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George Baciu

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3 papers
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3

TIST Journal 2015 Journal Article

Exploring Spatial Correlation for Visual Object Retrieval

  • Miaojing Shi
  • Xinghai Sun
  • Dacheng Tao
  • Chao Xu
  • George Baciu
  • Hong Liu

Bag-of-visual-words (BOVW)-based image representation has received intense attention in recent years and has improved content-based image retrieval (CBIR) significantly. BOVW does not consider the spatial correlation between visual words in natural images and thus biases the generated visual words toward noise when the corresponding visual features are not stable. This article outlines the construction of a visual word co-occurrence matrix by exploring visual word co-occurrence extracted from small affine-invariant regions in a large collection of natural images. Based on this co-occurrence matrix, we first present a novel high-order predictor to accelerate the generation of spatially correlated visual words and a penalty tree (PTree) to continue generating the words after the prediction. Subsequently, we propose two methods of co-occurrence weighting similarity measure for image ranking: Co-Cosine and Co-TFIDF. These two new schemes down-weight the contributions of the words that are less discriminative because of frequent co-occurrences with other words. We conduct experiments on Oxford and Paris Building datasets, in which the ImageNet dataset is used to implement a large-scale evaluation. Cross-dataset evaluations between the Oxford and Paris datasets and Oxford and Holidays datasets are also provided. Thorough experimental results suggest that our method outperforms the state of the art without adding much additional cost to the BOVW model.

ICRA Conference 1987 Conference Paper

Computational scheme for simulating robot manipulators

  • Jack C. K. Chou
  • George Baciu
  • H. K. Kesavan

A set of mixed differential and algebraic equations (DAEs) which arises in the simulation of a robot manipulator is solved simultaneously using implicit integration. The dimension of the DAEs which have to be solved by LU factorization at each integration step can be reduced to the number of degrees of freedom by exploring the special structure of the Jacobian matrix of DAEs. The independent and dependent generalized coordinates are determined directly from the system topology. The simulation of a 6-R manipulator is given as an example.

ICRA Conference 1987 Conference Paper

Graph-theoretic models for simulating robot manipulators

  • Jack C. K. Chou
  • George Baciu
  • H. K. Kesavan

The graph-theoretic models of a prismatic joint, a revolute joint, and an open kinematic chain are presented. The Denavit-Hartenberg representation of linkages is encompassed within the general framework of graph-theoretic system theory. The final mathematical model derived by this formalism is a system of differential and algebraic equations.

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