Question: The influence of comments and recommendation systems on the purchasing behavior of online shoppers.

This paper introduces an advanced method for integrating link structure into probabilistic models, particularly relevant for complex and interconnected data sets commonly found in the real world, such as social networks, bibliographic data, and the web. Unlike conventional statistical learning techniques that require data to be flattened, potentially losing valuable link information, probabilistic relational models (PRMs) are designed to respect the object-relational nature of structured data by accounting for probabilistic interactions between the attributes of related entities. Building upon this foundation, we propose an enhanced framework that not only models interactions between attributes but also incorporates the link structure itself into the probabilistic model. This integration leads to a comprehensive generative model capable of describing both the content and the relational structure simultaneously.

We introduce two novel mechanisms for representing probabilistic distributions over link structures: reference uncertainty and existence uncertainty. Reference uncertainty deals with the variability in the links that connect entities, while existence uncertainty focuses on the presence or absence of these links. Each model is tailored to specific conditions, offering flexibility in addressing diverse link structure scenarios. To facilitate the application of these models, we have developed learning algorithms for both mechanisms. Experimental outcomes demonstrate the effectiveness of our approach in predicting link structures and, notably, in leveraging observed link structures to enhance predictions for the attributes within the model. This method has significant implications for understanding and analyzing the complex relationships within large-scale data sets, potentially improving the accuracy of predictions and insights derived from such data.

Review helpfulness is attracting increasing attention of practitioners and academics. It helps in reducing risks and uncertainty faced by users in online shopping. This study examines uninvestigated variables by looking at not only the review characteristics but also important indicators of reviewers. Several significant review content and two reviewer variables are proposed and an effective review helpfulness prediction model is built using stochastic gradient boosting learning method. This study derived a mechanism to extract novel review content variables from review text. Six popular machine learning models and three real-life Amazon review data sets are used for analysis. Our results are robust to several product categories and along three Amazon review data sets. The results show that review content variables deliver the best performance as compared to the reviewer and state-of-the-art baseline as a standalone model. This study finds that reviewer helpfulness per day and syllables in review text strongly relates to review helpfulness. Moreover, the number of space, aux verb, drives words in review text and productivity score of a reviewer are also effective predictors of review helpfulness. The findings will help customers to write better reviews, help retailers to manage their websites intelligently and aid customers in their product purchasing decisions.

In this work, we explore the degree to which personality information can be used to model newcomer retention, investment, intensity of engagement, and distribution of activity in a recommender community. Prior work shows that Big-Five Personality traits can explain variation in user behavior in other contexts. Building on this, we carry out and report on an analysis of 1008 MovieLens users with identified personality profiles. We find that Introverts and low Agreeableness users are more likely to survive into the second and subsequent sessions compared to their respective counterparts; Introverts and low Conscientiousness users are a significantly more active population compared to their respective counterparts; High Openness and High Neuroticism users contribute (tag) significantly more compared to their counterparts, but their counterparts consume (browse and bookmark) more; and low Agreeableness users are more likely to rate whereas high Agreeableness users are more likely to tag. These results show how modeling newcomer behavior from user personality can be useful for recommender systems designers as they customize the system to guide people towards tasks that need to be done or tasks the users will find rewarding and also decide which users to invest retention efforts in.

The paper systematically compares two feature extraction algorithms to mine product features commented on in customer reviews. The first approach [17] identifies candidate features by applying a set of POS patterns and pruning the candidate set based on the log likelihood ratio test. The second approach [11] applies association rule mining for identifying frequent features and a heuristic based on the presence of sentiment terms for identifying infrequent features. We evaluate the performance of the algorithms on five product specific document collections regarding consumer electronic devices. We perform an analysis of errors and discuss advantages and limitations of the algorithms.

This study seeks to assess the business value of e-commerce capability and information technology (IT) infrastructure in the context of electronic business at the firm level. Grounded in the IT business-value literature and enhanced by the resource-based theory of the firm, we developed a research framework in which both the main effects and the interaction effects of e-commerce and IT on firm performance were tested. Within this theoretical framework, we formulated several hypotheses. We then developed a multidimensional e-commerce capability construct, and after establishing its validity and reliability, tested the hypotheses with empirical data from 114 companies in the retail industry. Controlling for variations of firm size and subindustry effects, our empirical analysis found a strong positive interaction effect between IT infrastructure and e-commerce capability. This suggests that their complementarity positively contributes to firm performance in terms of sales per employee, inventory turnover, and cost reduction. The results are consistent with the resource-based theory, and provide empirical evidence to the complementary synergy between front-end e-commerce capability and back-end IT infrastructure. Combined together, they become more effective in producing business value. Yet the value of this synergy has not been recognized in the IT payoff literature. The “productivity paradox” observed in various studies has been attributed to variation in methods and measures, yet we offer an additional explanation: ignoring complementarities in business value measurement implies that the impact of IT was seriously underestimated. Our results emphasized the integration of resources as a feasible path to e-commerce value—companies need to enhance the integration between front-end e-commerce capability and back-end IT infrastructure in order to reap the benefits of e-commerce investments.

Recommender Systems allow people to find the resources they need by making use of the experiences and opinions of their nearest neighbours. Costly annotations by experts are replaced by a distributed process where the users take the initiative. While the collaborative approach enables the collection of a vast amount of data, a new issue arises: the quality assessment. The elicitation of trust values among users, termed “web of trust”, allows a twofold enhancement of Recommender Systems. Firstly, the filtering process can be informed by the reputation of users which can be computed by propagating trust. Secondly, the trust metrics can help to solve a problem associated with the usual method of similarity assessment, its reduced computability. An empirical evaluation on Epinions.com dataset shows that trust propagation allows to increase the coverage of Recommender Systems while preserving the quality of predictions. The greatest improuvements are achieved for new users, who provided few ratings.

Trust is a crucial factor in e-commerce. However, consumers are less likely to trust unknown Web sites. This study explores how less-familiar e-commerce Web sites can use branding alliances and Web site quality to increase the likelihood of initial consumer trust. We use the associative network model of memory to explain brand knowledge and to show how the mere exposure effect can be leveraged to improve a Web site’s brand image. We also extend information integration theory to explain how branding alliances are able to increase initial trust and transfer positive effects to Web sites. Testing of our model shows that the most important constructs for increasing initial trust in our experimental context are branding and Web site quality. Finally, we discuss future research ideas, limitations, implications, and ideas for practitioners.

As the worlds of commerce and the Internet technology become more inextricably linked, a large number of user consumption series become available for online market intelligence analysis. A critical demand along this line is to predict the future product adoption state of each user, which enables a wide range of applications such as targeted marketing. Nevertheless, previous works only aimed at predicting if a user would adopt a particular product or not with a binary buy-or-not representation. The problem of tracking and predicting users’ adoption rates, i.e., the frequency and regularity of using each product over time, is still under-explored. To this end, we present a comprehensive study of product adoption rate prediction in a competitive market. This task is nontrivial as there are three major challenges in modeling users’ complex adoption states: the heterogeneous data sources around users, the unique user preference and the competitive product selection. To deal with these challenges, we first introduce a flexible factor-based decision function to capture the change of users’ product adoption rate over time, where various factors that may influence users’ decisions from heterogeneous data sources can be leveraged. Using this factor-based decision function, we then provide two corresponding models to learn the parameters of the decision function with both generalized and personalized assumptions of users’ preferences. We further study how to leverage the competition among different products and simultaneously learn product competition and users’ preferences with both generalized and personalized assumptions. Finally, extensive experiments on two real-world datasets show the superiority of our proposed models.

More and more E-commerce Websites provide products with different prices which made it hard for consumers to find the products and services they want. In order to overcome this data overload, personalized recommendation engines are used to suggest products and to provide consumers with relevant data to help them decide which products to purchase. Recommendation engines are highly computational and hence ideal for the Hadoop Platform. This system aims at building a book recommendation engine which uses item or user based recommendation from Mahout for recommending books. It will analyze the data and give suggestions based on what similar users did and on the past transaction history of the user.

