Underwater computer vision is a subfield of computer vision. In recent years, with the development of underwater vehicles ( ROV, AUV, gliders), the need to be able to record and process huge amounts of information has become increasingly important. Applications range from inspection of underwater structures for the offshore industry to the identification and counting of fishes for biological research. However, no matter how big the impact of this technology can be to industry and research, it still is in a very early stage of development compared to traditional computer vision. One reason for this is that, the moment the camera goes into the water, a whole new set of challenges appear. On one hand, cameras have to be made waterproof, marine corrosion deteriorates materials quickly and access and modifications to experimental setups are costly, both in time and resources. On the other hand, the physical properties of the water make light behave differently, changing the appearance of a same object with variations of depth, organic material, currents, temperature etc. == Applications == Seafloor survey Vehicle navigation and positioning Biological monitoring {possibly aquatic biomonitoring) Video mosaics as visual navigation maps Submarine pipeline inspection Wreckage visualization Maintenance of underwater structures Drowning detection systems == Medium differences == === Illumination === In air, light comes from the whole hemisphere on cloudy days, and is dominated by the sun. In water direct lighting comes from a cone about 96° wide above the scene. This phenomenon is called Snell's window. Artificial lighting can be used where natural light levels are insufficient and where the light path is too long to produce acceptable colour, as the loss of colour is a function of the total distance through water from the source to the camera lens port. === Light attenuation === Unlike air, water attenuates light exponentially. This results in hazy images with very low contrast. The main reasons for light attenuation are light absorption (where energy is removed from the light) and light scattering, by which the direction of light is changed. Light scattering can further be divided into forward scattering, which results in an increased blurriness and backward scattering that limits the contrast and is responsible for the characteristic veil of underwater images. Both scattering and attenuation are heavily influenced by the amount of organic matter dissolved or suspended in the water. Light attenuation in water is also a function of the wavelength. This means that different colours are attenuated at different rates, leading to colour degradation.with depth and distance. Red and orange light are attenuated faster, followed by yellows and greens. Blue is the least attenuated visible wavelength. === Artificial lighting === == Challenges == In high level computer vision, human structures are frequently used as image features for image matching in different applications. However, the sea bottom lacks such features, making it hard to find correspondences in two images. In order to be able to use a camera in the water, a watertight housing is required. However, refraction will happen at the water-glass and glass-air interface due to differences in density of the materials. This has the effect of introducing a non-linear image deformation. The motion of the vehicle presents another special challenge. Underwater vehicles are constantly moving due to currents and other phenomena. This introduces another uncertainty to algorithms, where small motions may appear in all directions. This can be specially important for video tracking. In order to reduce this problem image stabilization algorithms may be applied. == Relevant technology == === Image restoration === Image restoration< techniques are intended to model the degradation process and then invert it, obtaining the new image after solving. It is generally a complex approach that requires plenty of parameters that vary a lot between different water conditions. === Image enhancement === Image enhancement only tries to provide a visually more appealing image without taking the physical image formation process into account. These methods are usually simpler and less computational intensive. === Color correction === Various algorithms exist that perform automatic color correction. The UCM (Unsupervised Color Correction Method), for example, does this in the following steps: It firstly reduces the color cast by equalizing the color values. Then it enhances contrast by stretching the red histogram towards the maximum and finally saturation and intensity components are optimized. == Underwater stereo vision == It is usually assumed that stereo cameras have been calibrated previously, geometrically and radiometrically. This leads to the assumption that corresponding pixels should have the same color. However this can not be guaranteed in an underwater scene, because of dispersion and backscatter. However, it is possible to digitally model this phenomenon and create a virtual image with those effects removed == Other application fields == Imaging sonars have become more and more accessible and gained resolution, delivering better images. Sidescan sonars are used to produce complete maps of regions of the sea floor stitching together sequences of sonar images. However, sonar images often lack proper contrast and are degraded by artefacts and distortions due to noise, attitude changes of the AUV/ROV carrying the sonar or non uniform beam patterns. Another common problem with sonar computer vision is the comparatively low frame rate of sonar images.
