Search results for: image based visual servoing
Commenced in January 2007
Frequency: Monthly
Edition: International
Paper Count: 29592

Search results for: image based visual servoing

29592 Visual and Chemical Servoing of a Hexapod Robot in a Confined Environment Using Jacobian Estimator

Authors: Guillaume Morin-Duponchelle, Ahmed Nait Chabane, Benoit Zerr, Pierre Schoesetters

Abstract:

Industrial inspection can be achieved through robotic systems, allowing visual and chemical servoing. A popular scheme for visual servo-controlled robotic is the image-based servoing sys-tems. In this paper, an approach of visual and chemical servoing of a hexapod robot using a visual and chemical Jacobian matrix are proposed. The basic idea behind the visual Jacobian matrix is modeling the differential relationship between the camera system and the robotic control system to detect and track accurately points of interest in confined environments. This approach allows the robot to easily detect and navigates to the QR code or seeks a gas source localization using surge cast algorithm. To track the QR code target, a visual servoing based on Jacobian matrix is used. For chemical servoing, three gas sensors are embedded on the hexapod. A Jacobian matrix applied to the gas concentration measurements allows estimating the direction of the main gas source. The effectiveness of the proposed scheme is first demonstrated on simulation. Finally, a hexapod prototype is designed and built and the experimental validation of the approach is presented and discussed.

Keywords: chemical servoing, hexapod robot, Jacobian matrix, visual servoing, navigation

Procedia PDF Downloads 87
29591 An Image Based Visual Servoing (IBVS) Approach Using a Linear-Quadratic Regulator (LQR) for Quadcopters

Authors: C. Gebauer, C. Henke, R. Vossen

Abstract:

Within the Mohamed Bin Zayed International Robotics Challenge (MBZIRC) 2020, a team of unmanned aerial vehicles (UAV) is used to capture intruder drones by physical interaction. The challenge is motivated by UAV safety. The purpose of this work is to investigate the agility of a quadcopter being controlled visually. The aim is to track and follow a highly dynamic target, e.g., an intruder quadcopter. The following is realized in close range and the opponent has a velocity of up to 10 m/s. Additional limitations are given by the hardware itself, where only monocular vision is present, and no additional knowledge about the targets state is available. An image based visual servoing (IBVS) approach is applied in combination with a Linear Quadratic Regulator (LQR). The IBVS is integrated into the LQR and an optimal trajectory is computed within the projected three-dimensional image-space. The approach has been evaluated on real quadcopter systems in different flight scenarios to demonstrate the system's stability.

Keywords: image based visual servoing, quadcopter, dynamic object tracking, linear-quadratic regulator

Procedia PDF Downloads 109
29590 Obstacle Avoidance Using Image-Based Visual Servoing Based on Deep Reinforcement Learning

Authors: Tong He, Long Chen, Irag Mantegh, Wen-Fang Xie

Abstract:

This paper proposes an image-based obstacle avoidance and tracking target identification strategy in GPS-degraded or GPS-denied environment for an Unmanned Aerial Vehicle (UAV). The traditional force algorithm for obstacle avoidance could produce local minima area, in which UAV cannot get away obstacle effectively. In order to eliminate it, an artificial potential approach based on harmonic potential is proposed to guide the UAV to avoid the obstacle by using the vision system. And image-based visual servoing scheme (IBVS) has been adopted to implement the proposed obstacle avoidance approach. In IBVS, the pixel accuracy is a key factor to realize the obstacle avoidance. In this paper, the deep reinforcement learning framework has been applied by reducing pixel errors through constant interaction between the environment and the agent. In addition, the combination of OpenTLD and Tensorflow based on neural network is used to identify the type of tracking target. Numerical simulation in Matlab and ROS GAZEBO show the satisfactory result in target identification and obstacle avoidance.

