Assigning Types to Processes

In wide area distributed systems it is now common for higher-order code to be transferred from one domain to another; the receiving host may initialise parameters and then execute the code in its local environment. In this paper we propose a fine-grained typing system for a higher-order π-calculus which can be used to control the effect of such migrating code on local environments. Processes may be assigned different types depending on their intended use. This is in contrast to most of the previous work on typing processes where all processes are typed by a unique constant type, indicating essentially that they are well typed relative to a particular environment. Our fine-grained typing facilitates the management of access rights and provides host protection from potentially malicious behaviour. Our process type takes the form of an interface limiting the resources to which it has access and the types at which they may be used. Allowing resource names to appear both in process types and process terms, as interaction ports, complicates the typing system considerably. For the development of a coherent typing system, we use a kinding technique, similar to that used by the subtyping of the system F, and order-theoretic properties of our subtyping relation. Various examples of this paper illustrate the usage of our fine-grained process types in distributed systems.     

Perceptual Organization Based Computational Model for Robust Segmentation of Moving Objects

The role of perceptual organization in motion analysis has heretofore been minimal. In this work we present a simple but powerful computational model and associated algorithms based on the use of perceptual organizational principles, such as temporal coherence (or common fate) and spatial proximity, for motion segmentation. The computational model does not use the traditional frame by frame motion analysis; rather it treats an image sequence as a single 3D spatio-temporal volume. It endeavors to find organizations in this volume of data over three levels—signal, primitive, and structural. The signal level is concerned with detecting individual image pixels that are probably part of a moving object. The primitive level groups these individual pixels into planar patches, which we call the temporal envelopes. Compositions of these temporal envelopes describe the spatio-temporal surfaces that result from object motion. At the structural level, we detect these compositions of temporal envelopes by utilizing the structure and organization among them. The algorithms employed to realize the computational model include 3D edge detection, Hough transformation, and graph based methods to group the temporal envelopes based on Gestalt principles. The significance of the Gestalt relationships between any two temporal envelopes is expressed in probabilistic terms. One of the attractive features of the adopted algorithm is that it does not require the detection of special 2D features or the tracking of these features across frames. We demonstrate that even with simple grouping strategies, we can easily handle drastic illumination changes, occlusion events, and multiple moving objects, without the use of training and specific object or illumination models. We present results on a large variety of motion sequences to demonstrate this robustness.     

The Euler Characteristics of Discrete Objects and Discrete Quasi-Objects

Assuming planar 4-connectivity and spatial 6-connectivity, we first introduce the curvature indices of the boundary of a discrete object, and, using these indices of points, we define the vertex angles of discrete surfaces as an extension of the chain codes of digital curves. Second, we prove the relation between the number of point indices and the numbers of holes, genus, and cavities of an object. This is the angular Euler characteristic of a discrete object. Third, we define quasi-objects as the connected simplexes. Geometric relations between discrete quasi-objects and discrete objects permit us to define the Euler characteristic for the planar 8-connected, and the spatial 18- and 26-connected objects using these for the planar 4-connected and the spatial 6-connected objects. Our results show that the planar 4-connectivity and the spatial 6-connectivity define the Euler characteristics of point sets in a discrete space. Finally, we develop an algorithm for the computation of these characteristics of discrete objects.     

Trace and Testing Equivalence on Asynchronous Processes

We study trace and may-testing equivalences in the asynchronous versions of CCS and π-calculus. We start from the operational definition of the may-testing preorder and provide finitary and fully abstract trace-based characterizations for it, along with a complete in-equational proof system. We also touch upon two variants of this theory by first considering a more demanding equivalence notion (must-testing) and then a richer version of asynchronous CCS. The results throw light on the difference between synchronous and asynchronous communication and on the weaker testing power of asynchronous observations.     

Syntactic Type Soundness Results for the Region Calculus

The region calculus of Tofte and Talpin is a polymorphically typed lambda calculus with annotations that make memory allocation and deallocation explicit. It is intended as an intermediate language for implementing Hindley-Milner typed functional languages such as ML without traditional trace-based garbage collection. Static region and effect inference can be used to annotate a statically typed ML program with memory management primitives. Soundness of the calculus with respect to the region and effect system is crucial to guarantee safe deallocation of regions, i.e., deallocation should only take place for objects which are provably dead. The original soundness proof by Tofte and Talpin requires a complex co-inductive safety relation. In this paper, we present two small-step operational semantics for the region calculus and prove their type soundness with respect to the region and effect system. Following the standard syntactic approach of Wright, Felleisen, and Harper, we obtain simple inductive proofs. The first semantics is store-less. It is simple and elegant and gives rise to perspicuous proofs. The second semantics provides a store-based model for the region calculus. Albeit slightly more complicated, its additional expressiveness allows us to model operations on references with destructive update. A pure fragment of both small-step semantics is then proven equivalent to the original big-step operational approach of Tofte and Talpin. This leads to an alternative soundness proof for their evaluation-style formulation.     