Underwater computer vision
Underwater computer vision is a subfield of computer vision. In recent years, with the development of underwater vehicles ( ROV, AUV, gliders), the need to be able to record and process huge amounts of information has become increasingly important. Applications range from inspection of underwater structures for the offshore industry to the identification and counting of fishes for biological research. However, no matter how big the impact of this technology can be to industry and research, it still is in a very early stage of development compared to traditional computer vision. One reason for this is that, the moment the camera goes into the water, a whole new set of challenges appear. On one hand, cameras have to be made waterproof, marine corrosion deteriorates materials quickly and access and modifications to experimental setups are costly, both in time and resources. On the other hand, the physical properties of the water make light behave differently, changing the appearance of a same object with variations of depth, organic material, currents, temperature etc. == Applications == Seafloor survey Vehicle navigation and positioning Biological monitoring {possibly aquatic biomonitoring) Video mosaics as visual navigation maps Submarine pipeline inspection Wreckage visualization Maintenance of underwater structures Drowning detection systems == Medium differences == === Illumination === In air, light comes from the whole hemisphere on cloudy days, and is dominated by the sun. In water direct lighting comes from a cone about 96° wide above the scene. This phenomenon is called Snell's window. Artificial lighting can be used where natural light levels are insufficient and where the light path is too long to produce acceptable colour, as the loss of colour is a function of the total distance through water from the source to the camera lens port. === Light attenuation === Unlike air, water attenuates light exponentially. This results in hazy images with very low contrast. The main reasons for light attenuation are light absorption (where energy is removed from the light) and light scattering, by which the direction of light is changed. Light scattering can further be divided into forward scattering, which results in an increased blurriness and backward scattering that limits the contrast and is responsible for the characteristic veil of underwater images. Both scattering and attenuation are heavily influenced by the amount of organic matter dissolved or suspended in the water. Light attenuation in water is also a function of the wavelength. This means that different colours are attenuated at different rates, leading to colour degradation.with depth and distance. Red and orange light are attenuated faster, followed by yellows and greens. Blue is the least attenuated visible wavelength. === Artificial lighting === == Challenges == In high level computer vision, human structures are frequently used as image features for image matching in different applications. However, the sea bottom lacks such features, making it hard to find correspondences in two images. In order to be able to use a camera in the water, a watertight housing is required. However, refraction will happen at the water-glass and glass-air interface due to differences in density of the materials. This has the effect of introducing a non-linear image deformation. The motion of the vehicle presents another special challenge. Underwater vehicles are constantly moving due to currents and other phenomena. This introduces another uncertainty to algorithms, where small motions may appear in all directions. This can be specially important for video tracking. In order to reduce this problem image stabilization algorithms may be applied. == Relevant technology == === Image restoration === Image restoration< techniques are intended to model the degradation process and then invert it, obtaining the new image after solving. It is generally a complex approach that requires plenty of parameters that vary a lot between different water conditions. === Image enhancement === Image enhancement only tries to provide a visually more appealing image without taking the physical image formation process into account. These methods are usually simpler and less computational intensive. === Color correction === Various algorithms exist that perform automatic color correction. The UCM (Unsupervised Color Correction Method), for example, does this in the following steps: It firstly reduces the color cast by equalizing the color values. Then it enhances contrast by stretching the red histogram towards the maximum and finally saturation and intensity components are optimized. == Underwater stereo vision == It is usually assumed that stereo cameras have been calibrated previously, geometrically and radiometrically. This leads to the assumption that corresponding pixels should have the same color. However this can not be guaranteed in an underwater scene, because of dispersion and backscatter. However, it is possible to digitally model this phenomenon and create a virtual image with those effects removed == Other application fields == Imaging sonars have become more and more accessible and gained resolution, delivering better images. Sidescan sonars are used to produce complete maps of regions of the sea floor stitching together sequences of sonar images. However, sonar images often lack proper contrast and are degraded by artefacts and distortions due to noise, attitude changes of the AUV/ROV carrying the sonar or non uniform beam patterns. Another common problem with sonar computer vision is the comparatively low frame rate of sonar images.
Adaptive algorithm
An adaptive algorithm is an algorithm that changes its behavior at the time it is run, based on information available and on a priori defined reward mechanism (or criterion). Such information could be the story of recently received data, information on the available computational resources, or other run-time acquired (or a priori known) information related to the environment in which it operates. Among the most used adaptive algorithms is the Widrow-Hoff’s least mean squares (LMS), which represents a class of stochastic gradient-descent algorithms used in adaptive filtering and machine learning. In adaptive filtering the LMS is used to mimic a desired filter by finding the filter coefficients that relate to producing the least mean square of the error signal (difference between the desired and the actual signal). For example, stable partition, using no additional memory is O(n lg n) but given O(n) memory, it can be O(n) in time. As implemented by the C++ Standard Library, stable_partition is adaptive and so it acquires as much memory as it can get (up to what it would need at most) and applies the algorithm using that available memory. Another example is adaptive sort, whose behavior changes upon the presortedness of its input. An example of an adaptive algorithm in radar systems is the constant false alarm rate (CFAR) detector. In machine learning and optimization, many algorithms are adaptive or have adaptive variants, which usually means that the algorithm parameters such as learning rate are automatically adjusted according to statistics about the optimisation thus far (e.g. the rate of convergence). Examples include adaptive simulated annealing, adaptive coordinate descent, adaptive quadrature, AdaBoost, Adagrad, Adadelta, RMSprop, and Adam. In data compression, adaptive coding algorithms such as Adaptive Huffman coding or Prediction by partial matching can take a stream of data as input, and adapt their compression technique based on the symbols that they have already encountered. In signal processing, the Adaptive Transform Acoustic Coding (ATRAC) codec used in MiniDisc recorders is called "adaptive" because the window length (the size of an audio "chunk") can change according to the nature of the sound being compressed, to try to achieve the best-sounding compression strategy.
