showed that abundance estimates were generally accurate when effective removal rates (removal rate accounting for total effort) were above 0.40. However, when abundances were small (<50) the effective removal rate needed to accurately estimates abundances was considerably higher (0.70). Based on our post-validation method, 78% of our site/time frame estimates were accurate. To use this modeling framework it is important to have multiple removals (more than three) within a time frame during which demographic changes are minimized (i.e., a closed population; ≤3 months for feral swine). Our results show that the probability of accurately estimating abundance from this model improves with increased sampling effort (8+ flight hours across the 3-month window is best) and increased removal rate. Based on the inverse relationship between inaccurate abundances and inaccurate removal rates, we suggest auxiliary information that could be collected and included in the model as covariates (e.g., habitat effects, differences between pilots) to improve accuracy of removal rates and hence abundance estimates. © 2016 by the Ecological Society of America.

Effects of social organization, trap arrangement and density, sampling scale, and population density on bias in population size estimation using some common mark-recapture estimators.

PubMed

Gupta, Manan; Joshi, Amitabh; Vidya, T N C

2017-01-01

Mark-recapture estimators are commonly used for population size estimation, and typically yield unbiased estimates for most solitary species with low to moderate home range sizes. However, these methods assume independence of captures among individuals, an assumption that is clearly violated in social species that show fission-fusion dynamics, such as the Asian elephant. In the specific case of Asian elephants, doubts have been raised about the accuracy of population size estimates. More importantly, the potential problem for the use of mark-recapture methods posed by social organization in general has not been systematically addressed. We developed an individual-based simulation framework to systematically examine the potential effects of type of social organization, as well as other factors such as trap density and arrangement, spatial scale of sampling, and population density, on bias in population sizes estimated by POPAN, Robust Design, and Robust Design with detection heterogeneity. In the present study, we ran simulations with biological, demographic and ecological parameters relevant to Asian elephant populations, but the simulation framework is easily extended to address questions relevant to other social species. We collected capture history data from the simulations, and used those data to test for bias in population size estimation. Social organization significantly affected bias in most analyses, but the effect sizes were variable, depending on other factors. Social organization tended to introduce large bias when trap arrangement was uniform and sampling effort was low. POPAN clearly outperformed the two Robust Design models we tested, yielding close to zero bias if traps were arranged at random in the study area, and when population density and trap density were not too low. Social organization did not have a major effect on bias for these parameter combinations at which POPAN gave more or less unbiased population size estimates. Therefore, the effect of social organization on bias in population estimation could be removed by using POPAN with specific parameter combinations, to obtain population size estimates in a social species.

Effects of social organization, trap arrangement and density, sampling scale, and population density on bias in population size estimation using some common mark-recapture estimators

PubMed Central

Joshi, Amitabh; Vidya, T. N. C.

2017-01-01

Mark-recapture estimators are commonly used for population size estimation, and typically yield unbiased estimates for most solitary species with low to moderate home range sizes. However, these methods assume independence of captures among individuals, an assumption that is clearly violated in social species that show fission-fusion dynamics, such as the Asian elephant. In the specific case of Asian elephants, doubts have been raised about the accuracy of population size estimates. More importantly, the potential problem for the use of mark-recapture methods posed by social organization in general has not been systematically addressed. We developed an individual-based simulation framework to systematically examine the potential effects of type of social organization, as well as other factors such as trap density and arrangement, spatial scale of sampling, and population density, on bias in population sizes estimated by POPAN, Robust Design, and Robust Design with detection heterogeneity. In the present study, we ran simulations with biological, demographic and ecological parameters relevant to Asian elephant populations, but the simulation framework is easily extended to address questions relevant to other social species. We collected capture history data from the simulations, and used those data to test for bias in population size estimation. Social organization significantly affected bias in most analyses, but the effect sizes were variable, depending on other factors. Social organization tended to introduce large bias when trap arrangement was uniform and sampling effort was low. POPAN clearly outperformed the two Robust Design models we tested, yielding close to zero bias if traps were arranged at random in the study area, and when population density and trap density were not too low. Social organization did not have a major effect on bias for these parameter combinations at which POPAN gave more or less unbiased population size estimates. Therefore, the effect of social organization on bias in population estimation could be removed by using POPAN with specific parameter combinations, to obtain population size estimates in a social species. PMID:28306735

Modeling human perception and estimation of kinematic responses during aircraft landing

NASA Technical Reports Server (NTRS)

Schmidt, David K.; Silk, Anthony B.

1988-01-01

The thrust of this research is to determine estimation accuracy of aircraft responses based on observed cues. By developing the geometric relationships between the outside visual scene and the kinematics during landing, visual and kinesthetic cues available to the pilot were modeled. Both fovial and peripheral vision was examined. The objective was to first determine estimation accuracy in a variety of flight conditions, and second to ascertain which parameters are most important and lead to the best achievable accuracy in estimating the actual vehicle response. It was found that altitude estimation was very sensitive to the FOV. For this model the motion cue of perceived vertical acceleration was shown to be less important than the visual cues. The inclusion of runway geometry in the visual scene increased estimation accuracy in most cases. Finally, it was shown that for this model if the pilot has an incorrect internal model of the system kinematics the choice of observations thought to be 'optimal' may in fact be suboptimal.

The effect of concurrent hand movement on estimated time to contact in a prediction motion task.

PubMed

Zheng, Ran; Maraj, Brian K V

2018-04-27

In many activities, we need to predict the arrival of an occluded object. This action is called prediction motion or motion extrapolation. Previous researchers have found that both eye tracking and the internal clocking model are involved in the prediction motion task. Additionally, it is reported that concurrent hand movement facilitates the eye tracking of an externally generated target in a tracking task, even if the target is occluded. The present study examined the effect of concurrent hand movement on the estimated time to contact in a prediction motion task. We found different (accurate/inaccurate) concurrent hand movements had the opposite effect on the eye tracking accuracy and estimated TTC in the prediction motion task. That is, the accurate concurrent hand tracking enhanced eye tracking accuracy and had the trend to increase the precision of estimated TTC, but the inaccurate concurrent hand tracking decreased eye tracking accuracy and disrupted estimated TTC. However, eye tracking accuracy does not determine the precision of estimated TTC.

Estimation of suspended-sediment rating curves and mean suspended-sediment loads

USGS Publications Warehouse

Crawford, Charles G.

1991-01-01

A simulation study was done to evaluate: (1) the accuracy and precision of parameter estimates for the bias-corrected, transformed-linear and non-linear models obtained by the method of least squares; (2) the accuracy of mean suspended-sediment loads calculated by the flow-duration, rating-curve method using model parameters obtained by the alternative methods. Parameter estimates obtained by least squares for the bias-corrected, transformed-linear model were considerably more precise than those obtained for the non-linear or weighted non-linear model. The accuracy of parameter estimates obtained for the biascorrected, transformed-linear and weighted non-linear model was similar and was much greater than the accuracy obtained by non-linear least squares. The improved parameter estimates obtained by the biascorrected, transformed-linear or weighted non-linear model yield estimates of mean suspended-sediment load calculated by the flow-duration, rating-curve method that are more accurate and precise than those obtained for the non-linear model.

Estimating Classification Accuracy for Complex Decision Rules Based on Multiple Scores

ERIC Educational Resources Information Center

Douglas, Karen M.; Mislevy, Robert J.

2010-01-01

Important decisions about students are made by combining multiple measures using complex decision rules. Although methods for characterizing the accuracy of decisions based on a single measure have been suggested by numerous researchers, such methods are not useful for estimating the accuracy of decisions based on multiple measures. This study…

New Data from EPA's Exposure Forecasting (ExpoCast) Project (ISES meeting)

EPA Science Inventory

The health risks posed by the chemicals in our environment depends on both chemical hazard and exposure. However, relatively few chemicals have estimates of exposure intake, limiting risk estimations for thousands of chemicals. The U.S. EPA Exposure Forecasting (ExpoCast) projec...

Accuracy of maximum likelihood and least-squares estimates in the lidar slope method with noisy data.

PubMed

Eberhard, Wynn L

2017-04-01

The maximum likelihood estimator (MLE) is derived for retrieving the extinction coefficient and zero-range intercept in the lidar slope method in the presence of random and independent Gaussian noise. Least-squares fitting, weighted by the inverse of the noise variance, is equivalent to the MLE. Monte Carlo simulations demonstrate that two traditional least-squares fitting schemes, which use different weights, are less accurate. Alternative fitting schemes that have some positive attributes are introduced and evaluated. The principal factors governing accuracy of all these schemes are elucidated. Applying these schemes to data with Poisson rather than Gaussian noise alters accuracy little, even when the signal-to-noise ratio is low. Methods to estimate optimum weighting factors in actual data are presented. Even when the weighting estimates are coarse, retrieval accuracy declines only modestly. Mathematical tools are described for predicting retrieval accuracy. Least-squares fitting with inverse variance weighting has optimum accuracy for retrieval of parameters from single-wavelength lidar measurements when noise, errors, and uncertainties are Gaussian distributed, or close to optimum when only approximately Gaussian.

The Impact of Learning Curve Model Selection and Criteria for Cost Estimation Accuracy in the DoD

DTIC Science & Technology

2016-04-30

Estimation Accuracy in the DoD Candice Honious, Student , Air Force Institute of Technology Brandon Johnson, Student , Air Force Institute of Technology...póåÉêÖó=Ñçê=fåÑçêãÉÇ=`Ü~åÖÉ= - 453 - Panel 21. Methods for Improving Cost Estimates for Defense Acquisition Projects Thursday, May 5, 2016 3:30 p.m...Curve Model Selection and Criteria for Cost Estimation Accuracy in the DoD Candice Honious, Student , Air Force Institute of Technology Brandon Johnson

Real-Time Biologically Inspired Action Recognition from Key Poses Using a Neuromorphic Architecture.

PubMed

Layher, Georg; Brosch, Tobias; Neumann, Heiko

2017-01-01

Intelligent agents, such as robots, have to serve a multitude of autonomous functions. Examples are, e.g., collision avoidance, navigation and route planning, active sensing of its environment, or the interaction and non-verbal communication with people in the extended reach space. Here, we focus on the recognition of the action of a human agent based on a biologically inspired visual architecture of analyzing articulated movements. The proposed processing architecture builds upon coarsely segregated streams of sensory processing along different pathways which separately process form and motion information (Layher et al., 2014). Action recognition is performed in an event-based scheme by identifying representations of characteristic pose configurations (key poses) in an image sequence. In line with perceptual studies, key poses are selected unsupervised utilizing a feature-driven criterion which combines extrema in the motion energy with the horizontal and the vertical extendedness of a body shape. Per class representations of key pose frames are learned using a deep convolutional neural network consisting of 15 convolutional layers. The network is trained using the energy-efficient deep neuromorphic networks ( Eedn ) framework (Esser et al., 2016), which realizes the mapping of the trained synaptic weights onto the IBM Neurosynaptic System platform (Merolla et al., 2014). After the mapping, the trained network achieves real-time capabilities for processing input streams and classify input images at about 1,000 frames per second while the computational stages only consume about 70 mW of energy (without spike transduction). Particularly regarding mobile robotic systems, a low energy profile might be crucial in a variety of application scenarios. Cross-validation results are reported for two different datasets and compared to state-of-the-art action recognition approaches. The results demonstrate, that (I) the presented approach is on par with other key pose based methods described in the literature, which select key pose frames by optimizing classification accuracy, (II) compared to the training on the full set of frames, representations trained on key pose frames result in a higher confidence in class assignments, and (III) key pose representations show promising generalization capabilities in a cross-dataset evaluation.

Real-Time Biologically Inspired Action Recognition from Key Poses Using a Neuromorphic Architecture

PubMed Central

Layher, Georg; Brosch, Tobias; Neumann, Heiko

2017-01-01

Intelligent agents, such as robots, have to serve a multitude of autonomous functions. Examples are, e.g., collision avoidance, navigation and route planning, active sensing of its environment, or the interaction and non-verbal communication with people in the extended reach space. Here, we focus on the recognition of the action of a human agent based on a biologically inspired visual architecture of analyzing articulated movements. The proposed processing architecture builds upon coarsely segregated streams of sensory processing along different pathways which separately process form and motion information (Layher et al., 2014). Action recognition is performed in an event-based scheme by identifying representations of characteristic pose configurations (key poses) in an image sequence. In line with perceptual studies, key poses are selected unsupervised utilizing a feature-driven criterion which combines extrema in the motion energy with the horizontal and the vertical extendedness of a body shape. Per class representations of key pose frames are learned using a deep convolutional neural network consisting of 15 convolutional layers. The network is trained using the energy-efficient deep neuromorphic networks (Eedn) framework (Esser et al., 2016), which realizes the mapping of the trained synaptic weights onto the IBM Neurosynaptic System platform (Merolla et al., 2014). After the mapping, the trained network achieves real-time capabilities for processing input streams and classify input images at about 1,000 frames per second while the computational stages only consume about 70 mW of energy (without spike transduction). Particularly regarding mobile robotic systems, a low energy profile might be crucial in a variety of application scenarios. Cross-validation results are reported for two different datasets and compared to state-of-the-art action recognition approaches. The results demonstrate, that (I) the presented approach is on par with other key pose based methods described in the literature, which select key pose frames by optimizing classification accuracy, (II) compared to the training on the full set of frames, representations trained on key pose frames result in a higher confidence in class assignments, and (III) key pose representations show promising generalization capabilities in a cross-dataset evaluation. PMID:28381998

Comparison of different methods for gender estimation from face image of various poses

NASA Astrophysics Data System (ADS)

Ishii, Yohei; Hongo, Hitoshi; Niwa, Yoshinori; Yamamoto, Kazuhiko

2003-04-01

Recently, gender estimation from face images has been studied for frontal facial images. However, it is difficult to obtain such facial images constantly in the case of application systems for security, surveillance and marketing research. In order to build such systems, a method is required to estimate gender from the image of various facial poses. In this paper, three different classifiers are compared in appearance-based gender estimation, which use four directional features (FDF). The classifiers are linear discriminant analysis (LDA), Support Vector Machines (SVMs) and Sparse Network of Winnows (SNoW). Face images used for experiments were obtained from 35 viewpoints. The direction of viewpoints varied +/-45 degrees horizontally, +/-30 degrees vertically at 15 degree intervals respectively. Although LDA showed the best performance for frontal facial images, SVM with Gaussian kernel was found the best performance (86.0%) for the facial images of 35 viewpoints. It is considered that SVM with Gaussian kernel is robust to changes in viewpoint when estimating gender from these results. Furthermore, the estimation rate was quite close to the average estimation rate at 35 viewpoints respectively. It is supposed that the methods are reasonable to estimate gender within the range of experimented viewpoints by learning face images from multiple directions by one class.