Language-based Performance Prediction for Distributed and Mobile Systems

We present a framework for performance prediction of distributed and mobile systems. We rely on process calculi and their structural operational semantics. The dynamic behaviour is described through transition systems whose transitions are labelled by encodings of their proofs that we then map into stochastic processes. We enhance related works by allowing general continuous distributions resorting to a notion of enabling between transitions. We also discuss how the number of resources available affects the overall model. Finally, we introduce a notion of bisimulation that takes stochastic information into account and prove it to be a congruence. When only exponential distributions are of interest our equivalence induces a lumpable partition on the underlying Markov process.     

Optimal Deterministic Protocols for Mobile Robots on a Grid

This paper studies a system of m robots operating in a set of n work locations connected by aisles in a × grid, where m≤n. From time to time the robots need to move along the aisles, in order to visit disjoint sets of locations. The movement of the robots must comply with the following constraints: (1) no two robots can collide at a grid node or traverse a grid edge at the same time; (2) a robot's sensory capability is limited to detecting the presence of another robot at a neighboring node. We present a deterministic protocol that, for any small constant ε>0, allows m≤(1-ε)n robots to visit their target locations in O( ) time, where each robot visits no more than d≤n targets and no target is visited by more than one robot. We also prove a lower bound showing that our protocol is optimal. Prior to this paper, no optimal protocols were known for d>1. For d=1, optimal protocols were known only for m≤ , while for general m≤n only a suboptimal randomized protocol was known.     

Encoding Linear Logic with Interaction Combinators

The purpose of this paper is to demonstrate how Lafont's interaction combinators, a system of three symbols and six interaction rules, can be used to encode linear logic. Specifically, we give a translation of the multiplicative, exponential, and additive fragments of linear logic together with a strategy for cut-elimination which can be faithfully simulated. Finally, we show briefly how this encoding can be used for evaluating λ-terms. In addition to offering a very simple, perhaps the simplest, system of rewriting for linear logic and the λ-calculus, the interaction net implementation that we present has been shown by experimental testing to offer a good level of sharing in terms of the number of cut-elimination steps (resp. β-reduction steps). In particular it performs better than all extant finite systems of interaction nets.     

Formative Processes with Applications to the Decision Problem in Set Theory: I. Powerset and Singleton Operators

This paper introduces formative processes, composed by transitive partitions. Given a family of sets, a formative process ending in the Venn partition Σ of is shown to exist. Sufficient criteria are also singled out for a transitive partition to model (via a function from set variables to unions of sets in the partition) all set-literals modeled by Σ. On the basis of such criteria a procedure is designed that mimics a given formative process by another where sets have finite rank bounded by C(|Σ|), with C a specific computable function. As a by-product, one of the core results on decidability in computable set theory is rediscovered, namely the one that regards the satisfiability of unquantified set-theoretic formulae involving Boolean operators, the singleton-former, and the powerset operator. The method described (which is able to exhibit a set-solution when the answer is affirmative) can be extended to solve the satisfiability problem for broader fragments of set theory.     

Cooperative Stereo–Motion: Matching and Reconstruction

One of the most interesting goals of computer vision is the 3D structure recovery of scenes. Traditionally, two cues are used: structure from motion and structure from stereo, two subfields with complementary sets of assumptions and techniques. This paper introduces a new general framework of cooperation between stereo and motion. This framework combines the advantages of both cues: (i) easy correspondence from motion and (ii) accurate 3D reconstruction from stereo. First, we show how the stereo matching can be recovered from motion correspondences using only geometric constraints. Second, we propose a method of 3D reconstruction of both binocular and monocular features using all stereo pairs in the case of a calibrated stereo rig. Third, we perform an analysis of the performance of the proposed framework as well as a comparison with an affine method. Experiments involving real and synthetic stereo pairs indicate that rich and reliable information can be derived from the proposed framework. They also indicate that robust 3D reconstruction can be obtained even with short image sequences.     

