Stereo vision is one of the interesting research topics in the computer vision field. Two cameras are used to generate a disparity map, resulting in the depth estimation. Camera calibration is the most important step in stereo vision. The calibration step is used to generate an intrinsic parameter of each camera to get a better disparity map. In general, the calibration process is done manually by using a chessboard pattern, but this process is an exhausting task. Self-calibration is an important ability required to overcome this problem. Self-calibration required a robust and good matching algorithm to find the key feature between images as reference. The purpose of this paper is to analyze the performance of three matching algorithms for the autocalibration process. The matching algorithms used in this research are SIFT, SURF, and ORB. The result shows that SIFT performs better than other methods.
Image fusion using nsct denoising and target extraction for visual surveillanceeSAT Publishing House
IJRET : International Journal of Research in Engineering and Technology is an international peer reviewed, online journal published by eSAT Publishing House for the enhancement of research in various disciplines of Engineering and Technology. The aim and scope of the journal is to provide an academic medium and an important reference for the advancement and dissemination of research results that support high-level learning, teaching and research in the fields of Engineering and Technology. We bring together Scientists, Academician, Field Engineers, Scholars and Students of related fields of Engineering and Technology.
An Unsupervised Change Detection in Satellite IMAGES Using MRFFCM ClusteringEditor IJCATR
This paper presents a new approach for change detection in synthetic aperture radar images by incorporating Markov random field (MRF) within the framework of FCM. The objective is to partition the difference image which is generated from multitemporal satellite images into changed and unchanged regions. The difference image is generated from log ratio and mean ratio images by image fusion technique. The quality of difference image depends on image fusion technique. In the present work; we have proposed an image fusion method based on stationary wavelet transform. To process the difference image is to discriminate changed regions from unchanged regions using fuzzy clustering algorithms. The analysis of the DI is done using Markov random field (MRF) approach that exploits the interpixel class dependency in the spatial domain to improve the accuracy of the final change-detection areas. The experimental results on real synthetic aperture radar images demonstrate that change detection results obtained by the MRFFCM exhibits less error than previous approaches. The goodness of the proposed fusion algorithm by well-known image fusion measures and the percentage correct classifications are calculated and verified.
Multiple Ant Colony Optimizations for Stereo MatchingCSCJournals
The stereo matching problem, which obtains the correspondence between right and left images, can be cast as a search problem. The matching of all candidates in the same line forms a 2D optimization task and the two dimensional (2D) optimization is a NP-hard problem. There are two characteristics in stereo matching. Firstly, the local optimization process along each scan-line can be done concurrently; secondly, there are some relationship among adjacent scan-lines can be explored to promote the matching correctness. Although there are many methods, such as GCPs, GGCPs are proposed, but these so called GCPs maybe not be ground. The relationship among adjacent scan-lines is posteriori, that is to say the relationship can only be discovered after every optimization is finished. The Multiple Ant Colony Optimization(MACO) is efficient to solve large scale problem. It is a proper way to settle down the stereo matching task with constructed MACO, in which the master layer values the sub-solutions and propagate the reliability after every local optimization is finished. Besides, whether the ordering and uniqueness constraints should be considered during the optimization is discussed, and the proposed algorithm is proved to guarantee its convergence to find the optimal matched pairs.
Enhanced Optimization of Edge Detection for High Resolution Images Using Veri...ijcisjournal
dge Detection plays a crucial role in Image Processing and Segmentation where a set of algorithms aims
to identify various portions of a digital image at which a sharpened image is observed in the output or
more formally has discontinuities. The contour of Edge Detection also helps in Object Detection and
Recognition. Image edges can be detected by using two attributes such as Gradient and Laplacian. In our
Paper, we proposed a system which utilizes Canny and Sobel Operators for Edge Detection which is a
Gradient First order derivative function for edge detection by using Verilog Hardware Description
Language and in turn compared with the results of the previous paper in Matlab. The process of edge
detection in Verilog significantly reduces the processing time and filters out unneeded information, while
preserving the important structural properties of an image. This edge detection can be used to detect
vehicles in Traffic Jam, Medical imaging system for analysing MRI, x-rays by using Xilinx ISE Design
Suite 14.2.
Performance Evaluation of Image Edge Detection Techniques CSCJournals
The success of an image recognition procedure is related to the quality of the edges marked. The
aim of this research is to investigate and evaluate edge detection techniques when applied to
noisy images at different scales. Sobel, Prewitt, and Canny edge detection algorithms are
evaluated using artificially generated images and comparison criteria: edge quality (EQ) and map
quality (MQ). The results demonstrated that the use of these criteria can be utilized as an aid for
further analysis and arbitration to find the best edge detector for a given image.
Image fusion using nsct denoising and target extraction for visual surveillanceeSAT Publishing House
IJRET : International Journal of Research in Engineering and Technology is an international peer reviewed, online journal published by eSAT Publishing House for the enhancement of research in various disciplines of Engineering and Technology. The aim and scope of the journal is to provide an academic medium and an important reference for the advancement and dissemination of research results that support high-level learning, teaching and research in the fields of Engineering and Technology. We bring together Scientists, Academician, Field Engineers, Scholars and Students of related fields of Engineering and Technology.
An Unsupervised Change Detection in Satellite IMAGES Using MRFFCM ClusteringEditor IJCATR
This paper presents a new approach for change detection in synthetic aperture radar images by incorporating Markov random field (MRF) within the framework of FCM. The objective is to partition the difference image which is generated from multitemporal satellite images into changed and unchanged regions. The difference image is generated from log ratio and mean ratio images by image fusion technique. The quality of difference image depends on image fusion technique. In the present work; we have proposed an image fusion method based on stationary wavelet transform. To process the difference image is to discriminate changed regions from unchanged regions using fuzzy clustering algorithms. The analysis of the DI is done using Markov random field (MRF) approach that exploits the interpixel class dependency in the spatial domain to improve the accuracy of the final change-detection areas. The experimental results on real synthetic aperture radar images demonstrate that change detection results obtained by the MRFFCM exhibits less error than previous approaches. The goodness of the proposed fusion algorithm by well-known image fusion measures and the percentage correct classifications are calculated and verified.
Multiple Ant Colony Optimizations for Stereo MatchingCSCJournals
The stereo matching problem, which obtains the correspondence between right and left images, can be cast as a search problem. The matching of all candidates in the same line forms a 2D optimization task and the two dimensional (2D) optimization is a NP-hard problem. There are two characteristics in stereo matching. Firstly, the local optimization process along each scan-line can be done concurrently; secondly, there are some relationship among adjacent scan-lines can be explored to promote the matching correctness. Although there are many methods, such as GCPs, GGCPs are proposed, but these so called GCPs maybe not be ground. The relationship among adjacent scan-lines is posteriori, that is to say the relationship can only be discovered after every optimization is finished. The Multiple Ant Colony Optimization(MACO) is efficient to solve large scale problem. It is a proper way to settle down the stereo matching task with constructed MACO, in which the master layer values the sub-solutions and propagate the reliability after every local optimization is finished. Besides, whether the ordering and uniqueness constraints should be considered during the optimization is discussed, and the proposed algorithm is proved to guarantee its convergence to find the optimal matched pairs.