This paper explores the impact of the quality of a web site on the cognitive process leading to consumers’ emotions—considered as direct antecedents to shopping behaviors and operationalized as mental states of readiness arising from the appraisal of events. A parsimonious theoretical model was defined and tested with data collected from 215 web-shopping episodes during which consumers were shopping for low-touch products. Analysis of the results showed that web site quality had a positive impact on the cognitive appraisal of situational state, which in turn influenced five of the six emotions of the proposed model: liking, joy, pride, dislike, and frustration. Results also showed that a substantial number of shoppers experienced intensively the emotions of liking and joy. Moreover, this paper highlights several implications that could help managers and webmasters improve the quality of their web sites. # 2006 Elsevier B.V. All rights reserved.

The rapid development of technology today makes Internet users continues to increase. This is supported by the ease of internet users access the internet either through a PC, laptop, mobile phones, tablets and other media. The increase in Internet users this makes the internet into a proper promotion using online advertising. With a wide reach and touch the various layers of the Internet media communities may be appropriate advice for company promotion. However, an increasing number of Internet users, especially in the city of Makassar is not accompanied by an increase in the number of online purchases. Based on that it is necessary to examine how the effect of online advertising on consumer buying behavior and online, as well as how to control the behavior and subjective norms influence the attitudes and interests of consumers buy online. This study aims to analyze and test the effect of online advertising on consumer attitudes and purchase interest online, a survey conducted on students of Internet users in the city of Makassar. The study was conducted on students of public and private universities in the city of Makassar. The method used was a quantitative analysis using the technique of purposive sampling method with a sample of 340 people. Testing this hypothesis using structural equation modeling (SEM). The results showed that online advertising has an influence on consumer buying behavior and online. Dimensions interactivity of online advertising provides the highest influence on the attitudes and interests of consumers purchasing online.


Question: 2011 Senior Thesis Project Reports: Utilizing place recognition for aiding in indoor navigation for the visually impaired.

This paper outlines an innovative navigation and location detection solution for visually impaired individuals, utilizing a passive RFID (Radio Frequency Identification) information grid. Each RFID tag is programmed with spatial coordinates and environmental details during installation, creating a localized information grid that operates independently of centralized databases or wireless networks. This self-contained system can be cost-effectively incorporated into building codes, meeting ADA (Americans with Disabilities Act) requirements for less than $1 per square foot. The deployment of an RFID grid infrastructure would significantly enhance the autonomy and mobility of both children and adults with visual impairments, allowing them to engage in activities without reliance on external assistance. Additionally, this infrastructure could facilitate advancements in robotics by providing accurate location data. The paper details a system where an RFID reader is integrated into the user's footwear and wirelessly connected to their PDA or cell phone via Bluetooth. The focus is on designing an architecture that seamlessly integrates into the user's environment, fostering a pervasive and inclusive solution.

Current outdoor localization techniques fail to provide the required accuracy for estimating the car's lane. In this paper, we present LaneQuest: a system that leverages the ubiquitous and low-energy inertial sensors available in commodity smart-phones to provide an accurate estimate of the car's current lane. LaneQuest leverages hints from the phone sensors about the surrounding environment to detect the car's lane. For example, a car making a right turn most probably will be in the right-most lane, a car passing by a pothole will be in a specific lane, and the car's angular velocity when driving through a curve reflects its lane. Our investigation shows that there are amble opportunities in the environment, i.e. lane “anchors”, that provide cues about the car's lane. To handle the ambiguous location, sensors noise, and fuzzy lane anchors; LaneQuest employs a novel probabilistic lane estimation algorithm. Furthermore, it uses an unsupervised crowd-sourcing approach to learn the position and lane-span distribution of the different lane-level anchors. Our evaluation results from implementation on different android devices and 260Km driving traces by 13 drivers in different cities shows that LaneQuest can detect the different lane-level anchors with an average precision and recall of more than 90%. This leads to an accurate detection of the exact car's lane position 80% of the time, increasing to 89% of the time to within one lane. This comes with a low-energy footprint, allowing LaneQuest to be implemented on the energy-constrained mobile devices.

While intelligent environments are often cited as a reason for doing work on visual person-tracking, really making an intelligent environment exposes many realworld problems in visual tracking that must be solved to make the technology practical. In the context of our EasyLiving project in intelligent environments, we created a practical person-tracking system that solves most of the real-world problems. It uses two sets of color stereo cameras for tracking multiple people during live demonstrations in a living room. The stereo images are used for locating people, and the color images are used for maintaining their identities. The system runs quickly enough to make the room feel responsive, and it tracks multiple people standing, walking, sitting, occluding, and entering and leaving the

We present an open-source marker-based localization system intended as a low-cost easy-to-deploy solution for aerial and swarm robotics. The main advantage of the presented method is its high computational efficiency, which allows its deployment on small robots with limited computational resources. Even on low-end computers, the core component of the system can detect and estimate 3D positions of hundreds of black and white markers at the maximum frame-rate of standard cameras. The method is robust to changing lighting conditions and achieves accuracy in the order of millimeters to centimeters. Due to its reliability, simplicity of use and availability as an open-source ROS module (http://purl.org/robotics/whycon), the system is now used in a number of aerial robotics projects where fast and precise relative localization is required.

Owing to dense deployment of light fixtures and multipath-free propagation, visible light localization technology holds potential to overcome the reliability issue of radio localization. However, existing visible light localization systems require customized light hardware, which increases deployment cost and hinders near term adoption. In this paper, we propose LiTell, a simple and robust localization scheme that employs unmodified fluorescent lights (FLs) as location landmarks and commodity smartphones as light sensors. LiTell builds on the key observation that each FL has an inherent characteristic frequency which can serve as a discriminative feature. It incorporates a set of sampling, signal amplification and camera optimization mechanisms, that enable a smartphone to capture the extremely weak and high frequency ( > 80 kHz) features. We have implemented LiTell as a real-time localization and navigation system on Android. Our experiments demonstrate LiTell's high reliability in discriminating different FLs, and its potential to achieve sub-meter location granularity. Our user study in a multi-storey office building, parking lot and grocery store further validates LiTell as an accurate, robust and ready-to-use indoor localization system.

Robot navigation in the environment with obstacles is still a challenging problem. In this paper, the navigation problems with wheeled mobile robots (WMRs) are reviewed, the navigation mechanism of WMRs is analyzed in detail, the methods of solving the sub problems such as mapping, localization and path planning which all both related to robot navigation are summarized and the advantages and disadvantages of the existing methods are expounded. Especially in the agricultural field, the precise navigation of robots in the complex agricultural environment is the prerequisite for the completion of various tasks. This paper is aimed at the special complexity of the agricultural environment, prospected the application of the solution to the navigation problem of WMRs in agricultural engineering, put forward the research direction to solve the problems of precise navigation in agricultural environments.

Wayfinding is a basic activity people do throughout their entire lives as they navigate from one place to another. In order to create different spaces in such a way that they facilit ate people’s wayfinding it is necessary to integrate principles of human spatial cognition into the design process. This paper presents a methodology to structure space based on experiental patterns, called image schemata. It integrates cognitive and engineering aspects in three steps: (1) interviewing people about their spatial experiences as they perform a wayfinding task in the application space, (2) extracting the image schemata from these interviews and formulating a sequence of subtasks, and (3) structuring the application space (i.e., the wayfinding task) with the extracted image schemata. We use wayfinding in airports as a case study to demonstrate the methodology. Our observations show that most often image schemata are correlated with other image schemata in the form of image-schematic blocks and rarely occur in isolation. Such image-schematic blocks serve as a knowledge-representation scheme for wayfinding tasks.

The Virtual Empowerment App for the Blinds is an empowerment mobile application for the blind. It is developed based on the modules of the existing Latihan Maya Kejayaan Orang Kurang Upaya app, which was intended to empower persons with physical disabilities. As the requirements of persons with physical disabilities greatly differ from that of vision disabilities, this study aims to develop an app that would help blind users to navigate the module of Latihan Maya Kejayaan OKU by themselves based on the requirements observed from the blind users. An interface design to develop a functional and practical app for the blinds is proposed. A comparison between different gesture platforms was also compared. Three tests were conducted, namely the preliminary testing, pilot testing and final testing to analyze the interaction of users when using the app. Results suggested that the extended app developed based on the design proposed in this study were easily navigated and adapted by persons with vision disabilities.