Combining facial dynamics with appearance for age estimation.

PubMed

Dibeklioglu, Hamdi; Alnajar, Fares; Ali Salah, Albert; Gevers, Theo

2015-06-01

Estimating the age of a human from the captured images of his/her face is a challenging problem. In general, the existing approaches to this problem use appearance features only. In this paper, we show that in addition to appearance information, facial dynamics can be leveraged in age estimation. We propose a method to extract and use dynamic features for age estimation, using a person's smile. Our approach is tested on a large, gender-balanced database with 400 subjects, with an age range between 8 and 76. In addition, we introduce a new database on posed disgust expressions with 324 subjects in the same age range, and evaluate the reliability of the proposed approach when used with another expression. State-of-the-art appearance-based age estimation methods from the literature are implemented as baseline. We demonstrate that for each of these methods, the addition of the proposed dynamic features results in statistically significant improvement. We further propose a novel hierarchical age estimation architecture based on adaptive age grouping. We test our approach extensively, including an exploration of spontaneous versus posed smile dynamics, and gender-specific age estimation. We show that using spontaneity information reduces the mean absolute error by up to 21%, advancing the state of the art for facial age estimation.

A Systematic Review of Predictions of Survival in Palliative Care: How Accurate Are Clinicians and Who Are the Experts?

PubMed Central

Harris, Adam; Harries, Priscilla

2016-01-01

Background Prognostic accuracy in palliative care is valued by patients, carers, and healthcare professionals. Previous reviews suggest clinicians are inaccurate at survival estimates, but have only reported the accuracy of estimates on patients with a cancer diagnosis. Objectives To examine the accuracy of clinicians’ estimates of survival and to determine if any clinical profession is better at doing so than another. Data Sources MEDLINE, Embase, CINAHL, and the Cochrane Database of Systematic Reviews and Trials. All databases were searched from the start of the database up to June 2015. Reference lists of eligible articles were also checked. Eligibility Criteria Inclusion criteria: patients over 18, palliative population and setting, quantifiable estimate based on real patients, full publication written in English. Exclusion criteria: if the estimate was following an intervention, such as surgery, or the patient was artificially ventilated or in intensive care. Study Appraisal and Synthesis Methods A quality assessment was completed with the QUIPS tool. Data on the reported accuracy of estimates and information about the clinicians were extracted. Studies were grouped by type of estimate: categorical (the clinician had a predetermined list of outcomes to choose from), continuous (open-ended estimate), or probabilistic (likelihood of surviving a particular time frame). Results 4,642 records were identified; 42 studies fully met the review criteria. Wide variation was shown with categorical estimates (range 23% to 78%) and continuous estimates ranged between an underestimate of 86 days to an overestimate of 93 days. The four papers which used probabilistic estimates tended to show greater accuracy (c-statistics of 0.74–0.78). Information available about the clinicians providing the estimates was limited. Overall, there was no clear “expert” subgroup of clinicians identified. Limitations High heterogeneity limited the analyses possible and prevented an overall accuracy being reported. Data were extracted using a standardised tool, by one reviewer, which could have introduced bias. Devising search terms for prognostic studies is challenging. Every attempt was made to devise search terms that were sufficiently sensitive to detect all prognostic studies; however, it remains possible that some studies were not identified. Conclusion Studies of prognostic accuracy in palliative care are heterogeneous, but the evidence suggests that clinicians’ predictions are frequently inaccurate. No sub-group of clinicians was consistently shown to be more accurate than any other. Implications of Key Findings Further research is needed to understand how clinical predictions are formulated and how their accuracy can be improved. PMID:27560380

Evolutionary Initial Poses of Reduced D.O.F’s Quadruped Robot

NASA Astrophysics Data System (ADS)

Iida, Ken-Ichi; Nakata, Yoshitaka; Hira, Toshio; Kamano, Takuya; Suzuki, Takayuki

In this paper, an application of genetic algorithm for generation of evolutionary initial poses of a quadrupedal robot which reduced degrees of freedom is described. To reduce degree of freedom, each leg of the robot has a slider-crank mechanism and is driven by an actuator. Furthermore we introduced the forward movement mode and the rotating mode because the omnidirection movement should be made possible. To generate the suitable initial pose, the initial angle of four legs are coded under gray code and tuned by an estimation function in each mode with the genetic algorithm. As a result of generation, the cooperation of the legs is realized to move toward the omnidirection. The experimental results demonstrate that the proposed scheme is effective for generation of the suitable initial poses and the robot can walk smoothly with the generated patterns.

Optimization of multi-image pose recovery of fluoroscope tracking (FTRAC) fiducial in an image-guided femoroplasty system

NASA Astrophysics Data System (ADS)

Liu, Wen P.; Armand, Mehran; Otake, Yoshito; Taylor, Russell H.

2011-03-01

Percutaneous femoroplasty [1], or femoral bone augmentation, is a prospective alternative treatment for reducing the risk of fracture in patients with severe osteoporosis. We are developing a surgical robotics system that will assist orthopaedic surgeons in planning and performing a patient-specific, augmentation of the femur with bone cement. This collaborative project, sponsored by the National Institutes of Health (NIH), has been the topic of previous publications [2],[3] from our group. This paper presents modifications to the pose recovery of a fluoroscope tracking (FTRAC) fiducial during our process of 2D/3D registration of X-ray intraoperative images to preoperative CT data. We show improved automata of the initial pose estimation as well as lower projection errors with the advent of a multiimage pose optimization step.

How does the host population's network structure affect the estimation accuracy of epidemic parameters?

NASA Astrophysics Data System (ADS)

Yashima, Kenta; Ito, Kana; Nakamura, Kazuyuki

2013-03-01

When an Infectious disease where to prevail throughout the population, epidemic parameters such as the basic reproduction ratio, initial point of infection etc. are estimated from the time series data of infected population. However, it is unclear how does the structure of host population affects this estimation accuracy. In other words, what kind of city is difficult to estimate its epidemic parameters? To answer this question, epidemic data are simulated by constructing a commuting network with different network structure and running the infection process over this network. From the given time series data for each network structure, we would like to analyzed estimation accuracy of epidemic parameters.

A Layered Approach for Robust Spatial Virtual Human Pose Reconstruction Using a Still Image

PubMed Central

Guo, Chengyu; Ruan, Songsong; Liang, Xiaohui; Zhao, Qinping

2016-01-01

Pedestrian detection and human pose estimation are instructive for reconstructing a three-dimensional scenario and for robot navigation, particularly when large amounts of vision data are captured using various data-recording techniques. Using an unrestricted capture scheme, which produces occlusions or breezing, the information describing each part of a human body and the relationship between each part or even different pedestrians must be present in a still image. Using this framework, a multi-layered, spatial, virtual, human pose reconstruction framework is presented in this study to recover any deficient information in planar images. In this framework, a hierarchical parts-based deep model is used to detect body parts by using the available restricted information in a still image and is then combined with spatial Markov random fields to re-estimate the accurate joint positions in the deep network. Then, the planar estimation results are mapped onto a virtual three-dimensional space using multiple constraints to recover any deficient spatial information. The proposed approach can be viewed as a general pre-processing method to guide the generation of continuous, three-dimensional motion data. The experiment results of this study are used to describe the effectiveness and usability of the proposed approach. PMID:26907289

Teaching Human Poses Interactively to a Social Robot

PubMed Central

Gonzalez-Pacheco, Victor; Malfaz, Maria; Fernandez, Fernando; Salichs, Miguel A.

2013-01-01

The main activity of social robots is to interact with people. In order to do that, the robot must be able to understand what the user is saying or doing. Typically, this capability consists of pre-programmed behaviors or is acquired through controlled learning processes, which are executed before the social interaction begins. This paper presents a software architecture that enables a robot to learn poses in a similar way as people do. That is, hearing its teacher's explanations and acquiring new knowledge in real time. The architecture leans on two main components: an RGB-D (Red-, Green-, Blue- Depth) -based visual system, which gathers the user examples, and an Automatic Speech Recognition (ASR) system, which processes the speech describing those examples. The robot is able to naturally learn the poses the teacher is showing to it by maintaining a natural interaction with the teacher. We evaluate our system with 24 users who teach the robot a predetermined set of poses. The experimental results show that, with a few training examples, the system reaches high accuracy and robustness. This method shows how to combine data from the visual and auditory systems for the acquisition of new knowledge in a natural manner. Such a natural way of training enables robots to learn from users, even if they are not experts in robotics. PMID:24048336

Teaching human poses interactively to a social robot.

PubMed

Gonzalez-Pacheco, Victor; Malfaz, Maria; Fernandez, Fernando; Salichs, Miguel A

2013-09-17

The main activity of social robots is to interact with people. In order to do that, the robot must be able to understand what the user is saying or doing. Typically, this capability consists of pre-programmed behaviors or is acquired through controlled learning processes, which are executed before the social interaction begins. This paper presents a software architecture that enables a robot to learn poses in a similar way as people do. That is, hearing its teacher's explanations and acquiring new knowledge in real time. The architecture leans on two main components: an RGB-D (Red-, Green-, Blue- Depth) -based visual system, which gathers the user examples, and an Automatic Speech Recognition (ASR) system, which processes the speech describing those examples. The robot is able to naturally learn the poses the teacher is showing to it by maintaining a natural interaction with the teacher. We evaluate our system with 24 users who teach the robot a predetermined set of poses. The experimental results show that, with a few training examples, the system reaches high accuracy and robustness. This method shows how to combine data from the visual and auditory systems for the acquisition of new knowledge in a natural manner. Such a natural way of training enables robots to learn from users, even if they are not experts in robotics.

AN INFORMATIC APPROACH TO ESTIMATING ECOLOGICAL RISKS POSED BY PHARMACEUTICAL USE

EPA Science Inventory

A new method for estimating risks of human prescription pharmaceuticals based on information found in regulatory filings as well as scientific and trade literature is described in a presentation at the Pharmaceuticals in the Environment Workshop in Las Vegas, NV, August 23-25, 20...

Theoretical implications for the estimation of dinitrogen fixation by large perennial plant species using isotope dilution

Treesearch

Dwight D. Baker; Maurice Fried; John A. Parrotta

1995-01-01

Estimation of symbiotic N2 fixation associated with large perennial plant species, especially trees, poses special problems because the process must be followed over a potentially long period of time to integrate the total amount of fixation. Estimations using isotope dilution methodology have begun to be used for trees in field studies. Because...

Accuracy of Standing-Tree Volume Estimates Based on McClure Mirror Caliper Measurements

Treesearch

Noel D. Cost

1971-01-01

The accuracy of standing-tree volume estimates, calculated from diameter measurements taken by a mirror caliper and with sectional aluminum poles for height control, was compared with volume estimates calculated from felled-tree measurements. Twenty-five trees which varied in species, size, and form were used in the test. The results showed that two estimates of total...

Two Approaches to Estimation of Classification Accuracy Rate under Item Response Theory

ERIC Educational Resources Information Center

Lathrop, Quinn N.; Cheng, Ying

2013-01-01

Within the framework of item response theory (IRT), there are two recent lines of work on the estimation of classification accuracy (CA) rate. One approach estimates CA when decisions are made based on total sum scores, the other based on latent trait estimates. The former is referred to as the Lee approach, and the latter, the Rudner approach,…

Accuracy and precision of stream reach water surface slopes estimated in the field and from maps

USGS Publications Warehouse

Isaak, D.J.; Hubert, W.A.; Krueger, K.L.

1999-01-01

The accuracy and precision of five tools used to measure stream water surface slope (WSS) were evaluated. Water surface slopes estimated in the field with a clinometer or from topographic maps used in conjunction with a map wheel or geographic information system (GIS) were significantly higher than WSS estimated in the field with a surveying level (biases of 34, 41, and 53%, respectively). Accuracy of WSS estimates obtained with an Abney level did not differ from surveying level estimates, but conclusions regarding the accuracy of Abney levels and clinometers were weakened by intratool variability. The surveying level estimated WSS most precisely (coefficient of variation [CV] = 0.26%), followed by the GIS (CV = 1.87%), map wheel (CV = 6.18%), Abney level (CV = 13.68%), and clinometer (CV = 21.57%). Estimates of WSS measured in the field with an Abney level and estimated for the same reaches with a GIS used in conjunction with l:24,000-scale topographic maps were significantly correlated (r = 0.86), but there was a tendency for the GIS to overestimate WSS. Detailed accounts of the methods used to measure WSS and recommendations regarding the measurement of WSS are provided.