Enhanced Optimization of Edge Detection for High Resolution Images Using Veri...ijcisjournal
dge Detection plays a crucial role in Image Processing and Segmentation where a set of algorithms aims
to identify various portions of a digital image at which a sharpened image is observed in the output or
more formally has discontinuities. The contour of Edge Detection also helps in Object Detection and
Recognition. Image edges can be detected by using two attributes such as Gradient and Laplacian. In our
Paper, we proposed a system which utilizes Canny and Sobel Operators for Edge Detection which is a
Gradient First order derivative function for edge detection by using Verilog Hardware Description
Language and in turn compared with the results of the previous paper in Matlab. The process of edge
detection in Verilog significantly reduces the processing time and filters out unneeded information, while
preserving the important structural properties of an image. This edge detection can be used to detect
vehicles in Traffic Jam, Medical imaging system for analysing MRI, x-rays by using Xilinx ISE Design
Suite 14.2.
Performance Evaluation of Image Edge Detection Techniques CSCJournals
The success of an image recognition procedure is related to the quality of the edges marked. The
aim of this research is to investigate and evaluate edge detection techniques when applied to
noisy images at different scales. Sobel, Prewitt, and Canny edge detection algorithms are
evaluated using artificially generated images and comparison criteria: edge quality (EQ) and map
quality (MQ). The results demonstrated that the use of these criteria can be utilized as an aid for
further analysis and arbitration to find the best edge detector for a given image.
This project is to retrieve the similar geographic images from the dataset based on the features extracted.
Retrieval is the process of collecting the relevant images from the dataset which contains more number of
images. Initially the preprocessing step is performed in order to remove noise occurred in input image with
the help of Gaussian filter. As the second step, Gray Level Co-occurrence Matrix (GLCM), Scale Invariant
Feature Transform (SIFT), and Moment Invariant Feature algorithms are implemented to extract the
features from the images. After this process, the relevant geographic images are retrieved from the dataset
by using Euclidean distance. In this, the dataset consists of totally 40 images. From that the images which
are all related to the input image are retrieved by using Euclidean distance. The approach of SIFT is to
perform reliable recognition, it is important that the feature extracted from the training image be
detectable even under changes in image scale, noise and illumination. The GLCM calculates how often a
pixel with gray level value occurs. While the focus is on image retrieval, our project is effectively used in
the applications such as detection and classification.
In this paper a novel edge detection method has been proposed which outperform Otsu method
[1]. The proposed detection algorithm has been devised using the concept of genetic algorithm
in spatial domain. The key of edge detection is the choice of threshold; which determines the
results of edge detection. GA has been used to determine an optimal threshold over the image.
Results are compared with existing Otsu technique which shows better performances.
In this paper a novel edge detection method has been proposed which outperform Otsu method [1]. The proposed detection algorithm has been devised using the concept of genetic algorithm in spatial domain. The key of edge detection is the choice of threshold; which determines the results of edge detection. GA has been used to determine an optimal threshold over the image. Results are compared with existing Otsu technique which shows better performances
A NOVEL APPROACH FOR SEGMENTATION OF SECTOR SCAN SONAR IMAGES USING ADAPTIVE ...ijistjournal
The SAR and SAS images are perturbed by a multiplicative noise called speckle, due to the coherent nature of the scattering phenomenon. If the background of an image is uneven, the fixed thresholding technique is not suitable to segment an image using adaptive thresholding method. In this paper a new Adaptive thresholding method is proposed to reduce the speckle noise, preserving the structural features and textural information of Sector Scan SONAR (Sound Navigation and Ranging) images. Due to the massive proliferation of SONAR images, the proposed method is very appealing in under water environment applications. In fact it is a pre- treatment required in any SONAR images analysis system. The results obtained from the proposed method were compared quantitatively and qualitatively with the results obtained from the other speckle reduction techniques and demonstrate its higher performance for speckle reduction in the SONAR images.
Edge detection is one of the most frequent processes in digital image processing for various purposes, one of which is detecting road damage based on crack paths that can be checked using a Canny algorithm. This paper proposed a mobile application to detect cracks in the road and with customized threshold function in the requests to produce useful and accurate edge detection. The experimental results show that the use of threshold function in a canny algorithm can detect better damage in the road
Abstract: Many applications such as robot navigation, defense, medical and remote sensing performvarious processing tasks, which can be performed more easily when all objects in different images of the same scene are combined into a single fused image. In this paper, we propose a fast and effective method for image fusion. The proposed method derives the intensity based variations that is large and small scale, from the source images. In this approach, guided filtering is employed for this extraction. Gaussian and Laplacian pyramidal approach is then used to fuse the different layers obtained. Experimental results demonstrate that the proposed method can obtain better performance for fusion of
all sets of images. The results clearly indicate the feasibility of the proposed approach.
Automatic rectification of perspective distortion from a single image using p...ijcsa
Perspective distortion occurs due to the perspective projection of 3D scene on a 2D surface. Correcting the distortion of a single image without losing any desired information is one of the challenging task in the field of Computer Vision. We consider the problem of estimating perspective distortion from a single still image of an unstructured environment and to make perspective correction which is both quantitatively accurate as well as visually pleasing. Corners are detected based on the orientation of the image. A method based on plane homography and transformation is used to make perspective correction. The algorithm infers frontier information directly from the images, without any reference objects or prior knowledge of the camera parameters. The frontiers are detected using geometric context based segmentation. The goal of this paper is to present a framework providing fully automatic and fast perspective correction.
International Journal of Engineering Research and Applications (IJERA) is an open access online peer reviewed international journal that publishes research and review articles in the fields of Computer Science, Neural Networks, Electrical Engineering, Software Engineering, Information Technology, Mechanical Engineering, Chemical Engineering, Plastic Engineering, Food Technology, Textile Engineering, Nano Technology & science, Power Electronics, Electronics & Communication Engineering, Computational mathematics, Image processing, Civil Engineering, Structural Engineering, Environmental Engineering, VLSI Testing & Low Power VLSI Design etc.
Unsupervised Building Extraction from High Resolution Satellite Images Irresp...CSCJournals
Extraction of geospatial data from the photogrammetric sensing images becomes more and more important with the advances in the technology. Today Geographic Information Systems are used in a large variety of applications in engineering, city planning and social sciences. Geospatial data like roads, buildings and rivers are the most critical feeds of a GIS database. However, extracting buildings is one of the most complex and challenging tasks as there exist a lot of inhomogeneity due to varying hierarchy. The variety of the type of buildings and also the shapes of rooftops are very inconstant. Also in some areas, the buildings are placed irregularly or too close to each other. For these reasons, even by using high resolution IKONOS and QuickBird satellite imagery the quality percentage of building extraction is very less. This paper proposes a solution to the problem of automatic and unsupervised extraction of building features irrespective of rooftop structures in multispectral satellite images. The algorithm instead of detecting the region of interest, eliminates areas other than the region of interest which extract the rooftops completely irrespective of their shapes. Extensive tests indicate that the methodology performs well to extract buildings in complex environments.
