An Image Understanding System for Detecting Indoor Features

The capability of identifying physical structures of an unknown environment is very important for vision based robot navigation and scene understanding. Among physical structures in indoor environments, corridor lines and doors are important visual landmarks for robot navigation since they show the topological structure in an indoor environment and establish connections among the different places or regions in the indoor environment. Furthermore, they provide clues for understanding the image. In this thesis, I present two algorithms to detect the vanishing point, corridor lines, and doors respectively using a single digital video camera. In both algorithms, we utilize a hypothesis generation and verification method to detect corridor and door structures using low level linear features. The proposed method consists of low, intermediate, and high level processing stages which correspond to the extraction of low level features, the formation of hypotheses, and verification of the hypotheses via seeking evidence actively. In particular, we extend this single-pass framework by employing a feedback strategy for more robust hypothesis generation and verification. We demonstrate the robustness of the proposed methods on a large number of real video images in a variety of corridor environments, with image acquisitions under different illumination and reflection conditions, with different moving speeds, and with different viewpoints of the camera. Experimental results performed on the corridor line detection algorithm validate that the method can detect corridor line locations in the presence of many spurious line features about one second. Experimental results carried on the door detection algorithm show that the system can detect visually important doors in an image with a very high accuracy rate when a robot navigates along a corridor environment

Semi-automatic spline fitting of planar curvilinear profiles in digital images using the Hough transform

We develop a novel method for the recognition of curvilinear profiles in digital images. The proposed method, semi-automatic for both closed and open planar profiles, essentially consists of a preprocessing step exploiting an edge detection algorithm, and a main step involving the Hough transform technique. In the preprocessing step, a Canny edge detection algorithm is applied in order to obtain a reduced point set describing the profile curve to be reconstructed. Also, to identify in the profile possible sharp points like cusps, we additionally use an algorithm to find the approximated tangent vector of every edge point. In the subsequent main step, we then use a piecewisely defined Hough transform to locally recognize from the point set a low-degree piecewise polynomial curve. The final outcome of the algorithm is thus a spline curve approximating the underlined profile image. The output curve consists of polynomial pieces connected G^1 continuously, except in correspondence of the identified cusps, where the order of continu- ity is only C^0 , as expected. To illustrate effectiveness and efficiency of the new profile detection technique we present several numerical results dealing with detection of open and closed profiles in images of dif- ferent type, i.e., medical and photographic image

A review of hough transform and line segment detection approaches

In a wide range of image processing and computer vision problems, line segment detection is one of the most critical challenges. For more than three decades researchers have contributed to build more robust and accurate algorithms with faster performance. In this paper we review the main approaches and in particular the Hough transform and its extensions, which are among the most well-known techniques for the detection of straight lines in a digital image. This paper is based on extensive practical research and is organised into two main parts. In the first part, the HT and its major research directions and limitations are discussed. In the second part of the paper, state-of-the-art line segmentation techniques are reviewed and categorized into three main groups with fundamentally distinctive characteristics. Their relative advantages and disadvantages are compared and summarised in a table

A review of hough transform and line segment detection approaches

In a wide range of image processing and computer vision problems, line segment detection is one of the most critical challenges. For more than three decades researchers have contributed to build more robust and accurate algorithms with faster performance. In this paper we review the main approaches and in particular the Hough transform and its extensions, which are among the most well-known techniques for the detection of straight lines in a digital image. This paper is based on extensive practical research and is organised into two main parts. In the first part, the HT and its major research directions and limitations are discussed. In the second part of the paper, state-of-the-art line segmentation techniques are reviewed and categorized into three main groups with fundamentally distinctive characteristics. Their relative advantages and disadvantages are compared and summarised in a table

Graph Clustering, Variational Image Segmentation Methods and Hough Transform Scale Detection for Object Measurement in Images

© 2016, Springer Science+Business Media New York. We consider the problem of scale detection in images where a region of interest is present together with a measurement tool (e.g. a ruler). For the segmentation part, we focus on the graph-based method presented in Bertozzi and Flenner (Multiscale Model Simul 10(3):1090–1118, 2012) which reinterprets classical continuous Ginzburg–Landau minimisation models in a totally discrete framework. To overcome the numerical difficulties due to the large size of the images considered, we use matrix completion and splitting techniques. The scale on the measurement tool is detected via a Hough transform-based algorithm. The method is then applied to some measurement tasks arising in real-world applications such as zoology, medicine and archaeology