Automatic Feature Set Selection for Merging Image Segmentation Results Using Fuzzy Clustering

The image segmentation performance of clustering algorithms is highly dependent on the features used and the type of objects contained in the image, which limits the generalization ability of such algorithms. As a consequence, a fuzzy image segmentation using suppressed fuzzy c-means clustering (FSSC) algorithm was proposed that merged the initially segmented regions produced by a fuzzy clustering algorithm, using two different feature sets each comprising two features from pixel location, pixel intensity and a combination of both, which considered objects with similar surface variations (SSV), the arbitrariness of fuzzy c-means (FCM) algorithm using pixel location and the connectedness property of objects. The feature set selection for the initial segmentation in the merging technique was however, inaccurate because it did not consider all possible feature set combinations and also manually defined the threshold used to identify objects having SSV. To overcome these limitations, a new automatic feature set selection for merging image segmentation results using fuzzy clustering (AFMSF) algorithm is proposed, which considers the best feature set selection and also calculates the threshold based upon human visual perception. Both qualitative and quantitative analysis prove the superiority of AFMSF algorithm compared with other clustering techniques including FSSC, FCM, possibilistic c-means (PCM) and SFCM, for different image types

A perception and manipulation system for collecting rock samples

An important part of a planetary exploration mission is to collect and analyze surface samples. As part of the Carnegie Mellon University Ambler Project, researchers are investigating techniques for collecting samples using a robot arm and a range sensor. The aim of this work is to make the sample collection operation fully autonomous. Described here are the components of the experimental system, including a perception module that extracts objects of interest from range images and produces models of their shapes, and a manipulation module that enables the system to pick up the objects identified by the perception module. The system was tested on a small testbed using natural terrain