Application of Image Retrieval Techniques to Understand Evolving Weatherijsrd.com
Multispectral satellite images provide valuable information to understand the evolution of various weather systems such as tropical cyclones, shifting of intra tropical convergence zone, moments of various troughs etc., accurate prediction and estimation will save live and property. This work will deal with the development of an application which will enable users to search an image from database using either gray level, texture and shape features for meteorological satellite image retrieval .Gray level feature is extracted using histogram method. The Texture feature is extracted using gray level co-occurrence method and wavelet approach. The shape feature vector is extracted using morphological operations. The similarity between query image and database images is calculated using Euclidian distance. The performance of the system is evaluated using precision
Stereo matching based on absolute differences for multiple objects detectionTELKOMNIKA JOURNAL
This article presents a new algorithm for object detection using stereo camera system. The problem to get an accurate object detion using stereo camera is the imprecise of matching process between two scenes with the same viewpoint. Hence, this article aims to reduce the incorrect matching pixel with four stages. This new algorithm is the combination of continuous process of matching cost computation, aggregation, optimization and filtering. The first stage is matching cost computation to acquire preliminary result using an absolute differences method. Then the second stage known as aggregation step uses a guided filter with fixed window support size. After that, the optimization stage uses winner-takes-all (WTA) approach which selects the smallest matching differences value and normalized it to the disparity level. The last stage in the framework uses a bilateral filter. It is effectively further decrease the error on the disparity map which contains information of object detection and locations. The proposed work produces low errors (i.e., 12.11% and 14.01% nonocc and all errors) based on the KITTI dataset and capable to perform much better compared with before the proposed framework and competitive with some newly available methods.
Stereo matching algorithm using census transform and segment tree for depth e...TELKOMNIKA JOURNAL
This article proposes an algorithm for stereo matching corresponding process that will be used in many applications such as augmented reality, autonomous vehicle navigation and surface reconstruction. Basically, the proposed framework in this article is developed through a series of functions. The final result from this framework is disparity map which this map has the information of depth estimation. Fundamentally, the framework input is the stereo image which represents left and right images respectively. The proposed algorithm in this article has four steps in total, which starts with the matching cost computation using census transform, cost aggregation utilizes segment-tree, optimization using winner-takes-all (WTA) strategy, and post-processing stage uses weighted median filter. Based on the experimental results from the standard benchmarking evaluation system from the Middlebury, the disparity map results produce an average low noise error at 9.68% for nonocc error and 18.9% for all error attributes. On average, it performs far better and very competitive with other available methods from the benchmark system.
This project is to retrieve the similar geographic images from the dataset based on the features extracted.
Retrieval is the process of collecting the relevant images from the dataset which contains more number of
images. Initially the preprocessing step is performed in order to remove noise occurred in input image with
the help of Gaussian filter. As the second step, Gray Level Co-occurrence Matrix (GLCM), Scale Invariant
Feature Transform (SIFT), and Moment Invariant Feature algorithms are implemented to extract the
features from the images. After this process, the relevant geographic images are retrieved from the dataset
by using Euclidean distance. In this, the dataset consists of totally 40 images. From that the images which
are all related to the input image are retrieved by using Euclidean distance. The approach of SIFT is to
perform reliable recognition, it is important that the feature extracted from the training image be
detectable even under changes in image scale, noise and illumination. The GLCM calculates how often a
pixel with gray level value occurs. While the focus is on image retrieval, our project is effectively used in
the applications such as detection and classification.
In this paper a novel edge detection method has been proposed which outperform Otsu method
[1]. The proposed detection algorithm has been devised using the concept of genetic algorithm
in spatial domain. The key of edge detection is the choice of threshold; which determines the
results of edge detection. GA has been used to determine an optimal threshold over the image.
Results are compared with existing Otsu technique which shows better performances.
In this paper a novel edge detection method has been proposed which outperform Otsu method [1]. The proposed detection algorithm has been devised using the concept of genetic algorithm in spatial domain. The key of edge detection is the choice of threshold; which determines the results of edge detection. GA has been used to determine an optimal threshold over the image. Results are compared with existing Otsu technique which shows better performances
A NOVEL APPROACH FOR SEGMENTATION OF SECTOR SCAN SONAR IMAGES USING ADAPTIVE ...ijistjournal
The SAR and SAS images are perturbed by a multiplicative noise called speckle, due to the coherent nature of the scattering phenomenon. If the background of an image is uneven, the fixed thresholding technique is not suitable to segment an image using adaptive thresholding method. In this paper a new Adaptive thresholding method is proposed to reduce the speckle noise, preserving the structural features and textural information of Sector Scan SONAR (Sound Navigation and Ranging) images. Due to the massive proliferation of SONAR images, the proposed method is very appealing in under water environment applications. In fact it is a pre- treatment required in any SONAR images analysis system. The results obtained from the proposed method were compared quantitatively and qualitatively with the results obtained from the other speckle reduction techniques and demonstrate its higher performance for speckle reduction in the SONAR images.
Edge detection is one of the most frequent processes in digital image processing for various purposes, one of which is detecting road damage based on crack paths that can be checked using a Canny algorithm. This paper proposed a mobile application to detect cracks in the road and with customized threshold function in the requests to produce useful and accurate edge detection. The experimental results show that the use of threshold function in a canny algorithm can detect better damage in the road
Abstract: Many applications such as robot navigation, defense, medical and remote sensing performvarious processing tasks, which can be performed more easily when all objects in different images of the same scene are combined into a single fused image. In this paper, we propose a fast and effective method for image fusion. The proposed method derives the intensity based variations that is large and small scale, from the source images. In this approach, guided filtering is employed for this extraction. Gaussian and Laplacian pyramidal approach is then used to fuse the different layers obtained. Experimental results demonstrate that the proposed method can obtain better performance for fusion of
all sets of images. The results clearly indicate the feasibility of the proposed approach.
Automatic rectification of perspective distortion from a single image using p...ijcsa
Perspective distortion occurs due to the perspective projection of 3D scene on a 2D surface. Correcting the distortion of a single image without losing any desired information is one of the challenging task in the field of Computer Vision. We consider the problem of estimating perspective distortion from a single still image of an unstructured environment and to make perspective correction which is both quantitatively accurate as well as visually pleasing. Corners are detected based on the orientation of the image. A method based on plane homography and transformation is used to make perspective correction. The algorithm infers frontier information directly from the images, without any reference objects or prior knowledge of the camera parameters. The frontiers are detected using geometric context based segmentation. The goal of this paper is to present a framework providing fully automatic and fast perspective correction.
International Journal of Engineering Research and Applications (IJERA) is an open access online peer reviewed international journal that publishes research and review articles in the fields of Computer Science, Neural Networks, Electrical Engineering, Software Engineering, Information Technology, Mechanical Engineering, Chemical Engineering, Plastic Engineering, Food Technology, Textile Engineering, Nano Technology & science, Power Electronics, Electronics & Communication Engineering, Computational mathematics, Image processing, Civil Engineering, Structural Engineering, Environmental Engineering, VLSI Testing & Low Power VLSI Design etc.
Unsupervised Building Extraction from High Resolution Satellite Images Irresp...CSCJournals
Extraction of geospatial data from the photogrammetric sensing images becomes more and more important with the advances in the technology. Today Geographic Information Systems are used in a large variety of applications in engineering, city planning and social sciences. Geospatial data like roads, buildings and rivers are the most critical feeds of a GIS database. However, extracting buildings is one of the most complex and challenging tasks as there exist a lot of inhomogeneity due to varying hierarchy. The variety of the type of buildings and also the shapes of rooftops are very inconstant. Also in some areas, the buildings are placed irregularly or too close to each other. For these reasons, even by using high resolution IKONOS and QuickBird satellite imagery the quality percentage of building extraction is very less. This paper proposes a solution to the problem of automatic and unsupervised extraction of building features irrespective of rooftop structures in multispectral satellite images. The algorithm instead of detecting the region of interest, eliminates areas other than the region of interest which extract the rooftops completely irrespective of their shapes. Extensive tests indicate that the methodology performs well to extract buildings in complex environments.