Recent years have seen advances in many enabling augmented reality technologies. Furthermore, much research has been carried out on how augmented reality can be used to enhance existing applications. This paper describes our experiences with an AR-museum guide that combines some of the latest technologies. Amongst other technologies, markerless tracking, hybrid tracking, and an ultra-mobile-PC were used. Like existing audio guides, the AR-guide can be used by any museum visitor, during a six-month exhibition on Islamic art. We provide a detailed description of the museumpsilas motivation for using AR, of our experiences in developing the system, and the initial results of user surveys. Taking this information into account, we can derive possible system improvements.

We seek to recognize the place depicted in a query image using a database of “street side” images annotated with geolocation information. This is a challenging task due to changes in scale, viewpoint and lighting between the query and the images in the database. One of the key problems in place recognition is the presence of objects such as trees or road markings, which frequently occur in the database and hence cause significant confusion between different places. As the main contribution, we show how to avoid features leading to confusion of particular places by using geotags attached to database images as a form of supervision. We develop a method for automatic detection of image-specific and spatially-localized groups of confusing features, and demonstrate that suppressing them significantly improves place recognition performance while reducing the database size. We show the method combines well with the state of the art bag-of-features model including query expansion, and demonstrate place recognition that generalizes over wide range of viewpoints and lighting conditions. Results are shown on a geotagged database of over 17K images of Paris downloaded from Google Street View.

Accurate metrical localization is one of the central challenges in mobile robotics. Many existing methods aim at localizing after building a map with the robot. In this paper, we present a novel approach that instead uses geo-tagged panoramas from the Google Street View as a source of global positioning. We model the problem of localization as a non-linear least squares estimation in two phases. The first estimates the 3D position of tracked feature points from short monocular camera sequences. The second computes the rigid body transformation between the Street View panoramas and the estimated points. The only input of this approach is a stream of monocular camera images and odometry estimates. We quantified the accuracy of the method by running the approach on a robotic platform in a parking lot by using visual fiducials as ground truth. Additionally, we applied the approach in the context of personal localization in a real urban scenario by using data from a Google Tango tablet.


Question: 2011 Senior Thesis Project Reports on Indoor Blind Navigation: Contents and Place Recognition Techniques

In this article, we introduce FAB-MAP: a probabilistic system designed to identify locations based on their visual characteristics. Unlike conventional localization methods, our system can discern when a captured image originates from a novel location, thereby expanding its map. Essentially, FAB-MAP operates as a Simultaneous Localization and Mapping (SLAM) algorithm in the realm of visual appearance. Our probabilistic methodology enables us to effectively address the issue of perceptual aliasing—occurrences where visually identical but distinct locations are encountered. By developing a generative model of place appearance, we can assign lower probabilities to identical yet non-unique observations, indicating they are unlikely to be the same location. Our approach divides the learning process into two segments, allowing for the real-time creation of new place models from just a single visual snapshot. The computational complexity of the algorithm scales linearly with the number of locations in the map, making it particularly advantageous for detecting loop closures in mobile robot navigation.

Question: A Comparative Analysis of Machine Learning Techniques in Financial Market Predictions

Documents: Deep Learning for Stock Market Prediction: A Survey
This paper provides a comprehensive survey of the application of deep learning techniques in stock market prediction. We review various deep learning models, such as deep neural networks, convolutional neural networks, recurrent neural networks, and long short-term memory networks, and their performance in stock market prediction. We also discuss the challenges and future directions in this field. The results show that deep learning models outperform traditional machine learning models in stock market prediction. However, there are still some limitations and challenges in using deep learning for stock market prediction, such as the need for large amounts of data, the difficulty in interpreting the results, and the need for more sophisticated models to capture the complex dynamics of the stock market.

Similar Documents: This article offers an exhaustive review of the utilization of deep learning methods in forecasting stock market trends. We examine an array of deep learning architectures, including deep neural networks, convolutional neural networks, recurrent neural networks, and long short-term memory networks, and assess their efficacy in stock market forecasting. Moreover, we delve into the obstacles and prospective advancements in this domain. Our findings indicate that deep learning algorithms surpass traditional machine learning models in stock market predictions. Yet, certain hurdles persist in leveraging deep learning for stock market analysis, including the demand for extensive data sets, the intricacies of result interpretation, and the requirement for more advanced models to accurately reflect the intricate dynamics of the stock market.

The goal of this project1 is to advance the field of automation and robotics by utilizing recently-released, low-cost sensors and microprocessors to develop a mechanism that provides depth-perception and autonomous obstacle avoidance in a plug-and-play fashion. We describe the essential hardware components that can enable such a low-cost solution and an algorithm to avoid static obstacles present in the environment. The mechanism utilizes a novel single-point LIDAR module that affords more robustness and invariance than popular approaches, such as Neural Networks and Stereo. When this hardware is coupled with the proposed efficient obstacle avoidance algorithm, this mechanism is able to accurately represent environments through point clouds and construct obstacle-free paths to a destination, in a small timeframe. A prototype mechanism has been installed on a quadcopter for visualization on how actual implementation may take place2. We describe experimental results based on this prototype.

A computer vision system has been implemented that can recognize threedimensional objects from unknown viewpoints in single gray-scale images. Unlike most other approaches, the recognition is accomplished without any attempt to reconstruct depth information bottom-up from the visual input. Instead, three other mechanisms are used that can bridge the gap between the two-dimensional image and knowledge of three-dimensional objects. First, a process of perceptual organization is used to form groupings and structures in the image that are likely to be invariant over a wide range of viewpoints. Second, a probabilistic ranking method is used to reduce the size of the search space during model based matching. Finally, a process of spatial correspondence brings the projections of three-dimensional models into direct correspondence with the image by solving for unknown viewpoint and model parameters. A high level of robustness in the presence of occlusion and missing data can be achieved through full application of a viewpoint consistency constraint. It is argued that similar mechanisms and constraints form the basis for recognition in human vision. This paper has been published in Artificial Intelligence, 31, 3 (March 1987), pp. 355–395.

This paper presents the design, implementation, and evaluation of Cricket, a location-support system for in-building, mobile, location-dependent applications. It allows applications running on mobile and static nodes to learn their physical location by using listeners that hear and analyze information from beacons spread throughout the building. Cricket is the result of several design goals, including user privacy, decentralized administration, network heterogeneity, and low cost. Rather than explicitly tracking user location, Cricket helps devices learn where they are and lets them decide whom to advertise this information to; it does not rely on any centralized management or control and there is no explicit coordination between beacons; it provides information to devices regardless of their type of network connectivity; and each Cricket device is made from off-the-shelf components and costs less than U.S. $10. We describe the randomized algorithm used by beacons to transmit information, the use of concurrent radio and ultrasonic signals to infer distance, the listener inference algorithms to overcome multipath and interference, and practical beacon configuration and positioning techniques that improve accuracy. Our experience with Cricket shows that several location-dependent applications such as in-building active maps and device control can be developed with little effort or manual configuration.

The accuracy of indoor positioning systems is commonly computed as a metric based on the Euclidean distance from estimated locations to actual locations. This paper suggests that positioning error distances should be computed as the lengths of the paths that a person may follow when going from wrongly estimated positions to the real positions. The paper proposes a method that calculates the paths from floor plan and obstacles information using the visibility graphs and offsetting techniques, which are commonly used in robotics and CAD/CAM for navigation and manufacturing, respectively. Demonstration of the proposed method was done using a WiFi fingerprinting method based on kNN for pedestrian navigation. Comparisons between our proposed distance and the simple Euclidean distance have shown that the error distances are underestimated and that the differences between the two distances cannot be accurately represented by a fixed quantity in the context of an Indoor Positioning System (IPS) deployed in a library building. We consider that our proposed positioning error distance is more in line with the subjective error perceived by IPS users.

