Search results for: Image Fusion
Commenced in January 2007
Frequency: Monthly
Edition: International
Paper Count: 1666

Search results for: Image Fusion

1606 Information Fusion for Identity Verification

Authors: Girija Chetty, Monica Singh

Abstract:

In this paper we propose a novel approach for ascertaining human identity based on fusion of profile face and gait biometric cues The identification approach based on feature learning in PCA-LDA subspace, and classification using multivariate Bayesian classifiers allows significant improvement in recognition accuracy for low resolution surveillance video scenarios. The experimental evaluation of the proposed identification scheme on a publicly available database [2] showed that the fusion of face and gait cues in joint PCA-LDA space turns out to be a powerful method for capturing the inherent multimodality in walking gait patterns, and at the same time discriminating the person identity..

Keywords: Biometrics, gait recognition, PCA, LDA, Eigenface, Fisherface, Multivariate Gaussian Classifier

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1605 Image Similarity: A Genetic Algorithm Based Approach

Authors: R. C. Joshi, Shashikala Tapaswi

Abstract:

The paper proposes an approach using genetic algorithm for computing the region based image similarity. The image is denoted using a set of segmented regions reflecting color and texture properties of an image. An image is associated with a family of image features corresponding to the regions. The resemblance of two images is then defined as the overall similarity between two families of image features, and quantified by a similarity measure, which integrates properties of all the regions in the images. A genetic algorithm is applied to decide the most plausible matching. The performance of the proposed method is illustrated using examples from an image database of general-purpose images, and is shown to produce good results.

Keywords: Image Features, color descriptor, segmented classes, texture descriptors, genetic algorithm.

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1604 Multimodal Biometric Authentication Using Choquet Integral and Genetic Algorithm

Authors: Anouar Ben Khalifa, Sami Gazzah, Najoua Essoukri BenAmara

Abstract:

The Choquet integral is a tool for the information fusion that is very effective in the case where fuzzy measures associated with it are well chosen. In this paper, we propose a new approach for calculating fuzzy measures associated with the Choquet integral in a context of data fusion in multimodal biometrics. The proposed approach is based on genetic algorithms. It has been validated in two databases: the first base is relative to synthetic scores and the second one is biometrically relating to the face, fingerprint and palmprint. The results achieved attest the robustness of the proposed approach.

Keywords: Multimodal biometrics, data fusion, Choquet integral, fuzzy measures, genetic algorithm.

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1603 Multilevel Activation Functions For True Color Image Segmentation Using a Self Supervised Parallel Self Organizing Neural Network (PSONN) Architecture: A Comparative Study

Authors: Siddhartha Bhattacharyya, Paramartha Dutta, Ujjwal Maulik, Prashanta Kumar Nandi

Abstract:

The paper describes a self supervised parallel self organizing neural network (PSONN) architecture for true color image segmentation. The proposed architecture is a parallel extension of the standard single self organizing neural network architecture (SONN) and comprises an input (source) layer of image information, three single self organizing neural network architectures for segmentation of the different primary color components in a color image scene and one final output (sink) layer for fusion of the segmented color component images. Responses to the different shades of color components are induced in each of the three single network architectures (meant for component level processing) by applying a multilevel version of the characteristic activation function, which maps the input color information into different shades of color components, thereby yielding a processed component color image segmented on the basis of the different shades of component colors. The number of target classes in the segmented image corresponds to the number of levels in the multilevel activation function. Since the multilevel version of the activation function exhibits several subnormal responses to the input color image scene information, the system errors of the three component network architectures are computed from some subnormal linear index of fuzziness of the component color image scenes at the individual level. Several multilevel activation functions are employed for segmentation of the input color image scene using the proposed network architecture. Results of the application of the multilevel activation functions to the PSONN architecture are reported on three real life true color images. The results are substantiated empirically with the correlation coefficients between the segmented images and the original images.

Keywords: Colour image segmentation, fuzzy set theory, multi-level activation functions, parallel self-organizing neural network.