Application of Image Retrieval Techniques to Understand Evolving Weatherijsrd.com
Multispectral satellite images provide valuable information to understand the evolution of various weather systems such as tropical cyclones, shifting of intra tropical convergence zone, moments of various troughs etc., accurate prediction and estimation will save live and property. This work will deal with the development of an application which will enable users to search an image from database using either gray level, texture and shape features for meteorological satellite image retrieval .Gray level feature is extracted using histogram method. The Texture feature is extracted using gray level co-occurrence method and wavelet approach. The shape feature vector is extracted using morphological operations. The similarity between query image and database images is calculated using Euclidian distance. The performance of the system is evaluated using precision
Stereo matching based on absolute differences for multiple objects detectionTELKOMNIKA JOURNAL
This article presents a new algorithm for object detection using stereo camera system. The problem to get an accurate object detion using stereo camera is the imprecise of matching process between two scenes with the same viewpoint. Hence, this article aims to reduce the incorrect matching pixel with four stages. This new algorithm is the combination of continuous process of matching cost computation, aggregation, optimization and filtering. The first stage is matching cost computation to acquire preliminary result using an absolute differences method. Then the second stage known as aggregation step uses a guided filter with fixed window support size. After that, the optimization stage uses winner-takes-all (WTA) approach which selects the smallest matching differences value and normalized it to the disparity level. The last stage in the framework uses a bilateral filter. It is effectively further decrease the error on the disparity map which contains information of object detection and locations. The proposed work produces low errors (i.e., 12.11% and 14.01% nonocc and all errors) based on the KITTI dataset and capable to perform much better compared with before the proposed framework and competitive with some newly available methods.
Stereo matching algorithm using census transform and segment tree for depth e...TELKOMNIKA JOURNAL
This article proposes an algorithm for stereo matching corresponding process that will be used in many applications such as augmented reality, autonomous vehicle navigation and surface reconstruction. Basically, the proposed framework in this article is developed through a series of functions. The final result from this framework is disparity map which this map has the information of depth estimation. Fundamentally, the framework input is the stereo image which represents left and right images respectively. The proposed algorithm in this article has four steps in total, which starts with the matching cost computation using census transform, cost aggregation utilizes segment-tree, optimization using winner-takes-all (WTA) strategy, and post-processing stage uses weighted median filter. Based on the experimental results from the standard benchmarking evaluation system from the Middlebury, the disparity map results produce an average low noise error at 9.68% for nonocc error and 18.9% for all error attributes. On average, it performs far better and very competitive with other available methods from the benchmark system.
Tracking Chessboard Corners Using Projective Transformation for Augmented Rea...CSCJournals
Augmented reality has been a topic of intense research for several years for many applications. It consists of inserting a virtual object into a real scene. The virtual object must be accurately positioned in a desired place. Some measurements (calibration) are thus required and a set of correspondences between points on the calibration target and the camera images must be found. In this paper, we present a tracking technique based on both detection of Chessboard corners and a least squares method; the objective is to estimate the perspective transformation matrix for the current view of the camera. This technique does not require any information or computation of the camera parameters; it can used in real time without any initialization and the user can change the camera focal without any fear of losing alignment between real and virtual object.
An Accurate Scheme for Distance Measurement using an Ordinary Webcam IJECEIAES
Nowadays, image processing has become one of the widely used computer aided science. Two major branches of this scientific field are image enhancement and machine vision. Machine vision has many applications and demands in robotic and defense industries. Detecting distance of objects is one of the extensive research in the defense industry and robotic industries that a lot of annual projects have been involved in this issue both inside and outside the country. So, in this paper, an accurate algorithm is presented for measuring the distance of the objects from a camera. In this method, a laser transmitter is used alongside a regular webcam. The laser light is transmitted to the desired object and then the distance of the object is calculated using image processing methods and mathematical and geometric relations. The performance of the proposed algorithm was evaluated using MATLAB software. The accuracy rate of distance detection is up to 99.62%. The results also has shown that the presented algorithms make the obstacle distance measurement more reliable. Finally, the performance of the proposed algorithm was compared with other methods from different literatures.
An Accurate Scheme for Distance Measurement using an Ordinary Webcam Yayah Zakaria
Nowadays, image processing has become one of the widely used computer aided science. Two major branches of this scientific field are image enhancement and machine vision. Machine vision has many applications and demands in robotic and defense industries. Detecting distance of objects is
one of the extensive research in the defense industry and robotic industries that a lot of annual projects have been involved in this issue both inside and outside the country. So, in this paper, an accurate algorithm is presented for measuring the distance of the objects from a camera. In this method, a laser
transmitter is used alongside a regular webcam. The laser light is transmitted to the desired object and then the distance of the object is calculated using image processing methods and mathematical and geometric relations. The performance of the proposed algorithm was evaluated using MATLAB software. The accuracy rate of distance detection is up to 99.62%. The results
also has shown that the presented algorithms make the obstacle distance measurement more reliable. Finally, the performance of the proposed algorithm was compared with other methods from different literatures.
Development of stereo matching algorithm based on sum of absolute RGB color d...IJECEIAES
This article presents local-based stereo matching algorithm which comprises a devel- opment of an algorithm using block matching and two edge preserving filters in the framework. Fundamentally, the matching process consists of several stages which will produce the disparity or depth map. The problem and most challenging work for matching process is to get an accurate corresponding point between two images. Hence, this article proposes an algorithm for stereo matching using improved Sum of Absolute RGB Differences (SAD), gradient matching and edge preserving filters. It is Bilateral Filter (BF) to surge up the accuracy. The SAD and gradient matching will be implemented at the first stage to get the preliminary corresponding result, then the BF works as an edge-preserving filter to remove the noise from the first stage. The second BF is used at the last stage to improve final disparity map and increase the object boundaries. The experimental analysis and validation are using the Middlebury standard benchmarking evaluation system. Based on the results, the proposed work is capable to increase the accuracy and to preserve the object edges. To make the proposed work more reliable with current available methods, the quantitative measurement has been made to compare with other existing methods and it shows the proposed work in this article perform much better.
Efficient 3D stereo vision stabilization for multi-camera viewpointsjournalBEEI
In this paper, an algorithm is developed in 3D Stereo vision to improve image stabilization process for multi-camera viewpoints. Finding accurate unique matching key-points using Harris Laplace corner detection method for different photometric changes and geometric transformation in images. Then improved the connectivity of correct matching pairs by minimizing
the global error using spanning tree algorithm. Tree algorithm helps to stabilize randomly positioned camera viewpoints in linear order. The unique matching key-points will be calculated only once with our method.
Then calculated planar transformation will be applied for real time video rendering. The proposed algorithm can process more than 200 camera viewpoints within two seconds.
Method of optimization of the fundamental matrix by technique speeded up rob...IJECEIAES
The purpose of determining the fundamental matrix (F) is to define the epipolar geometry and to relate two 2D images of the same scene or video series to find the 3D scenes. The problem we address in this work is the estimation of the localization error and the processing time. We start by comparing the following feature extraction techniques: Harris, features from accelerated segment test (FAST), scale invariant feature transform (SIFT) and speed-up robust features (SURF) with respect to the number of detected points and correct matches by different changes in images. Then, we merged the best chosen by the objective function, which groups the descriptors by different regions in order to calculate F. Then, we applied the standardized eight-point algorithm which also automatically eliminates the outliers to find the optimal solution F. The test of our optimization approach is applied on the real images with different scene variations. Our simulation results provided good results in terms of accuracy and the computation time of F does not exceed 900 ms, as well as the projection error of maximum 1 pixel, regardless of the modification.
