Optimal randomized RANSAC

A randomized model verification strategy for RANSAC is presented. The proposed method finds, like RANSAC, a solution that is optimal with user-specified probability. The solution is found in time that is (i) close to the shortest possible and (ii) superior to any deterministic verification strategy. A provably fastest model verification strategy is designed for the (theoretical) situation when the contamination of data by outliers is known. In this case, the algorithm is the fastest possible (on average) of all randomized \\RANSAC algorithms guaranteeing a confidence in the solution. The derivation of the optimality property is based on Wald's theory of sequential decision making, in particular a modified sequential probability ratio test (SPRT). Next, the R-RANSAC with SPRT algorithm is introduced. The algorithm removes the requirement for a priori knowledge of the fraction of outliers and estimates the quantity online. We show experimentally that on standard test data the method has performance close to the theoretically optimal and is 2 to 10 times faster than standard RANSAC and is up to 4 times faster than previously published methods.     

The scaling problem in the pattern recognition approach to machine translation

Statistical machine translation (SMT) has proven to be an interesting pattern recognition framework for automatically building machine translations systems from available parallel corpora. In the last few years, research in SMT has been characterized by two significant advances. First, the popularization of the so called phrase-based statistical translation models, which allows to incorporate local contextual information to the translation models. Second, the availability of larger and larger parallel corpora, which are composed of millions of sentence pairs, and tens of millions of running words. Since phrase-based models basically consists in statistical dictionaries of phrase pairs, their estimation from very large corpora is a very costly task that yields a huge number of parameters which are to be stored in memory. The handling of millions of model parameters and a similar number of training samples have become a bottleneck in the field of SMT, as well as in other well-known pattern recognition tasks such as speech recognition or handwritten recognition, just to name a few. In this paper, we propose a general framework that deals with the scaling problem in SMT without introducing significant time overhead by means of the combination of different scaling techniques. This new framework is based on the use of counts instead of probabilities, and on the concept of cache memory.     

Modeling on triangulations with geodesic curves

This paper discusses the problem of modeling on triangulated surfaces with geodesic curves. In the first part of the paper we define a new class of curves, called geodesic Bézier curves, that are suitable for modeling on manifold triangulations. As a natural generalization of Bézier curves, the new curves are as smooth as possible. In the second part we discuss the construction of C ⁰ and C ¹ piecewise Bézier splines. We also describe how to perform editing operations, such as trimming, using these curves. Special care is taken to achieve interactive rates for modeling tasks. The third part is devoted to the definition and study of convex sets on triangulated surfaces. We derive the convex hull property of geodesic Bézier curves.

Exploiting User Interests to Characterize Navigational Patterns in Web Browsing Assistance

In order to be capable of exploiting context for pro-active information recommendation, agents need to extract and understand user activities based on their knowledge of the user interests. In this paper, we propose a novel approach for context-aware recommendation in browsing assistants based on the integration of user profiles, navigational patterns and contextual elements. In this approach, user profiles built using an unsupervised Web page clustering algorithm are used to characterize user ongoing activities and behavior patterns. Experimental evidence show that using longer-term interests to explain active browsing goals user assistance is effectively enhanced.

Motion Planning for Haptic Guidance

Haptic devices allow a user to feel either reaction forces from virtual interactions or reaction forces reflected from a remote site during a bilateral teleoperation task. Also, guiding forces can be exerted to train the user in the performance of a virtual task or to assist him/her to safely teleoperate a robot. The generation of guiding forces relies on the existence of a motion plan that provides the direction to be followed to reach the goal from any free configuration of the configuration space (-space). This paper proposes a method to obtain such a plan that interleaves a sampling-based exploration of -space with an efficient computation of harmonic functions. A deterministic sampling sequence (with a bias based on harmonic function values) is used to obtain a hierarchical cell decomposition model of -space. A harmonic function is iteratively computed over the partially known model using a novel approach. The harmonic function is the navigation function used as motion plan. The approach has been implemented in a planner (called the Kautham planner) that, given an initial and a goal configuration, provides: (a) a channel of cells connecting the cell that contains the initial configuration with the cell that contains the goal configuration; (b) two harmonic functions over the whole -space, one that guides motions towards the channel and another that guides motions within the channel towards the goal; and (c) a path computed over a roadmap built with the free samples of the channel. The harmonic functions and the solution path are then used to generate the guiding forces for the haptic device. The planning approach is illustrated with examples on 2D and 3D workspaces. This work was partially supported by the CICYT projects DPI2005-00112 and DPI2007-63665.     

A Secure Elliptic Curve-Based RFID Protocol

Nowadays, the use of Radio Frequency Identification (RFID) systems in industry and stores has increased. Nevertheless, some of these systems present privacy problems that may discourage potential users. Hence, high confidence and effient privacy protocols are urgently needed. Previous studies in the literature proposed schemes that are proven to be secure, but they have scalability problems. A feasible and scalable protocol to guarantee privacy is presented in this paper. The proposed protocol uses elliptic curve cryptography combined with a zero knowledge-based authentication scheme. An analysis to prove the system secure, and even forward secure is also provided. This work is supported by the Generalitat de Catalunya under Grant No. FIC 2007FIC 00880, and the projects of the Spanish MCyT MTM2007-66842-C02-02 and TIN2006-15662-C02-02.     

Analytical formulation to compute QFT bounds: The envelope method

This paper describes an analytical formulation to compute quantitative feedback theory (QFT) bounds in one‐degree‐of‐freedom feedback control problems. The new approach is based on envelope curves and shows that a QFT control specification can be expressed as a family of circumferences. Then, the controller bound is defined by the envelope curve of this family and can be obtained as an analytical function. This offers the possibility of studying the QFT bounds in an analytical way with several useful properties. Gridding methods are avoided, resulting in a lower computational effort procedure. The new formulation improves the accuracy of previous methods and allows the designer to calculate multivalued bounds. Copyright © 2009 John Wiley & Sons, Ltd.     

GLSV: Graphics library stereo vision for OpenGL

This work proposes the development of an auxiliary library for use with OpenGL, to facilitate the creation of graphic applications incorporating stereoscopic representation. This library, christened graphics library stereo vision (GLSV), is designed to remove all calculations involving knowledge of stereo vision theory from the task performed by the programmer without the latter having to change the way he/she has been working with the OpenGL library. The GLSV is distributed under the terms of the GNU Library General Public License agreement.     

A non-linear forecasting system for the Ebro River at Zaragoza,Spain

This paper addresses the problem of modelling and forecasting river flows and levels based on flood routing type models. Though this is generally considered as a non-linear problem, very often it is treated by linear models. A forecasting system is built for the level and flow measurements registered in the Ebro River at the station of Zaragoza (Spain), with the main purpose of preventing floods in an early stage of development. The model takes advantage of the wealth of data available at the Ebro Hydrographical Confederation and is non-linear in essence. The system is obtained by application of system identification tools, starting from a linear specification and relating the parameters of the model estimated to some transformation of the input in the system. Such transformation requires the application of a Kalman Filter in a particular set up and the full estimation algorithm involves an iterative procedure. The model is fully developed on a data set and is thoroughly validated on a different span of data.