Efficient circular thresholding

Otsu's algorithm for thresholding images is widely used, and the computational complexity of determining the threshold from the histogram is O(N) where N is the number of histogram bins. When the algorithm is adapted to circular rather than linear histograms then two thresholds are required for binary thresholding. We show that, surprisingly, it is still possible to determine the optimal threshold in O(N) time. The efficient optimal algorithm is over 300 times faster than traditional approaches for typical histograms and is thus particularly suitable for real-time applications. We further demonstrate the usefulness of circular thresholding using the adapted Otsu criterion for various applications, including analysis of optical flow data, indoor/outdoor image classification, and non-photorealistic rendering. In particular, by combining circular Otsu feature with other colour/texture features, a 96.9% correct rate is obtained for indoor/outdoor classification on the well known IITM-SCID2 data set, outperforming the state-of-the-art result by 4.3%

Design of automatic vision-based inspection system for solder joint segmentation

Purpose: Computer vision has been widely used in the inspection of electronic components. This paper proposes a computer vision system for the automatic detection, localisation, and segmentation of solder joints on Printed Circuit Boards (PCBs) under different illumination conditions. Design/methodology/approach: An illumination normalization approach is applied to an image, which can effectively and efficiently eliminate the effect of uneven illumination while keeping the properties of the processed image the same as in the corresponding image under normal lighting conditions. Consequently special lighting and instrumental setup can be reduced in order to detect solder joints. These normalised images are insensitive to illumination variations and are used for the subsequent solder joint detection stages. In the segmentation approach, the PCB image is transformed from an RGB color space to a YIQ color space for the effective detection of solder joints from the background. Findings: The segmentation results show that the proposed approach improves the performance significantly for images under varying illumination conditions. Research limitations/implications: This paper proposes a front-end system for the automatic detection, localisation, and segmentation of solder joint defects. Further research is required to complete the full system including the classification of solder joint defects. Practical implications: The methodology presented in this paper can be an effective method to reduce cost and improve quality in production of PCBs in the manufacturing industry. Originality/value: This research proposes the automatic location, identification and segmentation of solder joints under different illumination conditions

A practical multirobot localization system

We present a fast and precise vision-based software intended for multiple robot localization. The core component of the software is a novel and efficient algorithm for black and white pattern detection. The method is robust to variable lighting conditions, achieves sub-pixel precision and its computational complexity is independent of the processed image size. With off-the-shelf computational equipment and low-cost cameras, the core algorithm is able to process hundreds of images per second while tracking hundreds of objects with a millimeter precision. In addition, we present the method's mathematical model, which allows to estimate the expected localization precision, area of coverage, and processing speed from the camera's intrinsic parameters and hardware's processing capacity. The correctness of the presented model and performance of the algorithm in real-world conditions is verified in several experiments. Apart from the method description, we also make its source code public at \emph{http://purl.org/robotics/whycon}; so, it can be used as an enabling technology for various mobile robotic problems

External localization system for mobile robotics

We present a fast and precise vision-based software intended for multiple robot localization. The core component of the proposed localization system is an efficient method for black and white circular pattern detection. The method is robust to variable lighting conditions, achieves sub-pixel precision, and its computational complexity is independent of the processed image size. With off-the-shelf computational equipment and low-cost camera, its core algorithm is able to process hundreds of images per second while tracking hundreds of objects with millimeter precision. We propose a mathematical model of the method that allows to calculate its precision, area of coverage, and processing speed from the camera’s intrinsic parameters and hardware’s processing capacity. The correctness of the presented model and performance of the algorithm in real-world conditions are verified in several experiments. Apart from the method description, we also publish its source code; so, it can be used as an enabling technology for various mobile robotics problems

A local Gaussian filter and adaptive morphology as tools for completing partially discontinuous curves

This paper presents a method for extraction and analysis of curve--type structures which consist of disconnected components. Such structures are found in electron--microscopy (EM) images of metal nanograins, which are widely used in the field of nanosensor technology. The topography of metal nanograins in compound nanomaterials is crucial to nanosensor characteristics. The method of completing such templates consists of three steps. In the first step, a local Gaussian filter is used with different weights for each neighborhood. In the second step, an adaptive morphology operation is applied to detect the endpoints of curve segments and connect them. In the last step, pruning is employed to extract a curve which optimally fits the template