Novel Techniques for Robust Voxelization and Visualization of Implicit Surfaces

Voxelization is the transformation of geometric surfaces into voxels. Up to date this process has been done essentially using incremental algorithms. Incremental algorithms have the reputation of being efficient but they lack an important property: robustness. The voxelized representation should envelop its continuous model. However, without robust methods this cannot be guaranteed. This article describes novel techniques of robust voxelization and visualization of implicit surfaces. First of all our recursive subdivision voxelization algorithm is reviewed. This algorithm was initially inspired by Duff's image space subdivision method. Then, we explain the algorithm to voxelize implicit surfaces defined in spherical or cylindrical coordinates. Next, we show a new technique to produce infinite replications of implicit objects and their voxelization method. Afterward, we comment on the parallelization of our voxelization procedure. Finally we present our voxel visualization algorithm based on point display. Our voxelization algorithms can be used with any data structure, thanks to the fact that a voxel is only stored once the last subdivision level is reached. We emphasize the use of the octree, though, because it is a convenient way to store the discrete model hierarchically. In a hierarchy the discrete model refinement is simple and possible from any previous voxelized scene thanks to the fact that the voxelization algorithms are robust.     

3-D Reconstruction of Urban Scenes from Aerial Stereo Imagery: A Focusing Strategy

A contribution to the automatic 3-D reconstruction of complex urban scenes from aerial stereo pairs is proposed. It consists of segmenting the scene into two different kinds of components: the ground and the above-ground objects. The above-ground objects are classified either as buildings or as vegetation. The idea is to define appropriate regions of interest in order to achieve a relevant 3-D reconstruction. For that purpose, a digital elevation model of the scene is first computed and segmented into above-ground regions using a Markov random field model. Then a radiometric analysis is used to classify above-ground regions as building or vegetation, leading to the determination of the final above-ground objects. The originality of the method is its ability to cope with extended above-ground areas, even in case of a sloping ground surface. This characteristic is necessary in a urban environment. Results are very robust to image and scene variability, and they enable the utilization of appropriate local 3-D reconstruction algorithms.     

An Algebra of Discrete Channels That Involve Combinations of Three Basic Error Types

Recently, the author introduced a nonprobabilistic mathematical model of discrete channels, the BEE channels, that involve the error-types substitution, insertion, and deletion. This paper defines an important class of BEE channels, the SID channels, which include channels that permit a bounded number of scattered errors and, possibly at the same time, a bounded burst of errors in any segment of predefined length of a message. A formal syntax is defined for generating channel expressions, and appropriate semantics is provided for interpreting a given channel expression as a communication channel (SID channel) that permits combinations of substitutions, insertions, and deletions of symbols. Our framework permits one to generalize notions such as error correction and unique decodability, and express statements of the form “The code K can correct all errors of type ξ” and “it is decidable whether the code K is uniquely decodable for the channel described by ξ”, where ξ is any SID channel expression.     

Building Detection from Multiple Aerial Images in Dense Urban Areas

In this paper we present a novel approach for building detection from multiple aerial images in dense urban areas. The approach is based on accurate surface reconstruction, followed by extraction of building façades that are used as a main cue for building detection. For the façade detection, a simple but nevertheless flexible and robust algorithm is proposed. It is based on the observation that building façades correspond to the accumulation of 3D data, available from different views, in object space. Knowledge-driven thresholding of 3D data accumulators followed by Hough transform-based segment detection results in the extraction of façade positions. Three-dimensional planar regions resulting from surface reconstruction procedure and bounded by the extracted façades are detected as building hypotheses through testing a set of spatial criteria. Then, a set of verification criteria is proposed for the hypothesis confirmation.     

3D Articulated Models and Multiview Tracking with Physical Forces

We present a method for automatically estimating the motion of an articulated object filmed by two or more fixed cameras. We focus our work on the case where the quality of the images is poor, and where only an approximation of a geometric model of the tracked object is available. Our technique uses physical forces applied to each rigid part of a kinematic 3D model of the object we are tracking. These forces guide the minimization of the differences between the pose of the 3D model and the pose of the real object in the video images. We use a fast recursive algorithm to solve the dynamical equations of motion of any 3D articulated model. We explain the key parts of our algorithms: how relevant information is extracted from the images, how the forces are created, and how the dynamical equations of motion are solved. A study of what kind of information should be extracted in the images and of when our algorithms fail is also presented. Finally we present some results about the tracking of a person. We also show the application of our method to the tracking of a hand in sequences of images, showing that the kind of information to extract from the images depends on their quality and of the configuration of the cameras.     

