Segmentation, recognition and 3D reconstruction of objects have been cutting-edge research topics, which have many applications ranging from environmental and medical to geographical applications as well as intelligent transportation. In this dissertation, I focus on the study of segmentation, recognition and 3D reconstruction of objects using LiDAR data/MRI. Three main works are that (I). Feature extraction algorithm based on sparse LiDAR data. A novel method has been proposed for feature extraction from sparse LiDAR data. The algorithm and the related principles have been described. Also, I have tested and discussed the choices and roles of parameters. By using correlation of neighboring points directly, statistic distribution of normal vectors at each point has been effectively used to determine the category of the selected point. (II). Segmentation and 3D reconstruction of objects based on LiDAR/MRI. The proposed method includes that the 3D LiDAR data are layered, that different categories are segmented, and that 3D canopy surfaces of individual tree crowns and clusters of trees are reconstructed from LiDAR point data based on a region active contour model. The proposed method allows for delineations of 3D forest canopy naturally from the contours of raw LiDAR point clouds. The proposed model is suitable not …

Multi-modal image fusion is an active research area with many civilian and military applications. Fusion is defined as strategic combination of information collected by various sensors from different locations or different types in order to obtain a better understanding of an observed scene or situation. Fusion of multi-modal images cannot be completed unless these two modalities are spatially aligned. In this research, I consider two important problems. Multi-modal, multi-perspective image registration and decision level fusion of multi-modal images. In particular, LiDAR and visual imagery. Multi-modal image registration is a difficult task due to the different semantic interpretation of features extracted from each modality. This problem is decoupled into three sub-problems. The first step is identification and extraction of common features. The second step is the determination of corresponding points. The third step consists of determining the registration transformation parameters. Traditional registration methods use low level features such as lines and corners. Using these features require an extensive optimization search in order to determine the corresponding points. Many methods use global positioning systems (GPS), and a calibrated camera in order to obtain an initial estimate of the camera parameters. The advantages of our work over the previous works are the following. …

The human brain acts as an intelligent sensor by helping in effective signal communication and execution of logical functions and instructions, thus, coordinating all functions of the human body. More importantly, it shows the potential to combine prior knowledge with adaptive learning, thus ensuring constant improvement. These qualities help the brain to interact efficiently with both, the body (brain-body) as well as the environment (brain-environment). This dissertation attempts to apply the brain-body-environment interactions (BBEI) to elevate human existence and enhance our day-to-day experiences. For instance, when one stepped out of the house in the past, one had to carry keys (for unlocking), money (for purchasing), and a phone (for communication). With the advent of smartphones, this scenario changed completely and today, it is often enough to carry just one's smartphone because all the above activities can be performed with a single device. In the future, with advanced research and progress in BBEI interactions, one will be able to perform many activities by dictating it in one's mind without any physical involvement. This dissertation aims to shift the paradigm of existing brain-computer-interfaces from just ‘control' to ‘monitor, control, enhance, and restore' in three main areas - healthcare, transportation safety, and cryptography. …

The advent of sensory and communication technologies enables the generation and consumption of large volumes of streaming data. Many of these data streams are geo-referenced. Existing spatio-temporal databases and data stream management systems are not capable of handling real time queries on spatial extents. In this thesis, we investigated several fundamental research issues toward building a data-type-based real time geospatial data stream management system. The thesis makes contributions in the following areas: geo-stream data models, aggregation, window-based nearest neighbor operators, and query optimization strategies. The proposed geo-stream data model is based on second-order logic and multi-typed algebra. Both abstract and discrete data models are proposed and exemplified. I further propose two useful geo-stream operators, namely Region By and WNN, which abstract common aggregation and nearest neighbor queries as generalized data model constructs. Finally, I propose three query optimization algorithms based on spatial, temporal, and spatio-temporal constraints of geo-streams. I show the effectiveness of the data model through many query examples. The effectiveness and the efficiency of the algorithms are validated through extensive experiments on both synthetic and real data sets. This work established the fundamental building blocks toward a full-fledged geo-stream database management system and has potential impact in many …

Maintaining cognitive health is often a pressing concern for aging adults, and given the world's shifting age demographics, it is impractical to assume that older adults will be able to rely on individualized human support for doing so. Recently, interest has turned toward technology as an alternative. Companion robots offer an attractive vehicle for facilitating cognitive exercise, but the language technologies guiding their interactions are still nascent; in elder-focused human-robot systems proposed to date, interactions have been limited to motion or buttons and canned speech. The incapacity of these systems to autonomously participate in conversational discourse limits their ability to engage users at a cognitively meaningful level. I addressed this limitation by developing a platform for human-robot book discussions, designed to promote cognitive exercise by encouraging users to consider the authors' underlying intentions in employing creative metaphors. The choice of book discussions as the backdrop for these conversations has an empirical basis in neuro- and social science research that has found that reading often, even in late adulthood, has been correlated with a decreased likelihood to exhibit symptoms of cognitive decline. The more targeted focus on novel metaphors within those conversations stems from prior work showing that processing novel metaphors …

Current unsupervised approaches for keyphrase extraction compute a single importance score for each candidate word by considering the number and quality of its associated words in the graph and they are not flexible enough to incorporate multiple types of information. For instance, nodes in a network may exhibit diverse connectivity patterns which are not captured by the graph-based ranking methods. To address this, we present a new approach to keyphrase extraction that represents the document as a word graph and exploits its structure in order to reveal underlying explanatory factors hidden in the data that may distinguish keyphrases from non-keyphrases. Experimental results show that our model, which uses phrase graph representations in a supervised probabilistic framework, obtains remarkable improvements in performance over previous supervised and unsupervised keyphrase extraction systems.