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Real-time vision-based control of industrial manipulators for layer-width setting in concrete 3D printing applications

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ADVANCES IN INDUSTRIAL AND MANUFACTURING ENGINEERING 2022年 5卷

作者： Barjuei, E. Shojaei Courteille, E. Rangeard, D. Marie, F. Perrot, A. Univ Rennes INSA Rennes LGCGM F-35043 Rennes France Univ Bretagne Sud UMR CNRS 6027 IRDL F-56100 Lorient France

In this paper, to have control over geometry specifications of rectangular bar-shaped layers in a robotic concrete 3D printing process, a real-time vision-based control framework is developed and proposed. The proposed control system is able to set the layer-width by automatically adjusting the velocity of an industrial manipulator during the 3D printing process of concrete based materials relying on a vision system feedback. Initially, details related to the control system, vision and processing units, and robotic platform are discussed. In continue, technical descriptions related to the printhead design, conversion process from a digital 3D drawing model to numerical motion control commands of an industrial manipulator and building material used in this work are reported. The reliability and responsiveness of the developed system is then evaluated through experimental tests by printing several single bar-shaped layers with different wideness by means of an unique printhead geometry and also by printing two layers with the same dimension centrally above another. Overall, the high accuracy and responsiveness of the developed system demonstrate a great potential for real-time vision-based control of industrial manipulators for layer-width setting in concrete 3D printing applications.

关键词： Robotic concrete 3D printing Extrusion-based additive manufacturing Real-time vision-based control edge detection algorithm Layer-width setting

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Segmentation of White Blood Cells using Image Segmentation algorithms

Segmentation of White Blood Cells using Image Segmentation A...

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5th International Conference on Computing, Communication and Security (ICCCS)

作者： Kumar, Puranam Revanth Sarkar, Achyuth Mohanty, Sachi Nandan Kumar, P. Pavan ICFAI Fdn Higher Educ Dept Elect & Commun Hyderabad India Natl Inst Technol Dept Comp Sci & Engn Yupia Arunachal Prade India ICFAI Fdn Higher Educ Dept Comp Sci & Engn Hyderabad India

ISBN: (纸本)9781728191805

Segmentation of images plays a key role in Image Processing as it simplifies further processing by separating a broad image into many parts. White Blood Cells (WBC) microscopic images allow haematologists to predict vulnerability, to several diseases. Our intension is to identify Nucleus of White Blood cells. Colour is a significant reference point for discerning segmented WBCs from microscopic images. Results reveal that in identifying the nucleus of various types of WBC: including Neutrophils, Lymphocytes, Eosinophils, Monocytes, Basophils. In this study, we will evaluate the efficiency of the edge detection algorithm (log & Canny) methods, k-Means algorithm, Linear Transformed Image, Color-based technique, and will compare the results with the original image. This will allow haematologists for clear identification of WBC. Analysis of the results using algorithms shows that edge detection and k-means based segmentation is the most suitable approach for segmenting WBC cells.

关键词： Image segmentation edge detection algorithm k-means Thresholding

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Intensity gradient based edge detection for pixelated communication systems

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JOURNAL OF ENGINEERING-JOE 2019年第12期2019卷 8463-8470页

作者： Kabir, Md Ahasan Mondal, Md Rubaiyat Hossain Chittagong Univ Engn & Technol Dept Elect & Telecommun Engn Chittagong Bangladesh Bangladesh Univ Engn & Technol Inst Informat & Commun Technol Dhaka Bangladesh

Pixelated optical communication systems transmit data using a series of encoded pixelated images. The decoding of these pixelated images is important for reliable data communication. This study proposes a novel intensity gradient-based edge detection (IGED) method for the received pixelated images. In the first stage of the proposed edge detection algorithm, the intensity difference of neighbouring pixels is calculated in the horizontal or vertical direction depending on the presence of a horizontal or vertical edge. In the second stage, the false edge pixels whose intensity values are less than the threshold are removed. Next, slopes are calculated between the consecutive edge pixels and the appropriate lines are found considering the slopes that have almost the same value. The new IGED method performs edge detection without requiring any anchor pixel blocks. This study also provides a description of a misalignment correction algorithm suitable for pixelated images. Next, the effectiveness of the proposed IGED method is tested through an experimental demonstration. It is shown that the IGED method can properly detect the edges even for pixelated images affected by rotational misalignment. For a given transmitter resolution, the proposed method provides better data rates than the existing methods.

关键词： gradient methods edge detection data communication reliable data communication novel intensity gradient-based edge detection method received pixelated images edge detection algorithm intensity difference neighbouring pixels horizontal edge vertical edge false edge pixels whose intensity values consecutive edge pixels IGED method anchor pixel blocks intensity gradient based edge detection pixelated communication systems pixelated optical communication systems encoded pixelated images

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Eight Direction Improved Sobel algorithm Based on Morphological Processing in 5G Smart Grid

Eight Direction Improved Sobel Algorithm Based on Morphologi...