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1602 The Optimum Operating Conditions for the Synthesis of Zeolite from Waste Incineration Fly Ash by Alkali Fusion and Hydrothermal Methods

Authors: Yi-Jie Lin, Jyh-Cherng Chen

Abstract:

The fly ash of waste incineration processes is usually hazardous and the disposal or reuse of waste incineration fly ash is difficult. In this study, the waste incineration fly ash was converted to useful zeolites by the alkali fusion and hydrothermal synthesis method. The influence of different operating conditions (the ratio of Si/Al, the ratio of hydrolysis liquid to solid, and hydrothermal time) was investigated to seek the optimum operating conditions for the synthesis of zeolite from waste incineration fly ash. The results showed that concentrations of heavy metals in the leachate of Toxicity Characteristic Leaching Procedure (TCLP) were all lower than the regulatory limits except lead. The optimum operating conditions for the synthesis of zeolite from waste incineration fly ash by the alkali fusion and hydrothermal synthesis method were Si/Al=40, NaOH/ash=1.5, alkali fusion at 400 oC for 40 min, hydrolysis with Liquid to Solid ratio (L/S)= 200 at 105 oC for 24 h, and hydrothermal synthesis at 105 oC for 24 h. The specific surface area of fly ash could be significantly increased from 8.59 m2/g to 651.51 m2/g (synthesized zeolite). The influence of different operating conditions on the synthesis of zeolite from waste incineration fly ash followed the sequence of Si/Al ratio > hydrothermal time > hydrolysis L/S ratio. The synthesized zeolites can be reused as good adsorbents to control the air or wastewater pollutants. The purpose of fly ash detoxification, reduction and waste recycling/reuse is achieved successfully.

Keywords: Alkali fusion, hydrothermal, fly ash, zeolite.

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1601 A Novel Dual-Purpose Image Watermarking Technique

Authors: Maha Sharkas, Dahlia R. ElShafie, Nadder Hamdy

Abstract:

Image watermarking has proven to be quite an efficient tool for the purpose of copyright protection and authentication over the last few years. In this paper, a novel image watermarking technique in the wavelet domain is suggested and tested. To achieve more security and robustness, the proposed techniques relies on using two nested watermarks that are embedded into the image to be watermarked. A primary watermark in form of a PN sequence is first embedded into an image (the secondary watermark) before being embedded into the host image. The technique is implemented using Daubechies mother wavelets where an arbitrary embedding factor α is introduced to improve the invisibility and robustness. The proposed technique has been applied on several gray scale images where a PSNR of about 60 dB was achieved.

Keywords: Image watermarking, Multimedia Security, Wavelets, Image Processing.

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1600 Objective Performance of Compressed Image Quality Assessments

Authors: Ratchakit Sakuldee, Somkait Udomhunsakul

Abstract:

Measurement of the quality of image compression is important for image processing application. In this paper, we propose an objective image quality assessment to measure the quality of gray scale compressed image, which is correlation well with subjective quality measurement (MOS) and least time taken. The new objective image quality measurement is developed from a few fundamental of objective measurements to evaluate the compressed image quality based on JPEG and JPEG2000. The reliability between each fundamental objective measurement and subjective measurement (MOS) is found. From the experimental results, we found that the Maximum Difference measurement (MD) and a new proposed measurement, Structural Content Laplacian Mean Square Error (SCLMSE), are the suitable measurements that can be used to evaluate the quality of JPEG200 and JPEG compressed image, respectively. In addition, MD and SCLMSE measurements are scaled to make them equivalent to MOS, given the rate of compressed image quality from 1 to 5 (unacceptable to excellent quality).

Keywords: JPEG, JPEG2000, objective image quality measurement, subjective image quality measurement, correlation coefficients.

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1599 MAP-Based Image Super-resolution Reconstruction

Authors: Xueting Liu, Daojin Song, Chuandai Dong, Hongkui Li

Abstract:

From a set of shifted, blurred, and decimated image , super-resolution image reconstruction can get a high-resolution image. So it has become an active research branch in the field of image restoration. In general, super-resolution image restoration is an ill-posed problem. Prior knowledge about the image can be combined to make the problem well-posed, which contributes to some regularization methods. In the regularization methods at present, however, regularization parameter was selected by experience in some cases and other techniques have too heavy computation cost for computing the parameter. In this paper, we construct a new super-resolution algorithm by transforming the solving of the System stem Є=An into the solving of the equations X+A*X-1A=I , and propose an inverse iterative method.