Keywords: image-based visual servoing, obstacle avoidance, tracking target identification, deep reinforcement learning, artificial potential approach, neural network

Procedia PDF Downloads 97
29589 Bag of Words Representation Based on Weighting Useful Visual Words

Authors: Fatma Abdedayem

Abstract:

The most effective and efficient methods in image categorization are almost based on bag-of-words (BOW) which presents image by a histogram of occurrence of visual words. In this paper, we propose a novel extension to this method. Firstly, we extract features in multi-scales by applying a color local descriptor named opponent-SIFT. Secondly, in order to represent image we use Spatial Pyramid Representation (SPR) and an extension to the BOW method which based on weighting visual words. Typically, the visual words are weighted during histogram assignment by computing the ratio of their occurrences in the image to the occurrences in the background. Finally, according to classical BOW retrieval framework, only a few words of the vocabulary is useful for image representation. Therefore, we select the useful weighted visual words that respect the threshold value. Experimentally, the algorithm is tested by using different image classes of PASCAL VOC 2007 and is compared against the classical bag-of-visual-words algorithm.

Keywords: BOW, useful visual words, weighted visual words, bag of visual words

Procedia PDF Downloads 393
29588 A Method of the Semantic on Image Auto-Annotation

Authors: Lin Huo, Xianwei Liu, Jingxiong Zhou

Abstract:

Recently, due to the existence of semantic gap between image visual features and human concepts, the semantic of image auto-annotation has become an important topic. Firstly, by extract low-level visual features of the image, and the corresponding Hash method, mapping the feature into the corresponding Hash coding, eventually, transformed that into a group of binary string and store it, image auto-annotation by search is a popular method, we can use it to design and implement a method of image semantic auto-annotation. Finally, Through the test based on the Corel image set, and the results show that, this method is effective.

Keywords: image auto-annotation, color correlograms, Hash code, image retrieval

Procedia PDF Downloads 449
29587 Secure E-Pay System Using Steganography and Visual Cryptography

Authors: K. Suganya Devi, P. Srinivasan, M. P. Vaishnave, G. Arutperumjothi

Abstract:

Today’s internet world is highly prone to various online attacks, of which the most harmful attack is phishing. The attackers host the fake websites which are very similar and look alike. We propose an image based authentication using steganography and visual cryptography to prevent phishing. This paper presents a secure steganographic technique for true color (RGB) images and uses Discrete Cosine Transform to compress the images. The proposed method hides the secret data inside the cover image. The use of visual cryptography is to preserve the privacy of an image by decomposing the original image into two shares. Original image can be identified only when both qualified shares are simultaneously available. Individual share does not reveal the identity of the original image. Thus, the existence of the secret message is hard to be detected by the RS steganalysis.

Keywords: image security, random LSB, steganography, visual cryptography

Procedia PDF Downloads 295
29586 Visual Servoing for Quadrotor UAV Target Tracking: Effects of Target Information Sharing

Authors: Jason R. King, Hugh H. T. Liu

Abstract:

This research presents simulation and experimental work in the visual servoing of a quadrotor Unmanned Aerial Vehicle (UAV) to stabilize overtop of a moving target. Most previous work in the field assumes static or slow-moving, unpredictable targets. In this experiment, the target is assumed to be a friendly ground robot moving freely on a horizontal plane, which shares information with the UAV. This information includes velocity and acceleration information of the ground target to aid the quadrotor in its tracking task. The quadrotor is assumed to have a downward-facing camera which is fixed to the frame of the quadrotor. Only onboard sensing for the quadrotor is utilized for the experiment, with a VICON motion capture system in place used only to measure ground truth and evaluate the performance of the controller. The experimental platform consists of an ArDrone 2.0 and a Create Roomba, communicating using Robot Operating System (ROS). The addition of the target’s information is demonstrated to help the quadrotor in its tracking task using simulations of the dynamic model of a quadrotor in Matlab Simulink. A nested PID control loop is utilized for inner-loop control the quadrotor, similar to previous works at the Flight Systems and Controls Laboratory (FSC) at the University of Toronto Institute for Aerospace Studies (UTIAS). Experiments are performed with ground truth provided by an indoor motion capture system, and the results are analyzed. It is demonstrated that a velocity controller which incorporates the additional information is able to perform better than the controllers which do not have access to the target’s information.