Computer vision research with new imaging technology

NASA Astrophysics Data System (ADS)

Hou, Guangqi; Liu, Fei; Sun, Zhenan

2015-12-01

Light field imaging is capable of capturing dense multi-view 2D images in one snapshot, which record both intensity values and directions of rays simultaneously. As an emerging 3D device, the light field camera has been widely used in digital refocusing, depth estimation, stereoscopic display, etc. Traditional multi-view stereo (MVS) methods only perform well on strongly texture surfaces, but the depth map contains numerous holes and large ambiguities on textureless or low-textured regions. In this paper, we exploit the light field imaging technology on 3D face modeling in computer vision. Based on a 3D morphable model, we estimate the pose parameters from facial feature points. Then the depth map is estimated through the epipolar plane images (EPIs) method. At last, the high quality 3D face model is exactly recovered via the fusing strategy. We evaluate the effectiveness and robustness on face images captured by a light field camera with different poses.

Use of a BOD oxygen probe for estimating primary productivity

Treesearch

Raymond L. Czaplewski; Michael Parker

1973-01-01

The accuracy of a BOD oxygen probe for field measurements of primary production by the light and dark bottle oxygen technique is analyzed. A figure is presented with which to estimate the number of replicate bottles needed to obtain a given accuracy in estimating photosynthetic rates.

A TECHNIQUE FOR ASSESSING THE ACCURACY OF SUB-PIXEL IMPERVIOUS SURFACE ESTIMATES DERIVED FROM LANDSAT TM IMAGERY

EPA Science Inventory

We developed a technique for assessing the accuracy of sub-pixel derived estimates of impervious surface extracted from LANDSAT TM imagery. We utilized spatially coincident
sub-pixel derived impervious surface estimates, high-resolution planimetric GIS data, vector--to-
r...

The Plus or Minus Game--Teaching Estimation, Precision, and Accuracy

ERIC Educational Resources Information Center

Forringer, Edward R.; Forringer, Richard S.; Forringer, Daniel S.

2016-01-01

A quick survey of physics textbooks shows that many (Knight, Young, and Serway for example) cover estimation, significant digits, precision versus accuracy, and uncertainty in the first chapter. Estimation "Fermi" questions are so useful that there has been a column dedicated to them in "TPT" (Larry Weinstein's "Fermi…

Estimation of Key Parameters of the Coupled Energy and Water Model by Assimilating Land Surface Data

NASA Astrophysics Data System (ADS)

Abdolghafoorian, A.; Farhadi, L.

2017-12-01

Accurate estimation of land surface heat and moisture fluxes, as well as root zone soil moisture, is crucial in various hydrological, meteorological, and agricultural applications. Field measurements of these fluxes are costly and cannot be readily scaled to large areas relevant to weather and climate studies. Therefore, there is a need for techniques to make quantitative estimates of heat and moisture fluxes using land surface state observations that are widely available from remote sensing across a range of scale. In this work, we applies the variational data assimilation approach to estimate land surface fluxes and soil moisture profile from the implicit information contained Land Surface Temperature (LST) and Soil Moisture (SM) (hereafter the VDA model). The VDA model is focused on the estimation of three key parameters: 1- neutral bulk heat transfer coefficient (CHN), 2- evaporative fraction from soil and canopy (EF), and 3- saturated hydraulic conductivity (Ksat). CHN and EF regulate the partitioning of available energy between sensible and latent heat fluxes. Ksat is one of the main parameters used in determining infiltration, runoff, groundwater recharge, and in simulating hydrological processes. In this study, a system of coupled parsimonious energy and water model will constrain the estimation of three unknown parameters in the VDA model. The profile of SM (LST) at multiple depths is estimated using moisture diffusion (heat diffusion) equation. In this study, the uncertainties of retrieved unknown parameters and fluxes are estimated from the inverse of Hesian matrix of cost function which is computed using the Lagrangian methodology. Analysis of uncertainty provides valuable information about the accuracy of estimated parameters and their correlation and guide the formulation of a well-posed estimation problem. The results of proposed algorithm are validated with a series of experiments using a synthetic data set generated by the simultaneous heat and water (SHAW) model. In addition, the feasibility of extending this algorithm to use remote sensing observations that have low temporal resolution is examined by assimilating the limited number of land surface moisture and temperature observations.

High-Accuracy Decoupling Estimation of the Systematic Coordinate Errors of an INS and Intensified High Dynamic Star Tracker Based on the Constrained Least Squares Method

PubMed Central

Jiang, Jie; Yu, Wenbo; Zhang, Guangjun

2017-01-01

Navigation accuracy is one of the key performance indicators of an inertial navigation system (INS). Requirements for an accuracy assessment of an INS in a real work environment are exceedingly urgent because of enormous differences between real work and laboratory test environments. An attitude accuracy assessment of an INS based on the intensified high dynamic star tracker (IHDST) is particularly suitable for a real complex dynamic environment. However, the coupled systematic coordinate errors of an INS and the IHDST severely decrease the attitude assessment accuracy of an INS. Given that, a high-accuracy decoupling estimation method of the above systematic coordinate errors based on the constrained least squares (CLS) method is proposed in this paper. The reference frame of the IHDST is firstly converted to be consistent with that of the INS because their reference frames are completely different. Thereafter, the decoupling estimation model of the systematic coordinate errors is established and the CLS-based optimization method is utilized to estimate errors accurately. After compensating for error, the attitude accuracy of an INS can be assessed based on IHDST accurately. Both simulated experiments and real flight experiments of aircraft are conducted, and the experimental results demonstrate that the proposed method is effective and shows excellent performance for the attitude accuracy assessment of an INS in a real work environment. PMID:28991179

Automatic pose correction for image-guided nonhuman primate brain surgery planning

NASA Astrophysics Data System (ADS)

Ghafurian, Soheil; Chen, Antong; Hines, Catherine; Dogdas, Belma; Bone, Ashleigh; Lodge, Kenneth; O'Malley, Stacey; Winkelmann, Christopher T.; Bagchi, Ansuman; Lubbers, Laura S.; Uslaner, Jason M.; Johnson, Colena; Renger, John; Zariwala, Hatim A.

2016-03-01

Intracranial delivery of recombinant DNA and neurochemical analysis in nonhuman primate (NHP) requires precise targeting of various brain structures via imaging derived coordinates in stereotactic surgeries. To attain targeting precision, the surgical planning needs to be done on preoperative three dimensional (3D) CT and/or MR images, in which the animals head is fixed in a pose identical to the pose during the stereotactic surgery. The matching of the image to the pose in the stereotactic frame can be done manually by detecting key anatomical landmarks on the 3D MR and CT images such as ear canal and ear bar zero position. This is not only time intensive but also prone to error due to the varying initial poses in the images which affects both the landmark detection and rotation estimation. We have introduced a fast, reproducible, and semi-automatic method to detect the stereotactic coordinate system in the image and correct the pose. The method begins with a rigid registration of the subject images to an atlas and proceeds to detect the anatomical landmarks through a sequence of optimization, deformable and multimodal registration algorithms. The results showed similar precision (maximum difference of 1.71 in average in-plane rotation) to a manual pose correction.

Multi-Task Convolutional Neural Network for Pose-Invariant Face Recognition

NASA Astrophysics Data System (ADS)

Yin, Xi; Liu, Xiaoming

2018-02-01

This paper explores multi-task learning (MTL) for face recognition. We answer the questions of how and why MTL can improve the face recognition performance. First, we propose a multi-task Convolutional Neural Network (CNN) for face recognition where identity classification is the main task and pose, illumination, and expression estimations are the side tasks. Second, we develop a dynamic-weighting scheme to automatically assign the loss weight to each side task, which is a crucial problem in MTL. Third, we propose a pose-directed multi-task CNN by grouping different poses to learn pose-specific identity features, simultaneously across all poses. Last but not least, we propose an energy-based weight analysis method to explore how CNN-based MTL works. We observe that the side tasks serve as regularizations to disentangle the variations from the learnt identity features. Extensive experiments on the entire Multi-PIE dataset demonstrate the effectiveness of the proposed approach. To the best of our knowledge, this is the first work using all data in Multi-PIE for face recognition. Our approach is also applicable to in-the-wild datasets for pose-invariant face recognition and achieves comparable or better performance than state of the art on LFW, CFP, and IJB-A datasets.

Impedance modulation and feedback corrections in tracking targets of variable size and frequency.

PubMed

Selen, Luc P J; van Dieën, Jaap H; Beek, Peter J

2006-11-01

Humans are able to adjust the accuracy of their movements to the demands posed by the task at hand. The variability in task execution caused by the inherent noisiness of the neuromuscular system can be tuned to task demands by both feedforward (e.g., impedance modulation) and feedback mechanisms. In this experiment, we studied both mechanisms, using mechanical perturbations to estimate stiffness and damping as indices of impedance modulation and submovement scaling as an index of feedback driven corrections. Eight subjects tracked three differently sized targets (0.0135, 0.0270, and 0.0405 rad) moving at three different frequencies (0.20, 0.25, and 0.33 Hz). Movement variability decreased with both decreasing target size and movement frequency, whereas stiffness and damping increased with decreasing target size, independent of movement frequency. These results are consistent with the theory that mechanical impedance acts as a filter of noisy neuromuscular signals but challenge stochastic theories of motor control that do not account for impedance modulation and only partially for feedback control. Submovements during unperturbed cycles were quantified in terms of their gain, i.e., the slope between their duration and amplitude in the speed profile. Submovement gain decreased with decreasing movement frequency and increasing target size. The results were interpreted to imply that submovement gain is related to observed tracking errors and that those tracking errors are expressed in units of target size. We conclude that impedance and submovement gain modulation contribute additively to tracking accuracy.

Mortality data in the age of drones ‡.

PubMed

Carruthers, Elspeth

2018-03-01

Mortality data plays an essential role in shaping humanitarian, legal and ethical responses to conflict situations. The rise of drone warfare poses new questions regarding the accuracy and reliability of mortality data in conflict. This article examines some of the methodological and political challenges to collecting mortality data in drone warfare, and how the way in which drones are framed in public discourse contributes to these challenges.

Design and validation of diffusion MRI models of white matter

NASA Astrophysics Data System (ADS)

Jelescu, Ileana O.; Budde, Matthew D.

2017-11-01

Diffusion MRI is arguably the method of choice for characterizing white matter microstructure in vivo. Over the typical duration of diffusion encoding, the displacement of water molecules is conveniently on a length scale similar to that of the underlying cellular structures. Moreover, water molecules in white matter are largely compartmentalized which enables biologically-inspired compartmental diffusion models to characterize and quantify the true biological microstructure. A plethora of white matter models have been proposed. However, overparameterization and mathematical fitting complications encourage the introduction of simplifying assumptions that vary between different approaches. These choices impact the quantitative estimation of model parameters with potential detriments to their biological accuracy and promised specificity. First, we review biophysical white matter models in use and recapitulate their underlying assumptions and realms of applicability. Second, we present up-to-date efforts to validate parameters estimated from biophysical models. Simulations and dedicated phantoms are useful in assessing the performance of models when the ground truth is known. However, the biggest challenge remains the validation of the “biological accuracy” of estimated parameters. Complementary techniques such as microscopy of fixed tissue specimens have facilitated direct comparisons of estimates of white matter fiber orientation and densities. However, validation of compartmental diffusivities remains challenging, and complementary MRI-based techniques such as alternative diffusion encodings, compartment-specific contrast agents and metabolites have been used to validate diffusion models. Finally, white matter injury and disease pose additional challenges to modeling, which are also discussed. This review aims to provide an overview of the current state of models and their validation and to stimulate further research in the field to solve the remaining open questions and converge towards consensus.

Design and validation of diffusion MRI models of white matter

PubMed Central

Jelescu, Ileana O.; Budde, Matthew D.

2018-01-01

Diffusion MRI is arguably the method of choice for characterizing white matter microstructure in vivo. Over the typical duration of diffusion encoding, the displacement of water molecules is conveniently on a length scale similar to that of the underlying cellular structures. Moreover, water molecules in white matter are largely compartmentalized which enables biologically-inspired compartmental diffusion models to characterize and quantify the true biological microstructure. A plethora of white matter models have been proposed. However, overparameterization and mathematical fitting complications encourage the introduction of simplifying assumptions that vary between different approaches. These choices impact the quantitative estimation of model parameters with potential detriments to their biological accuracy and promised specificity. First, we review biophysical white matter models in use and recapitulate their underlying assumptions and realms of applicability. Second, we present up-to-date efforts to validate parameters estimated from biophysical models. Simulations and dedicated phantoms are useful in assessing the performance of models when the ground truth is known. However, the biggest challenge remains the validation of the “biological accuracy” of estimated parameters. Complementary techniques such as microscopy of fixed tissue specimens have facilitated direct comparisons of estimates of white matter fiber orientation and densities. However, validation of compartmental diffusivities remains challenging, and complementary MRI-based techniques such as alternative diffusion encodings, compartment-specific contrast agents and metabolites have been used to validate diffusion models. Finally, white matter injury and disease pose additional challenges to modeling, which are also discussed. This review aims to provide an overview of the current state of models and their validation and to stimulate further research in the field to solve the remaining open questions and converge towards consensus. PMID:29755979

Diffusion parameter mapping with the combined intravoxel incoherent motion and kurtosis model using artificial neural networks at 3 T.

