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Unsupervised Change Detection for Space Habitats Using 3D Point Clouds
This work presents an algorithm for scene change detection from point clouds to enable autonomous robotic caretaking in future space habitats. Autonomous robotic systems will help maintain future deep-space habitats, such as the Gateway space station, which will be uncrewed for extended periods. Existing scene analysis software used on the International Space Station (ISS) relies on manually-labeled images for detecting changes. In contrast, the algorithm presented in this work uses raw, unlabeled point clouds as inputs. The algorithm first applies modified Expectation-Maximization Gaussian Mixture Model (GMM) clustering to two input point clouds. It then performs change detection by comparing the GMMs using the Earth Mover’s Distance. The algorithm is validated quantitatively and qualitatively using a test dataset collected by an Astrobee robot in the NASA Ames Granite Lab comprising single frame depth images taken directly by Astrobee and full-scene reconstructed maps built with RGB-D and pose data from Astrobee. The runtimes of the approach are also analyzed in depth. The source code is publicly released to promote further development.
Unsupervised Change Detection for Space Habitats Using 3D Point Clouds
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Unsupervised machine learning for the classification of astrophysical X-ray sources
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Unsupervised Learning Reveals Geography of Global Ocean Dynamical Regions
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Unsupervised prototype reduction for data exploration and an application to air traffic management initiatives
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The Pairwise Similarity Partitioning Algorithm: A Method for Unsupervised Partitioning of Geoscientific and Other Datasets Using Arbitrary Similarity Metrics
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Unsupervised Learning in Detection of Gene Transfer
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Synergies between low- and intermediate-redshift galaxy populations revealed with unsupervised machine learning
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An interpretation of a geologic map of Fannin County, Texas, prepared by ADP techniques from ERTS MSS data
Multispectral scanner data, collected by ERTS-1 from an area in northeast Texas underlain by structurally simple cretaceous sedimentary rocks, were analyzed using several automatic data processing techniques. Training areas for the computer analysis were selected in three ways using: (1) an unsupervised classifier, (2) the unsupervised classifier to further refine training areas, and (3) available ground information. The first two methods utilize the capability of the unsupervised classifier to the unsupervised classifier to group resolution elements with similar spectral properties. With the imagery produced by these procedures, several geologic features can be identified. The most easily recognizable features are streams and other water bodies. The approximate location of contacts between several rock units can be mapped.
A Fast Implementation of the ISOCLUS Algorithm
Unsupervised clustering is a fundamental tool in numerous image processing and remote sensing applications. For example, unsupervised clustering is often used to obtain vegetation maps of an area of interest. This approach is useful when reliable training data are either scarce or expensive, and when relatively little a priori information about the data is available. Unsupervised clustering methods play a significant role in the pursuit of unsupervised classification. One of the most popular and widely used clustering schemes for remote sensing applications is the ISOCLUS algorithm, which is based on the ISODATA method. The algorithm is given a set of n data points (or samples) in d-dimensional space, an integer k indicating the initial number of clusters, and a number of additional parameters. The general goal is to compute a set of cluster centers in d-space. Although there is no specific optimization criterion, the algorithm is similar in spirit to the well known k-means clustering method in which the objective is to minimize the average squared distance of each point to its nearest center, called the average distortion. One significant feature of ISOCLUS over k-means is that clusters may be merged or split, and so the final number of clusters may be different from the number k supplied as part of the input. This algorithm will be described in later in this paper. The ISOCLUS algorithm can run very slowly, particularly on large data sets. Given its wide use in remote sensing, its efficient computation is an important goal. We have developed a fast implementation of the ISOCLUS algorithm. Our improvement is based on a recent acceleration to the k-means algorithm, the filtering algorithm, by Kanungo et al.. They showed that, by storing the data in a kd-tree, it was possible to significantly reduce the running time of k-means. We have adapted this method for the ISOCLUS algorithm. For technical reasons, which are explained later, it is necessary to make a minor modification to the ISOCLUS specification. We provide empirical evidence, on both synthetic and Landsat image data sets, that our algorithm's performance is essentially the same as that of ISOCLUS, but with significantly lower running times. We show that our algorithm runs from 3 to 30 times faster than a straightforward implementation of ISOCLUS. Our adaptation of the filtering algorithm involves the efficient computation of a number of cluster statistics that are needed for ISOCLUS, but not for k-means.
Evaluation and comparison of ERTS measurements of major crops and soil associations for selected sites in the central United States
The author has identified the following significant results. An unsupervised classification was run for an area around Tahoka Lake, Texas. Classes from the unsupervised were correlated with the available ground observations. Unsupervised classes which corresponded to major rangeland composition groups were used as a basis for a classification of most of Lynn County. Three classes of pasture were identified: (1) clear pasture, mostly grasses; (2) mixture of grasses and mesquite; and (3) areas of thick mesquite. In addition, one class called other included lakes and agricultural areas. It was found that differences in rangeland composition could be mapped from spectral data using computer-aided processing techniques. The T Bar Ranch, which surrounds the Double Lakes west of Tahoka, Texas, was chosen as a test area for the classification of rangeland. It was found that the classification was reasonably consistant with the low altitude oblique air photos.
