Object recognition using boosted discriminants
We approach the task of object discrimination as that of learning efficient "codes" for each object class in terms of responses to a set of chosen discriminants. We formulate this approach in an energy minimization framework. The "code" is built incrementally by successively constructing discriminants that focus on pairs of training images of objects that are currently hard to classify. The particular discriminants that we use partition the set of objects of interest into two well-separated groups. We find the optimal discriminant as well as partition by formulating an objective criteria that measures the well-separateness of the partition. We derive an iterative solution that alternates between the solutions for two generalized eigenproblems, one for the discriminant parameters and the other for the indicator variables denoting the partition. We show how the optimization can easily be biased to focus on hard to classify pairs, which enables us to choose new discriminants one by one in a sequential manner We validate our approach on a challenging face discrimination task using parts as features and show that it compares favorably with the performance of an eigenspace method.

title: Normalized cuts and image segmentation
abstract: We propose a novel approach for solving the perceptual grouping problem in vision. Rather than focusing on local features and their consistencies in the image data, our approach aims at extracting the global impression of an image. We treat image segmentation as a graph partitioning problem and propose a novel global criterion, the normalized cut, for segmenting the graph. The normalized cut criterion measures both the total dissimilarity between the different groups as well as the total similarity within the groups. We show that an efficient computational technique based on a generalized eigenvalue problem can be used to optimize this criterion. We have applied this approach to segmenting static images and found results very encouraging.

title: Grouping with Bias
abstract: With the optimization of pattern discrimination as a goal, graph partitioning approaches often lack the capability to integrate prior knowledge to guide grouping. In this paper, we consider priors from unitary generative models, partially labeled data and spatial attention. These priors are modelled as constraints in the solution space. By imposing uniformity condition on the constraints, we restrict the feasible space to one of smooth solutions. A subspace projection method is developed to solve this constrained eigenproblem. We demonstrate that simple priors can greatly improve image segmentation results.

title: Segmentation given partial grouping constraints
abstract: We consider data clustering problems where partial grouping is known a priori. We formulate such biased grouping problems as a constrained optimization problem, where structural properties of the data define the goodness of a grouping and partial grouping cues define the feasibility of a grouping. We enforce grouping smoothness and fairness on labeled data points so that sparse partial grouping information can be effectively propagated to the unlabeled data. Considering the normalized cuts criterion in particular, our formulation leads to a constrained eigenvalue problem. By generalizing the Rayleigh-Ritz theorem to projected matrices, we find the global optimum in the relaxed continuous domain by eigendecomposition, from which a near-global optimum to the discrete labeling problem can be obtained effectively. We apply our method to real image segmentation problems, where partial grouping priors can often be derived based on a crude spatial attentional map that binds places with common salient features or focuses on expected object locations. We demonstrate not only that it is possible to integrate both image structures and priors in a single grouping process, but also that objects can be segregated from the background without specific object knowledge.

title: Segmentation with Pairwise Attraction and Repulsion
abstract: We propose a method of image segmentation by integrating pairwise attraction and directional repulsion derived from local grouping and figure-ground cues. These two kinds of pairwise relationships are encoded in the real and imaginary parts of an Hermitian graph weight matrix, through which we can directly generalize the normalized cuts criterion. With bi-graph constructions, this method can be readily extended to handle nondirectional repulsion that captures dissimilarity. We demonstrate the use of repulsion in image segmentation with relative depth cues, which allows segmentation and figure-ground segregation to be computed simultaneously. As a general mechanism to represent the dual measures of attraction and repulsion, this method can also be employed to solve other constraint satisfaction and optimization problems.

title: Understanding popout through repulsion
abstract: Perceptual popout is defined by both feature similarity and local feature contrast. We identify these two measures with attraction and repulsion, and unify the dual processes of association by attraction and segregation by repulsion in a single grouping framework. We generalize normalized cuts to multi-way partitioning with these dual measures. We expand graph partitioning approaches to weight matrices with negative entries, and provide a theoretical basis for solution regularization in such algorithms. We show that attraction, repulsion and regularization each contributes in a unique way to popout. Their roles are demonstrated in various salience detection and visual search scenarios. This work opens up the possibilities of encoding negative correlations in constraint satisfaction problems, where solutions by simple and robust eigendecomposition become possible.

title: Swarm Intelligence Clustering Algorithm Based on Attractor
abstract: Ant colonies behavior and their self-organizing capabilities have been popularly studied, and various swarm intelligence models and clustering algorithms also have been proposed. Unfortunately, the cluster number is often too high and convergence is also slow. We put forward a novel structure-attractor, which actively attracts and guides the ant's behavior, and implement an efficient strategy to adaptively control the clustering behavior. Our experiments show that swarm intelligence clustering algorithm based on attractor (SICABA for short) greatly improves the convergence speed and clustering quality compared with LF and also has many notable virtues such as flexibility, decentralization compared with conventional algorithms.