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作者： Wu Dong Dili Peng Xu Liu Tao Wang Jiao Long Power dispatching control center of Guizhou Power Grid Co. Ltd

Aiming at the 5 G application scenario of smart grid, it is difficult to quickly process massive videos and pictures and extract effective edge information. In this paper, based on the analysis of traditional Sobel edge detection operator, aiming at its shortcomings of noise sensitivity and limited direction template, we improve it. Firstly,morphological processing is added to smooth the image to improve the sensitivity of traditional Sobel operator to noise. Secondly, this paper proposes an algorithm of Gaussian filtering combined with improved difference formula. At the same time, Sobel operator template is improved to eight direction Sobel template based on Manhattan distance. Simulation results show that the proposed algorithm can significantly improve the noise sensitivity and edge ambiguity of existing algorithms in the aspects of boundary point suppression, anti noise, and image edge optimization.

关键词： 5G smart grid edge detection algorithm Roberts edge detection EDISA

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High confidence detection for moving target in aerial video

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IET IMAGE PROCESSING 2019年第14期13卷 2724-2734页

作者： Tian, Yumin Peng, Chenhui Wang, Di Wan, Bo Xidian Univ Sch Comp Sci & Technol 2 South Taibai Rd Xian 710071 Shaanxi Peoples R China

The moving target detection and tracking in aerial video is a challenge task because of its moving background, smaller target sizes, lower resolution and limited onboard computing resources. In this study, a high confidence detection method based on background compensation and three-frame-difference method is designed, which can detect moving objects in a dynamic background accurately. First, the authors use local feature extraction and matching for image registration and demonstrate that speed-up robust feature key points are suitable for the stabilisation task. Then, they estimate the global camera motion parameters using affine transformation which are obtained by the random sample consensus algorithm. Finally, they detect moving object by three-frame-difference method. As the detection results of the frame-difference method generally exists 'empty' and noise, in order to select the two higher-quality differential images to perform the logic AND operation, they add image quality assessment to the three-frame-difference method to obtain more accurate moving objects. Moreover, the edge detection algorithm and morphological processing are integrated together to further boost the overall detecting performance. The extensive empirical evaluations on aerial videos demonstrate that the proposed detector is very promising for the various challenging scenarios.

关键词： image segmentation affine transforms image motion analysis video signal processing image registration edge detection cameras feature extraction object detection video surveillance limited onboard computing resources high confidence detection method background compensation three-frame-difference method dynamic background local feature extraction speed-up robust feature key points stabilisation task global camera motion parameters random sample consensus algorithm detection results higher-quality differential images image quality assessment accurate moving objects edge detection algorithm detecting performance aerial video moving target detection tracking challenge task moving background smaller target sizes

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Performance Analysis of edge detection algorithms with THEOS Satellite Images 2

Performance Analysis of Edge Detection Algorithms with THEOS...

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International Conference on Digital Arts, Media and Technology (ICDAMT) - Digital Economy for Sustainable Growth

作者： Boonarchatong, Chutiwan Ketcham, Mahasak Suan Dusit Univ Dept Informat Technol Bangkok Thailand King Mongkuts Univ Technol North Bangkok Dept Informat Technol Bangkok Thailand

ISBN: (纸本)9781509052103

The goal of this research is to find a suitable edge detection algorithm with 4 bands, B1, B2, B3, and B4 of different types of satellite image. In this paper, the dataset is derived from raw satellite images, namely THEOS, of the seashore in the Samut Prakan province, a fruit garden in the Chantaburi province and river line in Ayuthaya provinces. edge detection performance algorithms are Signal-to-Noise Ratio (PSNR), Mean Square Error (MSE), and edge detection processing time, as well as qualitative human visual perception. Our result shows that Canny algorithm and Laplacian of Gaussian algorithm were the best edge detection algorithm for both qualitatively and quantitatively. Moreover, the different kinds of bands in satellite images illustrated the same result. All of the algorithms consumed similar times.

