Search results for: Image registration techniques

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.

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 3556

Authors: T. Kumaresan, S. Sanjushree, C. Palanisamy

Abstract:

Image spam is a kind of email spam where the spam text is embedded with an image. It is a new spamming technique being used by spammers to send their messages to bulk of internet users. Spam email has become a big problem in the lives of internet users, causing time consumption and economic losses. The main objective of this paper is to detect the image spam by using histogram properties of an image. Though there are many techniques to automatically detect and avoid this problem, spammers employing new tricks to bypass those techniques, as a result those techniques are inefficient to detect the spam mails. In this paper we have proposed a new method to detect the image spam. Here the image features are extracted by using RGB histogram, HSV histogram and combination of both RGB and HSV histogram. Based on the optimized image feature set classification is done by using k- Nearest Neighbor(k-NN) algorithm. Experimental result shows that our method has achieved better accuracy. From the result it is known that combination of RGB and HSV histogram with k-NN algorithm gives the best accuracy in spam detection.

Keywords: File Type, HSV Histogram, k-NN, RGB Histogram, Spam Detection.

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 2091

Authors: Thanapol Wisuttikul, Choochart Haruechaiyasak, Santipong Thaiprayoon

Abstract:

Thailand has evolved many unique culture and knowledge, and the leading is the Thai traditional medicine (TTM). Recently, a number of researchers have tried to save this indigenous knowledge. However, the system to do so has still been scant. To preserve this ancient knowledge, we therefore invented and integrated multi-linguistic techniques to create the system of the collected all of recipes. This application extracted the medical recipes from antique scriptures then normalized antiquarian words, primitive grammar and antiquated measurement of them to the modern ones. Then, we applied ingredient-duplication-calculation, proportion-similarity-calculation and score-ranking to examine duplicate recipes. We collected the questionnaires from registrants and people to investigate the users’ satisfaction. The satisfactory results were found. This application assists not only registrants to validating the copyright violation in TTM registration process but also people to cure their illness that aids both Thai people and all mankind to fight for intractable diseases.

Keywords: Medicine Registration, Search Engine, Text Approximation, Traditional Medicine.

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1953

Authors: Faruq A. Al-Omari, Nabeel I. Al-Fayoumi

Abstract:

In this paper, we present a new algorithm for clustering data in large datasets using image processing approaches. First the dataset is mapped into a binary image plane. The synthesized image is then processed utilizing efficient image processing techniques to cluster the data in the dataset. Henceforth, the algorithm avoids exhaustive search to identify clusters. The algorithm considers only a small set of the data that contains critical boundary information sufficient to identify contained clusters. Compared to available data clustering techniques, the proposed algorithm produces similar quality results and outperforms them in execution time and storage requirements.

Keywords: Data clustering, Data mining, Image-mapping, Pattern discovery, Predictive analysis.

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1451

Authors: F. Rotaru, S. Bejinariu, C. D. Niţâ, R. Luca, I. Pâvâloi, C. Lazâr

Abstract:

The paper presents a technique suitable in robot vision applications where it is not possible to establish the object position from one view. Usually, one view pose calculation methods are based on the correspondence of image features established at a training step and exactly the same image features extracted at the execution step, for a different object pose. When such a correspondence is not feasible because of the lack of specific features a new method is proposed. In the first step the method computes from two views the 3D pose of feature points. Subsequently, using a registration algorithm, the set of 3D feature points extracted at the execution phase is aligned with the set of 3D feature points extracted at the training phase. The result is a Euclidean transform which have to be used by robot head for reorientation at execution step.

Keywords: features correspondence, registration algorithm, robot vision, triangulation method.

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1419

Authors: Mario Mastriani, Juliana Gambini

Abstract:

In this work, we present a comparison between two techniques of image compression. In the first case, the image is divided in blocks which are collected according to zig-zag scan. In the second one, we apply the Fast Cosine Transform to the image, and then the transformed image is divided in blocks which are collected according to zig-zag scan too. Later, in both cases, the Karhunen-Loève transform is applied to mentioned blocks. On the other hand, we present three new metrics based on eigenvalues for a better comparative evaluation of the techniques. Simulations show that the combined version is the best, with minor Mean Absolute Error (MAE) and Mean Squared Error (MSE), higher Peak Signal to Noise Ratio (PSNR) and better image quality. Finally, new technique was far superior to JPEG and JPEG2000.

Keywords: Fast Cosine Transform, image compression, JPEG, JPEG2000, Karhunen-Loève Transform, zig-zag scan.