title: A real-time model for the robotic highway safety marker system
abstract: We present the design and implementation of a real-time model for the global control of robotic highway safety markers. Problems addressed in the system are: 1) poor scalability and predictability as the number of markers increases, 2) jerky movement of markers, and 3) false-hits caused by environment objects. We extensively analyze the system and offer two solutions: a basic solution and an enhanced solution. They are built respectively upon two task models: the periodic task model and the variable rate execution task model. The former is characterized by four static parameters: phase, period, worst case execution time and relative deadline. The latter has similar parameters. Its parameter values, however, are allowed to change at arbitrary times. We then examine two typical real-time scheduling approaches: rate monotonic (RM) priority driven and earliest deadline first (EDF). Analysis of their sufficient conditions shows that our system is feasibly schedulable under either RM or EDF. This conclusion justifies that the path for each safety marker can be guaranteed to be smooth under the designed real-time system. For the scalability issue, we present a sufficient condition for the upper bound on the number of barrel robots that can be reliably controlled. One key technique integrated into our real-time system is the Hough transform. We refine its traditional implementation so that, for the task of detecting safety markers, the time complexity decreases and the reliability increases with only slight additional storage for search windows. The basic idea behind our improvements is to limit the search window for safety markers.

title: Starvation mitigation through multi-channel coordination in CSMA multi-hop wireless networks
abstract: Existing multi-channel protocols have been demonstrated to significantly increase aggregate throughput compared to single-channel protocols. However, we show that despite such improvements in aggregate throughput, existing protocols can lead to flow starvation in a multi-hop network, a phenomenon that also occurs with single-channel protocols. In this paper, we devise Asynchronous Multi-channel Coordination Protocol (AMCP), a distributed medium access protocol that not only increases aggregate throughput, but more importantly, addresses the fundamental coordination problems that lead to starvation. Based on AMCP's counter-starvation mechanisms, we analytically derive and experimentally validate an ap-proximate lower bound on the throughput of any flow in an arbitrary topology. We also demonstrate that AMCP can deliver significantly higher per-flow throughput than both IEEE 802.11 and existing multi-channel solutions. In addition to its performance properties, AMCP is both simple in that it operates using the primitives of IEEE 802.11 DCF, and cost-effective in that it requires only a single half-duplex transceiver and no infrastructure support.

title: Image interpolation by two-dimensional parametric cubic convolution
abstract: Cubic convolution is a popular method for image interpolation. Traditionally, the piecewise-cubic kernel has been derived in one dimension with one parameter and applied to two-dimensional (2-D) images in a separable fashion. However, images typically are statistically nonseparable, which motivates this investigation of nonseparable cubic convolution. This paper derives two new nonseparable, 2-D cubic-convolution kernels. The first kernel, with three parameters (designated 2D-3PCC), is the most general 2-D, piecewise-cubic interpolator defined on [-2,2]/spl times/[-2,2] with constraints for biaxial symmetry, diagonal (or 90/spl deg/ rotational) symmetry, continuity, and smoothness. The second kernel, with five parameters (designated 2D-5PCC), relaxes the constraint of diagonal symmetry, based on the observation that many images have rotationally asymmetric statistical properties. This paper also develops a closed-form solution for determining the optimal parameter values for parametric cubic-convolution kernels with respect to ensembles of scenes characterized by autocorrelation (or power spectrum). This solution establishes a practical foundation for adaptive interpolation based on local autocorrelation estimates. Quantitative fidelity analyses and visual experiments indicate that these new methods can outperform several popular interpolation methods. An analysis of the error budgets for reconstruction error associated with blurring and aliasing illustrates that the methods improve interpolation fidelity for images with aliased components. For images with little or no aliasing, the methods yield results similar to other popular methods. Both 2D-3PCC and 2D-5PCC are low-order polynomials with small spatial support and so are easy to implement and efficient to apply.

title: Perspectives on cognitive informatics
abstract: From a scientific perspective explaining how the brain thinks is a big goal. Cognitive informatics studies intelligent behavior from a computational point of view in terms of updated research efforts and processes of brain science and neuroscience. Cognitive informatics is the interdisciplinary study of cognition. Cognition includes mental states and processes, such as thinking, reasoning, remembering, language understanding and generation, visual and auditory perception, learning, consciousness, emotions, etc. In this paper we will point out basic research topics of learning, memory, thought, language, and neural computing which are active fields related to cognitive informatics.