Keywords: quadrotor, target tracking, unmanned aerial vehicle, UAV, UAS, visual servoing

Procedia PDF Downloads 301
29585 Secure Message Transmission Using Meaningful Shares

Authors: Ajish Sreedharan

Abstract:

Visual cryptography encodes a secret image into shares of random binary patterns. If the shares are exerted onto transparencies, the secret image can be visually decoded by superimposing a qualified subset of transparencies, but no secret information can be obtained from the superposition of a forbidden subset. The binary patterns of the shares, however, have no visual meaning and hinder the objectives of visual cryptography. In the Secret Message Transmission through Meaningful Shares a secret message to be transmitted is converted to grey scale image. Then (2,2) visual cryptographic shares are generated from this converted gray scale image. The shares are encrypted using A Chaos-Based Image Encryption Algorithm Using Wavelet Transform. Two separate color images which are of the same size of the shares, taken as cover image of the respective shares to hide the shares into them. The encrypted shares which are covered by meaningful images so that a potential eavesdropper wont know there is a message to be read. The meaningful shares are transmitted through two different transmission medium. During decoding shares are fetched from received meaningful images and decrypted using A Chaos-Based Image Encryption Algorithm Using Wavelet Transform. The shares are combined to regenerate the grey scale image from where the secret message is obtained.

Keywords: visual cryptography, wavelet transform, meaningful shares, grey scale image

Procedia PDF Downloads 411
29584 Content-Based Image Retrieval Using HSV Color Space Features

Authors: Hamed Qazanfari, Hamid Hassanpour, Kazem Qazanfari

Abstract:

In this paper, a method is provided for content-based image retrieval. Content-based image retrieval system searches query an image based on its visual content in an image database to retrieve similar images. In this paper, with the aim of simulating the human visual system sensitivity to image's edges and color features, the concept of color difference histogram (CDH) is used. CDH includes the perceptually color difference between two neighboring pixels with regard to colors and edge orientations. Since the HSV color space is close to the human visual system, the CDH is calculated in this color space. In addition, to improve the color features, the color histogram in HSV color space is also used as a feature. Among the extracted features, efficient features are selected using entropy and correlation criteria. The final features extract the content of images most efficiently. The proposed method has been evaluated on three standard databases Corel 5k, Corel 10k and UKBench. Experimental results show that the accuracy of the proposed image retrieval method is significantly improved compared to the recently developed methods.

Keywords: content-based image retrieval, color difference histogram, efficient features selection, entropy, correlation

Procedia PDF Downloads 212
29583 An Object-Based Image Resizing Approach

Authors: Chin-Chen Chang, I-Ta Lee, Tsung-Ta Ke, Wen-Kai Tai

Abstract:

Common methods for resizing image size include scaling and cropping. However, these two approaches have some quality problems for reduced images. In this paper, we propose an image resizing algorithm by separating the main objects and the background. First, we extract two feature maps, namely, an enhanced visual saliency map and an improved gradient map from an input image. After that, we integrate these two feature maps to an importance map. Finally, we generate the target image using the importance map. The proposed approach can obtain desired results for a wide range of images.

Keywords: energy map, visual saliency, gradient map, seam carving

Procedia PDF Downloads 443
29582 Neuron Imaging in Lateral Geniculate Nucleus

Authors: Sandy Bao, Yankang Bao

Abstract:

The understanding of information that is being processed in the brain, especially in the lateral geniculate nucleus (LGN), has been proven challenging for modern neuroscience and for researchers with a focus on how neurons process signals and images. In this paper, we are proposing a method to image process different colors within different layers of LGN, that is, green information in layers 4 & 6 and red & blue in layers 3 & 5 based on the surface dimension of layers. We take into consideration the images in LGN and visual cortex, and that the edge detected information from the visual cortex needs to be considered in order to return back to the layers of LGN, along with the image in LGN to form the new image, which will provide an improved image that is clearer, sharper, and making it easier to identify objects in the image. Matrix Laboratory (MATLAB) simulation is performed, and results show that the clarity of the output image has significant improvement.