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 4857

Authors: Hossein Nezamabadi-pour, Saeid Saryazdi

Abstract:

In this paper, we present a new and effective image indexing technique that extracts features directly from DCT domain. Our proposed approach is an object-based image indexing. For each block of size 8*8 in DCT domain a feature vector is extracted. Then, feature vectors of all blocks of image using a k-means algorithm is clustered into groups. Each cluster represents a special object of the image. Then we select some clusters that have largest members after clustering. The centroids of the selected clusters are taken as image feature vectors and indexed into the database. Also, we propose an approach for using of proposed image indexing method in automatic image classification. Experimental results on a database of 800 images from 8 semantic groups in automatic image classification are reported.

Keywords: Object-based image retrieval, DCT domain, Image indexing, Image classification.

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1981

Authors: A. Mitra, Y. V. Subba Rao, S. R. M. Prasanna

Abstract:

This paper proposes a new approach for image encryption using a combination of different permutation techniques. The main idea behind the present work is that an image can be viewed as an arrangement of bits, pixels and blocks. The intelligible information present in an image is due to the correlations among the bits, pixels and blocks in a given arrangement. This perceivable information can be reduced by decreasing the correlation among the bits, pixels and blocks using certain permutation techniques. This paper presents an approach for a random combination of the aforementioned permutations for image encryption. From the results, it is observed that the permutation of bits is effective in significantly reducing the correlation thereby decreasing the perceptual information, whereas the permutation of pixels and blocks are good at producing higher level security compared to bit permutation. A random combination method employing all the three techniques thus is observed to be useful for tactical security applications, where protection is needed only against a casual observer.

Keywords: Encryption, Permutation, Good key, Combinationalpermutation, Pseudo random index generator.

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 2184

Authors: Khalid A. Al-Afandy, El-Sayyed El-Rabaie, Osama Salah, Ahmed El-Mhalaway

Abstract:

This paper presents a high secure data hiding technique using image cropping and Least Significant Bit (LSB) steganography. The predefined certain secret coordinate crops will be extracted from the cover image. The secret text message will be divided into sections. These sections quantity is equal the image crops quantity. Each section from the secret text message will embed into an image crop with a secret sequence using LSB technique. The embedding is done using the cover image color channels. Stego image is given by reassembling the image and the stego crops. The results of the technique will be compared to the other state of art techniques. Evaluation is based on visualization to detect any degradation of stego image, the difficulty of extracting the embedded data by any unauthorized viewer, Peak Signal-to-Noise Ratio of stego image (PSNR), and the embedding algorithm CPU time. Experimental results ensure that the proposed technique is more secure compared with the other traditional techniques.

Keywords: Steganography, stego, LSB, crop.

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1496

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.

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1651

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.

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1379

Authors: Ahmet Çay, Savvas Vassiliadis, Maria Rangoussi, Işık Tarakçıoğlu

Abstract:

This paper presents a novel approach to assessing textile porosity by the application of the image analysis techniques. The images of different types of sample fabrics, taken through a microscope when the fabric is placed over a constant light source,transfer the problem into the image analysis domain. Indeed, porosity can thus be expressed in terms of a brightness percentage index calculated on the digital microscope image. Furthermore, it is meaningful to compare the brightness percentage index with the air permeability and the tightness indices of each fabric type. We have experimentally shown that there exists an approximately linear relation between brightness percentage and air permeability indices.

Keywords: Textile fabrics, porosity, air permeability, image analysis, light transmission.

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 3216

Authors: Nhu Van NGUYEN, Jean-Marc OGIER, Salvatore TABBONE, Alain BOUCHER

Abstract:

The state-of-the-art Bag of Words model in Content- Based Image Retrieval has been used for years but the relevance feedback strategies for this model are not fully investigated. Inspired from text retrieval, the Bag of Words model has the ability to use the wealth of knowledge and practices available in text retrieval. We study and experiment the relevance feedback model in text retrieval for adapting it to image retrieval. The experiments show that the techniques from text retrieval give good results for image retrieval and that further improvements is possible.

Keywords: Relevance feedback, bag of words model, probabilistic model, vector space model, image retrieval

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 2066

Authors: J. Ruiz-Pinales, J. J. Acosta-Reyes, A. Salazar-Garibay, R. Jaime-Rivas

Abstract:

In this paper, we present a new method for incorporating global shift invariance in support vector machines. Unlike other approaches which incorporate a feature extraction stage, we first scale the image and then classify it by using the modified support vector machines classifier. Shift invariance is achieved by replacing dot products between patterns used by the SVM classifier with the maximum cross-correlation value between them. Unlike the normal approach, in which the patterns are treated as vectors, in our approach the patterns are treated as matrices (or images). Crosscorrelation is computed by using computationally efficient techniques such as the fast Fourier transform. The method has been tested on the ORL face database. The tests indicate that this method can improve the recognition rate of an SVM classifier.