Global radar units on Venus derived from statistical analysis of Pioneer Venus Orbiter radar data
The classification of surface radar units on Venus using an unsupervised cluster analysis of Pioneer Venus radar reflectivity and root-mean-square (rms)-slope data is described. The advantages of the unsupervised analysis are discussed. F tests are utilized to evaluate the numerical significance of the clusters. The derived rms-slope data and reflectivity for 15 radar units are presented. The relations between radar data bases and elevation are studied. The lowlands, rolling plains, highlands, and mountainous surface of Venus are examined. The geology of Venus landing sites and radar properties, and the surface radar reflectivity images and earth-based images are compared. The spatial relations between classification units are calculated. It is concluded that the unsupervised analysis data correlate well with Head et al. (1985b) data and produce more detailed classification images.
Classification of earth terrain using polarimetric synthetic aperture radar images
Supervised and unsupervised classification techniques are developed and used to classify the earth terrain components from SAR polarimetric images of San Francisco Bay and Traverse City, Michigan. The supervised techniques include the Bayes classifiers, normalized polarimetric classification, and simple feature classification using discriminates such as the absolute and normalized magnitude response of individual receiver channel returns and the phase difference between receiver channels. An algorithm is developed as an unsupervised technique which classifies terrain elements based on the relationship between the orientation angle and the handedness of the transmitting and receiving polariation states. It is found that supervised classification produces the best results when accurate classifier training data are used, while unsupervised classification may be applied when training data are not available.
A comparison of neural network and fuzzy clustering techniques in segmenting magnetic resonance images of the brain
Magnetic resonance (MR) brain section images are segmented and then synthetically colored to give visual representations of the original data with three approaches: the literal and approximate fuzzy c-means unsupervised clustering algorithms and a supervised computational neural network, a dynamic multilayered perception trained with the cascade correlation learning algorithm. Initial clinical results are presented on both normal volunteers and selected patients with brain tumors surrounded by edema. Supervised and unsupervised segmentation techniques provide broadly similar results. Unsupervised fuzzy algorithms were visually observed to show better segmentation when compared with raw image data for volunteer studies. However, for a more complex segmentation problem with tumor/edema or cerebrospinal fluid boundary, where the tissues have similar MR relaxation behavior, inconsistency in rating among experts was observed.
On the asymptotic improvement of supervised learning by utilizing additional unlabeled samples - Normal mixture density case
The effect of additional unlabeled samples in improving the supervised learning process is studied in this paper. Three learning processes. supervised, unsupervised, and combined supervised-unsupervised, are compared by studying the asymptotic behavior of the estimates obtained under each process. Upper and lower bounds on the asymptotic covariance matrices are derived. It is shown that under a normal mixture density assumption for the probability density function of the feature space, the combined supervised-unsupervised learning is always superior to the supervised learning in achieving better estimates. Experimental results are provided to verify the theoretical concepts.
On the Implementation of a Land Cover Classification System for SAR Images Using Khoros
The Synthetic Aperture Radar (SAR) sensor is widely used to record data about the ground under all atmospheric conditions. The SAR acquired images have very good resolution which necessitates the development of a classification system that process the SAR images to extract useful information for different applications. In this work, a complete system for the land cover classification was designed and programmed using the Khoros, a data flow visual language environment, taking full advantages of the polymorphic data services that it provides. Image analysis was applied to SAR images to improve and automate the processes of recognition and classification of the different regions like mountains and lakes. Both unsupervised and supervised classification utilities were used. The unsupervised classification routines included the use of several Classification/Clustering algorithms like the K-means, ISO2, Weighted Minimum Distance, and the Localized Receptive Field (LRF) training/classifier. Different texture analysis approaches such as Invariant Moments, Fractal Dimension and Second Order statistics were implemented for supervised classification of the images. The results and conclusions for SAR image classification using the various unsupervised and supervised procedures are presented based on their accuracy and performance.
The composite sequential clustering technique for analysis of multispectral scanner data
The clustering technique consists of two parts: (1) a sequential statistical clustering which is essentially a sequential variance analysis, and (2) a generalized K-means clustering. In this composite clustering technique, the output of (1) is a set of initial clusters which are input to (2) for further improvement by an iterative scheme. This unsupervised composite technique was employed for automatic classification of two sets of remote multispectral earth resource observations. The classification accuracy by the unsupervised technique is found to be comparable to that by traditional supervised maximum likelihood classification techniques. The mathematical algorithms for the composite sequential clustering program and a detailed computer program description with job setup are given.