PubMed

Bertleff, Marco; Domsch, Sebastian; Weingärtner, Sebastian; Zapp, Jascha; O'Brien, Kieran; Barth, Markus; Schad, Lothar R

2017-12-01

Artificial neural networks (ANNs) were used for voxel-wise parameter estimation with the combined intravoxel incoherent motion (IVIM) and kurtosis model facilitating robust diffusion parameter mapping in the human brain. The proposed ANN approach was compared with conventional least-squares regression (LSR) and state-of-the-art multi-step fitting (LSR-MS) in Monte-Carlo simulations and in vivo in terms of estimation accuracy and precision, number of outliers and sensitivity in the distinction between grey (GM) and white (WM) matter. Both the proposed ANN approach and LSR-MS yielded visually increased parameter map quality. Estimations of all parameters (perfusion fraction f, diffusion coefficient D, pseudo-diffusion coefficient D*, kurtosis K) were in good agreement with the literature using ANN, whereas LSR-MS resulted in D* overestimation and LSR yielded increased values for f and D*, as well as decreased values for K. Using ANN, outliers were reduced for the parameters f (ANN, 1%; LSR-MS, 19%; LSR, 8%), D* (ANN, 21%; LSR-MS, 25%; LSR, 23%) and K (ANN, 0%; LSR-MS, 0%; LSR, 15%). Moreover, ANN enabled significant distinction between GM and WM based on all parameters, whereas LSR facilitated this distinction only based on D and LSR-MS on f, D and K. Overall, the proposed ANN approach was found to be superior to conventional LSR, posing a powerful alternative to the state-of-the-art method LSR-MS with several advantages in the estimation of IVIM-kurtosis parameters, which might facilitate increased applicability of enhanced diffusion models at clinical scan times. Copyright © 2017 John Wiley & Sons, Ltd.

Estimation of sex from the lower limb measurements of Sudanese adults.

PubMed

Ahmed, Altayeb Abdalla

2013-06-10

The sex estimation from mutilated and amputated limbs or body parts is one of the most vital steps in person identification in medical-legal autopsies. Sex estimation from lower limb anthropometric measurements has demonstrated a high degree of expected accuracy in a limited range of the global population. The aims of this study were to assess the degree of the sexual dimorphism in lower limb measurements and the accuracy of utilization of these measurements for estimation of sex in a contemporary adult Sudanese population. The tibial length, bimalleolar breadth, foot length, and foot breadth of 240 right-handed Sudanese Arab subjects (120 males and 120 females) aged between 25 and 30 years were measured following international anthropometric standards. Demarking points, sexual dimorphism indices and discriminant functions were developed from 200 subjects (100 males and 100 females) who comprised the study group. All variables were sexually dimorphic. The bimalleolar breadth and foot breadth significantly contributed to sex estimation. Leg dimensions showed a higher accuracy for sex estimation than foot dimensions. Cross-validated sex classification accuracy ranged between 78% and 89.5%. The reliability of these standards was assessed in a test sample of 20 males and 20 females, and the results showed accuracy between 75% and 90%. This study provides new forensic standards for sex estimation from lower limb measurements of Sudanese adults. Copyright © 2013 Elsevier Ireland Ltd. All rights reserved.

Emergency Department Length of Stay: Accuracy of Patient Estimates

PubMed Central

Parker, Brendan T.; Marco, Catherine

2014-01-01

Introduction Managing a patient’s expectations in the emergency department (ED) environment is challenging. Previous studies have identified several factors associated with ED patient satisfaction. Lengthy wait times have shown to be associated with dissatisfaction with ED care. Understanding that patients are inaccurate at their estimation of wait time, which could lead to lower satisfaction, provides administrators possible points of intervention to help improve accuracy of estimation and possibly satisfaction with the ED. This study was undertaken to examine the accuracy of patient estimates of time periods in an ED and identify factors associated with accuracy. Method In this prospective convenience sample survey at UTMC ED, we collected data between March and July 2012. Outcome measures included duration of each phase of ED care and patient estimates of these time periods. Results Among 309 participants, the majority underestimated the total length of stay (LOS) in the ED (median difference −7 minutes (IQR −29-12)). There was significant variability in ED LOS (median 155 minutes (IQR 75–240)). No significant associations were identified between accuracy of time estimates and gender, age, race, or insurance status. Participants with longer ED LOS demonstrated lower patient satisfaction scores (p<0.001). Conclusion Patients demonstrated inaccurate time estimates of ED treatment times, including total LOS. Patients with longer ED LOS had lower patient satisfaction scores. PMID:24672606

Automatic anatomy recognition via multiobject oriented active shape models.

PubMed

Chen, Xinjian; Udupa, Jayaram K; Alavi, Abass; Torigian, Drew A

2010-12-01

This paper studies the feasibility of developing an automatic anatomy recognition (AAR) system in clinical radiology and demonstrates its operation on clinical 2D images. The anatomy recognition method described here consists of two main components: (a) multiobject generalization of OASM and (b) object recognition strategies. The OASM algorithm is generalized to multiple objects by including a model for each object and assigning a cost structure specific to each object in the spirit of live wire. The delineation of multiobject boundaries is done in MOASM via a three level dynamic programming algorithm, wherein the first level is at pixel level which aims to find optimal oriented boundary segments between successive landmarks, the second level is at landmark level which aims to find optimal location for the landmarks, and the third level is at the object level which aims to find optimal arrangement of object boundaries over all objects. The object recognition strategy attempts to find that pose vector (consisting of translation, rotation, and scale component) for the multiobject model that yields the smallest total boundary cost for all objects. The delineation and recognition accuracies were evaluated separately utilizing routine clinical chest CT, abdominal CT, and foot MRI data sets. The delineation accuracy was evaluated in terms of true and false positive volume fractions (TPVF and FPVF). The recognition accuracy was assessed (1) in terms of the size of the space of the pose vectors for the model assembly that yielded high delineation accuracy, (2) as a function of the number of objects and objects' distribution and size in the model, (3) in terms of the interdependence between delineation and recognition, and (4) in terms of the closeness of the optimum recognition result to the global optimum. When multiple objects are included in the model, the delineation accuracy in terms of TPVF can be improved to 97%-98% with a low FPVF of 0.1%-0.2%. Typically, a recognition accuracy of > or = 90% yielded a TPVF > or = 95% and FPVF < or = 0.5%. Over the three data sets and over all tested objects, in 97% of the cases, the optimal solutions found by the proposed method constituted the true global optimum. The experimental results showed the feasibility and efficacy of the proposed automatic anatomy recognition system. Increasing the number of objects in the model can significantly improve both recognition and delineation accuracy. More spread out arrangement of objects in the model can lead to improved recognition and delineation accuracy. Including larger objects in the model also improved recognition and delineation. The proposed method almost always finds globally optimum solutions.

Multiple vehicle tracking in aerial video sequence using driver behavior analysis and improved deterministic data association

NASA Astrophysics Data System (ADS)

Zhang, Xunxun; Xu, Hongke; Fang, Jianwu

2018-01-01

Along with the rapid development of the unmanned aerial vehicle technology, multiple vehicle tracking (MVT) in aerial video sequence has received widespread interest for providing the required traffic information. Due to the camera motion and complex background, MVT in aerial video sequence poses unique challenges. We propose an efficient MVT algorithm via driver behavior-based Kalman filter (DBKF) and an improved deterministic data association (IDDA) method. First, a hierarchical image registration method is put forward to compensate the camera motion. Afterward, to improve the accuracy of the state estimation, we propose the DBKF module by incorporating the driver behavior into the Kalman filter, where artificial potential field is introduced to reflect the driver behavior. Then, to implement the data association, a local optimization method is designed instead of global optimization. By introducing the adaptive operating strategy, the proposed IDDA method can also deal with the situation in which the vehicles suddenly appear or disappear. Finally, comprehensive experiments on the DARPA VIVID data set and KIT AIS data set demonstrate that the proposed algorithm can generate satisfactory and superior results.

Adaptive error correction codes for face identification

NASA Astrophysics Data System (ADS)

Hussein, Wafaa R.; Sellahewa, Harin; Jassim, Sabah A.

2012-06-01

Face recognition in uncontrolled environments is greatly affected by fuzziness of face feature vectors as a result of extreme variation in recording conditions (e.g. illumination, poses or expressions) in different sessions. Many techniques have been developed to deal with these variations, resulting in improved performances. This paper aims to model template fuzziness as errors and investigate the use of error detection/correction techniques for face recognition in uncontrolled environments. Error correction codes (ECC) have recently been used for biometric key generation but not on biometric templates. We have investigated error patterns in binary face feature vectors extracted from different image windows of differing sizes and for different recording conditions. By estimating statistical parameters for the intra-class and inter-class distributions of Hamming distances in each window, we encode with appropriate ECC's. The proposed approached is tested for binarised wavelet templates using two face databases: Extended Yale-B and Yale. We shall demonstrate that using different combinations of BCH-based ECC's for different blocks and different recording conditions leads to in different accuracy rates, and that using ECC's results in significantly improved recognition results.

Colored noise effects on batch attitude accuracy estimates

NASA Technical Reports Server (NTRS)

Bilanow, Stephen

1991-01-01

The effects of colored noise on the accuracy of batch least squares parameter estimates with applications to attitude determination cases are investigated. The standard approaches used for estimating the accuracy of a computed attitude commonly assume uncorrelated (white) measurement noise, while in actual flight experience measurement noise often contains significant time correlations and thus is colored. For example, horizon scanner measurements from low Earth orbit were observed to show correlations over many minutes in response to large scale atmospheric phenomena. A general approach to the analysis of the effects of colored noise is investigated, and interpretation of the resulting equations provides insight into the effects of any particular noise color and the worst case noise coloring for any particular parameter estimate. It is shown that for certain cases, the effects of relatively short term correlations can be accommodated by a simple correction factor. The errors in the predicted accuracy assuming white noise and the reduced accuracy due to the suboptimal nature of estimators that do not take into account the noise color characteristics are discussed. The appearance of a variety of sample noise color characteristics are demonstrated through simulation, and their effects are discussed for sample estimation cases. Based on the analysis, options for dealing with the effects of colored noise are discussed.

Propagation of measurement accuracy to biomass soft-sensor estimation and control quality.

PubMed

Steinwandter, Valentin; Zahel, Thomas; Sagmeister, Patrick; Herwig, Christoph

2017-01-01

In biopharmaceutical process development and manufacturing, the online measurement of biomass and derived specific turnover rates is a central task to physiologically monitor and control the process. However, hard-type sensors such as dielectric spectroscopy, broth fluorescence, or permittivity measurement harbor various disadvantages. Therefore, soft-sensors, which use measurements of the off-gas stream and substrate feed to reconcile turnover rates and provide an online estimate of the biomass formation, are smart alternatives. For the reconciliation procedure, mass and energy balances are used together with accuracy estimations of measured conversion rates, which were so far arbitrarily chosen and static over the entire process. In this contribution, we present a novel strategy within the soft-sensor framework (named adaptive soft-sensor) to propagate uncertainties from measurements to conversion rates and demonstrate the benefits: For industrially relevant conditions, hereby the error of the resulting estimated biomass formation rate and specific substrate consumption rate could be decreased by 43 and 64 %, respectively, compared to traditional soft-sensor approaches. Moreover, we present a generic workflow to determine the required raw signal accuracy to obtain predefined accuracies of soft-sensor estimations. Thereby, appropriate measurement devices and maintenance intervals can be selected. Furthermore, using this workflow, we demonstrate that the estimation accuracy of the soft-sensor can be additionally and substantially increased.

VO2 estimation using 6-axis motion sensor with sports activity classification.

PubMed

Nagata, Takashi; Nakamura, Naoteru; Miyatake, Masato; Yuuki, Akira; Yomo, Hiroyuki; Kawabata, Takashi; Hara, Shinsuke

2016-08-01

In this paper, we focus on oxygen consumption (VO2) estimation using 6-axis motion sensor (3-axis accelerometer and 3-axis gyroscope) for people playing sports with diverse intensities. The VO2 estimated with a small motion sensor can be used to calculate the energy expenditure, however, its accuracy depends on the intensities of various types of activities. In order to achieve high accuracy over a wide range of intensities, we employ an estimation framework that first classifies activities with a simple machine-learning based classification algorithm. We prepare different coefficients of linear regression model for different types of activities, which are determined with training data obtained by experiments. The best-suited model is used for each type of activity when VO2 is estimated. The accuracy of the employed framework depends on the trade-off between the degradation due to classification errors and improvement brought by applying separate, optimum model to VO2 estimation. Taking this trade-off into account, we evaluate the accuracy of the employed estimation framework by using a set of experimental data consisting of VO2 and motion data of people with a wide range of intensities of exercises, which were measured by a VO2 meter and motion sensor, respectively. Our numerical results show that the employed framework can improve the estimation accuracy in comparison to a reference method that uses a common regression model for all types of activities.

Parameter estimation accuracies of Galactic binaries with eLISA

NASA Astrophysics Data System (ADS)

Błaut, Arkadiusz

2018-09-01

We study parameter estimation accuracy of nearly monochromatic sources of gravitational waves with the future eLISA-like detectors. eLISA will be capable of observing millions of such signals generated by orbiting pairs of compact binaries consisting of white dwarf, neutron star or black hole and to resolve and estimate parameters of several thousands of them providing crucial information regarding their orbital dynamics, formation rates and evolutionary paths. Using the Fisher matrix analysis we compare accuracies of the estimated parameters for different mission designs defined by the GOAT advisory team established to asses the scientific capabilities and the technological issues of the eLISA-like missions.

Estimation of Tree Position and STEM Diameter Using Simultaneous Localization and Mapping with Data from a Backpack-Mounted Laser Scanner

NASA Astrophysics Data System (ADS)

Holmgren, J.; Tulldahl, H. M.; Nordlöf, J.; Nyström, M.; Olofsson, K.; Rydell, J.; Willén, E.