In this work we propose a new CNN+LSTM architecture for camera pose regression for indoor and outdoor scenes. CNNs allow us to learn suitable feature representations for localization that are robust against motion blur and illumination changes. We make use of LSTM units on the CNN output in spatial coordinates in order to capture contextual information. This substantially enlarges the receptive field of each pixel leading to drastic improvements in localization performance. We provide extensive quantitative comparison of CNN-based vs SIFT-based localization methods, showing the weaknesses and strengths of each. Furthermore, we present a new large-scale indoor dataset with accurate ground truth from a laser scanner. Experimental results on both indoor and outdoor public datasets show our method outperforms existing deep architectures, and can localize images in hard conditions, e.g., in the presence of mostly textureless surfaces.

The emergence of Mobile Mapping Systems (MMS) has set a marked paradigm in the photogrammetric and mapping community that has not only facilitated comprehensive 3D mapping of different environments but has also paved way for new aspects of applied research in this direction. Out of the many essential blocks that make these MMS a viable tool for mapping, the positioning and orientation module is considered to be a crucial yet an expensive component. The integration of such a module with mapping sensors has allowed for the extensive implementation of such systems to provide high-quality maps. However, while such systems do not lack in system robustness and performance in general, the deployment of these systems is restricted to applications and environments where a consistent availability of GNSS signals is assured. Extending these MMS to GNSS-denied areas, such as indoor environments, is therefore quite challenging and necessitates the development of an alternative module that can act as a viable substitute to GNSS/INS for system operation without having to resort to an exhaustive modification of the same to function in GNSS-denied locations. In this research, such a case has been considered for the implementation of an indoor MMS using an Unmanned Ground Vehicle (UGV) and a 3D laser scanner for the task of generating high density maps of GNSS-denied indoor areas. To mitigate the absence of GNSS data, this paper proposes a Pseudo-GNSS/INS module integrated framework which utilizes probabilistic Simultaneous Localization and Mapping (SLAM) techniques to estimate the platform pose and heading from 3D laser scanner data. This proposed framework has been implemented based on three major notions: (i) using geometric methods for sparse point cloud extraction to carry out real-time SLAM, (ii) generating position data and geo-referencing signals from these real-time SLAM pose estimates, and (iii) carrying out the entire operation through use of a single 3D mapping sensor. The final geo-referenced point cloud can then be generated through post-processing by the Iterative Closest Projected Point (ICPP) registration technique which also diminishes the effect of sensor measurement noise. The implementation, performance and results of the proposed MMS framework for an indoor mapping system have been presented in this paper that demonstrate the ability of this Pseudo-GNSS/INS framework to operate flexibly in GNSS-denied areas.

This paper addresses the problem of simultaneous localization and mapping (SLAM) by a mobile robot. An incremental SLAM algorithm is introduced that is derived from multigrid methods used for solving partial differential equations. The approach improves on the performance of previous relaxation methods for robot mapping, because it optimizes the map at multiple levels of resolution. The resulting algorithm has an update time that is linear in the number of estimated features for typical indoor environments, even when closing very large loops, and offers advantages in handling nonlinearities compared with other SLAM algorithms. Experimental comparisons with alternative algorithms using two well-known data sets and mapping results on a real robot are also presented.

A vision-based vehicle guidance system for road vehicles can have three main roles: 1) road detection; 2) obstacle detection; and 3) sign recognition. The first two have been studied for many years and with many good results, but traffi c sign recognition is a less-studied field. Traffi c signs provide drivers with very valuable informatio n about the road, in order to make drivin g safer and easier. We think that traffi c signs must play the same role for autonomous vehicles. They are designed to be easily recognized by human driver s mainly because their color and shapes are very different from natural environments. The algorithm described in this paper takes advantage of these features. I t has two main parts. The first one, for the detection, uses color thresholding to segment the image and shape analysis to detect the signs. The second one, for the classification, uses a neural network. Some results from natural scenes are shown. On the other hand, the algorithm is valid to detect other kinds of marks that would tell the mobile robot to perform some task at that place.

An eyes-free barcode localization and decoding method is presented that enables visually impaired (VI) mobile phone users to decode MSI (Modified Plessy) barcodes on shelves and UPC barcodes on individual boxes, cans, and bottles. Simple and efficient barcode localization and decoding techniques are augmented with an interactive haptic feedback loop that allows the VI user to align the phone’s camera with a fixed surface in the pitch and yaw planes. The method is implemented on a Google Nexus One smart phone running Android 2.1. A laboratory study is presented in which the method was evaluated by one VI and four blindfolded sighted participants.

In this paper we have proposed and designed FindingHuMo (Finding Human Motion), a real-time user tracking system for Smart Environments. FindingHuMo can perform device-free tracking of multiple (unknown and variable number of) users in the Hallway Environments, just from non-invasive and anonymous (not user specific) binary motion sensor data stream. The significance of our designed system are as follows: (a) fast tracking of individual targets from binary motion data stream from a static wireless sensor network in the infrastructure. This needs to resolve unreliable node sequences, system noise and path ambiguity, (b) Scaling for multi-user tracking where user motion trajectories may crossover with each other in all possible ways. This needs to resolve path ambiguity to isolate overlapping trajectories, FindingHumo applies the following techniques on the collected motion data stream: (i) a proposed motion data driven adaptive order Hidden Markov Model with Viterbi decoding (called Adaptive-HMM), and then (ii) an innovative path disambiguation algorithm (called CPDA). Using this methodology the system accurately detects and isolates motion trajectories of individual users. The system performance is illustrated with results from real-time system deployment experience in a Smart Environment.


Question: 2011 Senior Thesis Project Reports: Indoor Blind Navigation through Place Recognition Techniques

This paper outlines a sophisticated multi-modal place classification system designed to enhance a mobile robot's ability to identify and categorize locations within indoor environments. Recognizing the importance of spatial knowledge for robotic navigation, the system integrates topological and semantic descriptions with metric space representations to create a comprehensive understanding of the robot's surroundings. By leveraging a fusion of visual and laser range data from various sensors, the system is capable of real-time semantic labeling of spaces, providing a rich and dynamic spatial context. Central to this approach is a high-level cue integration mechanism based on a Support Vector Machine (SVM), which learns to optimally combine and weigh different cues. This allows the system to effectively manage information over time and space, leading to a robust semantic space labeling capability. The effectiveness of the multi-modal place classification system is demonstrated through comprehensive experiments conducted on two distinct robotic platforms in different environments. These evaluations, which include both off-line database testing and live autonomous robot trials, highlight the system's reliability and adaptability under varying conditions, confirming the value of the integrated cue scheme for accurate and consistent place classification. Keywords: recognition, sensor fusion, localization, multi-modal place classification, sensor and cue integration, semantic annotation of space

Note: The semantic style of the original document is maintained, and the document has been transformed to preserve its length and complexity while ensuring it remains semantically similar to the original content.

We present the design, implementation, and early results of ioCane, a mobility aid for blind cane users that uses detachable cane-mounted ultrasonic sensors connected to a circuit board to send contextual data wirelessly to an Android phone application. The system uses the built-in mobile phone modalities of vibrations and chimes to alert the user to object height and proximity. We believe this plug-and-play solution for visually impaired users has the potential to enhance user mobility and object avoidance with a minimal learning curve. A pilot study testing the performance of the ioCane with blind cane users showed a 47.3% improvement in obstacle avoidance. To our knowledge, the ioCane is the first sensor-based mobility assistance system to integrate natively with a mobile phone without any modifications to the phone or the system, as well as the first system of its kind to be evaluated by actual visually-impaired cane users. ACM Classification

Hand drawn sketches are natural means by which a high level description of an environment can be provided. They can be exploited to impart coarse prior information about the scene to a robot, thereby enabling it to perform autonomous navigation and exploration when a full metrical description of the scene is not available beforehand. In this paper, we present a navigation system supplemented by a tablet interface that allows a user to sketch a rough map of an indoor environment and a desired trajectory for the robot to follow. We propose a novel theoretical framework for sketch interpretation based upon the manifold formalism in which associations between the sketch and the real world are modeled as local deformation of a suitable metric manifold. We also present empirical results from experimental evaluations of our approach in real world scenarios both from the perspective of the navigation capability and the usability of the interface.

