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Anup Basu

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25 papers
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25

AAAI Conference 2026 Conference Paper

StyleFM: Frequency Manipulation Empowered by Recursive Attention on Diffusion Models for Arbitrary Style Transfer

  • Yingnan Ma
  • Zhenye Liu
  • Siying Liu
  • Anup Basu

Given the remarkable performance of diffusion models in image generation, recent research has been exploring their adaptation to style transfer. However, current diffusion-based approaches encounter persistent challenges, such as style distortions and the reliance on textual prompts for content preservation. To address these limitations, we introduce StyleFM, a novel training-free diffusion-based style transfer approach that incorporates optimization strategies into both the frequency and temporal domains. The proposed method provides two core innovations: (1) Tripartite Frequency Manipulation: To more precisely tailor frequency manipulation, StyleFM introduces a tripartite frequency design with a buffer band accounting for the overlap of content and style representations. In addition, StyleFM designs a frequency superposition editing method to achieve frequency enhancement. (2) Recursive Attention: StyleFM proposes the recursive attention strategy within the diffusion process, which facilitates the progressive and consistent injection of style information throughout the temporal process without reliance on text guidance. Experiments demonstrate that StyleFM outperforms state-of-the-art methods. It effectively preserves content fidelity while achieving sufficient style embedding.

IROS Conference 2005 Conference Paper

Visual gesture recognition for ground air traffic control using the Radon transform

  • Meghna Singh
  • Mrinal Mandal 0001
  • Anup Basu

Human gesture recognition is an active topic of vision research which has applications in diverse fields such as collaborative virtual environments and robot teleoperation. We propose a novel method for the recognition of hand gestures, used by air marshals for steering aircraft on the runway, using the Radon transform. Various aspects of the algorithm, including acquisition, segmentation, labeling and recognition using the parametric Radon transform are addressed in this paper. A binary skeleton representation of the human subject is computed. The Radon transform is used to generate maxima corresponding to specific orientations of the skeletal representation. Feature vectors are extracted from the transform space by computing the normalized cumulative projections of the Radon transform on the angle axis. K-means clustering is then applied to recognize static gestures from the extracted features. This technique has the potential to provide information about the exact orientation of gesture segments and can find use in ground control of unmanned air vehicles. Experiments with image data corresponding to the various ground air traffic control gestures used in directing aircrafts, highlight the potential application of this approach.

ICRA Conference 1999 Conference Paper

Panoramic Video with Predictive Windows for Telepresence Applications

  • Jonathan Baldwin
  • Anup Basu
  • Hong Zhang 0013

We describe the application of a predictive Kalman filter to the display of panoramic images. We discuss integrating a panoramic imaging system with prediction of viewing direction to create an effective telepresence system over low bandwidth links. Panoramic imaging using a reflective mirror surface offers an alternative to pan-tilt systems for obtaining a 360 degree field of view. Selecting a small window within a panoramic image allows a meaningful part of an image from a remote site to be seen at a higher refresh rate. Because of the delay in transmitting an image from a remote site, it is necessary to have additional image information available locally. This information can be used to simulate continuously flowing pictures with reduced apparent delay. Continuity in image viewing is achieved by predicting the next viewpoint of an operator and preemptively transmitting parts of an image. Experimental results are given to evaluate the proposed telepresence system.

ICRA Conference 1998 Conference Paper

Predictive Windows for Delay Compensation in Telepresence Applications

  • Jonathan Baldwin
  • Anup Basu
  • Hong Zhang 0013

Predictive Kalman filters can be used to predict positions of a mouse when it is operated under some basic assumptions. This prediction can be used to estimate what portions of a larger image an operator wants to view. This paper discusses theory and experimentation being done at the University of Alberta using predictive Kalman filters to provide predictive windows for low bandwidth telepresence applications. We compare several state models used in prediction with each other and also with having no prediction, both with numerical measures, and on human subjects. We show that the constant velocity model provides the best prediction results.

ICRA Conference 1996 Conference Paper

A conical mirror pipeline inspection system

  • David Southwell
  • Basil Vandegriend
  • Anup Basu

Presents a novel system that provides high quality imaging of the interior surface of pipelines. The imaging device uses a refined conical mirror micro-surface machined from aluminum to image a 360/spl deg/ strip of the pipe in a single frame. A continuous stream of such images is transmitted to the surface where it is stored on a standard video recorder. The image sequences are processed off-line, ultimately producing high definition imagery of areas of interest. We address the design issues of the conic profile of the mirror, and some aspects of the image reconstruction/registration process.

ICRA Conference 1995 Conference Paper

Active Camera Calibration Using Pan, Tilt and Roll

  • Anup Basu
  • Kavita Ravi

Three dimensional vision applications, such as robot vision, require modelling of the relationship between the 2D images and the 3D world. Camera calibration is a process which accurately models this relationship. The calibration procedure determines the geometric parameters of the camera, such as focal length and center of the image. Most of the existing calibration techniques use predefined patterns and a static camera. Recently, A. Basu (1993) developed a novel calibration technique for computing the focal length and image center which uses an active camera. This technique does not require any predefined patterns or point to point correspondence between images-only a set of scenes with some stable edges. It was observed that the algorithms developed for image center are sensitive to noise and hence unreliable in real situations. The article extends the techniques provided by Basu to develop a simpler, yet more robust method for computing the image center.