2017-10-01

A system was developed for automatic estimations of tree positions and stem diameters. The sensor trajectory was first estimated using a positioning system that consists of a low precision inertial measurement unit supported by image matching with data from a stereo-camera. The initial estimation of the sensor trajectory was then calibrated by adjustments of the sensor pose using the laser scanner data. Special features suitable for forest environments were used to solve the correspondence and matching problems. Tree stem diameters were estimated for stem sections using laser data from individual scanner rotations and were then used for calibration of the sensor pose. A segmentation algorithm was used to associate stem sections to individual tree stems. The stem diameter estimates of all stem sections associated to the same tree stem were then combined for estimation of stem diameter at breast height (DBH). The system was validated on four 20 m radius circular plots and manual measured trees were automatically linked to trees detected in laser data. The DBH could be estimated with a RMSE of 19 mm (6 %) and a bias of 8 mm (3 %). The calibrated sensor trajectory and the combined use of circle fits from individual scanner rotations made it possible to obtain reliable DBH estimates also with a low precision positioning system.

Estimating Gravity Biases with Wavelets in Support of a 1-cm Accurate Geoid Model

NASA Astrophysics Data System (ADS)

Ahlgren, K.; Li, X.

2017-12-01

Systematic errors that reside in surface gravity datasets are one of the major hurdles in constructing a high-accuracy geoid model at high resolutions. The National Oceanic and Atmospheric Administration's (NOAA) National Geodetic Survey (NGS) has an extensive historical surface gravity dataset consisting of approximately 10 million gravity points that are known to have systematic biases at the mGal level (Saleh et al. 2013). As most relevant metadata is absent, estimating and removing these errors to be consistent with a global geopotential model and airborne data in the corresponding wavelength is quite a difficult endeavor. However, this is crucial to support a 1-cm accurate geoid model for the United States. With recently available independent gravity information from GRACE/GOCE and airborne gravity from the NGS Gravity for the Redefinition of the American Vertical Datum (GRAV-D) project, several different methods of bias estimation are investigated which utilize radial basis functions and wavelet decomposition. We estimate a surface gravity value by incorporating a satellite gravity model, airborne gravity data, and forward-modeled topography at wavelet levels according to each dataset's spatial wavelength. Considering the estimated gravity values over an entire gravity survey, an estimate of the bias and/or correction for the entire survey can be found and applied. In order to assess the accuracy of each bias estimation method, two techniques are used. First, each bias estimation method is used to predict the bias for two high-quality (unbiased and high accuracy) geoid slope validation surveys (GSVS) (Smith et al. 2013 & Wang et al. 2017). Since these surveys are unbiased, the various bias estimation methods should reflect that and provide an absolute accuracy metric for each of the bias estimation methods. Secondly, the corrected gravity datasets from each of the bias estimation methods are used to build a geoid model. The accuracy of each geoid model provides an additional metric to assess the performance of each bias estimation method. The geoid model accuracies are assessed using the two GSVS lines and GPS-leveling data across the United States.

A Nonparametric Approach to Estimate Classification Accuracy and Consistency

ERIC Educational Resources Information Center

Lathrop, Quinn N.; Cheng, Ying

2014-01-01

When cut scores for classifications occur on the total score scale, popular methods for estimating classification accuracy (CA) and classification consistency (CC) require assumptions about a parametric form of the test scores or about a parametric response model, such as item response theory (IRT). This article develops an approach to estimate CA…

Estimating Software-Development Costs With Greater Accuracy

NASA Technical Reports Server (NTRS)

Baker, Dan; Hihn, Jairus; Lum, Karen

2008-01-01

COCOMOST is a computer program for use in estimating software development costs. The goal in the development of COCOMOST was to increase estimation accuracy in three ways: (1) develop a set of sensitivity software tools that return not only estimates of costs but also the estimation error; (2) using the sensitivity software tools, precisely define the quantities of data needed to adequately tune cost estimation models; and (3) build a repository of software-cost-estimation information that NASA managers can retrieve to improve the estimates of costs of developing software for their project. COCOMOST implements a methodology, called '2cee', in which a unique combination of well-known pre-existing data-mining and software-development- effort-estimation techniques are used to increase the accuracy of estimates. COCOMOST utilizes multiple models to analyze historical data pertaining to software-development projects and performs an exhaustive data-mining search over the space of model parameters to improve the performances of effort-estimation models. Thus, it is possible to both calibrate and generate estimates at the same time. COCOMOST is written in the C language for execution in the UNIX operating system.

AEKF-SLAM: A New Algorithm for Robotic Underwater Navigation

PubMed Central

Yuan, Xin; Martínez-Ortega, José-Fernán; Fernández, José Antonio Sánchez; Eckert, Martina

2017-01-01

In this work, we focus on key topics related to underwater Simultaneous Localization and Mapping (SLAM) applications. Moreover, a detailed review of major studies in the literature and our proposed solutions for addressing the problem are presented. The main goal of this paper is the enhancement of the accuracy and robustness of the SLAM-based navigation problem for underwater robotics with low computational costs. Therefore, we present a new method called AEKF-SLAM that employs an Augmented Extended Kalman Filter (AEKF)-based SLAM algorithm. The AEKF-based SLAM approach stores the robot poses and map landmarks in a single state vector, while estimating the state parameters via a recursive and iterative estimation-update process. Hereby, the prediction and update state (which exist as well in the conventional EKF) are complemented by a newly proposed augmentation stage. Applied to underwater robot navigation, the AEKF-SLAM has been compared with the classic and popular FastSLAM 2.0 algorithm. Concerning the dense loop mapping and line mapping experiments, it shows much better performances in map management with respect to landmark addition and removal, which avoid the long-term accumulation of errors and clutters in the created map. Additionally, the underwater robot achieves more precise and efficient self-localization and a mapping of the surrounding landmarks with much lower processing times. Altogether, the presented AEKF-SLAM method achieves reliably map revisiting, and consistent map upgrading on loop closure. PMID:28531135

Robust infrared target tracking using discriminative and generative approaches

NASA Astrophysics Data System (ADS)

Asha, C. S.; Narasimhadhan, A. V.

2017-09-01

The process of designing an efficient tracker for thermal infrared imagery is one of the most challenging tasks in computer vision. Although a lot of advancement has been achieved in RGB videos over the decades, textureless and colorless properties of objects in thermal imagery pose hard constraints in the design of an efficient tracker. Tracking of an object using a single feature or a technique often fails to achieve greater accuracy. Here, we propose an effective method to track an object in infrared imagery based on a combination of discriminative and generative approaches. The discriminative technique makes use of two complementary methods such as kernelized correlation filter with spatial feature and AdaBoost classifier with pixel intesity features to operate in parallel. After obtaining optimized locations through discriminative approaches, the generative technique is applied to determine the best target location using a linear search method. Unlike the baseline algorithms, the proposed method estimates the scale of the target by Lucas-Kanade homography estimation. To evaluate the proposed method, extensive experiments are conducted on 17 challenging infrared image sequences obtained from LTIR dataset and a significant improvement of mean distance precision and mean overlap precision is accomplished as compared with the existing trackers. Further, a quantitative and qualitative assessment of the proposed approach with the state-of-the-art trackers is illustrated to clearly demonstrate an overall increase in performance.

Docking pose selection by interaction pattern graph similarity: application to the D3R grand challenge 2015

NASA Astrophysics Data System (ADS)

Slynko, Inna; Da Silva, Franck; Bret, Guillaume; Rognan, Didier

2016-09-01

High affinity ligands for a given target tend to share key molecular interactions with important anchoring amino acids and therefore often present quite conserved interaction patterns. This simple concept was formalized in a topological knowledge-based scoring function (GRIM) for selecting the most appropriate docking poses from previously X-rayed interaction patterns. GRIM first converts protein-ligand atomic coordinates (docking poses) into a simple 3D graph describing the corresponding interaction pattern. In a second step, proposed graphs are compared to that found from template structures in the Protein Data Bank. Last, all docking poses are rescored according to an empirical score (GRIMscore) accounting for overlap of maximum common subgraphs. Taking the opportunity of the public D3R Grand Challenge 2015, GRIM was used to rescore docking poses for 36 ligands (6 HSP90α inhibitors, 30 MAP4K4 inhibitors) prior to the release of the corresponding protein-ligand X-ray structures. When applied to the HSP90α dataset, for which many protein-ligand X-ray structures are already available, GRIM provided very high quality solutions (mean rmsd = 1.06 Å, n = 6) as top-ranked poses, and significantly outperformed a state-of-the-art scoring function. In the case of MAP4K4 inhibitors, for which preexisting 3D knowledge is scarce and chemical diversity is much larger, the accuracy of GRIM poses decays (mean rmsd = 3.18 Å, n = 30) although GRIM still outperforms an energy-based scoring function. GRIM rescoring appears to be quite robust with comparison to the other approaches competing for the same challenge (42 submissions for the HSP90 dataset, 27 for the MAP4K4 dataset) as it ranked 3rd and 2nd respectively, for the two investigated datasets. The rescoring method is quite simple to implement, independent on a docking engine, and applicable to any target for which at least one holo X-ray structure is available.

Energy expenditure prediction via a footwear-based physical activity monitor: Accuracy and comparison to other devices

NASA Astrophysics Data System (ADS)

Dannecker, Kathryn

2011-12-01

Accurately estimating free-living energy expenditure (EE) is important for monitoring or altering energy balance and quantifying levels of physical activity. The use of accelerometers to monitor physical activity and estimate physical activity EE is common in both research and consumer settings. Recent advances in physical activity monitors include the ability to identify specific activities (e.g. stand vs. walk) which has resulted in improved EE estimation accuracy. Recently, a multi-sensor footwear-based physical activity monitor that is capable of achieving 98% activity identification accuracy has been developed. However, no study has compared the EE estimation accuracy for this monitor and compared this accuracy to other similar devices. Purpose . To determine the accuracy of physical activity EE estimation of a footwear-based physical activity monitor that uses an embedded accelerometer and insole pressure sensors and to compare this accuracy against a variety of research and consumer physical activity monitors. Methods. Nineteen adults (10 male, 9 female), mass: 75.14 (17.1) kg, BMI: 25.07(4.6) kg/m2 (mean (SD)), completed a four hour stay in a room calorimeter. Participants wore a footwear-based physical activity monitor, as well as three physical activity monitoring devices used in research: hip-mounted Actical and Actigraph accelerometers and a multi-accelerometer IDEEA device with sensors secured to the limb and chest. In addition, participants wore two consumer devices: Philips DirectLife and Fitbit. Each individual performed a series of randomly assigned and ordered postures/activities including lying, sitting (quietly and using a computer), standing, walking, stepping, cycling, sweeping, as well as a period of self-selected activities. We developed branched (i.e. activity specific) linear regression models to estimate EE from the footwear-based device, and we used the manufacturer's software to estimate EE for all other devices. Results. The shoe-based device was not significantly different than the mean measured EE (476(20) vs. 478(18) kcal) (Mean(SE)), respectively, and had the lowest root mean square error (RMSE) by two-fold (29.6 kcal (6.19%)). The IDEEA (445(23) kcal) and DirecLlife (449(13) kcal) estimates of EE were also not different than the measured EE. The Actigraph, Fitbit and Actical devices significantly underestimated EE (339 (19) kcal, 363(18) kcal and 383(17) kcal, respectively (p<.05)). Root mean square errors were 62.1 kcal (14%), 88.2 kcal(18%), 122.2 kcal (27%), 130.1 kcal (26%), and 143.2 kcal (28%) for DirectLife, IDEEA, Actigraph, Actical and Fitbit respectively. Conclusions. The shoe based physical activity monitor was able to accurately estimate EE. The research and consumer physical activity monitors tested have a wide range of accuracy when estimating EE. Given the similar hardware of these devices, these results suggest that the algorithms used to estimate EE are primarily responsible for their accuracy, particularly the ability of the shoe-based device to estimate EE based on activity classifications.

An evaluation of methods for estimating decadal stream loads

NASA Astrophysics Data System (ADS)

Lee, Casey J.; Hirsch, Robert M.; Schwarz, Gregory E.; Holtschlag, David J.; Preston, Stephen D.; Crawford, Charles G.; Vecchia, Aldo V.

2016-11-01

Effective management of water resources requires accurate information on the mass, or load of water-quality constituents transported from upstream watersheds to downstream receiving waters. Despite this need, no single method has been shown to consistently provide accurate load estimates among different water-quality constituents, sampling sites, and sampling regimes. We evaluate the accuracy of several load estimation methods across a broad range of sampling and environmental conditions. This analysis uses random sub-samples drawn from temporally-dense data sets of total nitrogen, total phosphorus, nitrate, and suspended-sediment concentration, and includes measurements of specific conductance which was used as a surrogate for dissolved solids concentration. Methods considered include linear interpolation and ratio estimators, regression-based methods historically employed by the U.S. Geological Survey, and newer flexible techniques including Weighted Regressions on Time, Season, and Discharge (WRTDS) and a generalized non-linear additive model. No single method is identified to have the greatest accuracy across all constituents, sites, and sampling scenarios. Most methods provide accurate estimates of specific conductance (used as a surrogate for total dissolved solids or specific major ions) and total nitrogen - lower accuracy is observed for the estimation of nitrate, total phosphorus and suspended sediment loads. Methods that allow for flexibility in the relation between concentration and flow conditions, specifically Beale's ratio estimator and WRTDS, exhibit greater estimation accuracy and lower bias. Evaluation of methods across simulated sampling scenarios indicate that (1) high-flow sampling is necessary to produce accurate load estimates, (2) extrapolation of sample data through time or across more extreme flow conditions reduces load estimate accuracy, and (3) WRTDS and methods that use a Kalman filter or smoothing to correct for departures between individual modeled and observed values benefit most from more frequent water-quality sampling.

An evaluation of methods for estimating decadal stream loads

USGS Publications Warehouse

Lee, Casey; Hirsch, Robert M.; Schwarz, Gregory E.; Holtschlag, David J.; Preston, Stephen D.; Crawford, Charles G.; Vecchia, Aldo V.