Leader Follower Formation Control of Ground Vehicles Using Dynamic Pixel Coun...ijma
This paper deals with leader-follower formations of non-holonomic mobile robots, introducing a formation
control strategy based on pixel counts using a commercial grade electro optics camera. Localization of the
leader for motions along line of sight as well as the obliquely inclined directions are considered based on
pixel variation of the images by referencing to two arbitrarily designated positions in the image frames.
Based on an established relationship between the displacement of the camera movement along the viewing
direction and the difference in pixel counts between reference points in the images, the range and the angle
estimate between the follower camera and the leader is calculated. The Inverse Perspective Transform is
used to account for non linear relationship between the height of vehicle in a forward facing image and its
distance from the camera. The formulation is validated with experiments.
A new function of stereo matching algorithm based on hybrid convolutional neu...IJEECSIAES
This paper proposes a new hybrid method between the learning-based and handcrafted methods for a stereo matching algorithm. The main purpose of the stereo matching algorithm is to produce a disparity map. This map is essential for many applications, including three-dimensional (3D) reconstruction. The raw disparity map computed by a convolutional neural network (CNN) is still prone to errors in the low texture region. The algorithm is set to improve the matching cost computation stage with hybrid CNN-based combined with truncated directional intensity computation. The difference in truncated directional intensity value is employed to decrease radiometric errors. The proposed method’s raw matching cost went through the cost aggregation step using the bilateral filter (BF) to improve accuracy. The winner-take-all (WTA) optimization uses the aggregated cost volume to produce an initial disparity map. Finally, a series of refinement processes enhance the initial disparity map for a more accurate final disparity map. This paper verified the performance of the algorithm using the Middlebury online stereo benchmarking system. The proposed algorithm achieves the objective of generating a more accurate and smooth disparity map with different depths at low texture regions through better matching cost quality.
A new function of stereo matching algorithm based on hybrid convolutional neu...nooriasukmaningtyas
This paper proposes a new hybrid method between the learning-based and handcrafted methods for a stereo matching algorithm. The main purpose of the stereo matching algorithm is to produce a disparity map. This map is essential for many applications, including three-dimensional (3D) reconstruction. The raw disparity map computed by a convolutional neural network (CNN) is still prone to errors in the low texture region. The algorithm is set to improve the matching cost computation stage with hybrid CNN-based combined with truncated directional intensity computation. The difference in truncated directional intensity value is employed to decrease radiometric errors. The proposed method’s raw matching cost went through the cost aggregation step using the bilateral filter (BF) to improve accuracy. The winner-take-all (WTA) optimization uses the aggregated cost volume to produce an initial disparity map. Finally, a series of refinement processes enhance the initial disparity map for a more accurate final disparity map. This paper verified the performance of the algorithm using the Middlebury online stereo benchmarking system. The proposed algorithm achieves the objective of generating a more accurate and smooth disparity map with different depths at low texture regions through better matching cost quality.
Classification and Comparison of License Plates Localization Algorithmssipij
The Intelligent Transportation Systems (ITS) are the subject of a world economic competition. They are the
application of new information and communication technologies in the transport sector, to make the
infrastructures more efficient, more reliable and more ecological. License Plates Recognition (LPR) is the
key module of these systems, in which the License Plate Localization (LPL) is the most important stage,
because it determines the speed and robustness of this module. Thus, during this step the algorithm must
process the image and overcome several constraints as climatic and lighting conditions, sensors and angles
variety, LPs’ no-standardization, and the real time processing. This paper presents a classification and
comparison of License Plates Localization (LPL) algorithms and describes the advantages, disadvantages
and improvements made by each of them.
Classification and Comparison of License Plates Localization Algorithmssipij
The Intelligent Transportation Systems (ITS) are the subject of a world economic competition. They are the
application of new information and communication technologies in the transport sector, to make the
infrastructures more efficient, more reliable and more ecological. License Plates Recognition (LPR) is the
key module of these systems, in which the License Plate Localization (LPL) is the most important stage,
because it determines the speed and robustness of this module. Thus, during this step the algorithm must
process the image and overcome several constraints as climatic and lighting conditions, sensors and angles
variety, LPs’ no-standardization, and the real time processing. This paper presents a classification and
comparison of License Plates Localization (LPL) algorithms and describes the advantages, disadvantages
and improvements made by each of them.
Classification and Comparison of License Plates Localization Algorithmssipij
The Intelligent Transportation Systems (ITS) are the subject of a world economic competition. They are the
application of new information and communication technologies in the transport sector, to make the
infrastructures more efficient, more reliable and more ecological. License Plates Recognition (LPR) is the
key module of these systems, in which the License Plate Localization (LPL) is the most important stage,
because it determines the speed and robustness of this module. Thus, during this step the algorithm must
process the image and overcome several constraints as climatic and lighting conditions, sensors and angles
variety, LPs’ no-standardization, and the real time processing. This paper presents a classification and
comparison of License Plates Localization (LPL) algorithms and describes the advantages, disadvantages
and improvements made by each of them.
Design and implementation of video tracking system based on camera field of viewsipij
The basic idea of this paper is to design and implement of video tracking system based on Camera Field of
View (CFOV), Otsu’s method was used to detect targets such as vehicles and people. Whereas most
algorithms were spent a lot of time to execute the process, an algorithm was developed to achieve it in a
little time. The histogram projection was used in both directional to detect target from search region,
which is robust to various light conditions in Charge Couple Device (CCD) camera images and saves
computation time.
Our algorithm based on background subtraction, and normalize cross correlation operation from a series
of sequential sub images can estimate the motion vector. Camera field of view (CFOV) was determined and
calibrated to find the relation between real distance and image distance. The system was tested by
measuring the real position of object in the laboratory and compares it with the result of computed one. So
these results are promising to develop the system in future.
CLASSIFICATION AND COMPARISON OF LICENSE PLATES LOCALIZATION ALGORITHMSsipij
The Intelligent Transportation Systems (ITS) are the subject of a world economic competition. They are the
application of new information and communication technologies in the transport sector, to make the
infrastructures more efficient, more reliable and more ecological. License Plates Recognition (LPR) is the
key module of these systems, in which the License Plate Localization (LPL) is the most important stage,
because it determines the speed and robustness of this module. Thus, during this step the algorithm must
process the image and overcome several constraints as climatic and lighting conditions, sensors and angles
variety, LPs’ no-standardization, and the real time processing. This paper presents a classification and
comparison of License Plates Localization (LPL) algorithms and describes the advantages, disadvantages
and improvements made by each of them.
Similar to Matching algorithm performance analysis for autocalibration method of stereo vision (20)
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In recent times, the trend of online shopping through e-commerce stores and websites has grown to a huge extent. Whenever a product is purchased on an e-commerce platform, people leave their reviews about the product. These reviews are very helpful for the store owners and the product’s manufacturers for the betterment of their work process as well as product quality. An automated system is proposed in this work that operates on two datasets D1 and D2 obtained from Amazon. After certain preprocessing steps, N-gram and word embedding-based features are extracted using term frequency-inverse document frequency (TF-IDF), bag of words (BoW) and global vectors (GloVe), and Word2vec, respectively. Four machine learning (ML) models support vector machines (SVM), logistic regression (RF), logistic regression (LR), multinomial Naïve Bayes (MNB), two deep learning (DL) models convolutional neural network (CNN), long-short term memory (LSTM), and standalone bidirectional encoder representations (BERT) are used to classify reviews as either positive or negative. The results obtained by the standard ML, DL models and BERT are evaluated using certain performance evaluation measures. BERT turns out to be the best-performing model in the case of D1 with an accuracy of 90% on features derived by word embedding models while the CNN provides the best accuracy of 97% upon word embedding features in the case of D2. The proposed model shows better overall performance on D2 as compared to D1.
