Search results for: texture segmentation.
Commenced in January 2007
Frequency: Monthly
Edition: International
Paper Count: 524

Search results for: texture segmentation.

524 Unsupervised Segmentation using Fuzzy Logicbased Texture Spectrum for MRI Brain Images

Authors: G.Wiselin Jiji, L.Ganesan

Abstract:

Textures are replications, symmetries and combinations of various basic patterns, usually with some random variation one of the gray-level statistics. This article proposes a new approach to Segment texture images. The proposed approach proceeds in 2 stages. First, in this method, local texture information of a pixel is obtained by fuzzy texture unit and global texture information of an image is obtained by fuzzy texture spectrum. The purpose of this paper is to demonstrate the usefulness of fuzzy texture spectrum for texture Segmentation. The 2nd Stage of the method is devoted to a decision process, applying a global analysis followed by a fine segmentation, which is only focused on ambiguous points. The above Proposed approach was applied to brain image to identify the components of brain in turn, used to locate the brain tumor and its Growth rate.

Keywords: Fuzzy Texture Unit, Fuzzy Texture Spectrum, andPattern Recognition, segmentation.

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523 A Neural Approach for Color-Textured Images Segmentation

Authors: Khalid Salhi, El Miloud Jaara, Mohammed Talibi Alaoui

Abstract:

In this paper, we present a neural approach for unsupervised natural color-texture image segmentation, which is based on both Kohonen maps and mathematical morphology, using a combination of the texture and the image color information of the image, namely, the fractal features based on fractal dimension are selected to present the information texture, and the color features presented in RGB color space. These features are then used to train the network Kohonen, which will be represented by the underlying probability density function, the segmentation of this map is made by morphological watershed transformation. The performance of our color-texture segmentation approach is compared first, to color-based methods or texture-based methods only, and then to k-means method.

Keywords: Segmentation, color-texture, neural networks, fractal, watershed.

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522 Automatic Moment-Based Texture Segmentation

Authors: Tudor Barbu

Abstract:

An automatic moment-based texture segmentation approach is proposed in this paper. First, we describe the related work in this computer vision domain. Our texture feature extraction, the first part of the texture recognition process, produces a set of moment-based feature vectors. For each image pixel, a texture feature vector is computed as a sequence of area moments. Then, an automatic pixel classification approach is proposed. The feature vectors are clustered using an unsupervised classification algorithm, the optimal number of clusters being determined using a measure based on validation indexes. From the resulted pixel classes one determines easily the desired texture regions of the image.

Keywords: Image segmentation, moment-based texture analysis, automatic classification, validity indexes.

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521 Unsupervised Texture Segmentation via Applying Geodesic Active Regions to Gaborian Feature Space

Authors: Yuan He, Yupin Luo, Dongcheng Hu

Abstract:

In this paper, we propose a novel variational method for unsupervised texture segmentation. We use a Gabor filter bank to extract texture features. Some of the filtered channels form a multidimensional Gaborian feature space. To avoid deforming contours directly in a vector-valued space we use a Gaussian mixture model to describe the statistical distribution of this space and get the boundary and region probabilities. Then a framework of geodesic active regions is applied based on them. In the end, experimental results are presented, and show that this method can obtain satisfied boundaries between different texture regions.

Keywords: Texture segmentation, Gabor filter, snakes, Geodesicactive regions

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520 Segmentation of Breast Lesions in Ultrasound Images Using Spatial Fuzzy Clustering and Structure Tensors

Authors: Yan Xu, Toshihiro Nishimura

Abstract:

Segmentation in ultrasound images is challenging due to the interference from speckle noise and fuzziness of boundaries. In this paper, a segmentation scheme using fuzzy c-means (FCM) clustering incorporating both intensity and texture information of images is proposed to extract breast lesions in ultrasound images. Firstly, the nonlinear structure tensor, which can facilitate to refine the edges detected by intensity, is used to extract speckle texture. And then, a spatial FCM clustering is applied on the image feature space for segmentation. In the experiments with simulated and clinical ultrasound images, the spatial FCM clustering with both intensity and texture information gets more accurate results than the conventional FCM or spatial FCM without texture information.

