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Distance transforms as a new tool in spatial analysis, urban planning, and GIS

ENVIRONMENT AND PLANNING B-PLANNING & DESIGN 2004年第1期31卷 85-104页

作者： de Smith, MJ UCL Ctr Adv Spatial Analysis London WC1E 7HB England

Many spatial datasets and spatial problems can be described with reference to regular lattice frameworks rather than continuous space. Examples include: raster scan and digital elevation model data, digital images, cost surfaces, cellular automata models, swarm models, and many others. This raises the question as to how distances should be measured in such cases and to what extent these relate to continuous space metrics. In this paper I show that a set of image processing algorithms known as distance transforms (DTs) may be applied to such datasets and can be extended to solve a wide range of 2D and 3D optimisation problems. These extended versions of the standard DT procedure have applications in many areas including location theory, path determination, planning, and decision support. As such I argue that they warrant consideration for inclusion as a standard set of tools within modern GIS and spatial analysis software packages. Sample pseudo-code for the transforms discussed is included in an appendix.

关键词： image processing algorithm Cellular automata Transform City Planning Tool Sets Spatial Analysis Appendix distance transform Software packages decision making support raster scanning expanded pseudo code

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Flexible Handling Robot System for Cloth

Flexible Handling Robot System for Cloth

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IEEE International Conference on Mechatronics and Automation

作者： Hata, Seiji Hiroyasu, Takehisa Hayash, Jun'ichiro Hojoh, Hirotaka Hamada, Toshihiro Kagawa Univ Fac Engn 2217-20 Hayashi Cho Takamatsu Kagawa 7610396 Japan PUREX Co Jp Takamatsu Kagawa 7618031 Japan Kagawa Prefecture Ind Technol Ctr Takamatsu Kagawa 7618031 Japan

ISBN: (纸本)9781424426928

Flexible objects such as clothes are hard to be handled by robots. But the working conditions for laundry factories are severe because of dusts, heats and steams, and full automation systems which can handle clothes are highly required. To automate these factories, 3-D Vision systems and flexible handling mechanism are dispensable to handle flexible clothes. There are three steps to handle clothes by robots. They are;(1) to pick up one cloth from piled clothes, (2) to grasp one corner of a cloth, (3) to grasp one edge of a cloth. In every step, proper combination of mechanisms and vision systems are required. Here, the vision systems and flexible cloth handling mechanisms to input washing clothes to the a pressing and folding line have been introduced.

关键词： Robot System 3-D Vision system Washing cloth handling system image processing algorithm

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Smartphones as image processing Systems for Prosthetic Vision

Smartphones as Image Processing Systems for Prosthetic Visio...

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Annual International Conference of the IEEE Engineering in Medicine and Biology Society

作者： Marc P. Zapf Paul B. Matteucci Nigel H. Lovell Gregg J. Suaning Faculty of Engineering Graduate School of Biomedical Engineering The University of New South

ISBN: (纸本)9781457702150

The feasibility of implants for prosthetic vision has been demonstrated by research and commercial organizations. In most devices, an essential forerunner to the internal stimulation circuit is an external electronics solution for capturing, processing and relaying image information as well as extracting useful features from the scene surrounding the patient. The capabilities and multitude of image processing algorithms that can be performed by the device in real-time plays a major part in the final quality of the prosthetic vision. It is therefore optimal to use powerful hardware yet to avoid bulky, straining solutions. Recent publications have reported of portable single-board computers fast enough for computationally intensive image processing. Following the rapid evolution of commercial, ultra-portable ARM (Advanced RISC machine) mobile devices, the authors investigated the feasibility of modern smartphones running complex face detection as external processing devices for vision implants. The role of dedicated graphics processors in speeding up computation was evaluated while performing a demanding noise reduction algorithm (image denoising). The time required for face detection was found to decrease by 95% from 2.5 year old to recent devices. In denoising, graphics acceleration played a major role, speeding up denoising by a factor of 18. These results demonstrate that the technology has matured sufficiently to be considered as a valid external electronics platform for visual prosthetic research.

关键词： Smartphone Facial Recognition single chip computers Speeding image processing systems Noise reduction Commercial organizations image information image processing algorithm master element graphic images

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Development of a Software Tool to Evaluate Electrical Tree Growth images

Development of a Software Tool to Evaluate Electrical Tree G...