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Vehicular ad-hoc networks (VANETs) are wireless-equipped vehicles that form networks along the road. The security of this network has been a major challenge. The identity-based cryptosystem (IBC) previously used to secure the networks suffers from membership authentication security features. This paper focuses on improving the detection of intruders in VANETs with a modified identity-based cryptosystem (MIBC). The MIBC is developed using a non-singular elliptic curve with Lagrange interpolation. The public key of vehicles and roadside units on the network are derived from number plates and location identification numbers, respectively. Pseudo-identities are used to mask the real identity of users to preserve their privacy. The membership authentication mechanism ensures that only valid and authenticated members of the network are allowed to join the network. The performance of the MIBC is evaluated using intrusion detection ratio (IDR) and computation time (CT) and then validated with the existing IBC. The result obtained shows that the MIBC recorded an IDR of 99.3% against 94.3% obtained for the existing identity-based cryptosystem (EIBC) for 140 unregistered vehicles attempting to intrude on the network. The MIBC shows lower CT values of 1.17 ms against 1.70 ms for EIBC. The MIBC can be used to improve the security of VANETs.
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A distributed denial of service (DDoS) attack is where one or more computers attack or target a server computer, by flooding internet traffic to the server. As a result, the server cannot be accessed by legitimate users. A result of this attack causes enormous losses for a company because it can reduce the level of user trust, and reduce the company’s reputation to lose customers due to downtime. One of the services at the application layer that can be accessed by users is a web-based lightweight directory access protocol (LDAP) service that can provide safe and easy services to access directory applications. We used a deep learning approach to detect DDoS attacks on the CICDDoS 2019 dataset on a complex computer network at the application layer to get fast and accurate results for dealing with unbalanced data. Based on the results obtained, it is observed that DDoS attack detection using a deep learning approach on imbalanced data performs better when implemented using synthetic minority oversampling technique (SMOTE) method for binary classes. On the other hand, the proposed deep learning approach performs better for detecting DDoS attacks in multiclass when implemented using the adaptive synthetic (ADASYN) method.
The appearance of uncertainties and disturbances often effects the characteristics of either linear or nonlinear systems. Plus, the stabilization process may be deteriorated thus incurring a catastrophic effect to the system performance. As such, this manuscript addresses the concept of matching condition for the systems that are suffering from miss-match uncertainties and exogeneous disturbances. The perturbation towards the system at hand is assumed to be known and unbounded. To reach this outcome, uncertainties and their classifications are reviewed thoroughly. The structural matching condition is proposed and tabulated in the proposition 1. Two types of mathematical expressions are presented to distinguish the system with matched uncertainty and the system with miss-matched uncertainty. Lastly, two-dimensional numerical expressions are provided to practice the proposed proposition. The outcome shows that matching condition has the ability to change the system to a design-friendly model for asymptotic stabilization.
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Automatic channel selection using shuffled frog leaping algorithm for EEG bas...TELKOMNIKA JOURNAL
Drug addiction is a complex neurobiological disorder that necessitates comprehensive treatment of both the body and mind. It is categorized as a brain disorder due to its impact on the brain. Various methods such as electroencephalography (EEG), functional magnetic resonance imaging (FMRI), and magnetoencephalography (MEG) can capture brain activities and structures. EEG signals provide valuable insights into neurological disorders, including drug addiction. Accurate classification of drug addiction from EEG signals relies on appropriate features and channel selection. Choosing the right EEG channels is essential to reduce computational costs and mitigate the risk of overfitting associated with using all available channels. To address the challenge of optimal channel selection in addiction detection from EEG signals, this work employs the shuffled frog leaping algorithm (SFLA). SFLA facilitates the selection of appropriate channels, leading to improved accuracy. Wavelet features extracted from the selected input channel signals are then analyzed using various machine learning classifiers to detect addiction. Experimental results indicate that after selecting features from the appropriate channels, classification accuracy significantly increased across all classifiers. Particularly, the multi-layer perceptron (MLP) classifier combined with SFLA demonstrated a remarkable accuracy improvement of 15.78% while reducing time complexity.
Water scarcity is the lack of fresh water resources to meet the standard water demand. There are two type of water scarcity. One is physical. The other is economic water scarcity.
Welcome to WIPAC Monthly the magazine brought to you by the LinkedIn Group Water Industry Process Automation & Control.
In this month's edition, along with this month's industry news to celebrate the 13 years since the group was created we have articles including
A case study of the used of Advanced Process Control at the Wastewater Treatment works at Lleida in Spain
A look back on an article on smart wastewater networks in order to see how the industry has measured up in the interim around the adoption of Digital Transformation in the Water Industry.
Immunizing Image Classifiers Against Localized Adversary Attacksgerogepatton
This paper addresses the vulnerability of deep learning models, particularly convolutional neural networks
(CNN)s, to adversarial attacks and presents a proactive training technique designed to counter them. We
introduce a novel volumization algorithm, which transforms 2D images into 3D volumetric representations.
When combined with 3D convolution and deep curriculum learning optimization (CLO), itsignificantly improves
the immunity of models against localized universal attacks by up to 40%. We evaluate our proposed approach
using contemporary CNN architectures and the modified Canadian Institute for Advanced Research (CIFAR-10
and CIFAR-100) and ImageNet Large Scale Visual Recognition Challenge (ILSVRC12) datasets, showcasing
accuracy improvements over previous techniques. The results indicate that the combination of the volumetric
input and curriculum learning holds significant promise for mitigating adversarial attacks without necessitating
adversary training.
Hybrid optimization of pumped hydro system and solar- Engr. Abdul-Azeez.pdffxintegritypublishin
Advancements in technology unveil a myriad of electrical and electronic breakthroughs geared towards efficiently harnessing limited resources to meet human energy demands. The optimization of hybrid solar PV panels and pumped hydro energy supply systems plays a pivotal role in utilizing natural resources effectively. This initiative not only benefits humanity but also fosters environmental sustainability. The study investigated the design optimization of these hybrid systems, focusing on understanding solar radiation patterns, identifying geographical influences on solar radiation, formulating a mathematical model for system optimization, and determining the optimal configuration of PV panels and pumped hydro storage. Through a comparative analysis approach and eight weeks of data collection, the study addressed key research questions related to solar radiation patterns and optimal system design. The findings highlighted regions with heightened solar radiation levels, showcasing substantial potential for power generation and emphasizing the system's efficiency. Optimizing system design significantly boosted power generation, promoted renewable energy utilization, and enhanced energy storage capacity. The study underscored the benefits of optimizing hybrid solar PV panels and pumped hydro energy supply systems for sustainable energy usage. Optimizing the design of solar PV panels and pumped hydro energy supply systems as examined across diverse climatic conditions in a developing country, not only enhances power generation but also improves the integration of renewable energy sources and boosts energy storage capacities, particularly beneficial for less economically prosperous regions. Additionally, the study provides valuable insights for advancing energy research in economically viable areas. Recommendations included conducting site-specific assessments, utilizing advanced modeling tools, implementing regular maintenance protocols, and enhancing communication among system components.