关键词： Satellite Images Performance Analysis edge detection algorithm

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A traffic image dehaze method based on adaptive transmittance estimation with multi-scale window

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CHINESE OPTICS 2019年第6期12卷 1311-1320页

作者： Huang He Li Xin-rui Song Jing Wang Hui-feng Ru Feng Sheng Guang-feng Changan Univ Sch Elect & Control Engn Xian 710064 Shaanxi Peoples R China Shaanxi Rd Traff Intelligent Detect & Equipment E Xian 710064 Shaanxi Peoples R China

Aiming at the halo effect and the color distortion of bright areas when using traditional dark priori image defogging algorithms, we propose a traffic image dehaze method based on adaptive transmittance estimation with multi-scale window in this paper. Firstly, a new 8-direction edge detection operator is used to detect abrupt changes in field depth in images. According to the dark channel prior theory and the abrupt change of field depth obtained in the previous step 7 a 5 x 5 window is used in the larger area of field depth transformation and a 15 x 15 window is used in the smaller area to obtain a dark primary color estimation image. At the same time, targetting the problem of inaccurate estimation of transmittance when there is a white area in the close-range region due to the dark channel priori principle, we introduce an adaptive transmittance restoration method. An edge-enhanced dark image is obtained by using a guide filter, and the texture difference between the edge-enhanced dark image and the original dark primary image is used to correct the transmittance in the close-range region, and then to complete image dehazing. The experimental results show that the halo phenomenon exists in both the bilateral filter and the gradient bilateral filter, and the color distortion is serious in the bright area containing white objects, causing the objective evaluation index to be meaningless. Compared with the guide filter, the indexes of the dehazing algorithm used in this paper show improvement, wherein the average gradient increased by 8.305%, the PSNR increased by 12.455% and the edge strength factor increased by 7.77%. The algorithm can effectively solve issues arising from the halo effect and color distortion in bright areas in restored images while providing a more effective dehazing effect.

关键词： dark channel image dehazing traffic image edge detection algorithm

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edge detection of infrared image with CNN_DGA algorithm

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OPTIK 2014年第1期125卷 464-467页

作者： Wang, Wei Yang, Li-Jun Xie, Yu-Ting An, You-wei Chongqing Univ Posts & Telecommun CQUPT Coll Elect Engn Chongqing 400065 Peoples R China

In this paper, infrared image edge detection algorithm based on the combination of the cellular neural networks (CNN) and distributed genetic algorithm (DGA) is proposed. The CNN template is used to train the network with distributed genetic algorithm (CNN_DGA). The experimental results show: the edge of the infrared image was extracted accurately with CNN_DGA edge detection algorithm;furthermore, the noise of the infrared image was reduced greatly. Compared with the edge detection algorithms based on cellular neural networks with template trained by particle swarm optimization, parameters' search range and convergence speed are greatly improved. (C) 2013 Elsevier GmbH. All rights reserved.

关键词： Infrared image process Cellular neural network distributed genetic algorithm (CNN_DGA) edge detection algorithm

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SFMetrics: an analysis tool for scanning force microscopy images of biomolecules

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BMC BIOINFORMATICS 2015年第1期16卷 1-9页

作者： Sanchez, Humberto Wyman, Claire Erasmus Univ Med Ctr Dept Genet NL-3000 CA Rotterdam Netherlands Erasmus Univ Med Ctr Dept Radiat Oncol NL-3000 CA Rotterdam Netherlands

Background: Scanning force microscopy (SFM) allows direct, rapid and high-resolution visualization of single molecular complexes;irregular shapes and differences in sizes are immediately revealed by the scanning tip in three-dimensional images. However, high-throughput analysis of SFM data is limited by the lack of versatile software tools accessible to SFM users. Most existing SFM software tools are aimed at broad general use: from material-surface analysis to visualization of biomolecules. Results: We present SFMetrics as a metrology toolbox for SFM, specifically aimed at biomolecules like DNA and proteins, which features (a) semi-automatic high-throughput analysis of individual molecules;(b) ease of use working within MATLAB environment or as a stand-alone application;(c) compatibility with MultiMode (Bruker), NanoWizard (JPK instruments), Asylum (Asylum research), ASCII, and TIFF files, that can be adjusted with minor modifications to other formats. Conclusion: Assembled in a single user interface, SFMetrics serves as a semi-automatic analysis tool capable of measuring several geometrical properties (length, volume and angles) from DNA and protein complexes, but is also applicable to other samples with irregular shapes.

关键词： edge detection algorithm Scan Force Microscopy Asylum Research Nucleoprotein Filament Irregular Object

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Compare between several Linear Image edge detection algorithm

Compare between several Linear Image Edge Detection Algorith...

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2nd International Conference on Machine Vision

作者： Qiang, Song Liu, Lingxia Anyang Inst Technol Dept Comp Anyang Peoples R China Anyang Normal Univ Comp Educ Dept Anyang Peoples R China

ISBN: (纸本)9780769539447

Along with the rapid development of computer technology, image edge detection has become an important content of image processing. It is the basic problem of image analysis as well as the premise of image segmentation, feature extraction and image recognition. This paper discusses in detail two edge detection algorithms based on linear filtering technique, namely Marr-Hildreth algorithm and Canny algorithm.

关键词： edge detection algorithm image processing linear filtering

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