Template matching is a technique in digital image processing for finding small parts of an image which match a template image. It can be used for quality control in manufacturing, navigation of mobile robots, or edge detection in images. The main challenges in a template matching task are detection of occlusion, when a sought-after object is partly hidden in an image; detection of non-rigid transformations, when an object is distorted or imaged from different angles; sensitivity to illumination and background changes; background clutter; and scale changes. == Feature-based approach == The feature-based approach to template matching relies on the extraction of image features, such as shapes, textures, and colors, that match the target image or frame. This approach is usually achieved using neural networks and deep-learning classifiers such as VGG, AlexNet, and ResNet.Convolutional neural networks (CNNs), which many modern classifiers are based on, process an image by passing it through different hidden layers, producing a vector at each layer with classification information about the image. These vectors are extracted from the network and used as the features of the image. Feature extraction using deep neural networks, like CNNs, has proven extremely effective has become the standard in state-of-the-art template matching algorithms. This feature-based approach is often more robust than the template-based approach described below. As such, it has become the state-of-the-art method for template matching, as it can match templates with non-rigid and out-of-plane transformations, as well as high background clutter and illumination changes. == Template-based approach == For templates without strong features, or for when the bulk of a template image constitutes the matching image as a whole, a template-based approach may be effective. Since template-based matching may require sampling of a large number of data points, it is often desirable to reduce the number of sampling points by reducing the resolution of search and template images by the same factor before performing the operation on the resultant downsized images. This pre-processing method creates a multi-scale, or pyramid, representation of images, providing a reduced search window of data points within a search image so that the template does not have to be compared with every viable data point. Pyramid representations are a method of dimensionality reduction, a common aim of machine learning on data sets that suffer the curse of dimensionality. == Common challenges == In instances where the template may not provide a direct match, it may be useful to implement eigenspaces to create templates that detail the matching object under a number of different conditions, such as varying perspectives, illuminations, color contrasts, or object poses. For example, if an algorithm is looking for a face, its template eigenspaces may consist of images (i.e., templates) of faces in different positions to the camera, in different lighting conditions, or with different expressions (i.e., poses). It is also possible for a matching image to be obscured or occluded by an object. In these cases, it is unreasonable to provide a multitude of templates to cover each possible occlusion. For example, the search object may be a playing card, and in some of the search images, the card is obscured by the fingers of someone holding the card, or by another card on top of it, or by some other object in front of the camera. In cases where the object is malleable or poseable, motion becomes an additional problem, and problems involving both motion and occlusion become ambiguous. In these cases, one possible solution is to divide the template image into multiple sub-images and perform matching on each subdivision. == Deformable templates in computational anatomy == Template matching is a central tool in computational anatomy (CA). In this field, a deformable template model is used to model the space of human anatomies and their orbits under the group of diffeomorphisms, functions which smoothly deform an object. Template matching arises as an approach to finding the unknown diffeomorphism that acts on a template image to match the target image. Template matching algorithms in CA have come to be called large deformation diffeomorphic metric mappings (LDDMMs). Currently, there are LDDMM template matching algorithms for matching anatomical landmark points, curves, surfaces, volumes. == Template-based matching explained using cross correlation or sum of absolute differences == A basic method of template matching sometimes called "Linear Spatial Filtering" uses an image patch (i.e., the "template image" or "filter mask") tailored to a specific feature of search images to detect. This technique can be easily performed on grey images or edge images, where the additional