A General Decomposition Theorem for the k-Server Problem

The first general decomposition theorem for the k-server problem is presented. Whereas all previous theorems are for the case of a finite metric with k+1 points, the theorem given here allows an arbitrary number of points in the underlying metric space. This theorem implies O(polylog(k))-competitive randomized algorithms for certain metric spaces consisting of a polylogarithmic number of widely separated subspaces and takes a first step toward a general O(polylog(k))-competitive algorithm. The only other cases for which polylogarithmic competitive randomized algorithms are known are the uniform metric space and the weighted cache metric space with two weights.     

Model-Based Object Recognition Using Geometric Invariants of Points and Lines

In this paper, we derive new geometric invariants for structured 3D points and lines from single image under projective transform, and we propose a novel model-based 3D object recognition algorithm using them. Based on the matrix representation of the transformation between space features (points and lines) and the corresponding projected image features, new geometric invariants are derived via the determinant ratio technique. First, an invariant for six points on two adjacent planes is derived, which is shown to be equivalent to Zhu's result [1], but in simpler formulation. Then, two new geometric invariants for structured lines are investigated: one for five lines on two adjacent planes and the other for six lines on four planes. By using the derived invariants, a novel 3D object recognition algorithm is developed, in which a hashing technique with thresholds and multiple invariants for a model are employed to overcome the over-invariant and false alarm problems. Simulation results on real images show that the derived invariants remain stable even in a noisy environment, and the proposed 3D object recognition algorithm is quite robust and accurate.     

Fuzzy Distance Transform: Theory, Algorithms, and Applications

This paper describes the theory and algorithms of distance transform for fuzzy subsets, called fuzzy distance transform (FDT). The notion of fuzzy distance is formulated by first defining the length of a path on a fuzzy subset and then finding the infimum of the lengths of all paths between two points. The length of a path π in a fuzzy subset of the n-dimensional continuous space ⁿ is defined as the integral of fuzzy membership values along π. Generally, there are infinitely many paths between any two points in a fuzzy subset and it is shown that the shortest one may not exist. The fuzzy distance between two points is defined as the infimum of the lengths of all paths between them. It is demonstrated that, unlike in hard convex sets, the shortest path (when it exists) between two points in a fuzzy convex subset is not necessarily a straight line segment. For any positive number θ≤1, the θ-support of a fuzzy subset is the set of all points in ⁿ with membership values greater than or equal to θ. It is shown that, for any fuzzy subset, for any nonzero θ≤1, fuzzy distance is a metric for the interior of its θ-support. It is also shown that, for any smooth fuzzy subset, fuzzy distance is a metric for the interior of its 0-support (referred to as support). FDT is defined as a process on a fuzzy subset that assigns to a point its fuzzy distance from the complement of the support. The theoretical framework of FDT in continuous space is extended to digital cubic spaces and it is shown that for any fuzzy digital object, fuzzy distance is a metric for the support of the object. A dynamic programming-based algorithm is presented for computing FDT of a fuzzy digital object. It is shown that the algorithm terminates in a finite number of steps and when it does so, it correctly computes FDT. Several potential applications of fuzzy distance transform in medical imaging are presented. Among these are the quantification of blood vessels and trabecular bone thickness in the regime of limited special resolution where these objects become fuzzy.     

Specularities on Surfaces with Tangential Hairs or Grooves

Specularities on surfaces with tangential hairs or grooves are readily observable in nature. Examples of such phenomena are the arched or looped highlights observed on horses and human heads and the linear or curved specularities observed on parts of industrial machinery that have tangential grooves. We investigate the geometry of curvilinear specularities on surfaces of different curvature with tangential hairs or grooves of different orientations under controlled lighting and viewing conditions. First the nature of these specularities is investigated qualitatively. Then specularities on parametric surfaces and hair or groove orientations are calculated for some specific cases. Explicit calculations of specularities on some special surfaces, cylinders, cones, and spheres, are verified by photographs of the reflections. Aspects of the work are applicable to computer graphics and can be utilized for the image interpretation of surface specularities.