An eyes-free barcode localization and decoding method is presented that enables visually impaired (VI) mobile phone users to decode MSI (Modified Plessy) barcodes on shelves and UPC barcodes on individual boxes, cans, and bottles. Simple and efficient barcode localization and decoding techniques are augmented with an interactive haptic feedback loop that allows the VI user to align the phone’s camera with a fixed surface in the pitch and yaw planes. The method is implemented on a Google Nexus One smart phone running Android 2.1. A laboratory study is presented in which the method was evaluated by one VI and four blindfolded sighted participants.

This paper investigated various indoor positioning techniques and presented a comprehensive study about their advantages and disadvantages. Infrared, Ultrasonic and RF technologies are used in different indoor positioning systems. RFID positioning systems based on RSSI technology are the most recent developments. Positioning accuracy was greatly improved by using integrated RFID technologies.

Applications that provide location related services need to understand the environment in which humans live such that verbal references and human interaction are possible. We formulate this semantic labelling task as the problem of learning the semantic labels from the perceived 3D structure. In this contribution we propose a batch approach and a novel multi-view frame fusion technique to exploit multiple views for improving the semantic labelling results. The batch approach works offline and is the direct application of an existing single-view method to scene reconstructions with multiple views. The multi-view frame fusion works in an incremental fashion accumulating the single-view results, hence allowing the online multi-view semantic segmentation of single frames and the offline reconstruction of semantic maps. Our experiments show the superiority of the approaches based on our fusion scheme, which leads to a more accurate semantic labelling.

In this article we discuss an assisted cognition information technology system that can learn personal maps customized for each user and infer his daily activities and movements from raw GPS data. The system uses discriminative and generative models for different parts of this task. A discriminative relational Markov network is used to extract significant places and label them; a generative dynamic Bayesian network is used to learn transportation routines, and infer goals and potential user errors at real time. We focus on the basic structures of the models and briefly discuss the inference and learning techniques. Experiments show that our system is able to accurately extract and label places, predict the goals of a person, and recognize situations in which the user makes mistakes, such as taking a wrong bus.

This paper presents a new algorithm for mobile robot localization, called Monte Carlo Localization (MCL). MCL is a version of Markov localization, a family of probabilistic approaches that have recently been applied with great practical success. However, previous approaches were either computationally cumbersome (such as grid-based approaches that represent the state space by high-resolution 3D grids), or had to resort to extremely coarse-grained resolutions. Our approach is computationally efficient while retaining the ability to represent (almost) arbitrary distributions. MCL applies sampling-based methods for approximating probability distributions, in a way that places computation “where needed.” The number of samples is adapted on-line, thereby invoking large sample sets only when necessary. Empirical results illustrate that MCL yields improved accuracy while requiring an order of magnitude less computation when compared to previous approaches. It is also much easier to implement.

The simultaneous localisation and map building (SLAM) problem asks if it is possible for an autonomous vehicle to start in an unknown location in an unknown environment and then to incrementally build a map of this environment while simultaneously using this map to compute absolute vehicle location. Starting from the estimation-theoretic foundations of this problem developed in [1], [2], [3], this paper proves that a solution to the SLAM problem is indeed possible. The underlying structure of the SLAM problem is first elucidated. A proof that the estimated map converges monotonically to a relative map with zero uncertainty is then developed. It is then shown that the absolute accuracy of the map and the vehicle location reach a lower bound defined only by the initial vehicle uncertainty. Together, these results show that it is possible for an autonomous vehicle to start in an unknown location in an unknown environment and, using relative observations only, incrementally build a perfect map of the world and to compute simultaneously a bounded estimate of vehicle location. This paper also describes a substantial implementation of the SLAM algorithm on a vehicle operating in an outdoor environment using millimeter-wave (MMW) radar to provide relative map observations. This implementation is used to demonstrate how some key issues such as map management and data association can be handled in a practical environment. The results obtained are cross-compared with absolute locations of the map landmarks obtained by surveying. In conclusion, this paper discusses a number of key issues raised by the solution to the SLAM problem including sub-optimal map-building algorithms and map management.

In this paper we explore the combination of a latest generation mobile device and a micro quadrotor platform to perform indoor autonomous navigation for the purpose of autonomous photography. We use the Yellowstone tablet from Google's Tango project [1], equipped with onboard, fully integrated sensing platform and with significant computational capability. To the best of our knowledge we are the first to exploit the Google's Tango tablet as source of pose estimate to control the quadrotor's motion. Using the tablet's onboard camera the system is able to detect people and generate a desired pose that the quadrotor will have to reach in order to take a well framed picture of the detected subject. The experimental results and live video demonstrate the capabilities of the autonomous flying robot photographer using the system described throughout this manuscript.

Augmented Reality (AR) based navigation has emerged as an impressive, yet seamless way of guiding users in unknown environments. Its quality of experience depends on many factors, including the accuracy of camera pose estimation, response delay, and energy consumption. In this paper, we present SeeNav - a seamless and energy-efficient AR navigation system for indoor environments. SeeNav combines image-based localization and inertial tracking to provide an accurate and robust camera pose estimation. As vision processing is much more compute intensive than the processing of inertial sensor data, SeeNav offloads the former one from resource-constrained mobile devices to a cloud to improve tracking performance and reduce power consumption. More than that, SeeNav implements a context-aware task scheduling algorithm that further minimizes energy consumption while maintaining the accuracy of camera pose estimation. Our experimental results, including a user study, show that SeeNav provides seamless navigation experience and reduces the overall energy consumption by 21.56% with context-aware task scheduling.


Question: 2011 Senior Thesis Project Reports: Indoor Blind Navigation through Place Recognition Contents

This paper presents an advanced object recognition system that utilizes a novel set of local image features, designed to be robust against various transformations commonly encountered in visual processing. These features exhibit invariance to alterations in scale, translation, and rotation, while also demonstrating partial resilience to changes in illumination and the effects of affine or 3D projection. The design of these features mirrors the functionality of neurons found in the inferior temporal cortex, a key region involved in object recognition within primate vision systems. A staged filtering technique is employed for the efficient detection of these stable points within the scale space of an image. To accommodate local geometric deformations, image keys are constructed by encoding blurred image gradients across multiple orientation planes and scales. These keys serve as inputs to a nearest-neighbor indexing algorithm, which efficiently identifies potential object matches. The final step involves a verification process, achieved by solving for the unknown model parameters through a low-residual least-squares method. The system's effectiveness is validated through experiments demonstrating its ability to accurately recognize objects in cluttered, partially occluded images, with a processing time of less than 2 seconds. This innovative approach offers significant advancements in the field of object recognition, particularly in scenarios where robustness against visual transformations is critical.

In library, the management of books is very complication and timing costing. The location of books could be altered by librarian, students, teachers and any one around the library. Therefore, allocating a book is not an easy task in big library. Indoor positioning is an important technology to help storage management and customer services providing. RFID provides a good wireless platform to facilitate indoor positioning. However, duo to the small width of each book spine, adopting positioning based RFID alone is not enough to locate books in a library. In this work, we combine image matching with L-GEM based RBFNN to enhance the accuracy and robustness of the book locating system. We apply this new method in a library environment to position the certain books. Experimental results show that the proposed method is highly accurate and robust to white noise of RFID signals.

In this paper, a practical real-time path planning and robot navigation algorithm for a non-holonomic indoor mobile robot based on visual servoing is implemented. The proposed algorithm is divided into three parts; the first part uses Multi-Stencils Fast Marching (MSFM) as a path planning method. But the generated path results from fast marching methods when used directly, not guaranteed to be safe and smooth. Subsequently, the robot can touch corners, walls and obstacles. The proposed algorithm uses image processing methods to solve this problem. The second part estimates the position and orientation of the robot, from the visual information, to follow the desired path with avoiding obstacles. The third part proposes a decentralized PD-like Fuzzy Logic Controller (FLC) to keep up the robot on the desired path. Experimental results show that the developed design is valid to estimate shortest-path by avoiding obstacles and able to guide the robot to follow the path in real-time.