Keywords: lateral geniculate nucleus, matrix laboratory, neuroscience, visual cortex

Procedia PDF Downloads 220
29581 Optimization Query Image Using Search Relevance Re-Ranking Process

Authors: T. G. Asmitha Chandini

Abstract:

Web-based image search re-ranking, as an successful method to get better the results. In a query keyword, the first stair is store the images is first retrieve based on the text-based information. The user to select a query keywordimage, by using this query keyword other images are re-ranked based on their visual properties with images.Now a day to day, people projected to match images in a semantic space which is used attributes or reference classes closely related to the basis of semantic image. though, understanding a worldwide visual semantic space to demonstrate highly different images from the web is difficult and inefficient. The re-ranking images, which automatically offline part learns dissimilar semantic spaces for different query keywords. The features of images are projected into their related semantic spaces to get particular images. At the online stage, images are re-ranked by compare their semantic signatures obtained the semantic précised by the query keyword image. The query-specific semantic signatures extensively improve both the proper and efficiency of image re-ranking.

Keywords: Query, keyword, image, re-ranking, semantic, signature

Procedia PDF Downloads 516
29580 Digital Watermarking Based on Visual Cryptography and Histogram

Authors: R. Rama Kishore, Sunesh

Abstract:

Nowadays, robust and secure watermarking algorithm and its optimization have been need of the hour. A watermarking algorithm is presented to achieve the copy right protection of the owner based on visual cryptography, histogram shape property and entropy. In this, both host image and watermark are preprocessed. Host image is preprocessed by using Butterworth filter, and watermark is with visual cryptography. Applying visual cryptography on water mark generates two shares. One share is used for embedding the watermark, and the other one is used for solving any dispute with the aid of trusted authority. Usage of histogram shape makes the process more robust against geometric and signal processing attacks. The combination of visual cryptography, Butterworth filter, histogram, and entropy can make the algorithm more robust, imperceptible, and copy right protection of the owner.

Keywords: digital watermarking, visual cryptography, histogram, butter worth filter

Procedia PDF Downloads 316
29579 The Contemporary Visual Spectacle: Critical Visual Literacy

Authors: Lai-Fen Yang

Abstract:

In this increasingly visual world, how can we best decipher and understand the many ways that our everyday lives are organized around looking practices and the many images we encounter each day? Indeed, how we interact with and interpret visual images is a basic component of human life. Today, however, we are living in one of the most artificial visual and image-saturated cultures in human history, which makes understanding the complex construction and multiple social functions of visual imagery more important than ever before. Themes regarding our experience of a visually pervasive mediated culture, here, termed visual spectacle.

Keywords: visual culture, contemporary, images, literacy

Procedia PDF Downloads 469
29578 Blind Data Hiding Technique Using Interpolation of Subsampled Images

Authors: Singara Singh Kasana, Pankaj Garg

Abstract:

In this paper, a blind data hiding technique based on interpolation of sub sampled versions of a cover image is proposed. Sub sampled image is taken as a reference image and an interpolated image is generated from this reference image. Then difference between original cover image and interpolated image is used to embed secret data. Comparisons with the existing interpolation based techniques show that proposed technique provides higher embedding capacity and better visual quality marked images. Moreover, the performance of the proposed technique is more stable for different images.

Keywords: interpolation, image subsampling, PSNR, SIM

Procedia PDF Downloads 533
29577 Progress in Combining Image Captioning and Visual Question Answering Tasks

Authors: Prathiksha Kamath, Pratibha Jamkhandi, Prateek Ghanti, Priyanshu Gupta, M. Lakshmi Neelima

Abstract:

Combining Image Captioning and Visual Question Answering (VQA) tasks have emerged as a new and exciting research area. The image captioning task involves generating a textual description that summarizes the content of the image. VQA aims to answer a natural language question about the image. Both these tasks include computer vision and natural language processing (NLP) and require a deep understanding of the content of the image and semantic relationship within the image and the ability to generate a response in natural language. There has been remarkable growth in both these tasks with rapid advancement in deep learning. In this paper, we present a comprehensive review of recent progress in combining image captioning and visual question-answering (VQA) tasks. We first discuss both image captioning and VQA tasks individually and then the various ways in which both these tasks can be integrated. We also analyze the challenges associated with these tasks and ways to overcome them. We finally discuss the various datasets and evaluation metrics used in these tasks. This paper concludes with the need for generating captions based on the context and captions that are able to answer the most likely asked questions about the image so as to aid the VQA task. Overall, this review highlights the significant progress made in combining image captioning and VQA, as well as the ongoing challenges and opportunities for further research in this exciting and rapidly evolving field, which has the potential to improve the performance of real-world applications such as autonomous vehicles, robotics, and image search.

Keywords: image captioning, visual question answering, deep learning, natural language processing

Procedia PDF Downloads 41
29576 Error Analysis of Wavelet-Based Image Steganograhy Scheme

Authors: Geeta Kasana, Kulbir Singh, Satvinder Singh

Abstract:

In this paper, a steganographic scheme for digital images using Integer Wavelet Transform (IWT) is proposed. The cover image is decomposed into wavelet sub bands using IWT. Each of the subband is divided into blocks of equal size and secret data is embedded into the largest and smallest pixel values of each block of the subband. Visual quality of stego images is acceptable as PSNR between cover image and stego is above 40 dB, imperceptibility is maintained. Experimental results show better tradeoff between capacity and visual perceptivity compared to the existing algorithms. Maximum possible error analysis is evaluated for each of the wavelet subbands of an image.

Keywords: DWT, IWT, MSE, PSNR

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29575 Facial Biometric Privacy Using Visual Cryptography: A Fundamental Approach to Enhance the Security of Facial Biometric Data

Authors: Devika Tanna

Abstract:

'Biometrics' means 'life measurement' but the term is usually associated with the use of unique physiological characteristics to identify an individual. It is important to secure the privacy of digital face image that is stored in central database. To impart privacy to such biometric face images, first, the digital face image is split into two host face images such that, each of it gives no idea of existence of the original face image and, then each cover image is stored in two different databases geographically apart. When both the cover images are simultaneously available then only we can access that original image. This can be achieved by using the XM2VTS and IMM face database, an adaptive algorithm for spatial greyscale. The algorithm helps to select the appropriate host images which are most likely to be compatible with the secret image stored in the central database based on its geometry and appearance. The encryption is done using GEVCS which results in a reconstructed image identical to the original private image.

Keywords: adaptive algorithm, database, host images, privacy, visual cryptography

Procedia PDF Downloads 88
29574 Enhanced Visual Sharing Method for Medical Image Security

Authors: Kalaivani Pachiappan, Sabari Annaji, Nithya Jayakumar

Abstract:

In recent years, Information security has emerged as foremost challenges in many fields. Especially in medical information systems security is a major issue, in handling reports such as patients’ diagnosis and medical images. These sensitive data require confidentiality for transmission purposes. Image sharing is a secure and fault-tolerant method for protecting digital images, which can use the cryptography techniques to reduce the information loss. In this paper, visual sharing method is proposed which embeds the patient’s details into a medical image. Then the medical image can be divided into numerous shared images and protected by various users. The original patient details and medical image can be retrieved by gathering the shared images.

Keywords: information security, medical images, cryptography, visual sharing

Procedia PDF Downloads 364
29573 The Impact of Sign Language on Generating and Maintaining a Mental Image

Authors: Yi-Shiuan Chiu

Abstract:

Deaf signers have been found to have better mental image performance than hearing nonsigners. The goal of this study was to investigate the ability to generate mental images, to maintain them, and to manipulate them in deaf signers of Taiwanese Sign Language (TSL). In the visual image task, participants first memorized digits formed in a cell of 4 × 5 grids. After presenting a cue of Chinese digit character shown on the top of a blank cell, participants had to form a corresponding digit. When showing a probe, which was a grid containing a red circle, participants had to decide as quickly as possible whether the probe would have been covered by the mental image of the digit. The ISI (interstimulus interval) between cue and probe was manipulated. In experiment 1, 24 deaf signers and 24 hearing nonsigners were asked to perform image generation tasks (ISI: 200, 400 ms) and image maintenance tasks (ISI: 800, 2000 ms). The results showed that deaf signers had had an enhanced ability to generate and maintain a mental image. To explore the process of mental image, in experiment 2, 30 deaf signers and 30 hearing nonsigners were asked to do visual searching when maintaining a mental image. Between a digit image cue and a red circle probe, participants were asked to search a visual search task to see if a target triangle apex was directed to the right or left. When there was only one triangle in the searching task, the results showed that both deaf signers and hearing non-signers had similar visual searching performance in which the searching targets in the mental image locations got facilitates. However, deaf signers could maintain better and faster mental image performance than nonsigners. In experiment 3, we increased the number of triangles to 4 to raise the difficulty of the visual search task. The results showed that deaf participants performed more accurately in visual search and image maintenance tasks. The results suggested that people may use eye movements as a mnemonic strategy to maintain the mental image. And deaf signers had enhanced abilities to resist the interference of eye movements in the situation of fewer distractors. In sum, these findings suggested that deaf signers had enhanced mental image processing.

Keywords: deaf signers, image maintain, mental image, visual search

Procedia PDF Downloads 118
29572 Visual Intelligence: Perception, Image and Manipulation in Visual Communication

Authors: Poojitha Vemula

Abstract:

Understanding how we use image manipulation to communicate through an audience’s perceptions and conceive visual intelligence. With the use of many software and high-end skills, designers have developed a third eye to combine two different visuals and create the desired image by using photoshop and other software skills. The purpose of visual intelligence is to convey a message to the targeted audience. For instance, the images of models are retouched on their skin to make it more convincing and draw attention from the audience. There are many ways of manipulating an image, such as double exposure, retouching photography inks or paint airbrushing and piecing photos together, or enhancing the brightness and contrast. To understand visual intelligence, a questionnaire survey as well as research was conducted on how image manipulation is used by both the audience and the designers. This depends on the message that needs to be conveyed by the brands. For instance, Fair & Lovely, a brightening cream for ladies use a lot of retouching and effects to show the dramatic change the cream takes effect on dark or dusky faces. Thus the designer’s role is to use their third eye to incorporate the message into visuals. The research and questionnaire survey concludes the perceptions and manipulations used in visual communication. However this is all to make an effortless communication between the designer and the audience by using the skills of the designer and the features provided by the software. The objective of visual intelligence is to covet the message of the brands that advertise their products or services by using visuals through softwares. Conveying a message through visual intelligence requires an audiences perceptions and understanding from the visuals created by the artists or designers. Visual intelligence determines how we use our technical skills to retouch and manipulate an image for a better understanding to convey the message to the targeted audience. This also bridges the communication between the brand and the audience.

Keywords: graphic design, visual communication, convey messages, photoshop, image manipulation

Procedia PDF Downloads 139
29571 A Novel Combination Method for Computing the Importance Map of Image

Authors: Ahmad Absetan, Mahdi Nooshyar

Abstract:

The importance map is an image-based measure and is a core part of the resizing algorithm. Importance measures include image gradients, saliency and entropy, as well as high level cues such as face detectors, motion detectors and more. In this work we proposed a new method to calculate the importance map, the importance map is generated automatically using a novel combination of image edge density and Harel saliency measurement. Experiments of different type images demonstrate that our method effectively detects prominent areas can be used in image resizing applications to aware important areas while preserving image quality.

