No / Gender classification has multiple applications including, but not limited to, face perception, age, ethnicity and identity analysis, video surveillance and smart human computer interaction. The majority of computer based gender classification algorithms analyse the appearance of facial features predominantly based on the texture of the static image of the face. In this paper, we propose a novel algorithm for gender classification using the smile dynamics without resorting to the use of any facial texture information. Our experiments suggest that this method has great potential for finding indicators of gender dimorphism. Our approach was tested on two databases, namely the CK+ and the MUG, consisting of a total of 80 subjects. As a result, using the KNN algorithm along with 10-fold cross validation, we achieve an accurate classification rate of 80% for gender simply based on the dynamics of a person's smile.

Robot mapping is a major field of research in robotics. Its basic task is to combine (register) spatial data, usually gained from range devices, to a single data set. This data set is called global map and represents the environment, observed from different locations, usually without knowledge of their positions. Various approaches can be classified into groups based on the type of sensor, e.g. Lasers, Microsoft Kinect, Stereo Image Pair. A major disadvantage of current methods is the fact, that they are derived from hardly scalable 2D approaches that use a small amount of data. However, 3D sensing yields a large amount of data in each 3D scan. Autonomous mobile robots have limited computational power, which makes it harder to run 3D robot mapping algorithms in real-time. To remedy this limitation, the proposed research uses mid-level geometric features (lines and ellipses) to construct 3D geometric primitives (planar patches, cylinders, spheres and cones) from 3D point data. Such 3D primitives can serve as distinct features for faster registration, allowing real-time performance on a mobile robot. This approach works in real-time, e.g. using a Microsoft Kinect to detect planes with 30 frames per second. While previous approaches show insufficient performance, the proposed method operates in real-time. In its core, the algorithm performs a fast model fitting with a model update in constant time (O(1)) for each new data point added to the model using a three stage approach. The first step inspects 1.5D sub spaces, to find lines and ellipses. The next stage uses these lines and ellipses as input by examining their neighborhood structure to form sets of candidates for the 3D geometric primitives. Finally, candidates are fitted to the geometric primitives. The complexity for point processing is O(n); additional time of lower order is needed for working on significantly smaller amount of mid-level objects. The real-time performance suggests this approach as a pre-processing step for 3D real-time higher level tasks in robotics, like tracking or feature based mapping. In this thesis, I will show how these features are derived and used for scene registration. Optimal registration is determined by finding plane-feature correspondence based on mutual similarity and geometric constraints. Our approach determines the plane correspondence in three steps. First step computes the distance between all pairs of planes from the first scan to all pair of planes from the second scan. The distance function captures angular, distance and co-planarity differences. The resulting distances are accumulated in a distance matrix. The next step uses the distance matrix to compute the correlation matrix between planes from the first and second scan. Finally plane correspondence is found by finding the global optimal assignment from the correlation matrix. After finding the plane correspondence, an optimal pose registration is computed. In addition to that, I will provide a comparison to existing state-of-the-art algorithms. This work is part of an industry collaboration effort sponsored by the National Institute of Standards and Technology (NIST), aiming at performance evaluation and modeling of autonomous navigation in unstructured and dynamic environments. Additional field work, in the form of evaluation of real robotic systems in a robot test arena was performed. / Computer and Information Science / Accompanied by two .mp4 files.

A novel approach for a robust computation of positional relations of two-dimensional geometric features is presented which guarantees reliable results, provided that the initial data is valid. The method is based on the use of integer coordinates and a method to generate a complete, gap-less and non-overlapping spatial decomposition. The spatial relationships of two geometric features are then represented using DE-9IM matrices. These allow the spatial relationships to be represented compactly. The DE-9IM matrices are based on the spatial decomposition using explicit neighborhood relations. No further geometric calculations are required for their computation. Based on comparative tests, it could be proven that this approach, up to a predictable limit, provides correct results and thus offers advantages over classical methods for the calculation of spatial relationships. This novel method can be used in all fields, especially where guaranteed reliable results are required.:Introduction Related Research Materials and Methods Results Discussion Outlook Author Contributions Funding Institutional Review Board Statement Informed Consent Statement Data Availability Statement Conflicts of Interest Abbreviations References