Robot navigation technology is required to accomplish difficult tasks in various environments. In navigation, it is necessary to know the information of the external environments and the state of the robot under the environment. On the other hand, various studies have been done on SLAM technology, which is also used for navigation, but also applied to devices for Mixed Reality and the like. In this paper, we propose a robot-device calibration method for navigation with a device using SLAM technology on a robot. The calibration is performed by using the position and orientation information given by the robot and the device. In the calibration, the most efficient way of movement is clarified according to the restriction of the robot movement. Furthermore, we also show a method to dynamically correct the position and orientation of the robot so that the information of the external environment and the shape information of the robot maintain consistency in order to reduce the dynamic error occurring during navigation. Our method can be easily used for various kinds of robots and localization with sufficient precision for navigation is possible with offline calibration and online position correction. In the experiments, we confirm the parameters obtained by two types of offline calibration according to the degree of freedom of robot movement and validate the effectiveness of online correction method by plotting localized position error during robot’s intense movement. Finally, we show the demonstration of navigation using SLAM device.

Tracking, or camera pose determination, is the main technical challenge in creating augmented realities. Constraining the degree to which the environment may be altered to support tracking heightens the challenge. This paper describes several years of work at the USC Computer Graphics and Immersive Technologies (CGIT) laboratory to develop self-contained, minimally intrusive tracking systems for use in both indoor and outdoor settings. These hybrid-technology tracking systems combine vision and inertial sensing with research in fiducial design, feature detection, motion estimation, recursive filters, and pragmatic engineering to satisfy realistic application requirements.

The sheer volume of data generated by depth cameras provides a challenge to process in real time, in particular when used for indoor mobile robot localization and navigation. We introduce the Fast Sampling Plane Filtering (FSPF) algorithm to reduce the volume of the 3D point cloud by sampling points from the depth image, and classifying local grouped sets of points as belonging to planes in 3D (the “plane filtered” points) or points that do not correspond to planes within a specified error margin (the “outlier” points). We then introduce a localization algorithm based on an observation model that down-projects the plane filtered points on to 2D, and assigns correspondences for each point to lines in the 2D map. The full sampled point cloud (consisting of both plane filtered as well as outlier points) is processed for obstacle avoidance for autonomous navigation. All our algorithms process only the depth information, and do not require additional RGB data. The FSPF, localization and obstacle avoidance algorithms run in real time at full camera frame rates (30Hz) with low CPU requirements (16%). We provide experimental results demonstrating the effectiveness of our approach for indoor mobile robot localization and navigation. We further compare the accuracy and robustness in localization using depth cameras with FSPF vs. alternative approaches that simulate laser rangefinder scans from the 3D data.

In the past, there has been a tremendous progress in the area of autonomous robot navigation and a large variety of robots have been developed who demonstrated robust navigation capabilities indoors, in non-urban outdoor environments, or on roads and relatively few approaches focus on navigation in urban environments such as city centers. Urban areas, however, introduce numerous challenges for autonomous robots as they are rather unstructured and dynamic. In this paper, we present a navigation system for mobile robots designed to operate in crowded city environments and pedestrian zones. We describe the different components of this system including a SLAM module for dealing with huge maps of city centers, a planning component for inferring feasible paths taking also into account the traversability and type of terrain, a module for accurate localization in dynamic environments, and means for calibrating and monitoring the platform. Our navigation system has been implemented and tested in several large-scale field tests, in which a real robot autonomously navigated over several kilometers in a complex urban environment. This also included a public demonstration, during which the robot autonomously traveled along a more than three kilometer long route through the city center of Freiburg, Germany.

Future computing environments will free the user from the constraints of the desktop. Applications for a mobile environment should take advantage of contextual information, such as position, to o er greater services to the user. In this paper, we present the Cyberguide project, in which we are building prototypes of a mobile context-aware tour guide. Knowledge of the user's current location, as well as a history of past locations, are used to provide more of the kind of services that we come to expect from a real tour guide. We describe the architecture and features of a variety of Cyberguide prototypes developed for indoor and outdoor use on a number of di erent hand-held platforms. We also discuss the general research issues that have emerged in our context-aware applications development in a mobile environment.

Robot vision refers to the capability of a robot to visually perceive the environment and use this information for execution of different tasks. Visual feedback has been used extensively for robot navigation and obstacle avoidance. In the recent years, there are also examples that include interaction with people and manipulation of objects. In this paper, we review some of the work that goes beyond of using artificial landmarks and fiducial markers for the purpose of implementing vision based control in robots. We discuss different application areas, both from the systems perspective and individual problems such as object tracking and recognition.

Wayfinding is a basic activity people do throughout their entire lives as they navigate from one place to another. In order to create different spaces in such a way that they facilit ate people’s wayfinding it is necessary to integrate principles of human spatial cognition into the design process. This paper presents a methodology to structure space based on experiental patterns, called image schemata. It integrates cognitive and engineering aspects in three steps: (1) interviewing people about their spatial experiences as they perform a wayfinding task in the application space, (2) extracting the image schemata from these interviews and formulating a sequence of subtasks, and (3) structuring the application space (i.e., the wayfinding task) with the extracted image schemata. We use wayfinding in airports as a case study to demonstrate the methodology. Our observations show that most often image schemata are correlated with other image schemata in the form of image-schematic blocks and rarely occur in isolation. Such image-schematic blocks serve as a knowledge-representation scheme for wayfinding tasks.

This paper presents a stereo vision-based autonomous navigation system using a GPS and a modified version of the VFH algorithm. In order to obtain a high-accuracy disparity map and meet the time constraints of the real time navigation system, this work proposes the use of a semi-global stereo method. By not suffering the same issues of the regularly used local stereo methods, the employed stereo technique enables the generation of a highly dense, efficient, and accurate disparity map. Obstacles are detected using a method that checks for relative slopes and heights differences. Experimental tests using an electric vehicle in an urban environment were performed to validate the proposed approach.


Question: 2011 Senior Thesis Project Reports: Indoor Blind Navigation Using Place Recognition Techniques Contents

Introducing BeaconNet: An Indoor RF-Based User Localization and Tracking Solution

The widespread adoption of mobile devices and the expansion of local-area wireless networks have sparked a surge in demand for location-aware systems and services. This paper introduces BeaconNet, a radio-frequency (RF) based solution designed for indoor user localization and tracking. BeaconNet achieves its objectives by leveraging signal strength data collected from strategically placed base stations that ensure comprehensive coverage across the targeted indoor environment. By integrating empirical data with sophisticated signal propagation models, BeaconNet is capable of accurately estimating user locations, thereby facilitating a range of location-aware services and applications. The paper presents empirical evidence showcasing BeaconNet's precision in determining user locations, underscoring its effectiveness in indoor environments.

**Question**: A Deep Learning Approach for Automatic Detection of Pneumonia from Chest X-Rays

**Documents**: An Ensemble of Convolutional Neural Networks for the Automatic Detection of Brain Tumors from MRI Images
In this paper, we present an ensemble of convolutional neural networks (CNNs) for the automatic detection of brain tumors from magnetic resonance imaging (MRI) images. The proposed ensemble method uses multiple CNNs with different architectures to improve the detection accuracy. The CNNs are trained on a large dataset of labeled MRI images and the final decision is made by combining the predictions of all the CNNs in the ensemble. The proposed method achieves a high detection accuracy and outperforms the individual CNNs and other state-of-the-art methods.

**Similar Documents**:

A Deep Learning Ensemble for Robust Pneumonia Detection from Chest X-Rays

This paper introduces a novel ensemble of convolutional neural networks (CNNs) for the automatic detection of pneumonia in chest X-ray images. The ensemble strategy leverages the power of multiple CNN architectures to enhance detection accuracy. Each CNN in the ensemble is trained on a comprehensive dataset of annotated chest X-ray images. The final diagnosis is determined by aggregating the predictions from all the CNNs, ensuring a more robust and accurate detection of pneumonia. This ensemble method significantly outperforms individual CNNs and surpasses other cutting-edge techniques in the field, demonstrating its potential as a powerful tool in medical diagnostics.