variable of color is either not present or not relevant. Cross correlation techniques compare the similarities of the search and template images. Their outputs should be highest at places where the image structure matches the template structure, i.e., where large search image values get multiplied by large template image values. This method is normally implemented by first picking out a part of a search image to use as a template. Let S ( x , y ) {\displaystyle S(x,y)} represent the value of a search image pixel, where ( x , y ) {\displaystyle (x,y)} represents the coordinates of the pixel in the search image. For simplicity, assume pixel values are scalar, as in a greyscale image. Similarly, let T ( x t , y t ) {\textstyle T(x_{t},y_{t})} represent the value of a template pixel, where ( x t , y t ) {\textstyle (x_{t},y_{t})} represents the coordinates of the pixel in the template image. To apply the filter, simply move the center (or origin) of the template image over each point in the search image and calculate the sum of products, similar to a dot product, between the pixel values in the search and template images over the whole area spanned by the template. More formally, if ( 0 , 0 ) {\displaystyle (0,0)} is the center (or origin) of the template image, then the cross correlation T ⋆ S {\displaystyle T\star S} at each point ( x , y ) {\displaystyle (x,y)} in the search image can be computed as: ( T ⋆ S ) ( x , y ) = ∑ ( x t , y t ) ∈ T T ( x t , y t ) ⋅ S ( x t + x , y t + y ) {\displaystyle (T\star S)(x,y)=\sum _{(x_{t},y_{t})\in T}T(x_{t},y_{t})\cdot S(x_{t}+x,y_{t}+y)} For convenience, T {\displaystyle T} denotes both the pixel values of the template image as well as its domain, the bounds of the template. Note that all possible positions of the template with respect to the search image are considered. Since cross correlation values are greatest when the values of the search and template pixels align, the best matching position ( x m , y m ) {\displaystyle (x_{m},y_{m})} corresponds to the maximum value of T ⋆ S {\displaystyle T\star S} over S {\displaystyle S} . Another way to handle translation problems on images using template matching is to compare the intensities of the pixels, using the sum of absolute differences (SAD) measure. To formulate this, let I S ( x s , y s ) {\displaystyle I_{S}(x_{s},y_{s})} and I T ( x t , y t ) {\displaystyle I_{T}(x_{t},y_{t})} denote the light intensity of pixels in the search and template images with coordinates ( x s , y s ) {\displaystyle (x_{s},y_{s})} and ( x t , y t ) {\displaystyle (x_{t},y_{t})} , respectively. Then by moving the center (or origin) of the template to a point ( x , y ) {\displaystyle (x,y)} in the search image, as before, the sum of absolute differences between the template and search pixel intensities at that point is: S A D ( x , y ) = ∑ ( x t , y t ) ∈ T | I T ( x t , y t ) − I S ( x t + x , y t + y ) | {\displaystyle SAD(x,y)=\sum _{(x_{t},y_{t})\in T}\left\vert I_{T}(x_{t},y_{t})-I_{S}(x_{t}+x,y_{t}+y)\right\vert } With this measure, the lowest SAD gives the best position for the template, rather than the greatest as with cross correlation. SAD tends to be relatively simple to implement and understand, but it also tends to be relatively slow to execute. A simple C++ implementation of SAD template matching is given below. == Implementation == In this simple implementation, it is assumed that the above described method is applied on grey images: This is why Grey is used as pixel intensity. The final position in this implementation gives the top left location for where the template image best matches the search image. One way to perform template matching on color images is to decompose the pixels into their color components and measure the quality of match between the color template and search image using the sum of the SAD computed for each color separately. == Speeding up the process == In the past, this type of spatial filtering was normally only used in dedicated hardware solutions because of the computational complexity of the operation, however we can lessen this complexity b
Pandorabots
Pandorabots, Inc. is an artificial intelligence company that runs a web service for building and deploying chatbots. Pandorabots implements and supports development of the Artificial Intelligence Markup Language and makes portions of its code accessible for free. The Pandorabots Platform is "one of the oldest and largest chatbot hosting services in the world", allowing creation of virtual agents to hold human-like text or voice chats with consumers. The platform is written in Allegro Common LISP. == Use Cases == Common use cases include advertising, virtual assistance, e-learning, entertainment and education. The platform has also been used by academics and universities use the platform for teaching and research.