Keywords: Face recognition, support vector machines, shiftinvariance, image registration.

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1697

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.

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 2118

Authors: Ali Soleymani, Zulkarnain Md Ali, Md Jan Nordin

Abstract:

This paper is a review on the aspects and approaches of design an image cryptosystem. First a general introduction given for cryptography and images encryption and followed by different techniques in image encryption and related works for each technique surveyed. Finally, general security analysis methods for encrypted images are mentioned.

Keywords: Image, cryptography, encryption, security, analysis.

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 2336

Authors: Say Wei Foo, Qi Dong

Abstract:

Digital watermarking is one of the techniques for copyright protection. In this paper, a normalization-based robust image watermarking scheme which encompasses singular value decomposition (SVD) and discrete cosine transform (DCT) techniques is proposed. For the proposed scheme, the host image is first normalized to a standard form and divided into non-overlapping image blocks. SVD is applied to each block. By concatenating the first singular values (SV) of adjacent blocks of the normalized image, a SV block is obtained. DCT is then carried out on the SV blocks to produce SVD-DCT blocks. A watermark bit is embedded in the highfrequency band of a SVD-DCT block by imposing a particular relationship between two pseudo-randomly selected DCT coefficients. An adaptive frequency mask is used to adjust local watermark embedding strength. Watermark extraction involves mainly the inverse process. The watermark extracting method is blind and efficient. Experimental results show that the quality degradation of watermarked image caused by the embedded watermark is visually transparent. Results also show that the proposed scheme is robust against various image processing operations and geometric attacks.

Keywords: Image watermarking, Image normalization, Singularvalue decomposition, Discrete cosine transform, Robustness.

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 2048

Authors: C. Deepika, J. Nithya

Abstract:

Segmentation is one of the essential tasks in image processing. Thresholding is one of the simplest techniques for performing image segmentation. Multilevel thresholding is a simple and effective technique. The primary objective of bi-level or multilevel thresholding for image segmentation is to determine a best thresholding value. To achieve multilevel thresholding various techniques has been proposed. A study of some nature inspired metaheuristic algorithms for multilevel thresholding for image segmentation is conducted. Here, we study about Particle swarm optimization (PSO) algorithm, artificial bee colony optimization (ABC), Ant colony optimization (ACO) algorithm and Cuckoo search (CS) algorithm.

Keywords: Ant colony optimization, Artificial bee colony optimization, Cuckoo search algorithm, Image segmentation, Multilevel thresholding, Particle swarm optimization.

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 3473

Authors: S.K. Satpathy, S.K. Nayak, K. K. Nagwanshi, S. Panda, C. Ardil

Abstract:

Image restoration involves elimination of noise. Filtering techniques were adopted so far to restore images since last five decades. In this paper, we consider the problem of image restoration degraded by a blur function and corrupted by random noise. A method for reducing additive noise in images by explicit analysis of local image statistics is introduced and compared to other noise reduction methods. The proposed method, which makes use of an a priori noise model, has been evaluated on various types of images. Bayesian based algorithms and technique of image processing have been described and substantiated with experimentation using MATLAB.

Keywords: Image Restoration, Probability DensityFunction (PDF), Neural Networks, Bayesian Classifier.

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 2194

Authors: Ziad Abdallah, Mohamad Oueidat, Ali El-Zaart

Abstract:

Image Multi-label Classification (IMC) assigns a label or a set of labels to an image. The big demand for image annotation and archiving in the web attracts the researchers to develop many algorithms for this application domain. The existing techniques for IMC have two drawbacks: The description of the elementary characteristics from the image and the correlation between labels are not taken into account. In this paper, we present an algorithm (MIML-HOGLPP), which simultaneously handles these limitations. The algorithm uses the histogram of gradients as feature descriptor. It applies the Label Priority Power-set as multi-label transformation to solve the problem of label correlation. The experiment shows that the results of MIML-HOGLPP are better in terms of some of the evaluation metrics comparing with the two existing techniques.

Keywords: Data mining, information retrieval system, multi-label, problem transformation, histogram of gradients.