Keywords: content-aware image resizing, visual saliency, edge density, image warping

Procedia PDF Downloads 541
29570 Applications of Visual Ethnography in Public Anthropology

Authors: Subramaniam Panneerselvam, Gunanithi Perumal, KP Subin

Abstract:

The Visual Ethnography is used to document the culture of a community through a visual means. It could be either photography or audio-visual documentation. The visual ethnographic techniques are widely used in visual anthropology. The visual anthropologists use the camera to capture the cultural image of the studied community. There is a scope for subjectivity while the culture is documented by an external person. But the upcoming of the public anthropology provides an opportunity for the participants to document their own culture. There is a need to equip the participants with the skill of doing visual ethnography. The mobile phone technology provides visual documentation facility to everyone to capture the moments instantly. The visual ethnography facilitates the multiple-interpretation for the audiences. This study explores the effectiveness of visual ethnography among the tribal youth through public anthropology perspective. The case study was conducted to equip the tribal youth of Nilgiris in visual ethnography and the outcome of the experiment shared in this paper.

Keywords: visual ethnography, visual anthropology, public anthropology, multiple-interpretation, case study

Procedia PDF Downloads 122
29569 Interactive Image Search for Mobile Devices

Authors: Komal V. Aher, Sanjay B. Waykar

Abstract:

Nowadays every individual having mobile device with them. In both computer vision and information retrieval Image search is currently hot topic with many applications. The proposed intelligent image search system is fully utilizing multimodal and multi-touch functionalities of smart phones which allows search with Image, Voice, and Text on mobile phones. The system will be more useful for users who already have pictures in their minds but have no proper descriptions or names to address them. The paper gives system with ability to form composite visual query to express user’s intention more clearly which helps to give more precise or appropriate results to user. The proposed algorithm will considerably get better in different aspects. System also uses Context based Image retrieval scheme to give significant outcomes. So system is able to achieve gain in terms of search performance, accuracy and user satisfaction.

Keywords: color space, histogram, mobile device, mobile visual search, multimodal search

Procedia PDF Downloads 332
29568 Monocular Visual Odometry for Three Different View Angles by Intel Realsense T265 with the Measurement of Remote

Authors: Heru Syah Putra, Aji Tri Pamungkas Nurcahyo, Chuang-Jan Chang

Abstract:

MOIL-SDK method refers to the spatial angle that forms a view with a different perspective from the Fisheye image. Visual Odometry forms a trusted application for extending projects by tracking using image sequences. A real-time, precise, and persistent approach that is able to contribute to the work when taking datasets and generate ground truth as a reference for the estimates of each image using the FAST Algorithm method in finding Keypoints that are evaluated during the tracking process with the 5-point Algorithm with RANSAC, as well as produce accurate estimates the camera trajectory for each rotational, translational movement on the X, Y, and Z axes.

Keywords: MOIL-SDK, intel realsense T265, Fisheye image, monocular visual odometry

Procedia PDF Downloads 95
29567 Automatic Multi-Label Image Annotation System Guided by Firefly Algorithm and Bayesian Method

Authors: Saad M. Darwish, Mohamed A. El-Iskandarani, Guitar M. Shawkat

Abstract:

Nowadays, the amount of available multimedia data is continuously on the rise. The need to find a required image for an ordinary user is a challenging task. Content based image retrieval (CBIR) computes relevance based on the visual similarity of low-level image features such as color, textures, etc. However, there is a gap between low-level visual features and semantic meanings required by applications. The typical method of bridging the semantic gap is through the automatic image annotation (AIA) that extracts semantic features using machine learning techniques. In this paper, a multi-label image annotation system guided by Firefly and Bayesian method is proposed. Firstly, images are segmented using the maximum variance intra cluster and Firefly algorithm, which is a swarm-based approach with high convergence speed, less computation rate and search for the optimal multiple threshold. Feature extraction techniques based on color features and region properties are applied to obtain the representative features. After that, the images are annotated using translation model based on the Net Bayes system, which is efficient for multi-label learning with high precision and less complexity. Experiments are performed using Corel Database. The results show that the proposed system is better than traditional ones for automatic image annotation and retrieval.