Outline of automation
The following outline is provided as an overview of and topical guide to automation: Automation – use of control systems and information technologies to reduce the need for human work in the production of goods and services. In the scope of industrialization, automation is a step beyond mechanization. == Essence of automation == Control system – a device, or set of devices to manage, command, direct or regulate the behavior of other devices or systems. Industrial control system (ICS) – encompasses several types of control systems used in industrial production, including supervisory control and data acquisition (SCADA) systems, distributed control systems (DCS), and other smaller control system configurations such as skid-mounted programmable logic controllers (PLC) often found in industrial sectors and critical infrastructures. Industrialization – period of social and economic change that transforms a human group from an agrarian society into an industrial one. Numerical control (NC) – refers to the automation of machine tools that are operated by abstractly programmed commands encoded on a storage medium, as opposed to controlled manually via handwheels or levers, or mechanically automated via cams alone. Robotics – the branch of technology that deals with the design, construction, operation, structural disposition, manufacture and application of robots and computer systems for their control, sensory feedback, and information processing. == Branches of automation == === General purpose === Autonomous automation – autonomous software agents to adapt the controllers of computer controlled industrial machinery and processes Banking automation Broadcast automation Building automation – advanced functionality provided by the control system of a building. A building automation system (BAS) is an example of a distributed control system. Home automation – control system of a home. Office automation – the varied computer machinery and software used to digitally create, collect, store, manipulate, and relay office information needed for accomplishing basic tasks such as business process automation and robotic process automation. Console automation Database automation Integrated library system Laboratory automation === Specific purpose === Automated attendant Automated guided vehicle Autonomous mobile robot Automated highway system Automated pool cleaner Automated teller machine Automatic painting (robotic) Pop music automation Remotely operated vehicle Robotic lawn mower Telephone switchboard Vending machine == Fields contributing to automation == Cybernetics – the interdisciplinary study of the structure of regulatory systems. Cognitive science – interdisciplinary scientific study of the mind and its processes. It examines what cognition is, what it does and how it works. Robotics – the branch of technology that deals with the design, construction, operation, structural disposition, manufacture and application of robots and computer systems for their control, sensory feedback, and information processing. == History of automation == History of mass production – Prerequisites of mass production were interchangeable parts, machine tools and power, especially in the form of electricity. Mass production was popularized in the 1910s and 1920s by Henry Ford's Ford Motor Company, which introduced electric motors to the then-well-known technique of chain or sequential production. History of home automation == Automated machines == Machine to Machine OLE for process control (OPC) Process control – a statistics and engineering discipline that deals with architectures, mechanisms and algorithms for maintaining the output of a specific process within a desired range. Run Book Automation (RBA) Robot – a mechanical or virtual intelligent agent that can perform tasks automatically or with guidance, typically by remote control. == Automated machine components == Artificial intelligence – the intelligence of machines and the branch of computer science that aims to create it. Friendly artificial intelligence – an artificial intelligence that has a positive rather than negative effect on humanity, and the field of knowledge required to build such an artificial intelligence. === Automation tools === Artificial neural network (ANN) – mathematical model or computational model that is inspired by the structure or functional aspects of biological neural networks. Human machine interface (HMI) – operator level local control panel that monitors field devices Laboratory information management system (LIMS) – software package that offers a set of key features that support a modern laboratory's operations. Industrial control system – encompasses several types of control systems used in industrial production, including supervisory control and data acquisition (SCADA) systems, distributed control systems (DCS), and other smaller control system configurations such as skid-mounted programmable logic controllers (PLC) often found in the industrial sectors and critical infrastructures. Distributed control system (DCS) – control system usually of a manufacturing system, process or any kind of dynamic system, in which the controller elements are not central in location (like the brain) but are distributed throughout the system with each component sub-system controlled by one or more controllers. Manufacturing execution system (MES) – system that manages manufacturing operations in a factory, including management of resources, scheduling production processes, dispatching production orders, execution of production orders, etc. Programmable automation controller (PAC) – digital computer used for automation of electromechanical processes, such