Keywords: High-resolution MAP image, Reconstruction, Image interpolation, Motion Estimation, Hermitian positive definite solutions.

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1598 Image Search by Features of Sorted Gray level Histogram Polynomial Curve

Authors: Awais Adnan, Muhammad Ali, Amir Hanif Dar

Abstract:

Image Searching was always a problem specially when these images are not properly managed or these are distributed over different locations. Currently different techniques are used for image search. On one end, more features of the image are captured and stored to get better results. Storing and management of such features is itself a time consuming job. While on the other extreme if fewer features are stored the accuracy rate is not satisfactory. Same image stored with different visual properties can further reduce the rate of accuracy. In this paper we present a new concept of using polynomials of sorted histogram of the image. This approach need less overhead and can cope with the difference in visual features of image.

Keywords: Sorted Histogram, Polynomial Curves, feature pointsof images, Grayscale, visual properties of image.

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1597 Image Retrieval: Techniques, Challenge, and Trend

Authors: Hui Hui Wang, Dzulkifli Mohamad, N.A Ismail

Abstract:

This paper attempts to discuss the evolution of the retrieval techniques focusing on development, challenges and trends of the image retrieval. It highlights both the already addressed and outstanding issues. The explosive growth of image data leads to the need of research and development of Image Retrieval. However, Image retrieval researches are moving from keyword, to low level features and to semantic features. Drive towards semantic features is due to the problem of the keywords which can be very subjective and time consuming while low level features cannot always describe high level concepts in the users- mind.

Keywords: content based image retrieval, keyword based imageretrieval, semantic gap, semantic image retrieval.

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1596 Feature Vector Fusion for Image Based Human Age Estimation

Authors: D. Karthikeyan, G. Balakrishnan

Abstract:

Human faces, as important visual signals, express a significant amount of nonverbal info for usage in human-to-human communication. Age, specifically, is more significant among these properties. Human age estimation using facial image analysis as an automated method which has numerous potential real‐world applications. In this paper, an automated age estimation framework is presented. Support Vector Regression (SVR) strategy is utilized to investigate age prediction. This paper depicts a feature extraction taking into account Gray Level Co-occurrence Matrix (GLCM), which can be utilized for robust face recognition framework. It applies GLCM operation to remove the face's features images and Active Appearance Models (AAMs) to assess the human age based on image. A fused feature technique and SVR with GA optimization are proposed to lessen the error in age estimation.

Keywords: Support vector regression, feature extraction, gray level co-occurrence matrix, active appearance models.

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1595 Analysis and Comparison of Image Encryption Algorithms

Authors: İsmet Öztürk, İbrahim Soğukpınar

Abstract:

With the fast progression of data exchange in electronic way, information security is becoming more important in data storage and transmission. Because of widely using images in industrial process, it is important to protect the confidential image data from unauthorized access. In this paper, we analyzed current image encryption algorithms and compression is added for two of them (Mirror-like image encryption and Visual Cryptography). Implementations of these two algorithms have been realized for experimental purposes. The results of analysis are given in this paper.

Keywords: image encryption, image cryptosystem, security, transmission

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1594 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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1593 Functional Store Image and Corporate Social Responsibility Image: A Congruity Analysis on Store Loyalty

Authors: Jamaliah Mohd. Yusof, Rosidah Musa, Sofiah Abd. Rahman

Abstract:

With previous studies that examined the importance of functional store image and CSR, this study is aimed at examining their effects in the self-congruity model in influencing store loyalty. In particular, this study developed and tested a structural model in the context of retailing industry on the self-congruity theory. Whilst much of the self-congruity studies have incorporated functional store image, there has been lack of studies that examined social responsibility image of retail stores in the self-congruity studies. Findings indicate that self-congruity influence on store loyalty was mediated by both functional store image and social responsibility image. In influencing store loyalty, the findings have shown that social responsibility image has a stronger influence on store loyalty than functional store image. This study offers important findings and implications for future research as it presents a new framework on the importance of social responsibility image.

