28 research outputs found

    Image segmentation with adaptive region growing based on a polynomial surface model

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    A new method for segmenting intensity images into smooth surface segments is presented. The main idea is to divide the image into flat, planar, convex, concave, and saddle patches that coincide as well as possible with meaningful object features in the image. Therefore, we propose an adaptive region growing algorithm based on low-degree polynomial fitting. The algorithm uses a new adaptive thresholding technique with the L∞ fitting cost as a segmentation criterion. The polynomial degree and the fitting error are automatically adapted during the region growing process. The main contribution is that the algorithm detects outliers and edges, distinguishes between strong and smooth intensity transitions and finds surface segments that are bent in a certain way. As a result, the surface segments corresponding to meaningful object features and the contours separating the surface segments coincide with real-image object edges. Moreover, the curvature-based surface shape information facilitates many tasks in image analysis, such as object recognition performed on the polynomial representation. The polynomial representation provides good image approximation while preserving all the necessary details of the objects in the reconstructed images. The method outperforms existing techniques when segmenting images of objects with diffuse reflecting surfaces

    Recognition of one class of quadrics from 3D point clouds

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    Within cyber physical production systems 3D vision as a source of information from real-world provides enormous possibilities. While the hardware of contemporary 3D scanners is characterized by high speed along with high resolution and accuracy, there is a lack of real-time online data processing algorithms that would give certain elements of intelligence to the sensory system. Critical elements of data processing software are efficient, real-time applicable methods for fully automatic recognition of high level geometric primitives from point cloud (surface segmentation and fitting). This paper presents a method for recognition of one class of quadrics from 3D point clouds, in particular for recognition of cylinders, elliptical cylinders and ellipsoids. The method is based on the properties of scatter matrix during direct least squares fitting of ellipsoids. Presented recognition procedure can be employed for segmentation of regions with G1 or higher continuity, and this is its comparative advantage to similar methods. The applicability of the method is illustrated and experimentally verified using two case studies. First case study refers to a synthesized, and the second to a real-world scanned point cloud

    Recognition of one class of quadrics from 3D point clouds

    Get PDF
    Within cyber physical production systems 3D vision as a source of information from real-world provides enormous possibilities. While the hardware of contemporary 3D scanners is characterized by high speed along with high resolution and accuracy, there is a lack of real-time online data processing algorithms that would give certain elements of intelligence to the sensory system. Critical elements of data processing software are efficient, real-time applicable methods for fully automatic recognition of high level geometric primitives from point cloud (surface segmentation and fitting). This paper presents a method for recognition of one class of quadrics from 3D point clouds, in particular for recognition of cylinders, elliptical cylinders and ellipsoids. The method is based on the properties of scatter matrix during direct least squares fitting of ellipsoids. Presented recognition procedure can be employed for segmentation of regions with G1 or higher continuity, and this is its comparative advantage to similar methods. The applicability of the method is illustrated and experimentally verified using two case studies. First case study refers to a synthesized, and the second to a real-world scanned point cloud

    Recognition of Planar Segments in Point Cloud Based on Wavelet Transform

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    Within industrial automation systems, three-dimensional (3-D) vision provides very useful feedback information in autonomous operation of various manufacturing equipment (e.g., industrial robots, material handling devices, assembly systems, and machine tools). The hardware performance in contemporary 3-D scanning devices is suitable for online utilization. However, the bottleneck is the lack of real-time algorithms for recognition of geometric primitives (e.g., planes and natural quadrics) from a scanned point cloud. One of the most important and the most frequent geometric primitive in various engineering tasks is plane. In this paper, we propose a new fast one-pass algorithm for recognition (segmentation and fitting) of planar segments from a point cloud. To effectively segment planar regions, we exploit the orthonormality of certain wavelets to polynomial function, as well as their sensitivity to abrupt changes. After segmentation of planar regions, we estimate the parameters of corresponding planes using standard fitting procedures. For point cloud structuring, a z-buffer algorithm with mesh triangles representation in barycentric coordinates is employed. The proposed recognition method is tested and experimentally validated in several real-world case studies

    Recognition of quadrics from 3d point clouds generated by scanning of rotational parts

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    This paper presents a method for recognition of second order surfaces (quadrics) from point clouds containing information about scanned rotational parts. The method is region growing method that exploits the scatter of data during least squares fitting of quadrics as a region growing criterion. The presented procedure is convenient for segmentation of regions with high (G1 or higher) continuity. Besides, the region seed point is automatically selected which is its comparative advantage to a number of existing methods. The applicability of the proposed method is evaluated using two case studies; the first case study refers to a synthesized signal, and the second presents the applicability of the method on a real world example.*Ovaj rad je izabran sa konferencije 12th International Scientific Conference MMA 2015 - Flexible Technologies, i publikovan u casopisu Journal of Production Engineering

