Physical Sciences and Mathematics Commons^™

Ai Applications On Planetary Rovers, Alexis David Pascual

Electronic Thesis and Dissertation Repository

The rise in the number of robotic missions to space is paving the way for the use of artificial intelligence and machine learning in the autonomy and augmentation of rover operations. For one, more rovers mean more images, and more images mean more data bandwidth required for downlinking as well as more mental bandwidth for analyzing the images. On the other hand, light-weight, low-powered microrover platforms are being developed to accommodate the drive for planetary exploration. As a result of the mass and power constraints, these microrover platforms will not carry typical navigational instruments like a stereocamera or a laser …

Reducing Negative Transfer Of Random Data In Source-Free Unsupervised Domain Adaptation, Anthony Wong

Electronic Thesis and Dissertation Repository

In domain adaptation, a model trained on one dataset (source domain) is applied to a different but related dataset (target domain). The most cutting-edge method is unsupervised source-free domain adaptation (SFDA), in which source data, source labels, and target labels are not available during adaptation. This thesis explores a realistic scenario where the target dataset includes some images that are unrelated to the adaptation process. This scenario can occur from errors in data collection or processing. We provide experiments and analysis to show that current state-of-the-art (SOTA) SFDA methods suffer significant performance drops under a specific domain adaptation setup when …

Feature Encoding Strategies For Multi-View Image Classification, Kyle Doerr

Electronic Thesis and Dissertation Repository

Machine vision systems can vary greatly in size and complexity depending on the task at hand. However, the purpose of inspection, quality and reliability remains the same. This work sets out to bridge the gap between traditional machine vision and computer vision. By applying powerful computer vision techniques, we are able to achieve more robust solutions in manufacturing settings. This thesis presents a framework for applying powerful new image classification techniques used for image retrieval in the Bag of Words (BoW) framework. In addition, an exhaustive evaluation of commonly used feature pooling approaches is conducted with results showing that spatial …

Geological Object Recognition In Extraterrestrial Environments, Gregory M. Elfers

Electronic Thesis and Dissertation Repository

On July 4 1997, the landing of NASA’s Pathnder probe and its rover Sojourner marked the beginning of a new era in space exploration; robots with the ability to move have made up the vanguard of human extraterrestrial exploration ever since. With Sojourners landing, for the rst time, a ground traversing robot was at a distance too far from earth to make direct human control practical. This has given rise to the development of autonomous systems to improve the e?ciency of these robots,in both their ability to move,and their ability to make decisions regarding their environment. Computer Vision comprises a …

A Modular Approach To The Development Of Interactive Augmented Reality Applications., Nelson J. Andre

Electronic Thesis and Dissertation Repository

Augmented reality (AR) technologies are becoming increasingly popular as a result of the increase in the power of mobile computing devices. Emerging AR applications have the potential to have an enormous impact on industries such as education, healthcare, research, training and entertainment. There are currently a number of augmented reality toolkits and libraries available for the development of these applications; however, there is currently no standard tool for development. In this thesis we propose a modular approach to the organization and development of AR systems in order to enable the creation novel AR experiences. We also investigate the incorporation of …

Automatic Classification Of Epilepsy Lesions, Junwei Sun

Electronic Thesis and Dissertation Repository

Epilepsy is a common and diverse set of chronic neurological disorders characterized by seizures. Epileptic seizures result from abnormal, excessive or hypersynchronous neuronal activity in the brain. Seizure types are organized firstly according to whether the source of the seizure within the brain is localized or distributed. In this work, our objective is to validate the use of MRI (Magnetic Resonance Imaging) for localizing seizure focus for improved surgical planning. We apply computer vision and machine learning techniques to tackle the problem of epilepsy lesion classification. First datasets of digitized histology images from brain cortexes of different patients are obtained …

Classic Mosaics And Visual Correspondence Via Graph-Cut Based Energy Optimization, Yu Liu

Electronic Thesis and Dissertation Repository

Computer graphics and computer vision were traditionally two distinct research fields focusing on opposite topics. Lately, they have been increasingly borrowing ideas and tools from each other. In this thesis, we investigate two problems in computer vision and graphics that rely on the same tool, namely energy optimization with graph cuts.

In the area of computer graphics, we address the problem of generating artificial classic mosaics, still and animated. The main purpose of artificial mosaics is to help a user to create digital art. First we reformulate our previous static mosaic work in a more principled global optimization framework. Then, …