Keywords: Self-congruity, functional store image, social responsibility image, store loyalty

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1592 Combined Hashing/Watermarking Method for Image Authentication

Authors: Vlado Kitanovski, Dimitar Taskovski, Sofija Bogdanova

Abstract:

In this paper we present a combined hashing/watermarking method for image authentication. A robust image hash, invariant to legitimate modifications, but fragile to illegitimate modifications is generated from the local image characteristics. To increase security of the system the watermark is generated using the image hash as a key. Quantized Index Modulation of DCT coefficients is used for watermark embedding. Watermark detection is performed without use of the original image. Experimental results demonstrate the effectiveness of the presented method in terms of robustness and fragility.

Keywords: authentication, blind watermarking, image hash, semi-fragile watermarking

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1591 Information Fusion as a Means of Forecasting Expenditures for Regenerating Complex Investment Goods

Authors: Steffen C. Eickemeyer, Tim Borcherding, Peter Nyhuis, Hannover

Abstract:

Planning capacities when regenerating complex investment goods involves particular challenges in that the planning is subject to a large degree of uncertainty regarding load information. Using information fusion – by applying Bayesian Networks – a method is being developed for forecasting the anticipated expenditures (human labor, tool and machinery utilization, time etc.) for regenerating a good. The generated forecasts then later serve as a tool for planning capacities and ensure a greater stability in the planning processes.

Keywords: Bayesian networks, capacity planning, complex investment goods, damages library, forecasting, information fusion, regeneration.

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1590 Data Oriented Model of Image: as a Framework for Image Processing

Authors: A. Habibizad Navin, A. Sadighi, M. Naghian Fesharaki, M. Mirnia, M. Teshnelab, R. Keshmiri

Abstract:

This paper presents a new data oriented model of image. Then a representation of it, ADBT, is introduced. The ability of ADBT is clustering, segmentation, measuring similarity of images etc, with desired precision and corresponding speed.

Keywords: Data oriented modelling, image, clustering, segmentation, classification, ADBT and image processing.

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1589 Local Image Descriptor using VQ-SIFT for Image Retrieval

Authors: Qiu Chen, Feifei Lee, Koji Kotani, Tadahiro Ohmi

Abstract:

In this paper, we present local image descriptor using VQ-SIFT for more effective and efficient image retrieval. Instead of SIFT's weighted orientation histograms, we apply vector quantization (VQ) histogram as an alternate representation for SIFT features. Experimental results show that SIFT features using VQ-based local descriptors can achieve better image retrieval accuracy than the conventional algorithm while the computational cost is significantly reduced.

Keywords: SIFT feature, Vector quantization histogram, Localdescriptor, Image retrieval.

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1588 Labeling Method in Steganography

Authors: H. Motameni, M. Norouzi, M. Jahandar, A. Hatami

Abstract:

In this paper a way of hiding text message (Steganography) in the gray image has been presented. In this method tried to find binary value of each character of text message and then in the next stage, tried to find dark places of gray image (black) by converting the original image to binary image for labeling each object of image by considering on 8 connectivity. Then these images have been converted to RGB image in order to find dark places. Because in this way each sequence of gray color turns into RGB color and dark level of grey image is found by this way if the Gary image is very light the histogram must be changed manually to find just dark places. In the final stage each 8 pixels of dark places has been considered as a byte and binary value of each character has been put in low bit of each byte that was created manually by dark places pixels for increasing security of the main way of steganography (LSB).

Keywords: Binary image, labeling, low bit, neighborhood, RGB image, steganography, threshold.

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1587 Image Segmentation and Contour Recognition Based on Mathematical Morphology

Authors: Pinaki Pratim Acharjya, Esha Dutta

Abstract:

In image segmentation contour detection is one of the important pre-processing steps in recent days. Contours characterize boundaries and contour detection is one of the most difficult tasks in image processing. Hence it is a problem of fundamental importance in image processing. Contour detection of an image decreases the volume of data considerably and useless information is removed, but the structural properties of the image remain same. In this research, a robust and effective contour detection technique has been proposed using mathematical morphology. Three different contour detection results are obtained by using morphological dilation and erosion. The comparative analyses of three different results also have been done.

