Yasir Niaz Khan

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Terrain classification is a fundamental task in outdoor robot navigation to detect and avoid impassable terrain. Camera-based approaches are well-studied and provide good results. A drawback of these approaches, however, is that the quality of the classification varies with the prevailing lighting conditions. 3D laser scanners, on the other hand, are(More)
In this paper we investigate SURF features for visual terrain classification for outdoor mobile robots. The image is divided into a grid and SURF features are calculated on the intersections of this grid. These features are then used to train a classifier that can differentiate between different terrain classes. Images of five different terrain types are(More)
— In this paper we investigate the effectiveness of SURF features for visual terrain classification for outdoor flying robots. A quadrocopter fitted with a single camera is flown over different terrains to take images of the ground below. Each image is divided into a grid and SURF features are calculated at grid intersections. A classifier is then used to(More)
— In this paper we present a comparison of multiple approaches to visual terrain classification for outdoor mobile robots based on local features. We compare the more traditional texture classification approaches, such as Local Binary Patterns, Local Ternary Patterns and a newer extension Local Adaptive Ternary Patterns, and also modify and test three(More)
— For a mobile robot to navigate safely and efficiently in an outdoor environment, it has to recognize its surrounding terrain. Our robot is equipped with a low– resolution 3D LIDAR and a color camera. The data from both sensors are fused to classify the terrain in front of the robot. Therefore, the ground plane is divided into a grid and each cell is(More)
Severe hypernatremia is defined as serum sodium levels above 152 mEq/L, with a mortality rate ≥60%. 85-year-old gentleman was brought to the emergency room with altered level of consciousness after refusing to eat for a week at a skilled nursing facility. On admission patient was nonverbal with stable vital signs and was responsive only to painful stimuli.(More)
Multiple myeloma is a malignant plasma-cell disorder that primarily involves the bone marrow, but extramedullary involvement is becoming increasingly common (Bladé et al., 2012) both at initial presentation and follow-up. Most common initial presentations for multiple myeloma include generalized fatigue, renal insufficiency, bone pain, and recurrent(More)
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