A Basic Study on Path Teaching Method for a Mobile Robot Using a Digital Camera

This paper proposes a novel path teaching method for a mobile robot. In this method an operator takes pictures at significant points such as turning points, half way points and a destination on robot´s path by a digital camera. Then, the operator teaches the robot landmarks to recognize the images and actions for the robot to take at the significant points. The robot travels autonomously searching the landmarks and obeys the instructions when it recognizes reaching the significant points. By using this method, it is possible to teach paths for the mobile robot more easily. In this paper, outline of the proposed method and results of fundamental experiments in both indoor and outdoor environment to confirm possibility of the method are described

Unsupervised matching of visual landmarks for robotic homing using Fourier-Mellin transform

This paper presents an algorithm that uses visual information to achieve the homing of an autonomous agent inside a previously visited environment. An image grabbed at the target position is compared with the currently perceived one to determine the relative position of the robot and of its target. Only particular regions of the image, called Visual References, are taken into account. A Visual References correlation criterion that uses the Fourier\u2013Mellin Transform to match the Visual References in different images is employed. This transform in fact allows computing Visual References that are invariant to rotation, scaling and translation. Robustness due to the use of the Mellin Transform in the Visual References selection and coupling leads to more precise navigation. Tests and results are presented

Analysis of the image moments sensitivity for the application in pattern recognition problems

Momenti slike su numerički deskriptori koji sadrže informaciju o svojstvima invarijantnim na translaciju, rotaciju, promjenu skale i neke oblike distorzije, a njihova analiza je jedna od metoda koje se često koriste pri analizi slika i raspoznavanju uzoraka. U okviru ove radnje razvijeni su algoritmi za računanje geometrijskih, Legendreovih, Zernikeovih, Fourier – Mellinovih te tri tipa Fourier – Jacobijevih momenata, kao i iz njih definiranih invarijanti slike u programskom jeziku MatLab uz rješavanje inverznog problema rekonstrukcije početnog ulaza. Za sve tipove momenata osim najjednostavnijih geometrijskih definirani su vektori osjetljivosti na rotaciju i promjenu skale čije su komponente oni članovi skupa koji nose značajnije informacije o ulaznoj slici. Primjenom novih deskriptora na klasifikaciju rukom pisanih slova i identifikacijskih fotografija osoba pokazano je da je relevantna informacija o ulazu na taj način sačuvana, a njihov je izračun znatno brži i jednostavniji uz zadržanu sposobnost jednoznačnog raspoznavanja uzoraka. Korištenjem momenata slike i vektora osjetljivosti analizirani su znakovi s dvaju glagoljskih spomenika te utvrđeno postojanje mješavine znakova trokutastog i okruglog modela glagoljice. Metoda je primijenjena i na klasifikaciju tragova puzanja ličinki mutanata vinske mušice za potrebe proučavanja odgovora živčanog sustava na različite podražaje.Image moments are numerical descriptors invariant to translation, rotation, change of scale and some types of image distortion and their analysis is one of the most often used methods in image processing and pattern recognition. In this work, algorithms for calculation of geometric, Legendre, Zernike, Fourier – Mellin and three types of Fourier – Jacobi moments were implemented in MatLab. Hu's, affine and blur invariants were also obtained as well as inverse problem of input image reconstruction solved. For each type of image moments exept geometric ones the set of sensitivity vectors for rotation and scale were defined. Their components are those image moments which describe more important features of the input image. These new descriptors were applied for classification of handwritten letters and identifying personal photos. It was shown that the process of such descriptor calculation is much faster and simpler while preserving all the relevant information about input image. Using this method, the signs carved in two glagolitic inscriptions were analyzed and the mixture of triangular and round glagolitic letters found. The method was also applied to classification of the mutant fruit fly larvae crawling trails which is needed in studying responses of the nervous system to different stimuli

Analysis of the image moments sensitivity for the application in pattern recognition problems

Momenti slike su numerički deskriptori koji sadrže informaciju o svojstvima invarijantnim na translaciju, rotaciju, promjenu skale i neke oblike distorzije, a njihova analiza je jedna od metoda koje se često koriste pri analizi slika i raspoznavanju uzoraka. U okviru ove radnje razvijeni su algoritmi za računanje geometrijskih, Legendreovih, Zernikeovih, Fourier – Mellinovih te tri tipa Fourier – Jacobijevih momenata, kao i iz njih definiranih invarijanti slike u programskom jeziku MatLab uz rješavanje inverznog problema rekonstrukcije početnog ulaza. Za sve tipove momenata osim najjednostavnijih geometrijskih definirani su vektori osjetljivosti na rotaciju i promjenu skale čije su komponente oni članovi skupa koji nose značajnije informacije o ulaznoj slici. Primjenom novih deskriptora na klasifikaciju rukom pisanih slova i identifikacijskih fotografija osoba pokazano je da je relevantna informacija o ulazu na taj način sačuvana, a njihov je izračun znatno brži i jednostavniji uz zadržanu sposobnost jednoznačnog raspoznavanja uzoraka. Korištenjem momenata slike i vektora osjetljivosti analizirani su znakovi s dvaju glagoljskih spomenika te utvrđeno postojanje mješavine znakova trokutastog i okruglog modela glagoljice. Metoda je primijenjena i na klasifikaciju tragova puzanja ličinki mutanata vinske mušice za potrebe proučavanja odgovora živčanog sustava na različite podražaje.Image moments are numerical descriptors invariant to translation, rotation, change of scale and some types of image distortion and their analysis is one of the most often used methods in image processing and pattern recognition. In this work, algorithms for calculation of geometric, Legendre, Zernike, Fourier – Mellin and three types of Fourier – Jacobi moments were implemented in MatLab. Hu's, affine and blur invariants were also obtained as well as inverse problem of input image reconstruction solved. For each type of image moments exept geometric ones the set of sensitivity vectors for rotation and scale were defined. Their components are those image moments which describe more important features of the input image. These new descriptors were applied for classification of handwritten letters and identifying personal photos. It was shown that the process of such descriptor calculation is much faster and simpler while preserving all the relevant information about input image. Using this method, the signs carved in two glagolitic inscriptions were analyzed and the mixture of triangular and round glagolitic letters found. The method was also applied to classification of the mutant fruit fly larvae crawling trails which is needed in studying responses of the nervous system to different stimuli