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Runway Orientation Based on the Wind Rose Diagram.pptx
Matching algorithm performance analysis for autocalibration method of stereo vision
1. TELKOMNIKA Telecommunication, Computing, Electronics and Control
Vol. 18, No. 2, April 2020, pp. 1105~1112
ISSN: 1693-6930, accredited First Grade by Kemenristekdikti, Decree No: 21/E/KPT/2018
DOI: 10.12928/TELKOMNIKA.v18i2.14842 1105
Journal homepage: http://journal.uad.ac.id/index.php/TELKOMNIKA
Matching algorithm performance analysis
for autocalibration method of stereo vision
Raden Arief Setyawan1
, Rudy Soenoko2
, Moch Agus Choiron3
, Panca Mudjirahardjo4
1,4
Electrical Engineering Department, Brawijaya University, Indonesia
2,3
Mechanical Engineering Department, Brawijaya University, Indonesia
Article Info ABSTRACT
Article history:
Received Aug 15, 2019
Revised Dec 17, 2019
Accepted Feb 21, 2020
Stereo vision is one of the interesting research topics in the computer vision
field. Two cameras are used to generate a disparity map, resulting in
the depth estimation. Camera calibration is the most important step in stereo
vision. The calibration step is used to generate an intrinsic parameter of
each camera to get a better disparity map. In general, the calibration process
is done manually by using a chessboard pattern, but this process is
an exhausting task. Self-calibration is an important ability required to
overcome this problem. Self-calibration required a robust and good matching
algorithm to find the key feature between images as reference. The purpose
of this paper is to analyze the performance of three matching algorithms for
the autocalibration process. The matching algorithms used in this research
are SIFT, SURF, and ORB. The result shows that SIFT performs better than
other methods.
Keywords:
Autocalibration
Image matching
Stereo vision
This is an open access article under the CC BY-SA license.
Corresponding Author:
Raden Arief Setyawan,
Department Electrical Engineering,
Brawijaya University,
167 MT Haryono St., Malang 65145 Indonesia.
Email: rarief@ub.ac.id
1. INTRODUCTION
Vision-based measurement has been one of the most interesting research topics in the last decades.
Many applications have been developed using vision-based measurement [1]. The two major methods of 3D
measurement can be categorized into active and passive methods. Structured illumination or laser is used in
the active measurement. This method is not applicable in many cases. The passive 3D measurement is based
on stereo vision and provides more advantages than active measurement. It requires simpler instrumentation,
offering higher applicability in many environments. However, the major issue for passive measurement
is the difficulty in finding accurate correspondence between stereo images [2].
Stereo calibration is the most important step to find a correspondence point. Camera calibration is
required to ensure that both cameras are in perfect position and to remove distortion. Traditionally, camera
calibration is performed using the standard chess-board picture [3]. However, much work is required in
the self-calibration methods. Stereo self-calibration refers to the automatic determination of stereo camera
parameters from image sequences.
Self-calibration is an important ability required for the introduction of stereo cameras into
the market. Many works have been published with this method [4-11]. It can guarantee maintenance-free
and the long-term operation, as the environmental conditions may change the camera position. Special
expertise is required to do the offline calibration. Self-calibration may reduce regular offline calibration time
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and cost. Even if human eyes have different characteristics with minus/plus/cylindrical properties, the human
brain can automatically adjust. Consequently, the human being will have no difficulties in merging two
visions from the left and right cameras. In designing a self-calibration method, a matching algorithm is
an important tool to find a correspondence point between images of two cameras.
The main objective of this paper is to analyze the performance of three matching algorithms for
the autocalibration process. Two of the most common techniques for stereo correspondence are the sum of
absolute differences (SAD) and the sum of squared differences (SSD). The corresponding points between
images have been obtained by minimizing SAD or SSD in area-based block matching [12]. However, these
two techniques result in low accuracy as their major drawback. An improvement by using sub-pixel block
matching techniques has been explored in [4], but the obtained accuracy was still not enough. Recently, there
have been many algorithms proposed on image matching using various techniques [13]. In this work, a set of
experiments demonstrates that the stereo vision system employing the proposed technique can measure 3D
surfaces of free-form objects with sub-mm accuracy. Three matching techniques used in this research are
SIFT, SURF, and ORB. The matching algorithm provides the characteristics of each camera [14]. It used to
transform the second image to perform automatic stereo calibration. The explanation of each algorithm is
explained as follows.
- SIFT
Scale invariant feature transform (SIFT) is a matching algorithm proposed by Lowe [15].
This algorithm works very well in finding a correspondence point of the image which is rotated and
transformed. This algorithm consists of four steps. The first step is the estimation of scale-space extrema
using the Difference of Gaussian method, being express using (1) and described in Figure 1.
(1)
Figure 1. The estimation of scale-space extrema using Difference of Gaussian method
In the next step, the key point candidates are refined by the elimination of low value. Laplacian of
Gaussian σ2∇2G is used since it produces the most stable image feature than others. The correlation between
the Difference of Gaussian and the Laplacian of gaussian can be expressed using (2) and (3).
(2)
(3)
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The key point orientation is assigned by using an image gradient. The final step is the computation
of the local image descriptor based on the gradient and orientation of the key point. Because of its algorithm
complexity, SIFT requires a large computational capacity, even though it is very suitable for object
recognition applications [16, 17].
- SURF
Speed up robust feature (SURF) technique performs faster than SIFT [18]. In some cases,
it performs with equal quality to SIFT. SURF technique is based on a descriptor and a detector, which is
equal to SIFT. Instead of using the gaussian average of the images, SURF uses squares for approximation.
It employs the Hessian matrix-based Blob detector to find the point of interest. Wavelet response is used for
orientation assignment by applying gaussian weight. SURF feature descriptor is generated by the wavelet
response of the subregion. The subregion is the division of the neighbor around the key point. Two points
will form a correspondence (match) if they the same contrast, generated from Laplacian.
- ORB
Oriented FAST and rotated BRIEF (ORB) has been proposed by Rublee, et al. [19]. It is another
alternative for SIFT. ORB is a combination of the FAST key point and the BRIEF descriptor. The FAST is
used to determine the key point [20]. In the next step, Harris corner is used to find the top N point. FAST
computes the intensity-weighted centroid, located at the center. The orientation is obtained by the vector
direction to the centroid.
2. RESEARCH METHOD
The purpose of this research is to find the best algorithm for the auto-calibration of stereo vision.
The first step of calibration is the finding of the corresponding points between two images. The accuracy of
this step determines the accuracy of stereo vision. The object of this research is a microscopic object with
the size of a few millimeters. The disparity of the points is converted into the intrinsic parameter
of the camera.
The method used in this research is described in Figure 2. The stereo image has been produced using
two cameras. In order to handle the very narrow view area caused by the small-size objects, the converged
camera setup is used. It is hard to put objects in the overlapped area if parallel cameras are used.
The histogram equalization steps are required since the illumination of each image or camera color character
possibly different [21]. To reduce the noises, the combination of Gaussian and medium filter applied.
Both filters are proposed to improve the image quality [22]. Gaussian can be expressed in (4).
While the median filter expressed in (5). A combination of both filter expressed using (6).
(4)
(5)
(6)
The result of histogram equalization is processed using a feature extraction algorithm. Three feature
extraction algorithms are used to find the match correspondence point on each set of images [20].
