Theses and Dissertations
This collection includes both ASU Theses and Dissertations, submitted by graduate students, and the Barrett, Honors College theses submitted by undergraduate students.
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- Creators: Turaga, Pavan
Description
The rapid growth of social media in recent years provides a large amount of user-generated visual objects, e.g., images and videos. Advanced semantic understanding approaches on such visual objects are desired to better serve applications such as human-machine interaction, image retrieval, etc. Semantic visual attributes have been proposed and utilized in multiple visual computing tasks to bridge the so-called "semantic gap" between extractable low-level feature representations and high-level semantic understanding of the visual objects.
Despite years of research, there are still some unsolved problems on semantic attribute learning. First, real-world applications usually involve hundreds of attributes which requires great effort to acquire sufficient amount of labeled data for model learning. Second, existing attribute learning work for visual objects focuses primarily on images, with semantic analysis on videos left largely unexplored.
In this dissertation I conduct innovative research and propose novel approaches to tackling the aforementioned problems. In particular, I propose robust and accurate learning frameworks on both attribute ranking and prediction by exploring the correlation among multiple attributes and utilizing various types of label information. Furthermore, I propose a video-based skill coaching framework by extending attribute learning to the video domain for robust motion skill analysis. Experiments on various types of applications and datasets and comparisons with multiple state-of-the-art baseline approaches confirm that my proposed approaches can achieve significant performance improvements for the general attribute learning problem.
Despite years of research, there are still some unsolved problems on semantic attribute learning. First, real-world applications usually involve hundreds of attributes which requires great effort to acquire sufficient amount of labeled data for model learning. Second, existing attribute learning work for visual objects focuses primarily on images, with semantic analysis on videos left largely unexplored.
In this dissertation I conduct innovative research and propose novel approaches to tackling the aforementioned problems. In particular, I propose robust and accurate learning frameworks on both attribute ranking and prediction by exploring the correlation among multiple attributes and utilizing various types of label information. Furthermore, I propose a video-based skill coaching framework by extending attribute learning to the video domain for robust motion skill analysis. Experiments on various types of applications and datasets and comparisons with multiple state-of-the-art baseline approaches confirm that my proposed approaches can achieve significant performance improvements for the general attribute learning problem.
ContributorsChen, Lin (Author) / Li, Baoxin (Thesis advisor) / Turaga, Pavan (Committee member) / Wang, Yalin (Committee member) / Liu, Huan (Committee member) / Arizona State University (Publisher)
Created2016
Description
Multi-sensor fusion is a fundamental problem in Robot Perception. For a robot to operate in a real world environment, multiple sensors are often needed. Thus, fusing data from various sensors accurately is vital for robot perception. In the first part of this thesis, the problem of fusing information from a LIDAR, a color camera and a thermal camera to build RGB-Depth-Thermal (RGBDT) maps is investigated. An algorithm that solves a non-linear optimization problem to compute the relative pose between the cameras and the LIDAR is presented. The relative pose estimate is then used to find the color and thermal texture of each LIDAR point. Next, the various sources of error that can cause the mis-coloring of a LIDAR point after the cross- calibration are identified. Theoretical analyses of these errors reveal that the coloring errors due to noisy LIDAR points, errors in the estimation of the camera matrix, and errors in the estimation of translation between the sensors disappear with distance. But errors in the estimation of the rotation between the sensors causes the coloring error to increase with distance.
On a robot (vehicle) with multiple sensors, sensor fusion algorithms allow us to represent the data in the vehicle frame. But data acquired temporally in the vehicle frame needs to be registered in a global frame to obtain a map of the environment. Mapping techniques involving the Iterative Closest Point (ICP) algorithm and the Normal Distributions Transform (NDT) assume that a good initial estimate of the transformation between the 3D scans is available. This restricts the ability to stitch maps that were acquired at different times. Mapping can become flexible if maps that were acquired temporally can be merged later. To this end, the second part of this thesis focuses on developing an automated algorithm that fuses two maps by finding a congruent set of five points forming a pyramid.
Mapping has various application domains beyond Robot Navigation. The third part of this thesis considers a unique application domain where the surface displace- ments caused by an earthquake are to be recovered using pre- and post-earthquake LIDAR data. A technique to recover the 3D surface displacements is developed and the results are presented on real earthquake datasets: El Mayur Cucupa earthquake, Mexico, 2010 and Fukushima earthquake, Japan, 2011.
On a robot (vehicle) with multiple sensors, sensor fusion algorithms allow us to represent the data in the vehicle frame. But data acquired temporally in the vehicle frame needs to be registered in a global frame to obtain a map of the environment. Mapping techniques involving the Iterative Closest Point (ICP) algorithm and the Normal Distributions Transform (NDT) assume that a good initial estimate of the transformation between the 3D scans is available. This restricts the ability to stitch maps that were acquired at different times. Mapping can become flexible if maps that were acquired temporally can be merged later. To this end, the second part of this thesis focuses on developing an automated algorithm that fuses two maps by finding a congruent set of five points forming a pyramid.
Mapping has various application domains beyond Robot Navigation. The third part of this thesis considers a unique application domain where the surface displace- ments caused by an earthquake are to be recovered using pre- and post-earthquake LIDAR data. A technique to recover the 3D surface displacements is developed and the results are presented on real earthquake datasets: El Mayur Cucupa earthquake, Mexico, 2010 and Fukushima earthquake, Japan, 2011.
ContributorsKrishnan, Aravindhan K (Author) / Saripalli, Srikanth (Thesis advisor) / Klesh, Andrew (Committee member) / Fainekos, Georgios (Committee member) / Thangavelautham, Jekan (Committee member) / Turaga, Pavan (Committee member) / Arizona State University (Publisher)
Created2016