2016-01-01

Effective management of water resources requires accurate information on the mass, or load of water-quality constituents transported from upstream watersheds to downstream receiving waters. Despite this need, no single method has been shown to consistently provide accurate load estimates among different water-quality constituents, sampling sites, and sampling regimes. We evaluate the accuracy of several load estimation methods across a broad range of sampling and environmental conditions. This analysis uses random sub-samples drawn from temporally-dense data sets of total nitrogen, total phosphorus, nitrate, and suspended-sediment concentration, and includes measurements of specific conductance which was used as a surrogate for dissolved solids concentration. Methods considered include linear interpolation and ratio estimators, regression-based methods historically employed by the U.S. Geological Survey, and newer flexible techniques including Weighted Regressions on Time, Season, and Discharge (WRTDS) and a generalized non-linear additive model. No single method is identified to have the greatest accuracy across all constituents, sites, and sampling scenarios. Most methods provide accurate estimates of specific conductance (used as a surrogate for total dissolved solids or specific major ions) and total nitrogen – lower accuracy is observed for the estimation of nitrate, total phosphorus and suspended sediment loads. Methods that allow for flexibility in the relation between concentration and flow conditions, specifically Beale’s ratio estimator and WRTDS, exhibit greater estimation accuracy and lower bias. Evaluation of methods across simulated sampling scenarios indicate that (1) high-flow sampling is necessary to produce accurate load estimates, (2) extrapolation of sample data through time or across more extreme flow conditions reduces load estimate accuracy, and (3) WRTDS and methods that use a Kalman filter or smoothing to correct for departures between individual modeled and observed values benefit most from more frequent water-quality sampling.

Model-based recognition of 3D articulated target using ladar range data.

PubMed

Lv, Dan; Sun, Jian-Feng; Li, Qi; Wang, Qi

2015-06-10

Ladar is suitable for 3D target recognition because ladar range images can provide rich 3D geometric surface information of targets. In this paper, we propose a part-based 3D model matching technique to recognize articulated ground military vehicles in ladar range images. The key of this approach is to solve the decomposition and pose estimation of articulated parts of targets. The articulated components were decomposed into isolate parts based on 3D geometric properties of targets, such as surface point normals, data histogram distribution, and data distance relationships. The corresponding poses of these separate parts were estimated through the linear characteristics of barrels. According to these pose parameters, all parts of the target were roughly aligned to 3D point cloud models in a library and fine matching was finally performed to accomplish 3D articulated target recognition. The recognition performance was evaluated with 1728 ladar range images of eight different articulated military vehicles with various part types and orientations. Experimental results demonstrated that the proposed approach achieved a high recognition rate.

Improvement of Accuracy for Background Noise Estimation Method Based on TPE-AE

NASA Astrophysics Data System (ADS)

Itai, Akitoshi; Yasukawa, Hiroshi

This paper proposes a method of a background noise estimation based on the tensor product expansion with a median and a Monte carlo simulation. We have shown that a tensor product expansion with absolute error method is effective to estimate a background noise, however, a background noise might not be estimated by using conventional method properly. In this paper, it is shown that the estimate accuracy can be improved by using proposed methods.

Advancing assessment and design of stormwater monitoring programs using a self-organizing map: characterization of trace metal concentration profiles in stormwater runoff.

PubMed

Ki, Seo Jin; Kang, Joo-Hyon; Lee, Seung Won; Lee, Yun Seok; Cho, Kyung Hwa; An, Kwang-Guk; Kim, Joon Ha

2011-08-01

Stormwater runoff poses a great challenge to the scientific assessment of the effects of diffuse pollution sources on receiving waters. In this study, a self-organizing map (SOM), a research tool for analyzing specific patterns in a large array of data, was applied to the monitoring data obtained from a stormwater monitoring survey to acquire new insights into stream water quality profiles under different rainfall conditions. The components of the input data vectors used by the SOM included concentrations of 10 metal elements, river discharge, and rainfall amount which were collected at the inlet and endpoint of an urban segment of the Yeongsan River, Korea. From the study, it was found that the SOM displayed significant variability in trace metal concentrations for different monitoring sites and rainfall events, with a greater impact of stormwater runoff on stream water quality at the upstream site than at the downstream site, except under low rainfall conditions (≤ 4 mm). In addition, the SOM clearly determined the water quality characteristics for "non-storm" and "storm" data, where the parameters nickel and arsenic and the parameters chromium, cadmium, and lead played an important role in reflecting the spatial and temporal water quality, respectively. When the SOM was used to examine the efficacy of stormwater quality monitoring programs, between 34 and 64% of the sample size in the current data set was shown to be sufficient for estimating the stormwater pollutant loads. The observed errors were small, generally being below 10, 6, and 20% for load estimation, map resolution, and clustering accuracy, respectively. Thus, the method recommended may be used to minimize monitoring costs if both the efficiency and accuracy are further determined by examining a large existing data set. Copyright © 2011 Elsevier Ltd. All rights reserved.

Real-Time Identification of Wheel Terrain Interaction Models for Enhanced Autonomous Vehicle Mobility

DTIC Science & Technology

2014-04-24

tim at io n Er ro r ( cm ) 0 2 4 6 8 10 Color Statistics Angelova...Color_Statistics_Error) / Average_Slip_Error Position Estimation Error: Global Pose Po si tio n Es tim at io n Er ro r ( cm ) 0 2 4 6 8 10 12 Color...get some kind of clearance for releasing pose and odometry data) collected at the following sites – Taylor, Gascola, Somerset, Fort Bliss and

Satellite markers: a simple method for ground truth car pose on stereo video

NASA Astrophysics Data System (ADS)

Gil, Gustavo; Savino, Giovanni; Piantini, Simone; Pierini, Marco

2018-04-01

Artificial prediction of future location of other cars in the context of advanced safety systems is a must. The remote estimation of car pose and particularly its heading angle is key to predict its future location. Stereo vision systems allow to get the 3D information of a scene. Ground truth in this specific context is associated with referential information about the depth, shape and orientation of the objects present in the traffic scene. Creating 3D ground truth is a measurement and data fusion task associated with the combination of different kinds of sensors. The novelty of this paper is the method to generate ground truth car pose only from video data. When the method is applied to stereo video, it also provides the extrinsic camera parameters for each camera at frame level which are key to quantify the performance of a stereo vision system when it is moving because the system is subjected to undesired vibrations and/or leaning. We developed a video post-processing technique which employs a common camera calibration tool for the 3D ground truth generation. In our case study, we focus in accurate car heading angle estimation of a moving car under realistic imagery. As outcomes, our satellite marker method provides accurate car pose at frame level, and the instantaneous spatial orientation for each camera at frame level.

Comparison of regression models for estimation of isometric wrist joint torques using surface electromyography

PubMed Central

2011-01-01

Background Several regression models have been proposed for estimation of isometric joint torque using surface electromyography (SEMG) signals. Common issues related to torque estimation models are degradation of model accuracy with passage of time, electrode displacement, and alteration of limb posture. This work compares the performance of the most commonly used regression models under these circumstances, in order to assist researchers with identifying the most appropriate model for a specific biomedical application. Methods Eleven healthy volunteers participated in this study. A custom-built rig, equipped with a torque sensor, was used to measure isometric torque as each volunteer flexed and extended his wrist. SEMG signals from eight forearm muscles, in addition to wrist joint torque data were gathered during the experiment. Additional data were gathered one hour and twenty-four hours following the completion of the first data gathering session, for the purpose of evaluating the effects of passage of time and electrode displacement on accuracy of models. Acquired SEMG signals were filtered, rectified, normalized and then fed to models for training. Results It was shown that mean adjusted coefficient of determination (Ra2) values decrease between 20%-35% for different models after one hour while altering arm posture decreased mean Ra2 values between 64% to 74% for different models. Conclusions Model estimation accuracy drops significantly with passage of time, electrode displacement, and alteration of limb posture. Therefore model retraining is crucial for preserving estimation accuracy. Data resampling can significantly reduce model training time without losing estimation accuracy. Among the models compared, ordinary least squares linear regression model (OLS) was shown to have high isometric torque estimation accuracy combined with very short training times. PMID:21943179

The accuracy of Genomic Selection in Norwegian red cattle assessed by cross-validation.

PubMed

Luan, Tu; Woolliams, John A; Lien, Sigbjørn; Kent, Matthew; Svendsen, Morten; Meuwissen, Theo H E

2009-11-01

Genomic Selection (GS) is a newly developed tool for the estimation of breeding values for quantitative traits through the use of dense markers covering the whole genome. For a successful application of GS, accuracy of the prediction of genomewide breeding value (GW-EBV) is a key issue to consider. Here we investigated the accuracy and possible bias of GW-EBV prediction, using real bovine SNP genotyping (18,991 SNPs) and phenotypic data of 500 Norwegian Red bulls. The study was performed on milk yield, fat yield, protein yield, first lactation mastitis traits, and calving ease. Three methods, best linear unbiased prediction (G-BLUP), Bayesian statistics (BayesB), and a mixture model approach (MIXTURE), were used to estimate marker effects, and their accuracy and bias were estimated by using cross-validation. The accuracies of the GW-EBV prediction were found to vary widely between 0.12 and 0.62. G-BLUP gave overall the highest accuracy. We observed a strong relationship between the accuracy of the prediction and the heritability of the trait. GW-EBV prediction for production traits with high heritability achieved higher accuracy and also lower bias than health traits with low heritability. To achieve a similar accuracy for the health traits probably more records will be needed.

Accuracy of estimation of genomic breeding values in pigs using low-density genotypes and imputation.

PubMed

Badke, Yvonne M; Bates, Ronald O; Ernst, Catherine W; Fix, Justin; Steibel, Juan P

2014-04-16

Genomic selection has the potential to increase genetic progress. Genotype imputation of high-density single-nucleotide polymorphism (SNP) genotypes can improve the cost efficiency of genomic breeding value (GEBV) prediction for pig breeding. Consequently, the objectives of this work were to: (1) estimate accuracy of genomic evaluation and GEBV for three traits in a Yorkshire population and (2) quantify the loss of accuracy of genomic evaluation and GEBV when genotypes were imputed under two scenarios: a high-cost, high-accuracy scenario in which only selection candidates were imputed from a low-density platform and a low-cost, low-accuracy scenario in which all animals were imputed using a small reference panel of haplotypes. Phenotypes and genotypes obtained with the PorcineSNP60 BeadChip were available for 983 Yorkshire boars. Genotypes of selection candidates were masked and imputed using tagSNP in the GeneSeek Genomic Profiler (10K). Imputation was performed with BEAGLE using 128 or 1800 haplotypes as reference panels. GEBV were obtained through an animal-centric ridge regression model using de-regressed breeding values as response variables. Accuracy of genomic evaluation was estimated as the correlation between estimated breeding values and GEBV in a 10-fold cross validation design. Accuracy of genomic evaluation using observed genotypes was high for all traits (0.65-0.68). Using genotypes imputed from a large reference panel (accuracy: R(2) = 0.95) for genomic evaluation did not significantly decrease accuracy, whereas a scenario with genotypes imputed from a small reference panel (R(2) = 0.88) did show a significant decrease in accuracy. Genomic evaluation based on imputed genotypes in selection candidates can be implemented at a fraction of the cost of a genomic evaluation using observed genotypes and still yield virtually the same accuracy. On the other side, using a very small reference panel of haplotypes to impute training animals and candidates for selection results in lower accuracy of genomic evaluation.

If We Don’t, Who Will? The Employment of the United States Army to Combat Potential Pandemic Outbreaks in West Africa

DTIC Science & Technology

2015-06-12

27 viii Threats to Validity and Biases ...draw conclusions and make recommendations for future research. Threats to Validity and Biases There are a several issues that pose a threat to...validity and bias to the research. Threats to validity affect the accuracy of the research and soundness of the conclusion. Threats to external validity

The Effect of Training on Accuracy of Angle Estimation.

ERIC Educational Resources Information Center

Waller, T. Gary; Wright, Robert H.

This report describes a study to determine the effect of training on accuracy in estimating angles. The study was part of a research program directed toward improving navigation techniques for low-level flight in Army aircraft and was made to assess the feasibility of visually estimating angles on a map in order to determine angles of drift.…

"Battleship Numberline": A Digital Game for Improving Estimation Accuracy on Fraction Number Lines

ERIC Educational Resources Information Center

Lomas, Derek; Ching, Dixie; Stampfer, Eliane; Sandoval, Melanie; Koedinger, Ken

2011-01-01

Given the strong relationship between number line estimation accuracy and math achievement, might a computer-based number line game help improve math achievement? In one study by Rittle-Johnson, Siegler and Alibali (2001), a simple digital game called "Catch the Monster" provided practice in estimating the location of decimals on a…

The Impact of Strategy Instruction and Timing of Estimates on Low and High Working-Memory Capacity Readers' Absolute Monitoring Accuracy

ERIC Educational Resources Information Center

Linderholm, Tracy; Zhao, Qin

2008-01-01

Working-memory capacity, strategy instruction, and timing of estimates were investigated for their effects on absolute monitoring accuracy, which is the difference between estimated and actual reading comprehension test performance. Participants read two expository texts under one of two randomly assigned reading strategy instruction conditions…

Estimation of accuracy of earth-rotation parameters in different frequency bands

NASA Astrophysics Data System (ADS)

Vondrak, J.