Keywords: Image segmentation, contour detection, mathematical morphology.

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1586 Parallel Image Compression and Analysis with Wavelets

Authors: M. Kutila, J. Viitanen

Abstract:

This paper presents image compression with wavelet based method. The wavelet transformation divides image to low- and high pass filtered parts. The traditional JPEG compression technique requires lower computation power with feasible losses, when only compression is needed. However, there is obvious need for wavelet based methods in certain circumstances. The methods are intended to the applications in which the image analyzing is done parallel with compression. Furthermore, high frequency bands can be used to detect changes or edges. Wavelets enable hierarchical analysis for low pass filtered sub-images. The first analysis can be done for a small image, and only if any interesting is found, the whole image is processed or reconstructed.

Keywords: image compression, jpeg, wavelet, vlc

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1585 An Image Matching Method for Digital Images Using Morphological Approach

Authors: Pinaki Pratim Acharjya, Dibyendu Ghoshal

Abstract:

Image matching methods play a key role in deciding correspondence between two image scenes. This paper presents a method for the matching of digital images using mathematical morphology. The proposed method has been applied to real life images. The matching process has shown successful and promising results.

Keywords: Digital image, gradients, image matching, mathematical morphology.

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1584 Evaluating Content Based Image Retrieval Techniques with the One Million Images CLIC Test Bed

Authors: Pierre-Alain Moëllic, Patrick Hède, Gr egory Grefenstette, Christophe Millet

Abstract:

Pattern recognition and image recognition methods are commonly developed and tested using testbeds, which contain known responses to a query set. Until now, testbeds available for image analysis and content-based image retrieval (CBIR) have been scarce and small-scale. Here we present the one million images CEA-List Image Collection (CLIC) testbed that we have produced, and report on our use of this testbed to evaluate image analysis merging techniques. This testbed will soon be made publicly available through the EU MUSCLE Network of Excellence.

Keywords: CBIR, CLIC, evaluation, image indexing and retrieval, testbed.

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1583 Fusion of Finger Inner Knuckle Print and Hand Geometry Features to Enhance the Performance of Biometric Verification System

Authors: M. L. Anitha, K. A. Radhakrishna Rao

Abstract:

With the advent of modern computing technology, there is an increased demand for developing recognition systems that have the capability of verifying the identity of individuals. Recognition systems are required by several civilian and commercial applications for providing access to secured resources. Traditional recognition systems which are based on physical identities are not sufficiently reliable to satisfy the security requirements due to the use of several advances of forgery and identity impersonation methods. Recognizing individuals based on his/her unique physiological characteristics known as biometric traits is a reliable technique, since these traits are not transferable and they cannot be stolen or lost. Since the performance of biometric based recognition system depends on the particular trait that is utilized, the present work proposes a fusion approach which combines Inner knuckle print (IKP) trait of the middle, ring and index fingers with the geometrical features of hand. The hand image captured from a digital camera is preprocessed to find finger IKP as region of interest (ROI) and hand geometry features. Geometrical features are represented as the distances between different key points and IKP features are extracted by applying local binary pattern descriptor on the IKP ROI. The decision level AND fusion was adopted, which has shown improvement in performance of the combined scheme. The proposed approach is tested on the database collected at our institute. Proposed approach is of significance since both hand geometry and IKP features can be extracted from the palm region of the hand. The fusion of these features yields a false acceptance rate of 0.75%, false rejection rate of 0.86% for verification tests conducted, which is less when compared to the results obtained using individual traits. The results obtained confirm the usefulness of proposed approach and suitability of the selected features for developing biometric based recognition system based on features from palmar region of hand.

Keywords: Biometrics, hand geometry features, inner knuckle print, recognition.

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1582 Efficient CT Image Volume Rendering for Diagnosis

Authors: HaeNa Lee, Sun K. Yoo

Abstract:

Volume rendering is widely used in medical CT image visualization. Applying 3D image visualization to diagnosis application can require accurate volume rendering with high resolution. Interpolation is important in medical image processing applications such as image compression or volume resampling. However, it can distort the original image data because of edge blurring or blocking effects when image enhancement procedures were applied. In this paper, we proposed adaptive tension control method exploiting gradient information to achieve high resolution medical image enhancement in volume visualization, where restored images are similar to original images as much as possible. The experimental results show that the proposed method can improve image quality associated with the adaptive tension control efficacy.