Keywords: fuzzy c-means, spatial information, structure tensor, ultrasound image segmentation

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519 Image Segmentation Using the K-means Algorithm for Texture Features

Authors: Wan-Ting Lin, Chuen-Horng Lin, Tsung-Ho Wu, Yung-Kuan Chan

Abstract:

This study aims to segment objects using the K-means algorithm for texture features. Firstly, the algorithm transforms color images into gray images. This paper describes a novel technique for the extraction of texture features in an image. Then, in a group of similar features, objects and backgrounds are differentiated by using the K-means algorithm. Finally, this paper proposes a new object segmentation algorithm using the morphological technique. The experiments described include the segmentation of single and multiple objects featured in this paper. The region of an object can be accurately segmented out. The results can help to perform image retrieval and analyze features of an object, as are shown in this paper.

Keywords: k-mean, multiple objects, segmentation, texturefeatures.

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518 Color Image Segmentation Using SVM Pixel Classification Image

Authors: K. Sakthivel, R. Nallusamy, C. Kavitha

Abstract:

The goal of image segmentation is to cluster pixels into salient image regions. Segmentation could be used for object recognition, occlusion boundary estimation within motion or stereo systems, image compression, image editing, or image database lookup. In this paper, we present a color image segmentation using support vector machine (SVM) pixel classification. Firstly, the pixel level color and texture features of the image are extracted and they are used as input to the SVM classifier. These features are extracted using the homogeneity model and Gabor Filter. With the extracted pixel level features, the SVM Classifier is trained by using FCM (Fuzzy C-Means).The image segmentation takes the advantage of both the pixel level information of the image and also the ability of the SVM Classifier. The Experiments show that the proposed method has a very good segmentation result and a better efficiency, increases the quality of the image segmentation compared with the other segmentation methods proposed in the literature.

Keywords: Image Segmentation, Support Vector Machine, Fuzzy C–Means, Pixel Feature, Texture Feature, Homogeneity model, Gabor Filter.

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517 One Dimensional Object Segmentation and Statistical Features of an Image for Texture Image Recognition System

Authors: Nang Thwe Thwe Oo

Abstract:

Traditional object segmentation methods are time consuming and computationally difficult. In this paper, onedimensional object detection along the secant lines is applied. Statistical features of texture images are computed for the recognition process. Example matrices of these features and formulae for calculation of similarities between two feature patterns are expressed. And experiments are also carried out using these features.

Keywords: 1-D object segmentation, secant lines, objectoccurrence(frequency) matrix, contiguity matrix, statistical features.

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516 Variance Based Component Analysis for Texture Segmentation

Authors: Zeinab Ghasemi, S. Amirhassan Monadjemi, Abbas Vafaei

Abstract:

This paper presents a comparative analysis of a new unsupervised PCA-based technique for steel plates texture segmentation towards defect detection. The proposed scheme called Variance Based Component Analysis or VBCA employs PCA for feature extraction, applies a feature reduction algorithm based on variance of eigenpictures and classifies the pixels as defective and normal. While the classic PCA uses a clusterer like Kmeans for pixel clustering, VBCA employs thresholding and some post processing operations to label pixels as defective and normal. The experimental results show that proposed algorithm called VBCA is 12.46% more accurate and 78.85% faster than the classic PCA.

Keywords: Principal Component Analysis; Variance Based Component Analysis; Defect Detection; Texture Segmentation.

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515 Unsupervised Texture Classification and Segmentation

Authors: V.P.Subramanyam Rallabandi, S.K.Sett

Abstract:

An unsupervised classification algorithm is derived by modeling observed data as a mixture of several mutually exclusive classes that are each described by linear combinations of independent non-Gaussian densities. The algorithm estimates the data density in each class by using parametric nonlinear functions that fit to the non-Gaussian structure of the data. This improves classification accuracy compared with standard Gaussian mixture models. When applied to textures, the algorithm can learn basis functions for images that capture the statistically significant structure intrinsic in the images. We apply this technique to the problem of unsupervised texture classification and segmentation.

Keywords: Gaussian Mixture Model, Independent Component Analysis, Segmentation, Unsupervised Classification.