This paper presents the design, implementation, and evaluation of Cricket, a location-support system for in-building, mobile, location-dependent applications. It allows applications running on mobile and static nodes to learn their physical location by using listeners that hear and analyze information from beacons spread throughout the building. Cricket is the result of several design goals, including user privacy, decentralized administration, network heterogeneity, and low cost. Rather than explicitly tracking user location, Cricket helps devices learn where they are and lets them decide whom to advertise this information to; it does not rely on any centralized management or control and there is no explicit coordination between beacons; it provides information to devices regardless of their type of network connectivity; and each Cricket device is made from off-the-shelf components and costs less than U.S. $10. We describe the randomized algorithm used by beacons to transmit information, the use of concurrent radio and ultrasonic signals to infer distance, the listener inference algorithms to overcome multipath and interference, and practical beacon configuration and positioning techniques that improve accuracy. Our experience with Cricket shows that several location-dependent applications such as in-building active maps and device control can be developed with little effort or manual configuration.

We present a system that estimates the motion of a stereo head or a single moving camera based on video input. The system operates in real-time with low delay and the motion estimates are used for navigational purposes. The front end of the system is a feature tracker. Point features are matched between pairs of frames and linked into image trajectories at video rate. Robust estimates of the camera motion are then produced from the feature tracks using a geometric hypothesize-and-test architecture. This generates motion estimates from visual input alone. No prior knowledge of the scene nor the motion is necessary. The visual estimates can also be used in conjunction with information from other sources such as GPS, inertia sensors, wheel encoders, etc. The pose estimation method has been applied successfully to video from aerial, automotive and handheld platforms. We focus on results obtained with a stereo-head mounted on an autonomous ground vehicle. We give examples of camera trajectories estimated in real-time purely from images over previously unseen distances (600 meters) and periods of time .

The concept of active tracking is presented to simulate the characteristics of human vision in intelligent visual surveillance. The Pan/Tilt/Zoom (PTZ) camera is generally used for active tracking. In this paper, we present a novel and effective approach for active object tracking with a PTZ camera, and construct a near real-time system for indoor and outdoor scenes. The tracking algorithm of our system is based on the feature matching, with the PID control to drive the camera. The feature extracted from moving people is described as a region covariance matrix which combines the spatial and statistical properties of the targets (e.g. coordinates, color, and gradient). Results from indoor and outdoor experiments demonstrate the effectiveness and accuracy of our approach.

With the availability of low-cost micro aerial vehicles (MAVs), unmanned aerial vehicles (UAVs) quickly gain popularity and application potential. This requires techniques that can be understood by non-experts and flexibly applied for rapid prototyping. Visual tracking is an essential task with many applications, such as autonomous navigation and scene acquisition. While marker-less methods emerge, marker-based methods still have major advantages including simplicity, robustness, accuracy and performance. In practice, however, multi-marker setups introduce complexity and calibration efforts that can void the advantages. This work proposes a solution for practical, robust and easy-to-use marker-based tracking with independent compound targets. We introduce two novel target designs and describe pose estimation, noise removal and geometric transformations. The concepts are implemented in a tracking library for the Parrot AR. Drone 2.0. We explain its video access and camera calibration, and provide a first set of intrinsic parameters, jointly estimated from 14 units with high accuracy and low variance. The library is applied in a one-day contest on automatic visual navigation of UAVs, where students without technical background and programming skills achieved learning by experience and rapid development. This shows the effectiveness of combining capability with simplicity, and provides a case study on robotics in interdisciplinary education.

Nowadays, GPS-based car navigation systems mainly use speech and aerial views of simplified road maps to guide drivers to their destination. However, drivers often experience difficulties in linking the simple 2D aerial map with the visual impression that they get from the real environment, which is inherently ground-level based. Therefore, supplying realistically textured 3D city models at ground-level proves very useful for pre-visualizing an upcoming traffic situation. Because this pre-visualization can be rendered from the expected future viewpoints of the driver, the latter will more easily understand the required maneuver. 3D city models can be reconstructed from the imagery recorded by surveying vehicles. The vastness of image material gathered by these vehicles, however, puts extreme demands on vision algorithms to ensure their practical usability. Algorithms need to be as fast as possible and should result in compact, memory efficient 3D city models for future ease of distribution and visualization. For the considered application, these are not contradictory demands. Simplified geometry assumptions can speed up vision algorithms while automatically guaranteeing compact geometry models. We present a novel city modeling framework which builds upon this philosophy to create 3D content at high speed which could allow for pre-visualization of any conceivable traffic situation by car navigation modules.

In this paper, a development of image processing, stereovision methodology and a sonification procedure for image sonification system for vision substitution are presented. The hardware part consists of a sunglass fitted with two mini cameras, laptop computer and stereo earphones. The image of the scene in front of blind people is captured by stereo cameras. The captured image is processed to enhance the important features in the scene in front of blind user. The image processing is designed to extract the objects from the image and the stereo vision method is applied to calculate the disparity which is required to determine the distance between the blind user and the objects. The processed image is mapped on to stereo sound for the blind’s understanding of the scene in front. Experimentations were conducted in the indoor environment and the proposed methodology is found to be effective for object identification, and thus the sound produced will assists the visually impaired for their collision free navigation.

We tackle the problem of globally localizing a camera-equipped micro aerial vehicle flying within urban environments for which a Google Street View image database exists. To avoid the caveats of current image-search algorithms in case of severe viewpoint changes between the query and the database images, we propose to generate virtual views of the scene, which exploit the air-ground geometry of the system. To limit the computational complexity of the algorithm, we rely on a histogram-voting scheme to select the best putative image correspondences. The proposed approach is tested on a 2 km image dataset captured with a small quadroctopter flying in the streets of Zurich. The success of our approach shows that our new air-ground matching algorithm can robustly handle extreme changes in viewpoint, illumination, perceptual aliasing, and over-season variations, thus, outperforming conventional visual place-recognition approaches.

We present a mobile vision system for multi-person tracking in busy environments. Specifically, the system integrates continuous visual odometry computation with tracking-by-detection in order to track pedestrians in spite of frequent occlusions and egomotion of the camera rig. To achieve reliable performance under real-world conditions, it has long been advocated to extract and combine as much visual information as possible. We propose a way to closely integrate the vision modules for visual odometry, pedestrian detection, depth estimation, and tracking. The integration naturally leads to several cognitive feedback loops between the modules. Among others, we propose a novel feedback connection from the object detector to visual odometry which utilizes the semantic knowledge of detection to stabilize localization. Feedback loops always carry the danger that erroneous feedback from one module is amplified and causes the entire system to become instable. We therefore incorporate automatic failure detection and recovery, allowing the system to continue when a module becomes unreliable. The approach is experimentally evaluated on several long and difficult video sequences from busy inner-city locations. Our results show that the proposed integration makes it possible to deliver stable tracking performance in scenes of previously infeasible complexity.

We propose a new method for the localization of a Micro Aerial Vehicle (MAV) with respect to a ground robot. We solve the problem of registering the 3D maps computed by the robots using different sensors: a dense 3D reconstruction from the MAV monocular camera is aligned with the map computed from the depth sensor on the ground robot. Once aligned, the dense reconstruction from the MAV is used to augment the map computed by the ground robot, by extending it with the information conveyed by the aerial views. The overall approach is novel, as it builds on recent developments in live dense reconstruction from moving cameras to address the problem of air-ground localization. The core of our contribution is constituted by a novel algorithm integrating dense reconstructions from monocular views, Monte Carlo localization, and an iterative pose refinement. In spite of the radically different vantage points from which the maps are acquired, the proposed method achieves high accuracy whereas appearance-based, state-of-the-art approaches fail. Experimental validation in indoor and outdoor scenarios reported an accuracy in position estimation of 0.08 meters and real time performance. This demonstrates that our new approach effectively overcomes the limitations imposed by the difference in sensors and vantage points that negatively affect previous techniques relying on matching visual features.

This paper describes a new three layer architecture, SSS, for robot control. It combines a servo-control layer, a Òsubsumption" layer, and a symbolic layer in a way that allows the advantages of each technique to be fully exploited. The key to this synergy is the interface between the individual subsystems. We describe how to build situation recognizers that bridge the gap between the servo and subsumption layers, and event detectors that link the subsumption and symbolic layers. The development of such a combined system is illustrated by a fully implemented indoor navigation example. The resulting real robot, called ÒTJ", is able automatically map office building environments and smoothly navigate through them at the rapid speed of 2.6 feet per second.