    Recognition of one class of quadric surfaces from unstructured point cloud

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    Critical elements of the state of the art three-dimensional (3D) point cloud processing software are the algorithms for retrieval of high level geometric primitives from raw data. This paper presents a method for recognition of a class of quadric surfaces, in particular for recognition of cylinders, elliptical cylinders, and ellipsoids from 3D point clouds. The method is based on direct least squares fitting of ellipsoids, and it exploits the closeness of scatter matrix to singular in the case when data are sampled for an approximate ellipsoid. This method belongs to the class of region growing methods, and the region is expanded using region growing strategy that is also proposed in this paper. Presented recognition procedure is suitable for segmentation of regions with G1 or higher continuality, and this is its advantage when compared to similar methods. Besides, recognition of quadric surfaces can be performed on unstructured, as well as on structured point clouds. The applicability of the method is illustrated and experimentally verified using two examples that contain G1 continuous surfaces from the considered class. The first example represents synthesized, and the second real-world scanned point cloud

    Recognition of quadrics from 3d point clouds generated by scanning of rotational parts

    Get PDF
    This paper presents a method for recognition of second order surfaces (quadrics) from point clouds containing information about scanned rotational parts. The method is region growing method that exploits the scatter of data during least squares fitting of quadrics as a region growing criterion. The presented procedure is convenient for segmentation of regions with high (G1 or higher) continuity. Besides, the region seed point is automatically selected which is its comparative advantage to a number of existing methods. The applicability of the proposed method is evaluated using two case studies; the first case study refers to a synthesized signal, and the second presents the applicability of the method on a real world example.*Ovaj rad je izabran sa konferencije 12th International Scientific Conference MMA 2015 - Flexible Technologies, i publikovan u casopisu Journal of Production Engineering

    Swarm intelligence for clustering dynamic data sets for web usage mining and personalization.

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    Swarm Intelligence (SI) techniques were inspired by bee swarms, ant colonies, and most recently, bird flocks. Flock-based Swarm Intelligence (FSI) has several unique features, namely decentralized control, collaborative learning, high exploration ability, and inspiration from dynamic social behavior. Thus FSI offers a natural choice for modeling dynamic social data and solving problems in such domains. One particular case of dynamic social data is online/web usage data which is rich in information about user activities, interests and choices. This natural analogy between SI and social behavior is the main motivation for the topic of investigation in this dissertation, with a focus on Flock based systems which have not been well investigated for this purpose. More specifically, we investigate the use of flock-based SI to solve two related and challenging problems by developing algorithms that form critical building blocks of intelligent personalized websites, namely, (i) providing a better understanding of the online users and their activities or interests, for example using clustering techniques that can discover the groups that are hidden within the data; and (ii) reducing information overload by providing guidance to the users on websites and services, typically by using web personalization techniques, such as recommender systems. Recommender systems aim to recommend items that will be potentially liked by a user. To support a better understanding of the online user activities, we developed clustering algorithms that address two challenges of mining online usage data: the need for scalability to large data and the need to adapt cluster sing to dynamic data sets. To address the scalability challenge, we developed new clustering algorithms using a hybridization of traditional Flock-based clustering with faster K-Means based partitional clustering algorithms. We tested our algorithms on synthetic data, real VCI Machine Learning repository benchmark data, and a data set consisting of real Web user sessions. Having linear complexity with respect to the number of data records, the resulting algorithms are considerably faster than traditional Flock-based clustering (which has quadratic complexity). Moreover, our experiments demonstrate that scalability was gained without sacrificing quality. To address the challenge of adapting to dynamic data, we developed a dynamic clustering algorithm that can handle the following dynamic properties of online usage data: (1) New data records can be added at any time (example: a new user is added on the site); (2) Existing data records can be removed at any time. For example, an existing user of the site, who no longer subscribes to a service, or who is terminated because of violating policies; (3) New parts of existing records can arrive at any time or old parts of the existing data record can change. The user\u27s record can change as a result of additional activity such as purchasing new products, returning a product, rating new products, or modifying the existing rating of a product. We tested our dynamic clustering algorithm on synthetic dynamic data, and on a data set consisting of real online user ratings for movies. Our algorithm was shown to handle the dynamic nature of data without sacrificing quality compared to a traditional Flock-based clustering algorithm that is re-run from scratch with each change in the data. To support reducing online information overload, we developed a Flock-based recommender system to predict the interests of users, in particular focusing on collaborative filtering or social recommender systems. Our Flock-based recommender algorithm (FlockRecom) iteratively adjusts the position and speed of dynamic flocks of agents, such that each agent represents a user, on a visualization panel. Then it generates the top-n recommendations for a user based on the ratings of the users that are represented by its neighboring agents. Our recommendation system was tested on a real data set consisting of online user ratings for a set of jokes, and compared to traditional user-based Collaborative Filtering (CF). Our results demonstrated that our recommender system starts performing at the same level of quality as traditional CF, and then, with more iterations for exploration, surpasses CF\u27s recommendation quality, in terms of precision and recall. Another unique advantage of our recommendation system compared to traditional CF is its ability to generate more variety or diversity in the set of recommended items. Our contributions advance the state of the art in Flock-based 81 for clustering and making predictions in dynamic Web usage data, and therefore have an impact on improving the quality of online services
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