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514 Genetic-Based Multi Resolution Noisy Color Image Segmentation

Authors: Raghad Jawad Ahmed

Abstract:

Segmentation of a color image composed of different kinds of regions can be a hard problem, namely to compute for an exact texture fields. The decision of the optimum number of segmentation areas in an image when it contains similar and/or un stationary texture fields. A novel neighborhood-based segmentation approach is proposed. A genetic algorithm is used in the proposed segment-pass optimization process. In this pass, an energy function, which is defined based on Markov Random Fields, is minimized. In this paper we use an adaptive threshold estimation method for image thresholding in the wavelet domain based on the generalized Gaussian distribution (GGD) modeling of sub band coefficients. This method called Normal Shrink is computationally more efficient and adaptive because the parameters required for estimating the threshold depend on sub band data energy that used in the pre-stage of segmentation. A quad tree is employed to implement the multi resolution framework, which enables the use of different strategies at different resolution levels, and hence, the computation can be accelerated. The experimental results using the proposed segmentation approach are very encouraging.

Keywords: Color image segmentation, Genetic algorithm, Markov random field, Scale space filter.

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513 Fuzzy Based Visual Texture Feature for Psoriasis Image Analysis

Authors: G. Murugeswari, A. Suruliandi

Abstract:

This paper proposes a rotational invariant texture feature based on the roughness property of the image for psoriasis image analysis. In this work, we have applied this feature for image classification and segmentation. The fuzzy concept is employed to overcome the imprecision of roughness. Since the psoriasis lesion is modeled by a rough surface, the feature is extended for calculating the Psoriasis Area Severity Index value. For classification and segmentation, the Nearest Neighbor algorithm is applied. We have obtained promising results for identifying affected lesions by using the roughness index and severity level estimation.

Keywords: Fuzzy texture feature, psoriasis, roughness feature, skin disease.

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512 A Nonoblivious Image Watermarking System Based on Singular Value Decomposition and Texture Segmentation

Authors: Soroosh Rezazadeh, Mehran Yazdi

Abstract:

In this paper, a robust digital image watermarking scheme for copyright protection applications using the singular value decomposition (SVD) is proposed. In this scheme, an entropy masking model has been applied on the host image for the texture segmentation. Moreover, the local luminance and textures of the host image are considered for watermark embedding procedure to increase the robustness of the watermarking scheme. In contrast to all existing SVD-based watermarking systems that have been designed to embed visual watermarks, our system uses a pseudo-random sequence as a watermark. We have tested the performance of our method using a wide variety of image processing attacks on different test images. A comparison is made between the results of our proposed algorithm with those of a wavelet-based method to demonstrate the superior performance of our algorithm.

Keywords: Watermarking, copyright protection, singular value decomposition, entropy masking, texture segmentation.

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511 A Comparative Study of Image Segmentation Algorithms

Authors: Mehdi Hosseinzadeh, Parisa Khoshvaght

Abstract:

In some applications, such as image recognition or compression, segmentation refers to the process of partitioning a digital image into multiple segments. Image segmentation is typically used to locate objects and boundaries (lines, curves, etc.) in images. Image segmentation is to classify or cluster an image into several parts (regions) according to the feature of image, for example, the pixel value or the frequency response. More precisely, image segmentation is the process of assigning a label to every pixel in an image such that pixels with the same label share certain visual characteristics. The result of image segmentation is a set of segments that collectively cover the entire image, or a set of contours extracted from the image. Several image segmentation algorithms were proposed to segment an image before recognition or compression. Up to now, many image segmentation algorithms exist and be extensively applied in science and daily life. According to their segmentation method, we can approximately categorize them into region-based segmentation, data clustering, and edge-base segmentation. In this paper, we give a study of several popular image segmentation algorithms that are available.

Keywords: Image Segmentation, hierarchical segmentation, partitional segmentation, density estimation.

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510 A Review on Image Segmentation Techniques and Performance Measures

Authors: David Libouga Li Gwet, Marius Otesteanu, Ideal Oscar Libouga, Laurent Bitjoka, Gheorghe D. Popa

Abstract:

Image segmentation is a method to extract regions of interest from an image. It remains a fundamental problem in computer vision. The increasing diversity and the complexity of segmentation algorithms have led us firstly, to make a review and classify segmentation techniques, secondly to identify the most used measures of segmentation performance and thirdly, discuss deeply on segmentation philosophy in order to help the choice of adequate segmentation techniques for some applications. To justify the relevance of our analysis, recent algorithms of segmentation are presented through the proposed classification.

Keywords: Classification, image segmentation, measures of performance.