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1268

Authors: Nemir Al-Azzawi, Harsa A. Mat Sakim, Wan Ahmed K. Wan Abdullah, Yasmin Mohd Yacob

Abstract:

Feature-based registration is an effective technique for clinical use, because it can greatly reduce computational costs. However, this technique, which estimates the transformation by using feature points extracted from two images, may cause misalignments. To handle with this limitation, we propose to extract the salient edges and extracted control points (CP) of medical images by using efficiency of multiresolution representation of data nonsubsampled contourlet transform (NSCT) that finds the best feature points. The MR images were first decomposed using the NSCT, and then Edge and CP were extracted from bandpass directional subband of NSCT coefficients and some proposed rules. After edge and CP extraction, mutual information was adopted for the registration of feature points and translation parameters are calculated by using particle swarm optimization (PSO). The experimental results showed that the proposed method produces totally accurate performance for registration medical CT-MR images.

Keywords: Feature-based registration, mutual information, nonsubsampled contourlet transform, particle swarm optimization.

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1913

Authors: Alessandro Bevilacqua, Alessandro Gherardi, Ludovico Carozza, Filippo Piccinini

Abstract:

The last years have seen an increasing use of image analysis techniques in the field of biomedical imaging, in particular in microscopic imaging. The basic step for most of the image analysis techniques relies on a background image free of objects of interest, whether they are cells or histological samples, to perform further analysis, such as segmentation or mosaicing. Commonly, this image consists of an empty field acquired in advance. However, many times achieving an empty field could not be feasible. Or else, this could be different from the background region of the sample really being studied, because of the interaction with the organic matter. At last, it could be expensive, for instance in case of live cell analyses. We propose a non parametric and general purpose approach where the background is built automatically stemming from a sequence of images containing even objects of interest. The amount of area, in each image, free of objects just affects the overall speed to obtain the background. Experiments with different kinds of microscopic images prove the effectiveness of our approach.

Keywords: Microscopy, flat field correction, background estimation, image segmentation.

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1800

Authors: Fathi M. O. Hamed, Salma F. Elkofhaifee

Abstract:

The aim of this work is to detect geometrical shape objects in an image. In this paper, the object is considered to be as a circle shape. The identification requires find three characteristics, which are number, size, and location of the object. To achieve the goal of this work, this paper presents an algorithm that combines from some of statistical approaches and image analysis techniques. This algorithm has been implemented to arrive at the major objectives in this paper. The algorithm has been evaluated by using simulated data, and yields good results, and then it has been applied to real data.

Keywords: Image processing, median filter, projection, scalespace, segmentation, threshold.

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1776

Authors: Sijie Fu, Pascal-Henry Biwolé, Christian Mathis

Abstract:

Among modern airflow measurement methods, Particle Image Velocimetry (PIV) and Particle Tracking Velocimetry (PTV), as visualized and non-instructive measurement techniques, are playing more important role. This paper conducts a comparative experimental study for airflow measurement employing both techniques with the same condition. Velocity vector fields, velocity contour fields, voticity profiles and turbulence profiles are selected as the comparison indexes. The results show that the performance of both PIV and PTV techniques for airflow measurement is satisfied, but some differences between the both techniques are existed, it suggests that selecting the measurement technique should be based on a comprehensive consideration.

Keywords: PIV, PTV, airflow measurement.

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 4257

Authors: Abdallah S. Abdallah, Mohamad A bou El-Nasr, A. Lynn Abbott

Abstract:

This paper presents a new color face image database for benchmarking of automatic face detection algorithms and human skin segmentation techniques. It is named the VT-AAST image database, and is divided into four parts. Part one is a set of 286 color photographs that include a total of 1027 faces in the original format given by our digital cameras, offering a wide range of difference in orientation, pose, environment, illumination, facial expression and race. Part two contains the same set in a different file format. The third part is a set of corresponding image files that contain human colored skin regions resulting from a manual segmentation procedure. The fourth part of the database has the same regions converted into grayscale. The database is available on-line for noncommercial use. In this paper, descriptions of the database development, organization, format as well as information needed for benchmarking of algorithms are depicted in detail.

Keywords: Image database, color image analysis, facedetection, skin segmentation.