The match correspondence point used for the rectification process [23]. Distance between each corresponding
point is used to extract the stereo parameter. The output of this method is the stereo calibration
parameter [24]. The result of this process can be transformed into a 3D surface.
Figure 2. The distance measurement procedure
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Two industrial standard HD camera is used in this research. These cameras are equipped with
a 100x lens to enlarge the object size. Two captured images from both cameras are then compared and
evaluated using the matching algorithm to find the corresponding point. Figure 3 shows the camera setup and
the object size.
Figure 3. The cameras set-up and the object size
A millimeter template is used to measure the size of the object and as a reference of
the auto-calibration. The dimension of the object is shown in Figure 4 (a), whereas Figure 4 (b) represents
five pairs of image sets which are generated using the system for testing purpose. Each set is compared using
three matching algorithms: SIFT, SURF, and ORB.
Set 1
Set 2
Set 3
Set 4
Set 5
(a) (b)
Figure 4. (a) The dimension of the object and (b) the datasets used in the research
3. RESULTS AND ANALYSIS
The execution of SIFT, SURF, and ORB on each pair of image sets has been performed to find
the best method for image matching. In the obtained results, the green line indicates the correspondence point
between the left and right images. The number of connected lines shows the number of matched points. How
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ever, each algorithm still resulted in an error if the algorithm failed to match the correct points. The result of
this matching is used to generate the calibration parameter of stereo vision.
3.1. Matching results using SIFT, SURF, and ORB
The result of implementing the SIFT, SURF and ORB algorithms on the captured object are given
respectively in Figures 5 (a-c). As seen in the image set 1 and 5 of Figure 5 (a), only a few lines have been
generated by the SIFT algorithm. The background has very high similarities between images. The result of
SURF algorithm implementation given in Figure 5 (b) indicates that on the image set 1 there have been only
a few lines generated by an algorithm and some lines indicated a major error. The rest of the image sets
shows the correct corresponding points. The result of implementing the ORB algorithm shown in Figure 5 (c)
also indicates that there have been only a few lines generated by the algorithm on the image set 1, with some
lines indicated major error. The four other image sets indicated the correct corresponding points.
The comparison of the matching results using SIFT, SURF, and ORB techniques is presented in
Table 1. It indicates matching accuracy of the three algorithms SIFT, SURF, and ORB. It can be known from
the table that the SIFT algorithm gives the highest average percentage accuracy. However, the percentage of
correct lines varies depending on the image characteristics. For the image with high similarities, SURF failed
to give a good result, whereas ORB could generate many lines, but with high error rates.
1
2
3
4
5
(a) (b) (c)
Figure 5. Experiment results of matching algorithm using: (a) SIFT, (b) SURF, and (c) ORB
As seen in Figure 5 (a), the image set 1 and set 5 only have a few lines have been generated by
the SIFT algorithm. The background has very high similarities between images. In contrast, the results of
the SURF algorithm (Figure 5 (b)), which applied to the image set 1, only a few lines generated by
the algorithm. The rest of the image sets shows the correct corresponding points. The result of implementing
the ORB algorithm shown in Figure 5 (c) also indicates that there have been only a few lines generated by
the algorithm on the image set 1, with some lines indicated major error. Parallel lines, which group together
to form a thicker image symbolize accuracy. In contrast, line out of parallel, crisscrossing each other creating
a dispersed image signify inaccuracy.
The comparison of the matching results using SIFT, SURF, and ORB techniques is presented in
Table 1. It indicates matching accuracy of the three algorithms SIFT, SURF, and ORB. As can be seen in
the table, the SIFT algorithm gives the highest average accuracy percentage. However, the percentage of
correct lines varies depending on the image characteristics. For the image with high similarities, SURF failed
to give a good result, whereas ORB could generate many lines, but with high error rates.
The result in Table 1 compared with the result from Karami et.all [13] with the case of varying
intensity shown in Table 2. It shows that in both works, SIFT performs better than other methods. Table 3
shows the comparison of the computational time of each algorithm. It shows that the SIFT method required
a longer time than the others due to the complex algorithm computation. SIFT required a longer time when
the image had high similarities in its texture. Figure 6 indicates that the ORB algorithm has the fastest
computation time for all images sets. It takes less than 0.5s processing time. However, the ORB algorithm
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gives less matching rates compared with other methods. The line chart in Figure 6 also indicates that
the complexity of the images linear with the computation time. Image set 1 and 5 give the longest
computation time than other images set because of their complexity.
Table 1. Comparison of the matching results using the SIFT, SURF, and ORB techniques
No.
SIFT SURF ORB
Lines Correct Point % Correct Lines Correct Point % Correct Lines Correct Point % Correct
1 15 14 93.33% 14 2 14.29% 78 24 30.77%
2 150 120 80.00% 443 430 97.07% 89 70 78.65%
3 400 356 89.00% 278 256 92.09% 254 224 88.19%
4 345 321 93.04% 600 467 77.83% 345 156 45.22%
5 20 16 80.00% 125 112 89.60% 375 153 40.80%
Average 87.08% Average 74.17% Average 56.73%
Table 2. Comparison of the matching results between Karami and this work
Method
Match Rate (%)
Karami This Work
SIFT 76.7 87.08
SURF 72.6 74.17
ORB 63.6 56.73
Table 3. Computational time using the SIFT, SURF, and ORB techniques
Image Set
Computational Time
SIFT SURF ORB
1 2.114 0.926 0.052
2 1.149 0.777 0.039
3 0.788 0.6 0.033
4 0.858 0.576 0.033
5 1.36 1.149 0.075
Figure 6. Computational time comparison chart
3.2. Image rectification
The matching point from previous steps is used for rectifying the images. The difference position
between source and destination point used as a reference for transformation. Figures 7a and 7b show
a distorted image from left and right camera. Figure 7a used as the reference, while the Figure 7b is the object
of transformation. The result of the image transformation of Figure 7b displayed in Figure 7c.
This transformation based on the homography equation to reduce distortion [25].
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(a) (b) (c)
Figure 7. Rectification result (a) left Image as reference (b) right image (c) the result of rectification
3.3. 3D surface generation
The matching process results in the distance between points. Using the distance values, a 3D surface
object can be generated by projecting them onto the z-axis [26, 27]. Distance value between both images
assigned as the depth value. If the distance is small, the object is closer to the camera, and vice versa. Depth
value for each pixel than converted to grayscale to distinguish the depth of point. Figure 8 shows
the generated disparity map of the dataset using SIFT Adjustment. Correlated point produces by SIFT is used
to calculate the stereo camera parameters. The result shows that the algorithm successfully generates match
stereo, however, the noisy output is a bit challenging. Using the depth value as z-axis produce 3d view as
shown in Figure 9 the algorithm successfully produces 3D reconstruction, but the noises reduce
image quality.
(a) (b) (c)
Figure 8. Generated depth value based on SIFT matching algorithm
(a) (b) (c)
Figure 9. 3D surface reconstruction
4. CONCLUSION
In this paper, three different image matching techniques, SIFT, SURF, and ORB, for stereo
autocalibration system have been compared. SIFT indicates the best performance in most scenarios under
consideration. In the special case, when the images contain multiple high similarities texture, SURF failed to
give good results. In the ORB implementation, the features are mostly concentrated in objects at the center of
the image. While SIFT and SURF, the features are distributed over the image. The 3D reconstruction image
has successfully generated, but the noise reduces the quality of the images. For future work, a good filtering
algorithm required for a better result, without scarifying the details of images.
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