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Conference on Electrical Insulation and Dielectric Phenomena (CEIDP)

作者： Bahadoorsingh, S. Balliram, R. Sharma, C. Rowland, S. M. Univ West Indies Dept Elect & Comp Engn St Augustine Trinidad Tobago Univ Manchester Sch Elect & Elect Engn Manchester M13 9PL Lancs England

ISBN: (纸本)9781457709869

This paper critically reviews the electrical tree growth measurement techniques commonly employed. The paper continues, describing the development of a user friendly software tool using MATLAB. This tool quantitatively evaluates a host of electrical tree growth images using various techniques, including fractal index, width length ratio and intensity frequency analysis. The software methodology, associated implementation challenges as well as salient software features are discussed. Estimation of three dimensional models from two dimensional digital images is also addressed in this paper. The performance of the embedded techniques for electrical tree growth measurement, as well as the image processing algorithms utilized in the developed software tool, is qualitatively and quantitatively reviewed. Preliminary results from the developed software on electrical tree growth images highlight the potential to improve the accuracy of deductions, from investigations on factors influencing electrical tree growth.

关键词： WATER TREEING three dimensional models computer software tree growth image processing algorithm

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A Ground-Truth Video Dataset for the Development and Evaluation of Vision-based Sense-and-Avoid systems

A Ground-Truth Video Dataset for the Development and Evaluat...

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International Conference on Unmanned Aircraft Systems (ICUAS)

作者： Carrio, Adrian Fu, Changhong Pestana, Jesus Campoy, Pascual UPM CSIC CVG CAR Madrid 28006 Spain

ISBN: (纸本)9781479923762

The importance of vision-based systems for Sense-and-Avoid is increasing nowadays as remotely piloted and autonomous UAVs become part of the non-segregated airspace. The development and evaluation of these systems demand flight scenario images which are expensive and risky to obtain. Currently Augmented Reality techniques allow the compositing of real flight scenario images with 3D aircraft models to produce useful realistic images for system development and benchmarking purposes at a much lower cost and risk. With the techniques presented in this paper, 3D aircraft models are positioned firstly in a simulated 3D scene with controlled illumination and rendering parameters. Realistic simulated images are then obtained using an image processing algorithm which fuses the images obtained from the 3D scene with images from real UAV flights taking into account on board camera vibrations. Since the intruder and camera poses are user-defined, ground truth data is available. These ground truth annotations allow to develop and quantitatively evaluate aircraft detection and tracking algorithms. This paper presents the software developed to create a public dataset of 24 videos together with their annotations and some tracking application results.

关键词： ground truth images ANNOTATIONS Aircraft models image processing algorithm Intruder Systems development Videotapes Unmanned Aerial Vehicle Dataset

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Real-time measurement of ring-rolling geometry using low-cost hardware 10

Real-time measurement of ring-rolling geometry using low-cos...

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United-Kingdom-Automatic-Control-Council (UKACC) 10th International Conference on Control (CONTROL)

作者： Arthington, Matthew R. Cleaver, Christopher Allwood, Julian Duncan, Stephen Univ Oxford Dept Engn Sci Oxford OX1 3PJ England Univ Cambridge Dept Engn Cambridge CB2 1PZ England

ISBN: (纸本)9781479950119

Ring-rolling is an industrial forming process to produce high-strength metal rings up to 6m diameter. Thick-walled cylindrical workpieces of material, typically metallic alloys, are compressed between two or more internal and external rollers and rotated until a target geometry, often outer diameter, is achieved. The process is inherently unstable and the process is often constrained and/or controlled to improve its stability. This paper presents an image processing algorithm for the measurement of ring geometry through photogrammetry in real-time. These measurements will form part of the feedback control system for a ring-rolling process. An off-the-shelf USB webcam is used to capture images of the ring during forming and the scene is controlled to maximise contrast and minimise occlusions of the ring. The image processing tasks include object identification, edge detection, outlier rejection and distortion rectification. The process has been implemented on a desktop-scale forming machine and has been shown to work at rates suitable for control the ring-rolling process using feedback.

关键词： Real-time measurement Feedback control systems rings image processing algorithm RINGS time measurement Ring device Photogrammetry geometry image processing task Annulus FORMER

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Cooperative Operation between a Human and a Robot based on Real-time Measurement of Location and Posture of Target Object by High-speed Vision 1

Cooperative Operation between a Human and a Robot based on R...

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1st Annual IEEE Conference on Control Technology and Applications

作者： Matsui, Yutaro Yamakawa, Yuji Ishikawa, Masatoshi Univ Tokyo Grad Sch Informat Sci & Technol Dept Informat Phys & Comp Bunkyo Ku 7-3-1 Hongo Tokyo 1138656 Japan

ISBN: (纸本)9781509021826

The objective of this research is to realize a cooperative task in which a robot follows a human user's moves for various degrees of freedom using a high-speed hand and a high-speed camera. We constructed a system that makes the robot follow the direction in which the human wants to move a board while keeping it horizontal by holding it at one end with the human and at the other end with the robot hand, by controlling the robot hand based on high-speed visual feedback. We propose an image processing algorithm for estimating the object state (position and angles) and the inverse kinematics of the robot hand to control the hand based on the object state. We show experimental results for the task using the proposed strategy, image processing, and robot hand control. The experiment confirmed that this task was successfully completed using the proposed method.

