SHORT
REVIEW
of recent
publications (beginning from 1995) by Georgii Khachaturov.
You can download
some compressed papers in PS format.
The main question
that provoked the following series of papers was: How a structural
object model should depend on the available routines of low-level
processing?
"Structural Matching to Control the
Low-Level Processing" , (with F. Macias-Rangel), in Proc. of Congreso
International De Computación , CIC2000, 13-17 November 2000, IPN,
Centro de Investigación en Computación, Mexico, pp. 273-284,
2000.
"Knowledge-Based and
Processing-Oriented Object Representation" (with F.
Macias-Rangel), in Proceedings of the
Workshop AAPR'2000: Advances in Artificial Perception and Robotics,
Eduardo Bayro Corrochano (Ed.), M-00-26 (CC/CIMAT), Guanajuato, Mexico, pp.
151-158, 2000.
" Detector-Based Visual Identification
of Known Objects ", in Enhanced and Synthetic
Vision 2000, J.G. Verly, Ed., Proceedings of SPIE, Vol. 4023, pp. 269-279,
2000.
Three new issues
are presented in them (i) A formalization of low-level processing
(ii) A new object representation (TSG-model) for Pattern
Recognition (iii) A new image processing scheme for verification if an
input image contains an object corresponding to a given TSG-model. The
peculiarity of the processing is that its part representing low-level image
processing works under full control of typical AI search interacting with the
TSG-model of object to be identified.
In other words, structural identification is reduced in the papers to AI search
that manipulates with two kinds of feasible block-operations, the one
represented by detectors (this is a formalization of low-level image
processing) and the one represented by operations with sets (union,
intersection, etc.) of image frame.
The most recent
paper of this set extends the technique for the case of possible occlusions and
omission of details during detection.
·
· Papers related to
Intelligent Robot Navigation
The ideas developed
in the following set of papers, perhaps, are of common interest. In
particular, they are related to a challenging application: Planning via
Internet a fastest trip by means of all available timetables of all kinds of
transport.
The problem of robot navigation is represented in those papers as an extension
of well known shortest path problem on graphs. Then, an efficient
resolution for this extended problem is presented. For robotics, this approach
leads to a new graph-based representation of its environment. It gives a new
point of view about robot learning, perception, and other parts of robot
architecture and suggests a new research program for them.
" An Approach to Trip- and Route-Planning
Problems", Cybernetics
and Systems: An International Journal,
Vol. 33, pp. 43-67, 2002, Taylor & Francis Group
" An Approach to the Natural Posed Trip and
Route-Planning Problems", in Proceedings of the 2nd
International Symposium on Robotics and Automation, ISRA'2000, Monterrey,
Mexico, pp. 87-92, 2000.
"A Graph-Based Approach To
Intelligent Robot Navigation" in Proc. of Congreso
International De Computación , 15-19 November 1999, pp. 453-461, IPN,
Centro de Investigación en Computación, Mexico,
1999.
"Robot Navigation with an Almost Natural
Interface", in Proc. of 10th Irish
Conference on Artificial Intelligence & Cognitive Science
(AICS99), pp. 116-122, University College Cork, Ireland,
1999.
"An approach to the non-Cartesian
navigation", in Proc. of SIARP’99 -
4th Iberoamerican Simp. on Patt. Recogn., pp. 67-78, Havana, Cuba,
1999.
The original goal
was a one-step extraction of "something one-dimensional in picture, disregarding
irrelevant details". It led to a generalization of edgel. "The
3-Frequencies Method" (3FM) was developed for that purpose
in
"An Approach to Detection of Line
Elements". In Proc. of the Second
Asian Conference on Computer Vision (ACCV’95), Vol. III, pp.559-563, 5-8
December 1995, Singapore, 1995.
In the following
two papers 3FM was applied to a next step generalization of edgel, and also to
extraction of "something 0D".
"Generalization of Local Elements
of Pictures",in Proc. of 30th Intl.
Symposium on Automative Technology & Automation, ISATA-97, Florence,
Italy 16-19 June 1997, pp.257-264, 1997
"Non-matching detection of the local image
elements", (with I. Grandi) in Proc.
of TIARP’97 – 2d Iberoamerican Workshop on Patt. Recogn., pp.
17-27, Havana, 1997,
This set of three
papers presents a simple, robust, and precise method of 3D-pose estimation that
can be used, for example, for spacecraft docking and
robotics.
"An Approach to Full Pose Estimation for an
Automatic Control System Based on Vision", (with H.Moncayo) in
Enhanced and Synthetic Vision 1998, J.G. Verly, Ed., Proceedings of SPIE
Vol. 3364, pp.303-313, 1998.
"A Monocular 3D Pose Estimator Based on Fourier
Technique", in Proc. of III
Iberoamerican Workshop on Pattern Recongnition, (Memorias del III Taller
Iberoamericano de Reconocimiento de Patrones), March 23-27, 1998, pp.113-129,
ICIMAF (Cuba), CIC IPN, IPN (Mexico), 1998.
"Non-uniformity of a
pattern and "the best" single view 3D pose
estimator", Computación y Sistemas (an
international journal in Computer Science, published in CIC IPN,
Mexico), vol II,
no.2 and 3, pp. 114-125, 1999.