Frontier-based exploration is the most common approach to exploration, a fundamental problem in robotics. In frontierbased exploration, robots explore by repeatedly detecting (and moving towards) frontiers, the segments which separate the known regions from those unknown. A frontier detection sub-process examines map and/or sensor readings to identify frontiers for exploration. However, most fr...

In this work, we extend a previously demonstrated entropy based groupwise registration method to include a free-form deformation model based on B-splines. We provide an efficient implementation using stochastic gradient descents in a multi-resolution setting. We demonstrate the method in application to a set of 50 MRI brain scans and compare the results to a pairwise approach using segmentation...

It has been recently discovered by Bell, Heinle and Levandovskyy that a large class of algebras, including the ubiquitous G-algebras, are finite factorization domains (FFD for short). Utilizing this result, we contribute an algorithm to find all distinct factorizations of a given element f ∈ G, where G is any G-algebra, with minor assumptions on the underlying field. Moreover, the property of b...

To achieve geometric reconstruction from 3D datasets two complementary approaches have been widely used. On one hand the deformable model framework locally applies forces to t the data. On the other hand, the non-rigid registration framework computes a global transformation minimizing the distance between a template and the data. We rst show that applying a global transformation on a surface te...

We present a new approach for the non-rigid registration of contrastenhanced breast MRI using normalised mutual information. A hierarchical transformation model of the motion of the breast has been developed: The global motion of the breast is modelled using affine transformation models while the local motion of the breast is modelled using spline-based free-form deformation (FFD) models. The a...

The goal of this study is to develop a customised computer model that can accurately represent the motion of vocal articulators during vowels and consonants. Models of the articulators were constructed as Finite Element (FE) meshes based on digitised high-resolution MRI (Magnetic Resonance Imaging) scans obtained during quiet breathing. Articulatory kinematics during speaking were obtained by E...

This paper investigate the impact of packet size on the performance of 802.15.4 for Wireless Sensor Network based on various packet size scenario like packet size 300, 600 and 900.The comparative results have been reported for the performance metrics like Battery energy consumed, Traffic sink end to end delay and Traffic received. Packet size optimization is an important issue in energy constra...

Stevens Institute of Technology Hoboken, NJ, USA {hwang,[email protected]} Abstract. We study the privacy threat by publishing data that contains full functional dependencies (FFDs). We show that the cross-attribute correlations by FFDs can bring potential vulnerability to privacy. Unfortunately, none of the existing anonymization principles can effectively prevent against the FFD-based priv...

exp(2 i( p 1 i ) are the eigenvalues of the Milnor monodromy and their integral part is determined by the Hodge ltration of the mixed Hodge structure. This notion was rst introduced by Steenbrink [11]. By [14] the exponents are constant under -constant deformation of f . In particular, they depend only on f 1 (0). They express the vanishing order (up to the shift by one) of the period integrals...