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509 An Improved C-Means Model for MRI Segmentation

Authors: Ying Shen, Weihua Zhu

Abstract:

Medical images are important to help identifying different diseases, for example, Magnetic resonance imaging (MRI) can be used to investigate the brain, spinal cord, bones, joints, breasts, blood vessels, and heart. Image segmentation, in medical image analysis, is usually the first step to find out some characteristics with similar color, intensity or texture so that the diagnosis could be further carried out based on these features. This paper introduces an improved C-means model to segment the MRI images. The model is based on information entropy to evaluate the segmentation results by achieving global optimization. Several contributions are significant. Firstly, Genetic Algorithm (GA) is used for achieving global optimization in this model where fuzzy C-means clustering algorithm (FCMA) is not capable of doing that. Secondly, the information entropy after segmentation is used for measuring the effectiveness of MRI image processing. Experimental results show the outperformance of the proposed model by comparing with traditional approaches.

Keywords: Magnetic Resonance Image, C-means model, image segmentation, information entropy.

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508 Lung Segmentation Algorithm for CAD System in CTA Images

Authors: H. Özkan, O. Osman, S. Şahin, M. M. Atasoy, H. Barutca, A. F. Boz, A. Olsun

Abstract:

In this study, we present a new and fast algorithm for lung segmentation using CTA images. This process is quite important especially at lung vessel segmentation, detection of pulmonary emboly, finding nodules or segmentation of airways. Applied method has been carried out at four steps. At first step, images have been applied optimal threshold. At the second one, the subsegment vessels, which have a place in lung region and which are in small dimension, have been removed. At the third one, identifying and segmentation of lungs and airway edges have been carried out. Lastly, by throwing away the airway, lung segmentation has been presented.

Keywords: Lung segmentation, computed tomography angiography, computer-aided diagnostic system

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507 A Comparative Study of Image Segmentation using Edge-Based Approach

Authors: Rajiv Kumar, Arthanariee A. M.

Abstract:

Image segmentation is the process to segment a given image into several parts so that each of these parts present in the image can be further analyzed. There are numerous techniques of image segmentation available in literature. In this paper, authors have been analyzed the edge-based approach for image segmentation. They have been implemented the different edge operators like Prewitt, Sobel, LoG, and Canny on the basis of their threshold parameter. The results of these operators have been shown for various images.

Keywords: Edge Operator, Edge-based Segmentation, Image Segmentation, Matlab 10.4.

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506 Improved Skin Detection Using Colour Space and Texture

Authors: Medjram Sofiane, Babahenini Mohamed Chaouki, Mohamed Benali Yamina

Abstract:

Skin detection is an important task for computer vision systems. A good method of skin detection means a good and successful result of the system. The colour is a good descriptor for image segmentation and classification; it allows detecting skin colour in the images. The lighting changes and the objects that have a colour similar than skin colour make the operation of skin detection difficult. In this paper, we proposed a method using the YCbCr colour space for skin detection and lighting effects elimination, then we use the information of texture to eliminate the false regions detected by the YCbCr skin model.

Keywords: Skin detection, YCbCr, GLCM, Texture, Human skin.

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505 A GPU Based Texture Mapping Technique for 3D Models Using Multi-View Images

Authors: In Lee, Kyung-Kyu Kang, Jaewoon Lee, Dongho Kim

Abstract:

Previous the 3D model texture generation from multi-view images and mapping algorithms has issues in the texture chart generation which are the self-intersection and the concentration of the texture in texture space. Also we may suffer from some problems due to the occluded areas, such as inside parts of thighs. In this paper we propose a texture mapping technique for 3D models using multi-view images on the GPU. We do texture mapping directly on the GPU fragment shader per pixel without generation of the texture map. And we solve for the occluded area using the 3D model depth information. Our method needs more calculation on the GPU than previous works, but it has shown real-time performance and previously mentioned problems do not occur.

Keywords: Texture Mapping, Multi-view Images, Camera Calibration, GPU Shader.

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504 Fast Document Segmentation Using Contourand X-Y Cut Technique

Authors: Boontee Kruatrachue, Narongchai Moongfangklang, Kritawan Siriboon

Abstract:

This paper describes fast and efficient method for page segmentation of document containing nonrectangular block. The segmentation is based on edge following algorithm using small window of 16 by 32 pixels. This segmentation is very fast since only border pixels of paragraph are used without scanning the whole page. Still, the segmentation may contain error if the space between them is smaller than the window used in edge following. Consequently, this paper reduce this error by first identify the missed segmentation point using direction information in edge following then, using X-Y cut at the missed segmentation point to separate the connected columns. The advantage of the proposed method is the fast identification of missed segmentation point. This methodology is faster with fewer overheads than other algorithms that need to access much more pixel of a document.