as control of machinery on factory assembly lines, amusement rides, or light fixtures. Programmable logic controller (PLC)A Programmable Logic Controller, PLC or Programmable Controller is a digital computer used for automation of electromechanical processes, such as control of machinery on factory assembly lines, amusement rides, or light fixtures. The abbreviation "PLC" and the term "Programmable Logic Controller" are registered trademarks of the Allen-Bradley Company (Rockwell Automation). PLCs are used in many industries and machines. Unlike general-purpose computers, the PLC is designed for multiple inputs and output arrangements, extended temperature ranges, immunity to electrical noise, and resistance to vibration and impact. Programs to control machine operation are typically stored in battery-backed-up or non-volatile memory. A PLC is an example of a hard real time system since output results must be produced in response to input conditions within a limited time, otherwise unintended operation will result. Supervisory control and data acquisition (SCADA) – generally refers to industrial control systems (ICS): computer systems that monitor and control industrial, infrastructure, or facility-based processes, as described below: Industrial processes include those of manufacturing, production, power generation, fabrication, and refining, and may run in continuous, batch, repetitive, or discrete modes. Simulation § Engineering Technology simulation or Process simulation == Social movements == Automation-related social movement – a movement that advocates semi- or fully automatic systems to provide for human needs globally. For example, automation of farming and food distribution throughout the world so that no one will go hungry. One goal is to automate all mundane labor, to free humans to engage in more creative activities (or less work). The Technocracy movement – social movement active from the Great Depression (1930s) to date that proposes replacing politicians and business people with scientists and engineers who have the technical expertise to manage the economy. The Zeitgeist Movement – movement advocating the replacement of the market economy with an economy in which all resources are equitably, commonly and sustainably shared. == Automation in the future == Android – a robot or synthetic organism designed to look and act like a human, and with a body having a flesh-like resemblance Technological singularity – the hypothetical future emergence of greater-than-human intelligence through technological means Semi-automation – using a centralized computer controller to orchestrate the activities of man and machine. == Automation-related publications == IEEE Spectrum – the flagship publication of the Institute of Electrical and Electronics Engineers (IEEE), explores the development, applications and implications of new technologies, and provides a forum for understanding, discussion and leadership in these areas. IEEE Transactions on Information Theory – peer-reviewed scientific journal published by the Institute of Electrical and Electronics Engineers (IEEE), focused on the study of information theory, the mathematics of communications, including computer communications, robotics communications, etc. IEEE Transactions on Control S
Progressive Graphics File
PGF (Progressive Graphics File) is a wavelet-based bitmapped image format that employs lossless and lossy data compression. PGF was created to improve upon and replace the JPEG format. It was developed at the same time as JPEG 2000 but with a focus on speed over compression ratio. PGF can operate at higher compression ratios without taking more encoding/decoding time and without generating the characteristic "blocky and blurry" artifacts of the original DCT-based JPEG standard. It also allows more sophisticated progressive downloads. == Color models == PGF supports a wide variety of color models: Grayscale with 1, 8, 16, or 31 bits per pixel Indexed color with palette size of 256 RGB color image with 12, 16 (red: 5 bits, green: 6 bits, blue: 5 bits), 24, or 48 bits per pixel ARGB color image with 32 bits per pixel Lab color image with 24 or 48 bits per pixel CMYK color image with 32 or 64 bits per pixel == Technical discussion == PGF claims to achieve an improved compression quality over JPEG adding or improving features such as scalability. Its compression performance is similar to the original JPEG standard. Very low and very high compression rates (including lossless compression) are also supported in PGF. The ability of the design to handle a very large range of effective bit rates is one of the strengths of PGF. For example, to reduce the number of bits for a picture below a certain amount, the advisable thing to do with the first JPEG standard is to reduce the resolution of the input image before encoding it — something that is ordinarily not necessary for that purpose when using PGF because of its wavelet scalability properties. The PGF process chain contains the following four steps: Color space transform (in case of color images) Discrete Wavelet Transform Quantization (in case of lossy data compression) Hierarchical bit-plane run-length encoding === Color components transformation === Initially, images have to be transformed from the RGB color space to another color space, leading to three components that are handled separately. PGF uses a fully reversible modified YUV color transform. The transformation matrices are: [ Y r U r V r ] = [ 1 4 1 2 1 4 1 − 1 0 0 − 1 1 ] [ R G B ] ; [ R G B ] = [ 1 3 4 − 1 4 1 − 1 4 − 1 4 1 − 1 4 3 4 ] [ Y r U r V r ] {\displaystyle {\begin{bmatrix}Y_{r}\\U_{r}\\V_{r}\end{bmatrix}}={\begin{bmatrix}{\frac {1}{4}}&{\frac {1}{2}}&{\frac {1}{4}}\\1&-1&0\\0&-1&1\end{bmatrix}}{\begin{bmatrix}R\\G\\B\end{bmatrix}};\qquad \qquad {\begin{bmatrix}R\\G\\B\end{bmatrix}}={\begin{bmatrix}1&{\frac {3}{4}}&-{\frac {1}{4}}\\1&-{\frac {1}{4}}&-{\frac {1}{4}}\\1&-{\frac {1}{4}}&{\frac {3}{4}}\end{bmatrix}}{\begin{bmatrix}Y_{r}\\U_{r}\\V_{r}\end{bmatrix}}} The chrominance components can be, but do not necessarily have to be, down-scaled in resolution. === Wavelet transform === The color components are then wavelet transformed to an arbitrary depth. In contrast to JPEG 1992 which uses an 8x8 block-size discrete cosine transform, PGF uses one reversible wavelet transform: a rounded version of the biorthogonal CDF 5/3 wavelet transform. This wavelet filter bank is exactly the same as the reversible wavelet used in JPEG 2000. It uses only integer coefficients, so the output does not require rounding (quantization) and so it does not introduce any quantization noise. === Quantization === After the wavelet transform, the coefficients are scalar-quantized to reduce the amount of bits to represent them, at the expense of a loss of quality. The output is a set of integer numbers which have to be encoded bit-by-bit. The parameter that can be changed to set the final quality is the quantization step: the greater the step, the greater is the compression and the loss of quality. With a quantization step that equals 1, no quantization is performed (it is used in lossless compression). In contrast to JPEG 2000, PGF uses only powers of two, therefore the parameter value i represents a quantization step of 2i. Just using powers of two makes no need of integer multiplication and division operations. === Coding === The result of the previous process is a collection of sub-bands which represent several approximation scales. A sub-band is a set of coefficients — integer numbers which represent aspects of the image associated with a certain frequency range as well as a spatial area of the image. The quantized sub-bands are split further into blocks, rectangular regions in the wavelet domain. They are typically selected in a way that the coefficients within them across the sub-bands form approximately spatial blocks in the (reconstructed) image domain and collected in a fixed size macroblock. The encoder has to encode the bits of all quantized coefficients of a macroblock, starting with the most significant bits and progressing to less significant bits. In this encoding process, each bit-plane of the macroblock gets encoded in two so-called coding passes, first encoding bits of significant coefficients, then refinement bits of significant coefficients. Clearly, in lossless mode all bit-planes have to be encoded, and no bit-planes can be dropped. Only significant coefficients are compressed with an adaptive run-length/Rice (RLR) coder, because they contain long runs of zeros. The RLR coder with parameter k (logarithmic length of a run of zeros) is also known as the elementary Golomb code of order 2k. === Comparison with other file formats === JPEG 2000 is slightly more space-efficient in handling natural images. The PSNR for the same compression ratio is on average 3% better than the PSNR of PGF. It has a small advantage in compression ratio but longer encoding and decoding times. PNG (Portable Network Graphics) is more space-efficient in handling images with many pixels of the same color. There are several self-proclaimed advantages of PGF over the ordinary JPEG standard: Superior compression performance: The image quality (measured in PSNR) for the same compression ratio is on average 3% better than the PSNR of JPEG. At lower bit rates (e.g. less than 0.25 bits/pixel for gray-scale images), PGF has a much more significant advantage over certain modes of JPEG: artifacts are less visible and there is almost no blocking. The compression gains over JPEG are attributed to the use of DWT. Multiple resolution representation: PGF provides seamless compression of multiple image components, with each component carrying from 1 to 31 bits per component sample. With this feature there is no need for separately stored preview images (thumbnails). Progressive transmission by resolution accuracy, commonly referred to as progressive decoding: PGF provides efficient code-stream organizations which are progressive by resolution. This way, after a smaller part of the whole file has been received, it is possible to see a lower quality of the final picture, the quality can be improved monotonically getting more data from the source. Lossless and lossy compression: PGF provides both lossless and lossy compression in a single compression architecture. Both lossy and lossless compression are provided by the use of a reversible (integer) wavelet transform. Side channel spatial information: Transparency and alpha planes are fully supported ROI extraction: Since version 5, PGF supports extraction of regions of interest (ROI) without decoding the whole image. == Available software == The author published libPGF via a SourceForge, under the GNU Lesser General Public License version 2.0. Xeraina offers a free Windows console encoder and decoder, and PGF viewers based on WIC for 32bit and 64bit Windows platforms. Other WIC applications including File Explorer are able to display PGF images after installing this viewer. Digikam is a popular open-source image editing and cataloging software that uses libPGF for its thumbnails. It makes use of the progressive decoding feature of PGF images to store a single version of each thumbnail, which can then be decoded to different resolutions without loss, thus allowing users to dynamically change the size of the thumbnails without having to recalculate them again.