User-subjective approach
The user-subjective approach is the first interaction design approach dedicated specifically to personal information management (PIM). The approach offers design principles with which PIM systems (e.g. operating systems, email applications and web browsers) can make systematic use of subjective (i.e. user-dependent) attributes. The approach evolved in three stages: (a) theoretical foundations first published in a Journal of the American Society for Information Science and Technology during 2003. The paper introduces the approach and its design principles (b) evidence and implementation was published in another JASIST paper in 2008. The paper gives empirical evidence in support of the approach as well as seven novel design schemes that derives from it. It has won the Best JASIST paper award in 2009.(c) specific design evaluation this stage has already begun with evaluation of the first user-subjective design prototype called GrayArea in a Conference on Human Factors in Computing Systems paper published in 2009. == Theoretical foundations == The user-subjective approach takes advantage of the fact that in PIM the person who retrieves the information is the same person who had previously stored it. PIM can be seen as a communication between the person and him\her self at two different times: the time of storage and the time of retrieval. The PIM system design should help facilitate that unique communication by allowing the user use subjective (user-dependent) attributes in addition to the standard objective ones. PIM systems should capture these subjective attributes when the user interacts with the information item (either automatically or by using direct manipulation interface) in order to help the user retrieve the item later on. The user-subjective approach identifies three subjective attributes – the project which the item was classified to, its degree of importance to the user, and the context in which the item was used during the interaction with it. The approach also assigns a design principle for each. The principles (discussed below) are deliberately abstract to allow for a variety of different implementations. === The subjective project classification principle === The subjective project classification principle suggests that PIM systems design should allow all information items related to a project be classified under the same category regardless of whether they are files, emails, Web Favorites or of any other format. This stands in sharp contrast with the present PIM system design where there are distinct folder hierarchies for each of these formats. The current design forces the user to store information related to a single project in separate locations depending on their format causing the project fragmentation problem. === The subjective importance principle === The subjective importance principle suggests that the subjective importance of information should affect its degree of visual salience and accessibility: important information items should be highly visible and accessible as they are more likely to be retrieved (the promotion principle) and those of lower importance should be demoted (i.e. making them less visible) so as not to distract the user (the demotion principle). While the promotion principle is not new and has been widely applied in PIM system design, the demotion principle is novel and has been applied only sporadically in these systems. Currently these systems allow only two options: keeping information (where unneeded information items could clutter folders and obscure the target item) and deleting it (where there is a risk that the item will not be there when needed). Demotion suggests a third option where the item is less visible so it doesn’t distract the user but is kept within its original context in case the user would need it after all. === The subjective context principle === The subjective context principle suggests that PIM systems should allow users retrieve their information items in the same context that they had previously used in order to bridge the time gap between these two events. By "context" the approach refers to other information items that were used at the time of interaction with the item, thoughts that the users may have regarding the item, the phase the user got to in the interaction with the item and other people the user collaborates with regarding the information item. == Evidence and implementations == === Evidence === The user-subjective approach was evaluated in a multioperational designed study which used questionnaires, screen shots and in-depth interviews (N = 84). The research tested the use of subjective attributes in current PIM systems and its dependency on design. Results show that participants used subjective attributes whenever design allowed them to. When it didn't, they either used their own alternative ways to use these attributes or avoided using subjective attributes at all. Regarding the subjective project classification principle – many of the participants' recent files, emails and web pages related to the same projects (indicating that they were working on the same project using different formats), and they had saved files of different format in the same project folders. However, as design does not suggest storing emails and web favorites with files, users avoid doing so. Regarding the subjective importance principle – users tended to retrieve their important information from highly visible and accessible locations offered by current design (e.g. by using the desktop), however since current