IROS Conference 1995 Conference Paper

An active technique for piecewise calibration of robot manipulators

  • Kavita Ravi
  • Anup Basu

Robot calibration is essential to improve the positioning accuracy of robot manipulators. A mathematical (kinematic) model is used to describe the geometric structure of a robot manipulator. Robot calibration procedure involves calculating and improving the values of this model's parameters. The robot calibration technique presented in this paper uses a vision system, to calibrate the kinematic model. For an n-linked robot manipulator, the procedure calibrates one link at a time, starting with the n/sup th/ link by making small movements. The resulting equations are linear, consequently, the algorithms are simple.

ICRA Conference 1995 Conference Paper

Robust Detection of Moving Objects by a Moving Observer on Planar Surfaces

  • Ashraf Elnagar
  • Anup Basu

We introduce a technique for detecting moving objects from an image sequence obtained with a moving camera using the planarity constraint. To increase the robustness of this technique, false motion caused by inaccuracies in sensor readings is eliminated by use of a morphological filter. This involves two successive operations-erosion and dilation-performed on a motion compensated image. Experimental results with real images are presented. Applications to the compression of moving images are now being investigated.

ICRA Conference 1995 Conference Paper

Surface Integration for Inspection Tasks

  • Anup Basu
  • Ashraf Elnagar
  • Mark Fiala

In underwater environments it is often difficult to obtain a big/clear picture of a scene. For that reason, a system that can integrate small pieces of images (taken from close range) into a composite 3D surface, is developed here. The device, along with 3D position/orientation estimation equipment, can be used for inspection of hulls of ships anchored in a bay, or for examination of underwater pipes and tanks. Experimental results are presented which validate the algorithms developed.

ICRA Conference 1994 Conference Paper

Crack Detection Using Contact Sensing

  • Raju Patil
  • Anup Basu
  • Hong Zhang 0013

In this paper, we describe a robotic system employing contact sensing to detect the presence of cracks in surfaces. Automated detection of cracks in surfaces has many practical applications. Tasks such as inspection of underground pipes carrying fluids and the inspection of ship hulls are examples of jobs that are difficult for human operators. Robots equipped with vision are ill-suited for such tasks because of low visibility and fluid disturbance. Contact sensing is shown to provide a viable alternative for surface inspection tasks in situations where images cannot be obtained. The mathematical modeling of the system, some simulations and experimental results are provided. >

IROS Conference 1993 Conference Paper

Active tracking

  • Don Murray
  • Anup Basu

This work describes a method for real-time motion detection using an active camera mounted on a pan/tilt platform. Image mapping is used to align images of different viewpoints so that static camera motion detection can be applied. In the presence of camera position noise, the image mapping is inexact and compensation techniques fail. The use of morphological filtering of motion images is explored to desensitize the detection of algorithm in inaccuracies in background compensation. Two motion detection techniques are examined, and experiments to verify the methods are presented. The system successfully extracts moving edges from dynamic images, even when the pan/tilt angles between successive frames are as large as 3/spl deg/.

IROS Conference 1993 Conference Paper

Modeling fish-eye lenses

  • Anup Basu
  • Sergio Licardie

The human visual system can be characterized as a variable-resolution system: foveal information is processed at very high spatial resolution whereas peripheral information is processed at low spatial resolution. Various transforms have been proposed to model spatially varying resolution. Unfortunately, special sensors need to be designed to acquire images according to existing transforms. In this work, two models of fish-eye transform are presented. The validity of the transformations is demonstrated by fitting the alternative models to a real fish-eye lens.

IROS Conference 1993 Conference Paper

Smooth and acceleration minimizing trajectories for mobile robots

  • Ashraf Elnagar
  • Anup Basu

An approach to generating smooth piecewise local trajectories for mobile robots is proposed. Given the configurations (position and direction) of two points, one searches for the trajectory that minimizes the integral of acceleration (tangential and normal). The resulting trajectory should not only be smooth but also safe in order to be applicable in real-life situations, so the authors investigate two different obstacle-avoidance constraints that satisfy the minimization problem. Unfortunately, in this case the problem becomes more complex and unsuitable for real-time implementations. Therefore, the authors introduce two simple solutions, based on the idea of polynomial fitting to generate safe trajectories, once a collision is detected with the original smooth trajectory. Simulation results for the different algorithms are presented.

ICRA Conference 1992 Conference Paper

Heuristics for local path planning

  • Ashraf Elnagar
  • Anup Basu

The authors describe a heuristic technique for solving the problem of path planning based on local information for a mobile robot with acceleration constraints moving amidst a set of stationary obstacles. The concept of safety is introduced to design a planning strategy. A path which maximizes the product of safety based on local information and attraction towards the goal is chosen. The safety function depends on the acceleration bounds. The attraction toward the goal depends on the distance from the goal. Two additional heuristics are proposed to improve the efficiency of the search process and to enhance the ability of the robot to avoid obstacles. Some simulation examples of the algorithm corresponding to different navigational environments are discussed. >

ICRA Conference 1990 Conference Paper

Approximate constrained motion planning

  • Anup Basu
  • Yiannis Aloimonos

The problem of finding a collision-free path connecting two points (start and goal) in the presence of obstacles, with constraints on the curvature of the path, is examined. This problem of curvature-constrained motion planning arises when, for example, a vehicle with constraints on its steering mechanism needs to be maneuvered through obstacles. Though no lower bound on the difficulty of the problem in 2-D is known, exact algorithms given to date for the reachability questions are exponential. It is shown that a variation of the problem is NP-hard. Notably, however, the same variation to polynomially solvable motion planning problems does not make them intractable. In addition, it is proven that epsilon -approximations to this problem cannot exist unless the underlying decision problem is polynomially solvable. An algorithm which is expected to find a desired path, when one exists, with a required probability is presented. Results indicate that a variable-size discretization is necessary for the task, linking the required probability to the size of the discretization locally. >