关键词： Location Posture Target Object Robot robotic hand Hand body position Degree of freedom Human Real-time measurement image processing algorithm Cameras-High speed inverse kinematics

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Data processing and Presentation for a Personalised, image-driven Medical Graphical Avatar

Data Processing and Presentation for a Personalised, Image-d...

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Annual International Conference of the IEEE Engineering in Medicine and Biology Society

作者： Michael de Ridder Lei Bi Liviu Constantinescu Jinman Kim David Dagan Feng School of Information Technologies University of Sydney

ISBN: (纸本)9781457702150

With the continuing digital revolution in the healthcare industry, patients are being confronted with the difficult task of managing their digital medical data. Current personal health record (PHR) systems are able to store and consolidate this data, but they are limited in providing tools to facilitate patients' understanding and management of the data. One reason for this stems from the limited use of contextual information, especially in presenting spatial details such as in volumetric images and videos, as well as time-based temporal data. Further, lack of meaningful visualisation techniques exist to represent the data stored in PHRs. In this paper we propose a medical graphical avatar (MGA) constructed from whole-body patient images, and a navigable timeline of the patient's medical records. A data mapping framework is presented that extracts information from medical multimedia data such as images, video and text, to populate our PHR timeline, while also embedding spatial and textual annotations such as regions of interest (ROIs) that are automatically derived from image processing algorithms. We developed a prototype to process the various forms of PHR data and present the data in a graphical avatar. We analysed the usefulness of our system under various scenarios of patient data use and present preliminary results that indicate that our system performs well on standard consumer hardware.

关键词： PREHEATER Videotapes image processing algorithm Medical TimeLine task processing Patients preliminary data Automatic data processing data processing

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FRESCO RESTORATION: DIGITAL image processing APPROACH

FRESCO RESTORATION: DIGITAL IMAGE PROCESSING APPROACH

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European signal processing conference

作者： Jan Blazek Barbara Zitovd Miroslav Benes Janka Hradilovd Faculty of Mathematics and Physics Charles Universit Malostranske nam. 25 Prague Czech Republic Institute of Information Theory and Automation Academy of Sciences of the Czech Republic Pod Vodarenskou velf 4 Prague Czech Republic Faculty of Mathematics and Physics Charles Universit Malostranske nam. 25 Prague Czech RepublicInstitute of Information Theory and Automation Academy of Sciences of the Czech Republic Pod Vodarenskou velf 4 Prague Czech Republic Academic Laboratory of Materials Research of Paintings Academy of Fine Arts U Akademie Prague Czech Republic

ISBN: (纸本)9781617388767

In this paper, we present an application of digital image processing algorithms for the process of fresco restoration. Modern methods for image preprocessing and evaluation such as image registration, image fusion, and image segmentation are applied on images of the fresco, obtained in different modalities (visual and ultraviolet spectra) and at different times. Moreover, local chemical analyzes are taken into account during the image analysis. The robustness of proposed algorithms should be high due to the bad state of the fresco. Achieved results can give to art restorers better insight into the evolution of the fresco aging and in this way a proper conservation method can be chosen. Developed methods are illustrated by generated output images.

关键词： wall paintings image processing image processing algorithm ultraviolet spectra restoration image segmentation image analysis

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image Based Centre Object Calculation Using Coordinate Averaging Method For Object Following Mobile Robot

Image Based Centre Object Calculation Using Coordinate Avera...

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IEEE International Conference of Intelligent Robotic and Control Engineering (IRCE)

作者： Aditya Kurniawan Hendrawan Eueung Mulyana Kholilatul Wardani Politeknik Kota Malang Raya Tlogowaru no 3 Malang Indonesia Institut Teknologi Bandung Ganesha No 10 Bandung Indonesia

ISBN: (数字)9781728141923

ISBN: (纸本)9781728141930

Research about robot vision is growing and more focusing on using image processing algorithm to enhance the sensing ability of a robot mobile to aware about its surroundings. This research using Kinect sensor which has 2 cameras, one RGB visible light and IR camera / depth camera both with 640×480 pixels at 30fps (frame per second). An object following method is applied on a 4WD differential mobile robot chassis equipped with Kinect sensor 1.0 running at 640×480 pixels, 30fps. The method using pixel coordinate averaging which summing all the pixel coordinate of the object of interest. Each calculation (vertical and horizontal) will result in a single integer value of coordinate in i or j showing the center of the object. Two tests object using symmetrical and non-symmetrical shows that the center object only moves slightly off about 1 pixel on j axis. The result of the calculation for symmetrical object on j axis is 9 (rounded down) and for the non-symmetrical object is 8 (rounded up). with the calculation on i axis is similar (on pixe114).

关键词： center object kinect mobile robot object follower Mobile robots game player image images Coordinates pixel coordinates image processing algorithm robot vision Axis

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