Positional Estimation Techniques for an Autonomous Mobile Robot (2009)
N. Nandhakumar, J. K =aggarwal, J. K. Aggarwal
This report presents a description of the work done under the NASA Grant NAG 9-361. It describes techniques for positional estimation of a mobile robot navigating in an outdoor environment. A...
Using Partial Shape Knowledge for Stereo Reconstruction (2007)
: We describe a scheme for reliable and accurate surface reconstruction when the stereoscopic images contain only fine texture and no stable high level features. The approach uses partial shape...
J. Michel, N. Nandhakumar, V. Velten
An important issue in developing a model-based vision system is the specification of features that are- (a) invariant to viewing and scene conditions, and also- (b) specific, i.e., the feature must...
N. Nandhakumar, J. D. Michel, V. Velten
Research on the formulation of invariant features for model-based object recognition has mostly been concerned with geometric constructs either of the object or in the imaging process. We describe a...
N. Nandhakumar, J. Michel, G. Tsihrintzis, V. Velten
We recently formulated a new approach for computing invariant features from infrared (IR) images. That approach is unique in the field since it considers not just surface reflection and surface...
J. D. Michel, N. Nandhakumar, Tushar Saxena, Deepak Kapur
We describe a new approach for computing invariant features in infrared (IR) images. Our approach is unique in the field since it considers not just surface reflection and surface geometry in the...
Thermophysical Affine Invariants from IR Imagery for Object Recognition (2007)
N. Nandhakumar, V. Velten, Jonathan Michel
An important issue in developing a Model-Based Vision approach is the specification of features that are- (a) invariant to viewing and scene conditions, and also- (b) specific, i.e., the feature must...
Improving Color Based Video Shot Detection (1999)
W. Zhao, J. Wang, Zhao Wang Bhat, K. Sakiewicz, N. Nandhakumar
Video shot detection plays a fundamental role in video access/analysis. Among many shot detection schemes, color based schemes seem to be the most widely used ones which can be applied to videos of...
Improving Color Based Video Shot Detection (1999)
W. Zhao, J. Wang, D. Bhat, K. Sakiewicz, N. Nandhakumar, W. Chang
Video shot detection plays a fundamental role in video access/analysis. Among many shot detection schemes, color based schemes seem to be the most widely used ones which can be applied to videos of...
On the Computation of Motion from Sequences of Images - A Review, (1998)
Aggarwal, J. K., Nandhakumar, N.
The present paper reviews recent developments in the computation of motion and structure of objects in a scene from a sequence of images. We highlight two distinct paradigms: i) the feature-based...
Linear Discriminant Analysis of MPF for Face Recognition (1998)
In face recognition literature, major approaches based on holistic templates and geometrical local features have been taken. Both approaches have certain advantages and disadvantages. In this paper,...
Empirical Performance Analysis of Linear Discriminant Classifiers (1998)
W. Zhao, R. Chellappa, N. Nandhakumar
In face recognition literature, holistic template matching systems and geometrical local feature based systems have been pursued . In the holistic approach, PCA (Principal Component Analysis) and LDA...
Dominant-Subspace Invariants (1998)
D. Gregory Arnold, Kirk Sturtz, Vince Velten, N. Nandhakumar
Object recognition requires robust and stable features that are unique in feature space. Lie group analysis provides a constructive procedure to determine such features, called invariants, when they...
View-Invariant Regions and Mobile Robot Self-Localization (1996)
Simsarian, Kristian T., Olson, Thomas J., Nandhakumar, N.
This paper addresses the problem of mobile robot self-localization given a polygonal map and a set of observed edge segments. The standard approach to this problem uses interpretation tree search...
View-Invariant Regions and Mobile Robot Self-Localization (1996)
Kristian T. Simsarian, Thomas J. Olson, Thomas J. Olson, N. Nandhakumar
This paper addresses the problem of mobile robot self-localization given a polygonal map and a set of observed edge segments. The standard approach to this problem uses interpretation tree search...
A Reliable Descriptor for Face Objects in Visual Content
Wenyi Zhao, Dinkar Bhat, Jia Wang, N. Nandhakumar, R. Chellappa
We present a descriptor for human face objects in visual content. The descriptor enables similaritybased retrieval using a face image as the query. The descriptor for a set of face objects consists...
Effects of Camera Alignment Errors on Stereoscopic Depth Estimates
: We present in this paper a new analysis of relative sensitivity/importance of camera calibration/alignment parameters on the performance of stereoscopic depth reconstruction. This quantitative...