systems offers no way to demote files of low subjective importance participants tended to use their own walk around ways for doing so (e.g. by moving them to a folder called "old" inside their original folder). Regarding the subjective context principle – participants tended to talk spontaneously about the context of their information items during the interview. These evidence imply that current PIM systems could possibly be improved if it would allow users to make more use of subjective attributes of their personal information. === Implementations === Each of the user-subjective design principles can be implemented in various ways. Moreover, as the approach is generative it offers PIM designers to use these principles in order to create their own user subjective designs. Below are design schemes that demonstrate an implementation of each of the principles. A more complete set of implementation examples can be found in the user-subjective website Archived 2011-02-01 at the Wayback Machine. The single hierarchy solution – addresses the project fragmentation problem (the current situation where the users stores and retrieve their project-related files, emails and web favorites at different hierarchies) and implements the subjective classification principle by offering the user a single folder hierarchy for all information items. At the operation system level the users would navigate to a folder and find there all project related files, emails, web favorites, tasks, contacts and notes. This would allow them to retrieve all their project-related information items from a single location regardless of their formats. When looking at these folders at their mail box the users would see only their emails and only web favorites through their browser. The single hierarchy design scheme has not been evaluated yet. GrayArea – implements the demotion principle by allowing users to move subjectively unimportant files to a gray area at the bottom end of their folders. This clears the upper part of the folder from file that are unlikely to be retrieved while allowing the users to retrieve these unimportant file in their original context in case they are needed after all. GrayArea design scheme was positively evaluated (see next section). ItemHistory – is an implementation of the subjective context principle. It allows users to reach all information items that were previously retrieved while that information item was open. This design scheme has not been evaluated to date. == Specific design evaluation == The evaluation of specific designs is the third and final step of the approach development. It had begun with the assessment of GrayArea. === GrayArea evaluation === GrayArea was evaluated by using a prototype that simulated the participants' folders but included a gray area where they could drag & drop their subjectively unimportant files. In the study 96 participants were asked to clean up their folders from unimportant files once with GrayArea and once without it. Results show that the use of GrayArea reduced the clutter in folders, that it was easier for participants to demote files than to delete them and that they would use it if provided in their next operating system. These results encourage commercial implementation of GrayArea and the development and testing of other user-subjective designs. == Chronological development == The user-subjective approach was developed by
SQL/PSM
SQL/PSM (SQL/Persistent Stored Modules) is an ISO standard mainly defining an extension of SQL with a procedural language for use in stored procedures. Initially published in 1996 as an extension of SQL-92 (ISO/IEC 9075-4:1996, a version sometimes called PSM-96 or even SQL-92/PSM), SQL/PSM was later incorporated into the multi-part SQL:1999 standard, and has been part 4 of that standard since then, most recently in SQL:2023. The SQL:1999 part 4 covered less than the original PSM-96 because the SQL statements for defining, managing, and invoking routines were actually incorporated into part 2 SQL/Foundation, leaving only the procedural language itself as SQL/PSM. The SQL/PSM facilities are still optional as far as the SQL standard is concerned; most of them are grouped in Features P001-P008. SQL/PSM standardizes syntax and semantics for control flow, exception handling (called "condition handling" in SQL/PSM), local variables, assignment of expressions to variables and parameters, and (procedural) use of cursors. It also defines an information schema (metadata) for stored procedures. SQL/PSM is one language in which methods for the SQL:1999 structured types can be defined. The other is Java, via SQL/JRT. SQL/PSM is derived, seemingly directly, from Oracle's PL/SQL. Oracle developed PL/SQL and released it in 1991, basing the language on the US Department of Defense's Ada programming language. However, Oracle has maintained a distance from the standard in its documentation. IBM's SQL PL (used in DB2) and Mimer SQL's PSM were the first two products officially implementing SQL/PSM. It is commonly thought that these two languages, and perhaps also MySQL/MariaDB's procedural language, are closest to the SQL/PSM standard. However, a PostgreSQL addon implements SQL/PSM (alongside its other procedural languages like the PL/SQL-derived plpgsql), although it is not part of the core product. RDF functionality in OpenLink Virtuoso was developed entirely through SQL/PSM, combined with custom datatypes (e.g., ANY for handling URI and Literal relation objects), sophisticated indexing, and flexible physical storage choices (column-wise or row-wise).