ImageMixer
ImageMixer is a brand name of video editing software that edits digital video and still image in camcorders and authors to VCD and DVD. It is a second-party Japanese product, distributed by Pixela Corporation, a Japanese manufacturer of PC peripheral hardware and multimedia software. == Bundling == ImageMixer is widely used for several camcorder brands, such as JVC, Hitachi and Canon. Also, Sony has chosen to package ImageMixer with its DVD and HDD Handycam. == ImageMixer series == ImageMixer has other series of software for digital camera, such as ImageMixer Label Maker and ImageMixer DVD dubbing. ImageMixer also has movie editing solution for Macintosh. == Windows Vista version of ImageMixer == A Windows Vista version of ImageMixer has been developed (ImageMixer3).
Syman
SYMAN is an artificial intelligence technology that uses data from social media profiles to identify trends in the job market. SYMAN is designed to organize actionable data for products and services including recruiting, human capital management, CRM, and marketing. SYMAN was developed with a $21 million series B financing round secured by Identified, which was led by VantagePoint Capital Partners and Capricorn Investment Group.
Behavior-based robotics
Behavior-based robotics (BBR) or behavioral robotics is an approach in robotics that focuses on robots that are able to exhibit complex-appearing behaviors despite little internal variable state to model its immediate environment, mostly gradually correcting its actions via sensory-motor links. == Principles == Behavior-based robotics sets itself apart from traditional artificial intelligence by using biological systems as a model. Classic artificial intelligence typically uses a set of steps to solve problems, it follows a path based on internal representations of events compared to the behavior-based approach. Rather than use preset calculations to tackle a situation, behavior-based robotics relies on adaptability. This advancement has allowed behavior-based robotics to become commonplace in researching and data gathering. Most behavior-based systems are also reactive, which means they need no programming of what a chair looks like, or what kind of surface the robot is moving on. Instead, all the information is gleaned from the input of the robot's sensors. The robot uses that information to gradually correct its actions according to the changes in immediate environment. Behavior-based robots (BBR) usually show more biological-appearing actions than their computing-intensive counterparts, which are very deliberate in their actions. A BBR often makes mistakes, repeats actions, and appears confused, but can also show the anthropomorphic quality of tenacity. Comparisons between BBRs and insects are frequent because of these actions. BBRs are sometimes considered examples of weak artificial intelligence, although some have claimed they are models of all intelligence. == Features == Most behavior-based robots are programmed with a basic set of features to start them off. They are given a behavioral repertoire to work with dictating what behaviors to use and when, obstacle avoidance and battery charging can provide a foundation to help the robots learn and succeed. Rather than build world models, behavior-based robots simply react to their environment and problems within that environment. They draw upon internal knowledge learned from their past experiences combined with their basic behaviors to resolve problems. == History == The school of behavior-based robots owes much to work undertaken in the 1980s at the Massachusetts Institute of Technology by Rodney Brooks, who with students and colleagues built a series of wheeled and legged robots utilizing the subsumption architecture. Brooks' papers, often written with lighthearted titles such as "Planning is just a way of avoiding figuring out what to do next", the anthropomorphic qualities of his robots, and the relatively low cost of developing such robots, popularized the behavior-based approach. Brooks' work builds—whether by accident or not—on two prior milestones in the behavior-based approach. In the 1950s, W. Grey Walter, an English scientist with a background in neurological research, built a pair of vacuum tube-based robots that were exhibited at the 1951 Festival of Britain, and which have simple but effective behavior-based control systems. The second milestone is Valentino Braitenberg's 1984 book, "Vehicles – Experiments in Synthetic Psychology" (MIT Press). He describes a series of thought experiments demonstrating how simply wired sensor/motor connections can result in some complex-appearing behaviors such as fear and love. Later work in BBR is from the BEAM robotics community, which has built upon the work of Mark Tilden. Tilden was inspired by the reduction in the computational power needed for walking mechanisms from Brooks' experiments (which used one microcontroller for each leg), and further reduced the computational requirements to that of logic chips, transistor-based electronics, and analog circuit design. A different direction of development includes extensions of behavior-based robotics to multi-robot teams. The focus in this work is on developing simple generic mechanisms that result in coordinated group behavior, either implicitly or explicitly.