Keywords: Contour Direction Technique, Missed SegmentationPoints, Page Segmentation, Recursive X-Y Cut Technique

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503 Featured based Segmentation of Color Textured Images using GLCM and Markov Random Field Model

Authors: Dipti Patra, Mridula J

Abstract:

In this paper, we propose a new image segmentation approach for colour textured images. The proposed method for image segmentation consists of two stages. In the first stage, textural features using gray level co-occurrence matrix(GLCM) are computed for regions of interest (ROI) considered for each class. ROI acts as ground truth for the classes. Ohta model (I1, I2, I3) is the colour model used for segmentation. Statistical mean feature at certain inter pixel distance (IPD) of I2 component was considered to be the optimized textural feature for further segmentation. In the second stage, the feature matrix obtained is assumed to be the degraded version of the image labels and modeled as Markov Random Field (MRF) model to model the unknown image labels. The labels are estimated through maximum a posteriori (MAP) estimation criterion using ICM algorithm. The performance of the proposed approach is compared with that of the existing schemes, JSEG and another scheme which uses GLCM and MRF in RGB colour space. The proposed method is found to be outperforming the existing ones in terms of segmentation accuracy with acceptable rate of convergence. The results are validated with synthetic and real textured images.

Keywords: Texture Image Segmentation, Gray Level Cooccurrence Matrix, Markov Random Field Model, Ohta colour space, ICM algorithm.

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502 Statistical Texture Analysis

Authors: G. N. Srinivasan, G. Shobha

Abstract:

This paper presents an overview of the methodologies and algorithms for statistical texture analysis of 2D images. Methods for digital-image texture analysis are reviewed based on available literature and research work either carried out or supervised by the authors.

Keywords: Image Texture, Texture Analysis, Statistical Approaches, Structural approaches, spectral approaches, Morphological approaches, Fractals, Fourier Transforms, Gabor Filters, Wavelet transforms.

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501 Texture and Twinning in Selective Laser Melting Ti-6Al-4V Alloys

Authors: N. Kazantseva, P. Krakhmalev, I. Yadroitsev, A. Fefelov, N. Vinogradova, I. Ezhov, T. Kurennykh

Abstract:

Martensitic texture-phase transition in Selective Laser Melting (SLM) Ti-6Al-4V (ELI) alloys was found. Electron Backscatter Diffraction (EBSD) analysis showed the initial cubic beta < 100 > (001) BCC texture. Such kind of texture is observed in BCC metals with flat rolling texture when axis is in the direction of rolling and the texture plane coincides with the plane of rolling. It was found that the texture of the parent BCC beta-phase determined the texture of low-temperature HCP alpha-phase limited the choice of its orientation variants. The {10-12} < -1011 > twinning system in titanium alloys after SLM was determined. Analysis of the oxygen contamination in SLM alloys was done. Comparison of the obtained results with the conventional titanium alloys is also provided.

Keywords: Additive technology, texture, Ti-6Al-4V, twins, oxygen content.

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500 Analysis of Image Segmentation Techniques for Diagnosis of Dental Caries in X-ray Images

Authors: V. Geetha, K. S. Aprameya

Abstract:

Early diagnosis of dental caries is essential for maintaining dental health. In this paper, method for diagnosis of dental caries is proposed using Laplacian filter, adaptive thresholding, texture analysis and Support Vector Machine (SVM) classifier. Analysis of the proposed method is compared with Otsu thresholding, watershed segmentation and active contouring method. Adaptive thresholding has comparatively better performance with 96.9% accuracy and 96.1% precision. The results are validated using statistical method, two-way ANOVA, at significant level of 5%, that shows the interaction of proposed method on performance parameter measures are significant. Hence the proposed technique could be used for detection of dental caries in automated computer assisted diagnosis system.

Keywords: Computer assisted diagnosis, dental caries, dental radiography, image segmentation.

