Edge detection using neural network arbitration

A human observer is able to recognise and describe most parts of an object by its contour, if this is properly traced and reflects the shape of the object itself. With a machine vision system this recognition task has been approached using a similar technique. This prompted the development of many diverse edge detection algorithms. The work described in this thesis is based on the visual observation that edge maps produced by different algorithms, as the image degrades. Display different properties of the original image. Our proposed objective is to try and improve the edge map through the arbitration between edge maps produced by diverse (in nature, approach and performance) edge detection algorithms. As image processing tools are repetitively applied to similar images we believe the objective can be achieved by a learning process based on sample images. It is shown that such an approach is feasible, using an artificial neural network to perform the arbitration. This is taught from sets extracted from sample images. The arbitration system is implemented upon a parallel processing platform. The performance of the system is presented through examples of diverse types of image. Comparisons with a neural network edge detector (also developed within this thesis) and conventional edge detectors show that the proposed system presents significant advantages

Edge detection using neural network arbitration

A human observer is able to recognise and describe most parts of an object by its contour, if this is properly traced and reflects the shape of the object itself. With a machine vision system this recognition task has been approached using a similar technique. This prompted the development of many diverse edge detection algorithms. The work described in this thesis is based on the visual observation that edge maps produced by different algorithms, as the image degrades. Display different properties of the original image. Our proposed objective is to try and improve the edge map through the arbitration between edge maps produced by diverse (in nature, approach and performance) edge detection algorithms. As image processing tools are repetitively applied to similar images we believe the objective can be achieved by a learning process based on sample images. It is shown that such an approach is feasible, using an artificial neural network to perform the arbitration. This is taught from sets extracted from sample images. The arbitration system is implemented upon a parallel processing platform. The performance of the system is presented through examples of diverse types of image. Comparisons with a neural network edge detector (also developed within this thesis) and conventional edge detectors show that the proposed system presents significant advantages

Autonomy in the real real-world: A behaviour based view of autonomous systems control in an industrial product inspection system

The thesis presented in this dissertation appears in two sequential parts that arose from an exploration of the use of Behaviour Based Artificial Intelligence (BBAI) techniques in a domain outside that of robotics, where BBAI is most frequently used. The work details a real-world physical implementation of the control and interactions of an industrial product inspection system from a BBAI perspective. It concentrates particularly on the control of a number of active laser scanning sensor systems (each a subsystem of a larger main inspection system), using a subsumption architecture. This industrial implementation is in itself a new direction for BBAI control and an important aspect of this thesis. However, the work has also led on to the development of a number of key ideas which contribute to the field of BBAI in general. The second part of the thesis concerns the nature of physical and temporal constraints on a distributed control system and the desirability of utilising mechanisms to provide continuous, low-level learning and adaptation of domain knowledge on a sub-behavioural basis. Techniques used include artificial neural networks and hill-climbing state-space search algorithms. Discussion is supported with examples from experiments with the laser scanning inspection system. Encouraging results suggest that concerted design effort at this low level of activity will benefit the whole system in terms of behavioural robustness and reliability. Relevant aspects of the design process that should be of value in similar real-world projects are identified and emphasised. These issues are particularly important in providing a firm foundation for artificial intelligence based control systems

An instruction systolic array architecture for multiple neural network types

Modern electronic systems, especially sensor and imaging systems, are beginning to incorporate their own neural network subsystems. In order for these neural systems to learn in real-time they must be implemented using VLSI technology, with as much of the learning processes incorporated on-chip as is possible. The majority of current VLSI implementations literally implement a series of neural processing cells, which can be connected together in an arbitrary fashion. Many do not perform the entire neural learning process on-chip, instead relying on other external systems to carry out part of the computation requirements of the algorithm. The work presented here utilises two dimensional instruction systolic arrays in an attempt to define a general neural architecture which is closer to the biological basis of neural networks - it is the synapses themselves, rather than the neurons, that have dedicated processing units. A unified architecture is described which can be programmed at the microcode level in order to facilitate the processing of multiple neural network types. An essential part of neural network processing is the neuron activation function, which can range from a sequential algorithm to a discrete mathematical expression. The architecture presented can easily carry out the sequential functions, and introduces a fast method of mathematical approximation for the more complex functions. This can be evaluated on-chip, thus implementing the entire neural process within a single system. VHDL circuit descriptions for the chip have been generated, and the systolic processing algorithms and associated microcode instruction set for three different neural paradigms have been designed. A software simulator of the architecture has been written, giving results for several common applications in the field

Coding Strategies for Genetic Algorithms and Neural Nets

The interaction between coding and learning rules in neural nets (NNs), and between coding and genetic operators in genetic algorithms (GAs) is discussed. The underlying principle advocated is that similar things in "the world" should have similar codes. Similarity metrics are suggested for the coding of images and numerical quantities in neural nets, and for the coding of neural network structures in genetic algorithms. A principal component analysis of natural images yields receptive fields resembling horizontal and vertical edge and bar detectors. The orientation sensitivity of the "bar detector" components is found to match a psychophysical model, suggesting that the brain may make some use of principal components in its visual processing. Experiments are reported on the effects of different input and output codings on the accuracy of neural nets handling numeric data. It is found that simple analogue and interpolation codes are most successful. Experiments on the coding of image data demonstrate the sensitivity of final performance to the internal structure of the net. The interaction between the coding of the target problem and reproduction operators of mutation and recombination in GAs are discussed and illustrated. The possibilities for using GAs to adapt aspects of NNs are considered. The permutation problem, which affects attempts to use GAs both to train net weights and adapt net structures, is illustrated and methods to reduce it suggested. Empirical tests using a simulated net design problem to reduce evaluation times indicate that the permutation problem may not be as severe as has been thought, but suggest the utility of a sorting recombination operator, that matches hidden units according to the number of connections they have in common. A number of experiments using GAs to design network structures are reported, both to specify a net to be trained from random weights, and to prune a pre-trained net. Three different coding methods are tried, and various sorting recombination operators evaluated. The results indicate that appropriate sorting can be beneficial, but the effects are problem-dependent. It is shown that the GA tends to overfit the net to the particular set of test criteria, to the possible detriment of wider generalisation ability. A method of testing the ability of a GA to make progress in the presence of noise, by adding a penalty flag, is described

Neural network approach to the classification of urban images

Over the past few years considerable research effort has been devoted to the study of pattern recognition methods applied to the classification of remotely sensed images. Neural network methods have been widely explored, and been shown to be generally superior to conventional statistical methods. However, the classification of objects shown on greylevel high resolution images in urban areas presents significant difficulties. This thesis presents the results of work aimed at reducing some of these difficulties. High resolution greylevel aerial images are used as the raw material, and methods of processing using neural networks are presented. If a per-pixel approach were used there would be only one input neuron, the pixel greylevel, which would not provide a sufficient basis for successful object identification. The use of spatial neighbourhoods providing an m x m input vector centred on each pixel is investigated; this method takes into account the texture of the pixel's neighbourhood. The pixel's neighbourhood could be considered to contain more that textural information. Second order methods using mean greylevel, Laplacian and variance values derived from the pixel neighbourhood are developed to provide the neural network with a three neuron input vector. This method provides the neural network with additional information, improving the strength of the relationship between the input and output neurons, and therefore reducing the training time and improving the classification accuracy. A third method using a hierarchical set of two or more neural networks is proposed as a method of identifying the high level objects in the images. The methods were applied to representative data sets and the results were compared with manually classified images to quantify the results. Classification accuracy varied from 69% with a window of raw pixel values and 84% with a three neuron input vector of second order values