Noisy text analytics
Noisy text analytics is a process of information extraction whose goal is to automatically extract structured or semistructured information from noisy unstructured text data. While Text analytics is a growing and mature field that has great value because of the huge amounts of data being produced, processing of noisy text is gaining in importance because a lot of common applications produce noisy text data. Noisy unstructured text data is found in informal settings such as online chat, text messages, e-mails, message boards, newsgroups, blogs, wikis and web pages. Also, text produced by processing spontaneous speech using automatic speech recognition and printed or handwritten text using optical character recognition contains processing noise. Text produced under such circumstances is typically highly noisy containing spelling errors, abbreviations, non-standard words, false starts, repetitions, missing punctuations, missing letter case information, pause filling words such as “um” and “uh” and other texting and speech disfluencies. Such text can be seen in large amounts in contact centers, chat rooms, optical character recognition (OCR) of text documents, short message service (SMS) text, etc. Documents with historical language can also be considered noisy with respect to today's knowledge about the language. Such text contains important historical, religious, ancient medical knowledge that is useful. The nature of the noisy text produced in all these contexts warrants moving beyond traditional text analysis techniques. == Techniques for noisy text analysis == Missing punctuation and the use of non-standard words can often hinder standard natural language processing tools such as part-of-speech tagging and parsing. Techniques to both learn from the noisy data and then to be able to process the noisy data are only now being developed. == Possible source of noisy text == World Wide Web: Poorly written text is found in web pages, online chat, blogs, wikis, discussion forums, newsgroups. Most of these data are unstructured and the style of writing is very different from, say, well-written news articles. Analysis for the web data is important because they are sources for market buzz analysis, market review, trend estimation, etc. Also, because of the large amount of data, it is necessary to find efficient methods of information extraction, classification, automatic summarization and analysis of these data. Contact centers: This is a general term for help desks, information lines and customer service centers operating in domains ranging from computer sales and support to mobile phones to apparels. On an average a person in the developed world interacts at least once a week with a contact center agent. A typical contact center agent handles over a hundred calls per day. They operate in various modes such as voice, online chat and E-mail. The contact center industry produces gigabytes of data in the form of E-mails, chat logs, voice conversation transcriptions, customer feedback, etc. A bulk of the contact center data is voice conversations. Transcription of these using state of the art automatic speech recognition results in text with 30-40% word error rate. Further, even written modes of communication like online chat between customers and agents and even the interactions over email tend to be noisy. Analysis of contact center data is essential for customer relationship management, customer satisfaction analysis, call modeling, customer profiling, agent profiling, etc., and it requires sophisticated techniques to handle poorly written text. Printed Documents: Many libraries, government organizations and national defence organizations have vast repositories of hard copy documents. To retrieve and process the content from such documents, they need to be processed using Optical Character Recognition. In addition to printed text, these documents may also contain handwritten annotations. OCRed text can be highly noisy depending on the font size, quality of the print etc. It can range from 2-3% word error rates to as high as 50-60% word error rates. Handwritten annotations can be particularly hard to decipher, and error rates can be quite high in their presence. Short Messaging Service (SMS): Language usage over computer mediated discourses, like chats, emails and SMS texts, significantly differs from the standard form of the language. An urge towards shorter message length facilitating faster typing and the need for semantic clarity, shape the structure of this non-standard form known as the texting language.
Recording format
A recording format is a format for encoding data for storage on a storage medium. The format can be container information such as sectors on a disk, or user/audience information (content) such as analog stereo audio. Multiple levels of encoding may be achieved in one format. For example, a text encoded page may contain HTML and XML encoding, combined in a plain text file format, using either EBCDIC or ASCII character encoding, on a UDF digitally formatted disk. In electronic media, the primary format is the encoding that requires hardware to interpret (decode) data; while secondary encoding is interpreted by secondary signal processing methods, usually computer software. == Recording container formats == A container format is a system for dividing physical storage space or virtual space for data. Data space can be divided evenly by a system of measurement, or divided unevenly with meta data. A grid may divide physical or virtual space with physical or virtual (dividers) borders, evenly or unevenly. Just as a physical container (such as a file cabinet) is divided by physical borders (such as drawers and file folders), data space is divided by virtual borders. Meta data such as a unit of measurement, address, or meta tags act as virtual borders in a container format. A template may be considered an abstract format for containing a solution as well as the content itself. Systems of measurement Metric system Geographic coordinate system Page grid Film formats Audio data format Video tape format Disk format File format Meta data Text formatting Template Data structure == Raw content formats == A raw content format is a system of converting data to displayable information. Raw content formats may either be recorded in secondary signal processing methods such as a software container format (e.g. digital audio, digital video) or recorded in the primary format. A primary raw content format may be directly observable (e.g. image, sound, motion, smell, sensation) or physical data which only requires hardware to display it, such as a phonographic needle and diaphragm or a projector lamp and magnifying glass.