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499 A Robust Salient Region Extraction Based on Color and Texture Features

Authors: Mingxin Zhang, Zhaogan Lu, Junyi Shen

Abstract:

In current common research reports, salient regions are usually defined as those regions that could present the main meaningful or semantic contents. However, there are no uniform saliency metrics that could describe the saliency of implicit image regions. Most common metrics take those regions as salient regions, which have many abrupt changes or some unpredictable characteristics. But, this metric will fail to detect those salient useful regions with flat textures. In fact, according to human semantic perceptions, color and texture distinctions are the main characteristics that could distinct different regions. Thus, we present a novel saliency metric coupled with color and texture features, and its corresponding salient region extraction methods. In order to evaluate the corresponding saliency values of implicit regions in one image, three main colors and multi-resolution Gabor features are respectively used for color and texture features. For each region, its saliency value is actually to evaluate the total sum of its Euclidean distances for other regions in the color and texture spaces. A special synthesized image and several practical images with main salient regions are used to evaluate the performance of the proposed saliency metric and other several common metrics, i.e., scale saliency, wavelet transform modulus maxima point density, and important index based metrics. Experiment results verified that the proposed saliency metric could achieve more robust performance than those common saliency metrics.

Keywords: salient regions, color and texture features, image segmentation, saliency metric

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498 A Multiresolution Approach for Noised Texture Classification based on the Co-occurrence Matrix and First Order Statistics

Authors: M. Ben Othmen, M. Sayadi, F. Fnaiech

Abstract:

Wavelet transform provides several important characteristics which can be used in a texture analysis and classification. In this work, an efficient texture classification method, which combines concepts from wavelet and co-occurrence matrices, is presented. An Euclidian distance classifier is used to evaluate the various methods of classification. A comparative study is essential to determine the ideal method. Using this conjecture, we developed a novel feature set for texture classification and demonstrate its effectiveness

Keywords: Classification, Wavelet, Co-occurrence, Euclidian Distance, Classifier, Texture.

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497 Evaluation of Robust Feature Descriptors for Texture Classification

Authors: Jia-Hong Lee, Mei-Yi Wu, Hsien-Tsung Kuo

Abstract:

Texture is an important characteristic in real and synthetic scenes. Texture analysis plays a critical role in inspecting surfaces and provides important techniques in a variety of applications. Although several descriptors have been presented to extract texture features, the development of object recognition is still a difficult task due to the complex aspects of texture. Recently, many robust and scaling-invariant image features such as SIFT, SURF and ORB have been successfully used in image retrieval and object recognition. In this paper, we have tried to compare the performance for texture classification using these feature descriptors with k-means clustering. Different classifiers including K-NN, Naive Bayes, Back Propagation Neural Network , Decision Tree and Kstar were applied in three texture image sets - UIUCTex, KTH-TIPS and Brodatz, respectively. Experimental results reveal SIFTS as the best average accuracy rate holder in UIUCTex, KTH-TIPS and SURF is advantaged in Brodatz texture set. BP neuro network works best in the test set classification among all used classifiers.

Keywords: Texture classification, texture descriptor, SIFT, SURF, ORB.

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496 Enhancing capabilities of Texture Extraction for Color Image Retrieval

Authors: Pranam Janney, Sridhar G, Sridhar V.

Abstract:

Content-Based Image Retrieval has been a major area of research in recent years. Efficient image retrieval with high precision would require an approach which combines usage of both the color and texture features of the image. In this paper we propose a method for enhancing the capabilities of texture based feature extraction and further demonstrate the use of these enhanced texture features in Texture-Based Color Image Retrieval.

Keywords: Image retrieval, texture feature extraction, color extraction

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495 An Efficient Obstacle Detection Algorithm Using Colour and Texture

Authors: Chau Nguyen Viet, Ian Marshall

Abstract:

This paper presents a new classification algorithm using colour and texture for obstacle detection. Colour information is computationally cheap to learn and process. However in many cases, colour alone does not provide enough information for classification. Texture information can improve classification performance but usually comes at an expensive cost. Our algorithm uses both colour and texture features but texture is only needed when colour is unreliable. During the training stage, texture features are learned specifically to improve the performance of a colour classifier. The algorithm learns a set of simple texture features and only the most effective features are used in the classification stage. Therefore our algorithm has a very good classification rate while is still fast enough to run on a limited computer platform. The proposed algorithm was tested with a challenging outdoor image set. Test result shows the algorithm achieves a much better trade-off between classification performance and efficiency than a typical colour classifier.

Keywords: Colour, texture, classification, obstacle detection.

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