Question: An Android interface-designed GSM system for home security applications.

This paper describes the development of a mobile-centric home automation system that leverages contemporary mobile communication advancements and declining costs. The system architecture comprises a Java-enabled mobile device, a cellular modem, and a home server. Home appliances are managed by the server, which executes user instructions transmitted from the mobile device through the cellular modem. Our proposed framework features a home server constructed using an SMS/GPRS mobile cell module and a microcontroller, enabling users to control and monitor various aspects of their home environment from any Java-compatible cell phone. The paper delves into the design and implementation of the AT modem driver, text command processing software, and a power failure-resistant output mechanism for the microcontroller. These components facilitate data exchange through the cellular module. Additionally, the paper outlines the creation of a Java application that empowers the cell phone to transmit commands and receive notifications through the cellular module, enhancing the system's functionality and user convenience.

The systems based on intelligent sensors are currently expanding, due to theirs functions and theirs performances of intelligence: transmitting and receiving data in real-time, computation and processing algorithms, metrology remote, diagnostics, automation and storage measurements...The radio frequency wireless communication with its multitude offers a better solution for data traffic in this kind of systems. The mains objectives of this paper is to present a solution of the problem related to the selection criteria of a better wireless communication technology face up to the constraints imposed by the intended application and the evaluation of its key features. The comparison between the different wireless technologies (WiFi, Wi-Max, UWB, Bluetooth, ZigBee, ZigBeeIP, GSM/GPRS) focuses on their performance which depends on the areas of utilization. Furthermore, it shows the limits of their characteristics. Study findings can be used by the developers/ engineers to deduce the optimal mode to integrate and to operate a system that guarantees quality of communication, minimizing energy consumption, reducing the implementation cost and avoiding time constraints. Keywords—Wireless communications; Performances; Energy; Protocols; Intelligent sensors; Applications

Technological advances on the development of mobile devices, medical sensors, and wireless communication systems support a new generation of unobtrusive, portable, and ubiquitous health monitoring systems for continuous patient assessment and more personalized health care. There exist a growing number of mobile apps in the health domain; however, little contribution has been specifically provided, so far, to operate this kind of apps with wearable physiological sensors. The PhysioDroid, presented in this paper, provides a personalized means to remotely monitor and evaluate users' conditions. The PhysioDroid system provides ubiquitous and continuous vital signs analysis, such as electrocardiogram, heart rate, respiration rate, skin temperature, and body motion, intended to help empower patients and improve clinical understanding. The PhysioDroid is composed of a wearable monitoring device and an Android app providing gathering, storage, and processing features for the physiological sensor data. The versatility of the developed app allows its use for both average users and specialists, and the reduced cost of the PhysioDroid puts it at the reach of most people. Two exemplary use cases for health assessment and sports training are presented to illustrate the capabilities of the PhysioDroid. Next technical steps include generalization to other mobile platforms and health monitoring devices.

The deployment of building automation systems (BAS) allows to increase comfort, safety and security and to reduce operational cost. Today such systems typically follow a two-layered hierarchical approach. While control networks interconnect distributed sensors, actuators and controllers, a backbone provides the necessary infrastructure for management tasks hosted by configuration and management devices. In addition, devices interconnecting the control network with the backbone and the backbone with further networks (e.g., the Internet) play a strategic role. All BAS devices contributing to a particular functionality differ in their requirements for hardware. This paper discusses requirements for devices used in the building automation domain and presents our work in progress to assemble platforms with different purposes relying on a modular architecture.

The IEEE wireless standard 802.15.4 gets widespread attention because of its adoption in sensor networks, home automation, and other networked systems. The goal of the project is to implement an enand decoding block for the IEEE 802.15.4 protocol in GNU Radio, an open source solution for software defined radios. This report will give an insight into the working of GNU Radio and some of its hardware components. Additionally, it gives details about the implementation of the enand decoding blocks. At the end, we will verify the implementation by sending and receiving messages to and from an actual IEEE 802.15.4 radio chip, the CC2420 from ChipCon, and give a small bandwidth comparison of the two solutions.

We present the design, implementation, and early results of ioCane, a mobility aid for blind cane users that uses detachable cane-mounted ultrasonic sensors connected to a circuit board to send contextual data wirelessly to an Android phone application. The system uses the built-in mobile phone modalities of vibrations and chimes to alert the user to object height and proximity. We believe this plug-and-play solution for visually impaired users has the potential to enhance user mobility and object avoidance with a minimal learning curve. A pilot study testing the performance of the ioCane with blind cane users showed a 47.3% improvement in obstacle avoidance. To our knowledge, the ioCane is the first sensor-based mobility assistance system to integrate natively with a mobile phone without any modifications to the phone or the system, as well as the first system of its kind to be evaluated by actual visually-impaired cane users. ACM Classification

Progress robot development very varied almost all fields seize the attention of the world's scientists and researchers. For some cases, robots are generally used to help humans in relieving job. The robot can replace human mobilization for move so that the efficiency of wasted time will be less. Many things need to be note what kind of robot control reliable to replace human work in mobilization. Virtual world as in android smartphone greatly benefit humans to creating control tools easy to use anywhere and could represent a desire humans. By making control robot using virtual paths on the Android smartphone which have an accuracy of more than 70% to a scale of 1:50 with the actual track in an environment that is not wide enough, the advantage can be used to control the robot move easily and efficiently compared to the usual manual control robot that will take more time to control The robot moves its place as desired.

Wireless body area network has gained much interest and became emerging technology at health service facilities due to its wide range of utility and vital role to improve the human health. In this research paper, we are conducting a comprehensive survey of wireless Body Area Network (WBAN) and also introducing a virtual doctor server (VDS) in existing WBAN architecture. Existing architecture of WBAN consists of: wireless sensor, wireless actuator node , wireless central unit and wireless Personal Device (PD). Personal Digital Assistant (PDA) or smart phone can be used as PD. Based on the existing architecture mentioned above, we propose a design concept for a virtual doctor server (VDS) to support various patient health care services. VDS will keep the historical data about the patient, generate the daily tips and advices for him, call the doctor or emergency squad if required and can provide first aid assistance instructions on patient or any of his close relative's PDA's.

With the roaring growth and wide adoption of smart mobile devices, users are continuously integrating with culture of the mobile applications (apps). These apps are not only gaining access to information on the smartphone but they are also able gain users' authorization to access remote servers on their behalf. The Open standard for Authorization (OAuth) is widely used in mobile apps for gaining access to user's resources on remote service providers. In this paper, we analyze the different OAuth implementations adopted by the SDKs of the popular resource providers on smartphones and demonstrate possible attacks on most OAuth implementations. By analyzing source code of more than 430 popular Android apps we summarized the trends followed by the service providers and by the OAuth development choices made by application developers. In addition, we propose an application-based OAuth Manager framework, that provides a secure OAuth flow in smartphones that is based on the concept of privilege separation and does not require high overhead.

Many Internet of Things (IoT) technologies have been used in applications for money flow, logistics flow, people flow, interactive art design, and so on. To manage these increasing disparate devices and connectivity options, ETSI has specified end-to-end machine-to-machine (M2M) system architecture for IoT applications. Based on this architecture, we develop an IoT EasyConnect system to manage IoT devices. In our approach, an IoT device is characterized by its “features” (e.g., temperature, vibration, and display) that are manipulated by the network applications. If a network application handles the individual device features independently, then we can write a software module for each device feature, and the network application can be simply constructed by including these brick-like device feature modules. Based on the concept of device feature, brick-like software modules can provide simple and efficient mechanism to develop IoT device applications and interactions.

Internet of Things (IoT) is an emerging concept which will interconnect billions of devices (such as smartphones, sensors and other networking devices), to communicate with each other. This interconnection of devices can be beneficial in many ways such as improving location based services and timely coordination. However, this also impose severe security concerns specially on smartphones which contains sensitive data. In this paper, we provide a comprehensive analysis of different security issues in smartphones which are integral part of IoT. We provide an easy and concise overview of different security threats. Our categorization helps in identifying specific security breach and applying relevant countermeasures.