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 2547

Authors: André Smith, Amr Abdel-Dayem

Abstract:

The stereo matching problem, while having been present for several decades, continues to be an active area of research. The goal of this research is to find correspondences between elements found in a set of stereoscopic images. With these pairings, it is possible to infer the distance of objects within a scene, relative to the observer. Advancements in this field have led to experimentations with various techniques, from graph-cut energy minimization to artificial neural networks. At the basis of these techniques is a cost function, which is used to evaluate the likelihood of a particular match between points in each image. While at its core, the cost is based on comparing the image pixel data; there is a general lack of consistency as to what image data representation to use. This paper presents an experimental analysis to compare the effectiveness of more common image data representations. The goal is to determine the effectiveness of these data representations to reduce the cost for the correct correspondence relative to other possible matches.

Keywords: Colour data, local stereo matching, stereo correspondence, disparity map.

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 861

Authors: S. Sowmyayani, V. Murugan

Abstract:

With the advent of three-dimension (3D) technology, there are lots of research in converting 2D images to 3D images. The main difference between 2D and 3D is the visual illusion of depth in 3D images. In the recent era, there are more depth estimation techniques. The objective of this paper is to convert 2D images to 3D images with less computation time. For this, the input image is divided into blocks from which the depth information is obtained. Having the depth information, a depth map is generated. Then the 3D image is warped using the original image and the depth map. The proposed method is tested on Make3D dataset and NYU-V2 dataset. The experimental results are compared with other recent methods. The proposed method proved to work with less computation time and good accuracy.

Keywords: Depth map, 3D image warping, image rendering, bilateral filter, minimum spanning tree.

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 291

Authors: V. B. Bastos, M. P. Lima, P. R. G. Kurka

Abstract:

This paper applies to the creation of virtual 3D environments for the study and development of mobile robot image based navigation algorithms and techniques, which need to operate robustly and efficiently. The test of these algorithms can be performed in a physical way, from conducting experiments on a prototype, or by numerical simulations. Current simulation platforms for robotic applications do not have flexible and updated models for image rendering, being unable to reproduce complex light effects and materials. Thus, it is necessary to create a test platform that integrates sophisticated simulated applications of real environments for navigation, with data and image processing. This work proposes the development of a high-level platform for building 3D model’s environments and the test of image-based navigation algorithms for mobile robots. Techniques were used for applying texture and lighting effects in order to accurately represent the generation of rendered images regarding the real world version. The application will integrate image processing scripts, trajectory control, dynamic modeling and simulation techniques for physics representation and picture rendering with the open source 3D creation suite - Blender.

Keywords: Simulation, visual navigation, mobile robot, data visualization.

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1006

Authors: Deepthi Narayan, Srikanta Murthy K., G. Hemantha Kumar

Abstract:

Graph based image segmentation techniques are considered to be one of the most efficient segmentation techniques which are mainly used as time & space efficient methods for real time applications. How ever, there is need to focus on improving the quality of segmented images obtained from the earlier graph based methods. This paper proposes an improvement to the graph based image segmentation methods already described in the literature. We contribute to the existing method by proposing the use of a weighted Euclidean distance to calculate the edge weight which is the key element in building the graph. We also propose a slight modification of the segmentation method already described in the literature, which results in selection of more prominent edges in the graph. The experimental results show the improvement in the segmentation quality as compared to the methods that already exist, with a slight compromise in efficiency.

Keywords: Graph based image segmentation, threshold, Weighted Euclidean distance.

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1513

Authors: Wenhao Lan, Ning Li, Qiang Tong

Abstract:

To improve the registration accuracy of a source point cloud and template point cloud when the initial relative deflection angle is too large, a PointNetLK algorithm combined with an oriented bounding box (PointNetLK-OBB) is proposed. In this algorithm, the OBB of a 3D point cloud is used to represent the macro feature of source and template point clouds. Under the guidance of the iterative closest point algorithm, the OBB of the source and template point clouds is aligned, and a mirror symmetry effect is produced between them. According to the fitting degree of the source and template point clouds, the mirror symmetry plane is detected, and the optimal rotation and translation of the source point cloud is obtained to complete the 3D point cloud registration task. To verify the effectiveness of the proposed algorithm, a comparative experiment was performed using the publicly available ModelNet40 dataset. The experimental results demonstrate that, compared with PointNetLK, PointNetLK-OBB improves the registration accuracy of the source and template point clouds when the initial relative deflection angle is too large, and the sensitivity of the initial relative position between the source point cloud and template point cloud is reduced. The primary contribution of this paper is the use of PointNetLK to avoid the non-convex problem of traditional point cloud registration and leveraging the regularity of the OBB to avoid the local optimization problem in the PointNetLK context.

Keywords: Mirror symmetry, oriented bounding box, point cloud registration, PointNetLK-OBB.

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 634