1986-11-01

The accuracies of earth-rotation parameters as determined by five different observational techniques now available (i.e., optical astrometry /OA/, Doppler tracking of satellites /DTS/, satellite laser ranging /SLR/, very long-base interferometry /VLBI/ and lunar laser ranging /LLR/) are estimated. The differences between the individual techniques in all possible combinations, separated by appropriate filters into three frequency bands, were used to estimate the accuracies of the techniques for periods from 0 to 200 days, from 200 to 1000 days and longer than 1000 days. It is shown that for polar motion the most accurate results are obtained with VLBI anad SLR, especially in the short-period region; OA and DTS are less accurate, but with longer periods the differences in accuracy are less pronounced. The accuracies of UTI-UTC as determined by OA, VLBI and LLR are practically equivalent, the differences being less than 40 percent.

Time Perception and Depressive Realism: Judgment Type, Psychophysical Functions and Bias

PubMed Central

Kornbrot, Diana E.; Msetfi, Rachel M.; Grimwood, Melvyn J.

2013-01-01

The effect of mild depression on time estimation and production was investigated. Participants made both magnitude estimation and magnitude production judgments for five time intervals (specified in seconds) from 3 sec to 65 sec. The parameters of the best fitting psychophysical function (power law exponent, intercept, and threshold) were determined individually for each participant in every condition. There were no significant effects of mood (high BDI, low BDI) or judgment (estimation, production) on the mean exponent, n = .98, 95% confidence interval (.96–1.04) or on the threshold. However, the intercept showed a ‘depressive realism’ effect, where high BDI participants had a smaller deviation from accuracy and a smaller difference between estimation and judgment than low BDI participants. Accuracy bias was assessed using three measures of accuracy: difference, defined as psychological time minus physical time, ratio, defined as psychological time divided by physical time, and a new logarithmic accuracy measure defined as ln (ratio). The ln (ratio) measure was shown to have approximately normal residuals when subjected to a mixed ANOVA with mood as a between groups explanatory factor and judgment and time category as repeated measures explanatory factors. The residuals of the other two accuracy measures flagrantly violated normality. The mixed ANOVAs of accuracy also showed a strong depressive realism effect, just like the intercepts of the psychophysical functions. There was also a strong negative correlation between estimation and production judgments. Taken together these findings support a clock model of time estimation, combined with additional cognitive mechanisms to account for the depressive realism effect. The findings also suggest strong methodological recommendations. PMID:23990960

Accurate Estimation of Solvation Free Energy Using Polynomial Fitting Techniques

PubMed Central

Shyu, Conrad; Ytreberg, F. Marty

2010-01-01

This report details an approach to improve the accuracy of free energy difference estimates using thermodynamic integration data (slope of the free energy with respect to the switching variable λ) and its application to calculating solvation free energy. The central idea is to utilize polynomial fitting schemes to approximate the thermodynamic integration data to improve the accuracy of the free energy difference estimates. Previously, we introduced the use of polynomial regression technique to fit thermodynamic integration data (Shyu and Ytreberg, J Comput Chem 30: 2297–2304, 2009). In this report we introduce polynomial and spline interpolation techniques. Two systems with analytically solvable relative free energies are used to test the accuracy of the interpolation approach. We also use both interpolation and regression methods to determine a small molecule solvation free energy. Our simulations show that, using such polynomial techniques and non-equidistant λ values, the solvation free energy can be estimated with high accuracy without using soft-core scaling and separate simulations for Lennard-Jones and partial charges. The results from our study suggest these polynomial techniques, especially with use of non-equidistant λ values, improve the accuracy for ΔF estimates without demanding additional simulations. We also provide general guidelines for use of polynomial fitting to estimate free energy. To allow researchers to immediately utilize these methods, free software and documentation is provided via http://www.phys.uidaho.edu/ytreberg/software. PMID:20623657

Sex estimation by femur in modern Thai population.

PubMed

Monum, T; Prasitwattanseree, S; Das, S; Siriphimolwat, P; Mahakkanukrauh, P

2017-01-01

Sex estimation is an important step of postmortem investigation and the femur is a useful bone for sex estimation by using metric analysis method. Even though there have been a reported sex estimation method by using femur in Thais, the temporal change related to time and anthropological data need to be renewed. Thus the aim of this study is to re-evaluate sex estimation by femur in Thais. 97 adult male and 103 female femora were random chosen from Forensic osteology research center and 6 measurements were applied tend to. To compare with previous Thai data, mid shaft diameter to increase but femoral head and epicondylar breadth to stabilize and when tested previous discriminant function by vertical head diameter and epicondalar breadth, the accuracy of prediction was lower than previous report. From the new data, epicondalar breadth is the best variable for distinguishing male and female at 88.7 percent of accuracy, following by transverse and vertical head diameter at 86.7 percent and femoral neck diameter at 81.7 percent of accuracy. Multivariate discriminant analysis indicated transverse head diameter and epicondylar breadth performed highest rate of accuracy at 89.7 percent. The percent of accuracy of femur was close to previous reported sex estimation by talus and calcaneus in Thai population. Thus, for especially in case of lower limb remain, which absence of pelvis.

A chance constraint estimation approach to optimizing resource management under uncertainty

Treesearch

Michael Bevers

2007-01-01

Chance-constrained optimization is an important method for managing risk arising from random variations in natural resource systems, but the probabilistic formulations often pose mathematical programming problems that cannot be solved with exact methods. A heuristic estimation method for these problems is presented that combines a formulation for order statistic...

Intervertebral anticollision constraints improve out-of-plane translation accuracy of a single-plane fluoroscopy-to-CT registration method for measuring spinal motion

DOE Office of Scientific and Technical Information (OSTI.GOV)

Lin, Cheng-Chung; Tsai, Tsung-Yuan; Hsu, Shih-Jung

2013-03-15

Purpose: The study aimed to propose a new single-plane fluoroscopy-to-CT registration method integrated with intervertebral anticollision constraints for measuring three-dimensional (3D) intervertebral kinematics of the spine; and to evaluate the performance of the method without anticollision and with three variations of the anticollision constraints via an in vitro experiment. Methods: The proposed fluoroscopy-to-CT registration approach, called the weighted edge-matching with anticollision (WEMAC) method, was based on the integration of geometrical anticollision constraints for adjacent vertebrae and the weighted edge-matching score (WEMS) method that matched the digitally reconstructed radiographs of the CT models of the vertebrae and the measured single-plane fluoroscopymore » images. Three variations of the anticollision constraints, namely, T-DOF, R-DOF, and A-DOF methods, were proposed. An in vitro experiment using four porcine cervical spines in different postures was performed to evaluate the performance of the WEMS and the WEMAC methods. Results: The WEMS method gave high precision and small bias in all components for both vertebral pose and intervertebral pose measurements, except for relatively large errors for the out-of-plane translation component. The WEMAC method successfully reduced the out-of-plane translation errors for intervertebral kinematic measurements while keeping the measurement accuracies for the other five degrees of freedom (DOF) more or less unaltered. The means (standard deviations) of the out-of-plane translational errors were less than -0.5 (0.6) and -0.3 (0.8) mm for the T-DOF method and the R-DOF method, respectively. Conclusions: The proposed single-plane fluoroscopy-to-CT registration method reduced the out-of-plane translation errors for intervertebral kinematic measurements while keeping the measurement accuracies for the other five DOF more or less unaltered. With the submillimeter and subdegree accuracy, the WEMAC method was considered accurate for measuring 3D intervertebral kinematics during various functional activities for research and clinical applications.« less

Accurate estimation of human body orientation from RGB-D sensors.

PubMed

Liu, Wu; Zhang, Yongdong; Tang, Sheng; Tang, Jinhui; Hong, Richang; Li, Jintao

2013-10-01

Accurate estimation of human body orientation can significantly enhance the analysis of human behavior, which is a fundamental task in the field of computer vision. However, existing orientation estimation methods cannot handle the various body poses and appearances. In this paper, we propose an innovative RGB-D-based orientation estimation method to address these challenges. By utilizing the RGB-D information, which can be real time acquired by RGB-D sensors, our method is robust to cluttered environment, illumination change and partial occlusions. Specifically, efficient static and motion cue extraction methods are proposed based on the RGB-D superpixels to reduce the noise of depth data. Since it is hard to discriminate all the 360 (°) orientation using static cues or motion cues independently, we propose to utilize a dynamic Bayesian network system (DBNS) to effectively employ the complementary nature of both static and motion cues. In order to verify our proposed method, we build a RGB-D-based human body orientation dataset that covers a wide diversity of poses and appearances. Our intensive experimental evaluations on this dataset demonstrate the effectiveness and efficiency of the proposed method.

Different Coefficients and Exponents for Metabolic Body Weight in a Model to Estimate Individual Feed Intake for Growing-finishing Pigs

PubMed Central

Lee, S. A.; Kong, C.; Adeola, O.; Kim, B. G.

2016-01-01

Estimation of feed intake (FI) for individual animals within a pen is needed in situations where more than one animal share a feeder during feeding trials. A partitioning method (PM) was previously published as a model to estimate the individual FI (IFI). Briefly, the IFI of a pig within the pen was calculated by partitioning IFI into IFI for maintenance (IFIm) and IFI for growth. In the PM, IFIm is determined based on the metabolic body weight (BW), which is calculated using the coefficient of 106 and exponent of 0.75. Two simulation studies were conducted to test the hypothesis that the use of different coefficients and exponents for metabolic BW to calculate IFIm improves the accuracy of the estimates of IFI for pigs, and that PM is applied to pigs fed in group-housing systems. The accuracy of prediction represented by difference between actual and estimated IFI was compared using PM, ratio (RM), or averaging method (AM). In simulation studies 1 and 2, the PM estimated IFI better than the AM and RM during most of the periods (p<0.05). The use of 0.60 as the exponent and the coefficient of 197 to calculate metabolic BW did not improve the accuracy of the IFI estimates in both simulation studies 1 and 2. The results imply that the use of 197 kcal×kg BW0.60 as metabolizable energy for maintenance in PM does not improve the accuracy of IFI estimations compared with the use of 106 kcal×kg BW0.75 and that the PM estimates the IFI of pigs with greater accuracy compared with the averaging or ratio methods in group-housing systems. PMID:27608642

Evaluation of human health risks posed by carcinogenic and non-carcinogenic multiple contaminants associated with consumption of fish from Taihu Lake, China.

PubMed

Yu, Yingxin; Wang, Xinxin; Yang, Dan; Lei, Bingli; Zhang, Xiaolan; Zhang, Xinyu

2014-07-01

The present study estimated the human daily intake and uptake of organochlorine pesticides (OCPs), polychlorinated biphenyls (PCBs), polybrominated diphenyl ethers (PBDEs), polycyclic aromatic hydrocarbons (PAHs), and toxic trace elements [mercury (Hg), chromium (Cr), cadmium (Cd), and arsenic (As)] due to consumption of fish from Taihu Lake, China, and the associated potential health risks posed by these contaminants. The health risks posed by the contaminants were assessed using a risk quotient of the fish consumption rate to the maximum allowable fish consumption rate considering the contaminants for carcinogenic and non-carcinogenic effect endpoints. The results showed that fish consumption would not pose non-cancer risks. However, some species would cause a cancer risk. Relative risks of the contaminants were calculated to investigate the contaminant which posed the highest risk to humans. As a result, in view of the contaminants for carcinogenic effects, As was the contaminant which posed the highest risk to humans. However, when non-carcinogenic effects of the contaminants were considered, Hg posed the highest risk. The risk caused by PBDEs was negligible. The results demonstrated that traditional contaminants, such as As, Hg, DDTs (dichlorodiphenyltrichloroethane and its metabolites), and PCBs, require more attention in Taihu Lake than the other target contaminants. Copyright © 2014 Elsevier Ltd. All rights reserved.

Multi-Cone Model for Estimating GPS Ionospheric Delays

NASA Technical Reports Server (NTRS)

Sparks, Lawrence; Komjathy, Attila; Mannucci, Anthony

2009-01-01

The multi-cone model is a computational model for estimating ionospheric delays of Global Positioning System (GPS) signals. It is a direct descendant of the conical-domain model. A primary motivation for the development of this model is the need to find alternatives for modeling slant delays at low latitudes, where ionospheric behavior poses an acute challenge for GPS signal-delay estimates based upon the thin-shell model of the ionosphere.

Taking the Missing Propensity Into Account When Estimating Competence Scores

PubMed Central

Pohl, Steffi; Carstensen, Claus H.

2014-01-01

When competence tests are administered, subjects frequently omit items. These missing responses pose a threat to correctly estimating the proficiency level. Newer model-based approaches aim to take nonignorable missing data processes into account by incorporating a latent missing propensity into the measurement model. Two assumptions are typically made when using these models: (1) The missing propensity is unidimensional and (2) the missing propensity and the ability are bivariate normally distributed. These assumptions may, however, be violated in real data sets and could, thus, pose a threat to the validity of this approach. The present study focuses on modeling competencies in various domains, using data from a school sample (N = 15,396) and an adult sample (N = 7,256) from the National Educational Panel Study. Our interest was to investigate whether violations of unidimensionality and the normal distribution assumption severely affect the performance of the model-based approach in terms of differences in ability estimates. We propose a model with a competence dimension, a unidimensional missing propensity and a distributional assumption more flexible than a multivariate normal. Using this model for ability estimation results in different ability estimates compared with a model ignoring missing responses. Implications for ability estimation in large-scale assessments are discussed. PMID:29795844

3D annotation and manipulation of medical anatomical structures

NASA Astrophysics Data System (ADS)

Vitanovski, Dime; Schaller, Christian; Hahn, Dieter; Daum, Volker; Hornegger, Joachim

2009-02-01

Although the medical scanners are rapidly moving towards a three-dimensional paradigm, the manipulation and annotation/labeling of the acquired data is still performed in a standard 2D environment. Editing and annotation of three-dimensional medical structures is currently a complex task and rather time-consuming, as it is carried out in 2D projections of the original object. A major problem in 2D annotation is the depth ambiguity, which requires 3D landmarks to be identified and localized in at least two of the cutting planes. Operating directly in a three-dimensional space enables the implicit consideration of the full 3D local context, which significantly increases accuracy and speed. A three-dimensional environment is as well more natural optimizing the user's comfort and acceptance. The 3D annotation environment requires the three-dimensional manipulation device and display. By means of two novel and advanced technologies, Wii Nintendo Controller and Philips 3D WoWvx display, we define an appropriate 3D annotation tool and a suitable 3D visualization monitor. We define non-coplanar setting of four Infrared LEDs with a known and exact position, which are tracked by the Wii and from which we compute the pose of the device by applying a standard pose estimation algorithm. The novel 3D renderer developed by Philips uses either the Z-value of a 3D volume, or it computes the depth information out of a 2D image, to provide a real 3D experience without having some special glasses. Within this paper we present a new framework for manipulation and annotation of medical landmarks directly in three-dimensional volume.

