Uncertainty Modeling for Sensed Data
Faculty
Modeling and Recovering 3-D Scene Uncertainties from Noisy Sense Data
This work examines closely the possibilities for errors, mistakes
and uncertainties in sensing systems. We identify and suggest techniques for
modeling, analyzing, and recovering these uncertainties.
This work concentrates on uncertainties in visual sensing
for manipulators. The goal
is to recover 3-D structure and motion characteristics of the environments
under observation from noisy measurements.
We also conjecture that our approaches are suitable
for other sensors and parameters to be recovered.
The computed uncertainties are utilized for reconstructing the
geometry, motion parameters, and structure parameters under observation.
In particular, we describe some techniques for
measuring and computing the uncertainties in recovering some visual
parameters. We concentrate on presenting the sources
of uncertainty in two dimensional visual data. Then we proceed to
identify methods by which the 2-D uncertainty could be transformed into
meaningful 3-D interpretations that the observer can use
reliably in order to recover the world events. Those methods can be
generalized for other sensing problems and parametric recovery from
sense data.
Selected Publications:
- Books and Book Chapters:
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T. M. Sobh, ``Techniques in Reverse Engineering of
Machined Parts in Manufacturing Systems,'' in Computer
Aided and Integrated Manufacturing Systems Techniques and Applications.
Gordon and Breach International Series in Engineering, Technology and
Applied Science, to appear in 1997.
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- T. M. Sobh,
M. Dekhil, and A. A. Efros, ``Sensing Under Uncertainty for Mobile Robots,''
in ASME Series on Robotics and Advanced Manufacturing, Volume
3, 1996.
- Journal Papers
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- T. M. Sobh and R. Bajcsy, ``A Discrete Event
Framework for Autonomous Observation Under Uncertainty.'' In the Journal
of Intelligent and Robotic Systems, 16: 315-385, 1996.
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T. M. Sobh,
``Recovering 3-D Motion and Structure,''
In Informatica, The International Journal of Computing
and Informatics, Volume 18, Number 4, December 1994.
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T. M. Sobh, ``Shape and Motion Perception Under Uncertainty.''
Accepted for publication in the Optical Engineering Journal.
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T. M. Sobh,
``Analysis of Visual Tolerances in Sense Data'', Accepted for
publication in Applied Mathematics and Computer
Science, October 1995.
- Conference Papers
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- T. M. Sobh and A. Mahmood,
``Recovering Structure Uncertainties from Noisy Sense Data,'' Accepted for
presentation in the 1997 Measurement Science Conference, Pasadena,
California, January 1997.
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M. Dekhil and T. M. Sobh, ``Embedded Tolerance Analysis for Sonar
Sensors.'' Invited paper to the special session of the 1997
Measurement Science Conference: Measuring Sensed Data for Robotics
and Automation, Pasadena, California, January 1997.
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T. M. Sobh, M. Dekhil, and A. A. Efros, ``Sensing Under Uncertainty for Mobile
Robots,'' Presented in the Second World Automation Congress,
First International Symposium on Intelligent Automation and Control
(ISIAC 96), Montpellier, France, May 1996.
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T. M. Sobh, ``Modeling and Recovering Uncertainties in Sense Date,''
In proceedings of the Sixth International Symposium on
Measurement and Control in Robotics (ISMCR 96), Brussels, Belgium, May 1996.
Technical Reports
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M. Dekhil and T. M. Sobh,
``Embedded Tolerance Analysis for Sonar Sensors,''
Technical Report UBCSE-96-005, Department of Computer Science and Engineering,
University of Bridgeport, December 1996.
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T. M. Sobh and A. Mahmood,
``Recovering Structure Uncertainties from Noisy Sense Data,''
Technical Report UBCSE-96-002, Department of Computer Science and Engineering,
University of Bridgeport, October 1996.
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T. M. Sobh,
``Modeling and Recovering Uncertainties in Sense Date,''
Technical Report UBCSE-96-001, Department of Computer Science and Engineering,
University of Bridgeport, April 1996.
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H. A. Eleskandarani and T. M. Sobh,
``A Survey on Sensor Classifications for Industrial Applications,''
Technical Report UUCS-95-009, Department of Computer Science,
University of Utah, June 1995.
Snap shots of the experiments
sobh@bridgeport.edu