Keywords: Tension control, Interpolation, Ray-casting, Medical imaging analysis.

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1581 Dispersed Error Control based on Error Filter Design for Improving Halftone Image Quality

Authors: Sang-Chul Kim, Sung-Il Chien

Abstract:

The error diffusion method generates worm artifacts, and weakens the edge of the halftone image when the continuous gray scale image is reproduced by a binary image. First, to enhance the edges, we propose the edge-enhancing filter by considering the quantization error information and gradient of the neighboring pixels. Furthermore, to remove worm artifacts often appearing in a halftone image, we add adaptively random noise into the weights of an error filter.

Keywords: Artifact suppression, Edge enhancement, Error diffusion method, Halftone image

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1580 A Novel Approach to Image Compression of Colour Images by Plane Reduction Technique

Authors: K.Sowmyan, A.Siddarth, D.Menaka

Abstract:

Several methods have been proposed for color image compression but the reconstructed image had very low signal to noise ratio which made it inefficient. This paper describes a lossy compression technique for color images which overcomes the drawbacks. The technique works on spatial domain where the pixel values of RGB planes of the input color image is mapped onto two dimensional planes. The proposed technique produced better results than JPEG2000, 2DPCA and a comparative study is reported based on the image quality measures such as PSNR and MSE.Experiments on real time images are shown that compare this methodology with previous ones and demonstrate its advantages.

Keywords: Color Image compression, spatial domain, planereduction, root mean square, image restoration

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1579 A Trends Analysis of Image Processing in Unmanned Aerial Vehicle

Authors: Jae-Neung Lee, Keun-Chang Kwak

Abstract:

This paper describes an analysis of domestic and international trends of image processing for data in UAV (unmanned aerial vehicle) and also explains about UAV and Quadcopter. Overseas examples of image processing using UAV include image processing for totaling the total numberof vehicles, edge/target detection, detection and evasion algorithm, image processing using SIFT(scale invariant features transform) matching, and application of median filter and thresholding. In Korea, many studies are underway including visualization of new urban buildings.

Keywords: Image Processing, UAV, Quadcopter, Target detection.

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1578 Robust Semi-Blind Digital Image Watermarking Technique in DT-CWT Domain

Authors: Samira Mabtoul, Elhassan Ibn Elhaj, Driss Aboutajdine

Abstract:

In this paper a new robust digital image watermarking algorithm based on the Complex Wavelet Transform is proposed. This technique embeds different parts of a watermark into different blocks of an image under the complex wavelet domain. To increase security of the method, two chaotic maps are employed, one map is used to determine the blocks of the host image for watermark embedding, and another map is used to encrypt the watermark image. Simulation results are presented to demonstrate the effectiveness of the proposed algorithm.

Keywords: Image watermarking, Chaotic map, DT-CWT.

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1577 Design of Tracking Controllers for Medical Equipment Holders Using AHRS and MEMS Sensors

Authors: Seung You Na, Joo Hyun Jung, Jin Young Kim, Mohammad AhangarKiasari

Abstract:

There are various kinds of medical equipment which requires relatively accurate positional adjustments for successful treatment. However, patients tend to move without notice during a certain span of operations. Therefore, it is common practice that accompanying operators adjust the focus of the equipment. In this paper, tracking controllers for medical equipment are suggested to replace the operators. The tracking controllers use AHRS sensor information to recognize the movements of patients. Sensor fusion is applied to reducing the error magnitudes through linear Kalman filters. The image processing of optical markers is included to adjust the accumulation errors of gyroscope sensor data especially for yaw angles. The tracking controller reduces the positional errors between the current focus of a device and the target position on the body of a patient. Since the sensing frequencies of AHRS sensors are very high compared to the physical movements, the control performance is satisfactory. The typical applications are, for example, ESWT or rTMS, which have the error ranges of a few centimeters.

Keywords: AHRS, Sensor fusion, Tracking control, Position and posture.

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