Visual Odometry for Autonomous Deep-Space Navigation Project

NASA Technical Reports Server (NTRS)

Robinson, Shane; Pedrotty, Sam

2016-01-01

Autonomous rendezvous and docking (AR&D) is a critical need for manned spaceflight, especially in deep space where communication delays essentially leave crews on their own for critical operations like docking. Previously developed AR&D sensors have been large, heavy, power-hungry, and may still require further development (e.g. Flash LiDAR). Other approaches to vision-based navigation are not computationally efficient enough to operate quickly on slower, flight-like computers. The key technical challenge for visual odometry is to adapt it from the current terrestrial applications it was designed for to function in the harsh lighting conditions of space. This effort leveraged Draper Laboratory’s considerable prior development and expertise, benefitting both parties. The algorithm Draper has created is unique from other pose estimation efforts as it has a comparatively small computational footprint (suitable for use onboard a spacecraft, unlike alternatives) and potentially offers accuracy and precision needed for docking. This presents a solution to the AR&D problem that only requires a camera, which is much smaller, lighter, and requires far less power than competing AR&D sensors. We have demonstrated the algorithm’s performance and ability to process ‘flight-like’ imagery formats with a ‘flight-like’ trajectory, positioning ourselves to easily process flight data from the upcoming ‘ISS Selfie’ activity and then compare the algorithm’s quantified performance to the simulated imagery. This will bring visual odometry beyond TRL 5, proving its readiness to be demonstrated as part of an integrated system.Once beyond TRL 5, visual odometry will be poised to be demonstrated as part of a system in an in-space demo where relative pose is critical, like Orion AR&D, ISS robotic operations, asteroid proximity operations, and more.

Visual Odometry for Autonomous Deep-Space Navigation Project

NASA Technical Reports Server (NTRS)

Robinson, Shane; Pedrotty, Sam

2016-01-01

Autonomous rendezvous and docking (AR&D) is a critical need for manned spaceflight, especially in deep space where communication delays essentially leave crews on their own for critical operations like docking. Previously developed AR&D sensors have been large, heavy, power-hungry, and may still require further development (e.g. Flash LiDAR). Other approaches to vision-based navigation are not computationally efficient enough to operate quickly on slower, flight-like computers. The key technical challenge for visual odometry is to adapt it from the current terrestrial applications it was designed for to function in the harsh lighting conditions of space. This effort leveraged Draper Laboratory's considerable prior development and expertise, benefitting both parties. The algorithm Draper has created is unique from other pose estimation efforts as it has a comparatively small computational footprint (suitable for use onboard a spacecraft, unlike alternatives) and potentially offers accuracy and precision needed for docking. This presents a solution to the AR&D problem that only requires a camera, which is much smaller, lighter, and requires far less power than competing AR&D sensors. We have demonstrated the algorithm's performance and ability to process 'flight-like' imagery formats with a 'flight-like' trajectory, positioning ourselves to easily process flight data from the upcoming 'ISS Selfie' activity and then compare the algorithm's quantified performance to the simulated imagery. This will bring visual odometry beyond TRL 5, proving its readiness to be demonstrated as part of an integrated system. Once beyond TRL 5, visual odometry will be poised to be demonstrated as part of a system in an in-space demo where relative pose is critical, like Orion AR&D, ISS robotic operations, asteroid proximity operations, and more.

Estimation of diagnostic test accuracy without full verification: a review of latent class methods

PubMed Central

Collins, John; Huynh, Minh

2014-01-01

The performance of a diagnostic test is best evaluated against a reference test that is without error. For many diseases, this is not possible, and an imperfect reference test must be used. However, diagnostic accuracy estimates may be biased if inaccurately verified status is used as the truth. Statistical models have been developed to handle this situation by treating disease as a latent variable. In this paper, we conduct a systematized review of statistical methods using latent class models for estimating test accuracy and disease prevalence in the absence of complete verification. PMID:24910172

Accuracy estimation of an indirect ELISA for the detection of West Nile Virus antibodies in wild birds using a latent class model.

PubMed

Tamba, Marco; Caminiti, Antonino; Prosperi, Alice; Desprès, Philippe; Lelli, Davide; Galletti, Giorgio; Moreno, Ana; Paternoster, Giulia; Santi, Annalisa; Licata, Elio; Lecollinet, Sylvie; Gelmini, Luca; Rugna, Gianluca; Procopio, Anna; Lavazza, Antonio

2017-10-01

West Nile virus (WNV) and Usutu virus (USUV), genus Flavivirus, are members of the Japanese encephalitis virus antigenic complex, and are maintained primarily in an enzootic cycle between mosquitoes and birds. WNV is zoonotic, and poses a threat to public health, especially in relation to blood transfusion. Serosurveillance of wild birds is suitable for early detection of WNV circulation, although concerns remain to be addressed as regards i) the type of test used, whether ELISA, virus neutralization test (VNT), plaque reduction neutralization test (PRNT), ii) the reagents (antigens, revealing antibodies), iii) the different bird species involved, and iv) potential cross-reactions with other Flaviviruses, such as USUV. The authors developed an indirect IgG ELISA with pan-avian specificity using EDIII protein as antigen and a monoclonal antibody (mAb 1A3) with broad reactivity for avian IgG. A total of 140 serum samples were collected from juvenile European magpies (Pica pica) in areas where both WNV and USUV were co-circulating. The samples were then tested using this in-house ELISA and VNT in parallel. Estimation of test accuracy was performed using different Bayesian two latent class models. At a cut-off set at an optical density percentage (OD%) of 15, the ELISA showed a posterior median of diagnostic sensitivity (DSe) of 88% (95%PCI: 73-99%) and a diagnostic specificity (DSp) of 86% (95%PCI: 68-99%). At this cut-off, ELISA and VNT (cut-off 1/10) performances were comparable: DSe=91% (95%PCI: 79-99%), and DSp=77% (95%PCI: 59-98%). With the cut-off increased to 30 OD%, the ELISA DSe dropped to 78% (95%PCI: 52-99%), and the DSp rose to 94% (95%PCI: 83-100%). In field conditions, the cut-off that yields the best accuracy for the ELISA appears to correspond to 15 OD%. In areas where other Flaviviruses are circulating, however, it might be appropriate to raise the cut-off to 30 OD% in order to achieve higher specificity and reduce the detection of seropositive birds infected by other Flaviviruses, such as USUV. Copyright © 2017 Elsevier B.V. All rights reserved.

Dense-HOG-based drift-reduced 3D face tracking for infant pain monitoring

NASA Astrophysics Data System (ADS)

Saeijs, Ronald W. J. J.; Tjon A Ten, Walther E.; de With, Peter H. N.

2017-03-01

This paper presents a new algorithm for 3D face tracking intended for clinical infant pain monitoring. The algorithm uses a cylinder head model and 3D head pose recovery by alignment of dynamically extracted templates based on dense-HOG features. The algorithm includes extensions for drift reduction, using re-registration in combination with multi-pose state estimation by means of a square-root unscented Kalman filter. The paper reports experimental results on videos of moving infants in hospital who are relaxed or in pain. Results show good tracking behavior for poses up to 50 degrees from upright-frontal. In terms of eye location error relative to inter-ocular distance, the mean tracking error is below 9%.

Accuracy of Doppler echocardiographic estimates of pulmonary artery pressures in a canine model of pulmonary hypertension

PubMed Central

Soydan, Lydia C.; Kellihan, Heidi B.; Bates, Melissa L.; Stepien, Rebecca L.; Consigny, Daniel W.; Bellofiore, Alessandro; Francois, Christopher J.; Chesler, Naomi C.

2015-01-01

Objectives To compare noninvasive estimates of pulmonary artery pressure (PAP) obtained via echocardiography (ECHO) to invasive measurements of PAP obtained during right heart catheterization (RHC) across a wide range of PAP, to examine the accuracy of estimating right atrial pressure via ECHO (RAPECHO) compared to RAP measured by catheterization (RAPRHC), and to determine if adding RAPECHO improves the accuracy of noninvasive PAP estimations. Animals Fourteen healthy female beagle dogs. Methods ECHO and RHC performed at various data collection points, both at normal PAP and increased PAP (generated by microbead embolization). Results Noninvasive estimates of PAP were moderately but significantly correlated with invasive measurements of PAP. A high degree of variance was noted for all estimations, with increased variance at higher PAP. The addition of RAPECHO improved correlation and bias in all cases. RAPRHC was significantly correlated with RAPECHO and with subjectively assessed right atrial size (RA sizesubj). Conclusions Spectral Doppler assessments of tricuspid and pulmonic regurgitation are imperfect methods for predicting PAP as measured by catheterization despite an overall moderate correlation between invasive and noninvasive values. Noninvasive measurements may be better utilized as part of a comprehensive assessment of PAP in canine patients. RAPRHC appears best estimated based on subjective assessment of RA size. Including estimated RAPECHO in estimates of PAP improves the correlation and relatedness between noninvasive and invasive measures of PAP, but notable variability in accuracy of estimations persists. PMID:25601540

Accuracy and Variability of Item Parameter Estimates from Marginal Maximum a Posteriori Estimation and Bayesian Inference via Gibbs Samplers

ERIC Educational Resources Information Center

Wu, Yi-Fang

2015-01-01

Item response theory (IRT) uses a family of statistical models for estimating stable characteristics of items and examinees and defining how these characteristics interact in describing item and test performance. With a focus on the three-parameter logistic IRT (Birnbaum, 1968; Lord, 1980) model, the current study examines the accuracy and…

Size at emergence improves accuracy of age estimates in forensically-useful beetle Creophilus maxillosus L. (Staphylinidae).

PubMed

Matuszewski, Szymon; Frątczak-Łagiewska, Katarzyna

2018-02-05

Insects colonizing human or animal cadavers may be used to estimate post-mortem interval (PMI) usually by aging larvae or pupae sampled on a crime scene. The accuracy of insect age estimates in a forensic context is reduced by large intraspecific variation in insect development time. Here we test the concept that insect size at emergence may be used to predict insect physiological age and accordingly to improve the accuracy of age estimates in forensic entomology. Using results of laboratory study on development of forensically-useful beetle Creophilus maxillosus (Linnaeus, 1758) (Staphylinidae) we demonstrate that its physiological age at emergence [i.e. thermal summation value (K) needed for emergence] fall with an increase of beetle size. In the validation study it was found that K estimated based on the adult insect size was significantly closer to the true K as compared to K from the general thermal summation model. Using beetle length at emergence as a predictor variable and male or female specific model regressing K against beetle length gave the most accurate predictions of age. These results demonstrate that size of C. maxillosus at emergence improves accuracy of age estimates in a forensic context.

The accuracy of less: Natural bounds explain why quantity decreases are estimated more accurately than quantity increases.

PubMed

Chandon, Pierre; Ordabayeva, Nailya

2017-02-01

Five studies show that people, including experts such as professional chefs, estimate quantity decreases more accurately than quantity increases. We argue that this asymmetry occurs because physical quantities cannot be negative. Consequently, there is a natural lower bound (zero) when estimating decreasing quantities but no upper bound when estimating increasing quantities, which can theoretically grow to infinity. As a result, the "accuracy of less" disappears (a) when a numerical or a natural upper bound is present when estimating quantity increases, or (b) when people are asked to estimate the (unbounded) ratio of change from 1 size to another for both increasing and decreasing quantities. Ruling out explanations related to loss aversion, symbolic number mapping, and the visual arrangement of the stimuli, we show that the "accuracy of less" influences choice and demonstrate its robustness in a meta-analysis that includes previously published results. Finally, we discuss how the "accuracy of less" may explain asymmetric reactions to the supersizing and downsizing of food portions, some instances of the endowment effect, and asymmetries in the perception of increases and decreases in physical and psychological distance. (PsycINFO Database Record (c) 2017 APA, all rights reserved).

History matching by spline approximation and regularization in single-phase areal reservoirs

NASA Technical Reports Server (NTRS)

Lee, T. Y.; Kravaris, C.; Seinfeld, J.

1986-01-01

An automatic history matching algorithm is developed based on bi-cubic spline approximations of permeability and porosity distributions and on the theory of regularization to estimate permeability or porosity in a single-phase, two-dimensional real reservoir from well pressure data. The regularization feature of the algorithm is used to convert the ill-posed history matching problem into a well-posed problem. The algorithm employs the conjugate gradient method as its core minimization method. A number of numerical experiments are carried out to evaluate the performance of the algorithm. Comparisons with conventional (non-regularized) automatic history matching algorithms indicate the superiority of the new algorithm with respect to the parameter estimates obtained. A quasioptimal regularization parameter is determined without requiring a priori information on the statistical properties of the observations.