Keywords: feature extraction, feature selection, image annotation, classification

Procedia PDF Downloads 547
29566 Local Image Features Emerging from Brain Inspired Multi-Layer Neural Network

Authors: Hui Wei, Zheng Dong

Abstract:

Object recognition has long been a challenging task in computer vision. Yet the human brain, with the ability to rapidly and accurately recognize visual stimuli, manages this task effortlessly. In the past decades, advances in neuroscience have revealed some neural mechanisms underlying visual processing. In this paper, we present a novel model inspired by the visual pathway in primate brains. This multi-layer neural network model imitates the hierarchical convergent processing mechanism in the visual pathway. We show that local image features generated by this model exhibit robust discrimination and even better generalization ability compared with some existing image descriptors. We also demonstrate the application of this model in an object recognition task on image data sets. The result provides strong support for the potential of this model.

Keywords: biological model, feature extraction, multi-layer neural network, object recognition

Procedia PDF Downloads 505
29565 Toward a Methodology of Visual Rhetoric with Constant Reference to Mikhail Bakhtin’s Concept of “Chronotope”: A Theoretical Proposal and Taiwan Case Study

Authors: Hsiao-Yung Wang

Abstract:

This paper aims to elaborate methodology of visual rhetoric with constant reference to Mikhail Bakhtin’s concept of “chronotope”. First, it attempts to outline Ronald Barthes, the most representative scholar of visual rhetoric and structuralism, perspective on visual rhetoric and its time-space category by referring to the concurrent word-image, the symbolic systematicity, the outer dialogicity. Second, an alternative approach is explored for grasping the dynamics and functions of visual rhetoric by articulating Mikhail Bakhtin’s concept of “chronotope.” Furthermore, that visual rhetorical consciousness could be identified as “the meaning parabola which projects from word to image,” “the symbolic system which proceeds from sequence to disorder,” “the ideological environment which struggles from the local to the global.” Last but not least, primary vision of the 2014 Taipei LGBT parade would be analyzed preliminarily to evaluate the effectiveness and persuasiveness embodied by specific visual rhetorical strategies. How Bakhtin’s concept of “chronotope” to explain the potential or possible ideological struggle deployed by visual rhetoric might be interpreted empirically and extensively.

Keywords: barthes, chronotope, Mikhail Bakhtin, Taipei LGBT parade, visual rhetoric

Procedia PDF Downloads 435
29564 Visual Search Based Indoor Localization in Low Light via RGB-D Camera

Authors: Yali Zheng, Peipei Luo, Shinan Chen, Jiasheng Hao, Hong Cheng

Abstract:

Most of traditional visual indoor navigation algorithms and methods only consider the localization in ordinary daytime, while we focus on the indoor re-localization in low light in the paper. As RGB images are degraded in low light, less discriminative infrared and depth image pairs are taken, as the input, by RGB-D cameras, the most similar candidates, as the output, are searched from databases which is built in the bag-of-word framework. Epipolar constraints can be used to relocalize the query infrared and depth image sequence. We evaluate our method in two datasets captured by Kinect2. The results demonstrate very promising re-localization results for indoor navigation system in low light environments.

Keywords: indoor navigation, low light, RGB-D camera, vision based

Procedia PDF Downloads 410
29563 Artificial Generation of Visual Evoked Potential to Enhance Visual Ability

Authors: A. Vani, M. N. Mamatha

Abstract:

Visual signal processing in human beings occurs in the occipital lobe of the brain. The signals that are generated in the brain are universal for all the human beings and they are called Visual Evoked Potential (VEP). Generally, the visually impaired people lose sight because of severe damage to only the eyes natural photo sensors, but the occipital lobe will still be functioning. In this paper, a technique of artificially generating VEP is proposed to enhance the visual ability of the subject. The system uses the electrical photoreceptors to capture image, process the image, to detect and recognize the subject or object. This voltage is further processed and can transmit wirelessly to a BIOMEMS implanted into occipital lobe of the patient’s brain. The proposed BIOMEMS consists of array of electrodes that generate the neuron potential which is similar to VEP of normal people. Thus, the neurons get the visual data from the BioMEMS which helps in generating partial vision or sight for the visually challenged patient. 

Keywords: BioMEMS, neuro-prosthetic, openvibe, visual evoked potential

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