{"title":"A zero-crossing-based optimal three-dimensional edge detector","authors":"Shiming Zhan, R. Mehrotra","doi":"10.1006/CIUN.1994.1016","DOIUrl":"https://doi.org/10.1006/CIUN.1994.1016","url":null,"abstract":"Abstract Three-dimensional (3D) image processing and interpretation is very important in many medical and industrial applications. Detection of 3D boundaries is an essential step in most of the 3D image analysis tasks. In this paper a new computational approach to 3D edge detection is proposed. Optimality criteria such as signal-to-noise ratio, localization, and spurious response for zero-crossing-based, rotationally invariant 3D step edge detectors are derived. An optimal 3D step edge detector is obtained by optimizing a penalty function which combines all the three criteria. The closed form solution to the optimization problem yields the optimal detector. The detector is the Laplacian of a rotationally invariant function, which has a finite spatial support. The behavior of the proposed detector is theoretically analyzed and compared to that of the 3D Laplacian of Gaussian detector. Experimental results with some synthetic and real images are presented.","PeriodicalId":100350,"journal":{"name":"CVGIP: Image Understanding","volume":"15 1","pages":"242-253"},"PeriodicalIF":0.0,"publicationDate":"1994-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"78867888","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
{"title":"A Zero-Crossing-Based Optimal Three-Dimensional Edge Detector","authors":"Zhan S.M., Mehrotra R.","doi":"10.1006/ciun.1994.1016","DOIUrl":"https://doi.org/10.1006/ciun.1994.1016","url":null,"abstract":"<div><p>Three-dimensional (3D) image processing and interpretation is very important in many medical and industrial applications. Detection of 3D boundaries is an essential step in most of the 3D image analysis tasks. In this paper a new computational approach to 3D edge detection is proposed. Optimality criteria such as signal-to-noise ratio, localization, and spurious response for zero-crossing-based, rotationally invariant 3D step edge detectors are derived. An optimal 3D step edge detector is obtained by optimizing a penalty function which combines all the three criteria. The closed form solution to the optimization problem yields the optimal detector. The detector is the Laplacian of a rotationally invariant function, which has a finite spatial support. The behavior of the proposed detector is theoretically analyzed and compared to that of the 3D Laplacian of Gaussian detector. Experimental results with some synthetic and real images are presented.</p></div>","PeriodicalId":100350,"journal":{"name":"CVGIP: Image Understanding","volume":"59 2","pages":"Pages 242-253"},"PeriodicalIF":0.0,"publicationDate":"1994-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://sci-hub-pdf.com/10.1006/ciun.1994.1016","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"91687637","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
{"title":"Recursive-Batch Estimation of Motion and Structure from Monocular Image Sequences","authors":"Cui N., Weng J.J., Cohen P.","doi":"10.1006/ciun.1994.1010","DOIUrl":"10.1006/ciun.1994.1010","url":null,"abstract":"<div><p>This paper addresses the issue of optimal motion and structure estimation from monocular image sequences of a rigid scene. The new method has the following characteristics: (1) the dimension of the search space in the nonlinear optimization is drastically reduced by exploiting the relationship between structure and motion parameters; (2) the degree of reliability of the observations and estimates is effectively taken into account; (3) the proposed formulation allows arbitrary interframe motion; (4) the information about the structure of the scene, acquired from previous images, is systematically integrated into the new estimations; (5) the integration of multiple views using this method gives a large 2.5D visual map, much larger than that covered by any single view. It is shown also that the scale factor associated with any two consecutive images in a monocular sequence is determined by the scale factor of the first two images. Our simulation results and experiments with long image sequences of real world scenes indicate that the optimization method developed in this paper not only greatly reduces the computational complexity but also substantially improves the motion and structure estimates over those produced by the linear algorithms.</p></div>","PeriodicalId":100350,"journal":{"name":"CVGIP: Image Understanding","volume":"59 2","pages":"Pages 154-170"},"PeriodicalIF":0.0,"publicationDate":"1994-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://sci-hub-pdf.com/10.1006/ciun.1994.1010","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"90809189","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
{"title":"Calibration of a computer controlled robotic vision sensor with a zoom lens","authors":"K. Tarabanis, R. Tsai, D. Goodman","doi":"10.1006/CIUN.1994.1015","DOIUrl":"https://doi.org/10.1006/CIUN.1994.1015","url":null,"abstract":"Abstract Active vision sensors are increasingly being employed in vision systems for their greater flexibility. For example, vision sensors in hand-eye configurations with computer controllable lenses (e.g., zoom lenses) can be set to values which satisfy the sensing situation at hand. For such applications, it is essential to determine the mapping between the parameters that can actually be controlled in a reconfigurable vision system (e.g., the robot arm pose, the zoom setting of the lens) and the higher-level viewpoint parameters that must be set to desired values (e.g., the viewpoint location, focal length). In this paper we present calibration techniques to determine this mapping. In addition, we discuss how to use these relationships in order to achieve the desired values of the viewpoint parameters by setting the controllable parameters to the appropriate values. The sensor setup that is considered consists of a camera in a hand-eye arrangement equipped with a lens that has zoom, focus, and aperture control. The calibration techniques are applied to the H6 × 12.5R Fujinon zoom lens and the experimental results are shown.","PeriodicalId":100350,"journal":{"name":"CVGIP: Image Understanding","volume":"23 1","pages":"226-241"},"PeriodicalIF":0.0,"publicationDate":"1994-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"84340386","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
{"title":"Robust Consensus Based Edge Detection","authors":"Mintz D.","doi":"10.1006/ciun.1994.1009","DOIUrl":"https://doi.org/10.1006/ciun.1994.1009","url":null,"abstract":"<div><p>We present a new robust algorithm for edge detection. The algorithm detects both roof and step type edges. A pixel is declared as an edge pixel if there is a consensus between different processes that try to determine if the pixel lies on a discontinuity. We use robust estimation methods to estimate local fits to windows in the pixel′s neighborhood and accumulate votes from each fit. The use of robust estimators enables us to transform any window possibly containing a discontinuity to a binary window containing a step edge in the location of the discontinuity. We then employ conventional methods to detect this step edge. We show experimental results on simulated edges and synthetic images with varying Gaussian and random noise levels and analyze the probability of detection. The algorithm is also applied to several real intensity and range images and it is shown to perform well. A comparison with the Canny edge detector is given when applicable.</p></div>","PeriodicalId":100350,"journal":{"name":"CVGIP: Image Understanding","volume":"59 2","pages":"Pages 137-153"},"PeriodicalIF":0.0,"publicationDate":"1994-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://sci-hub-pdf.com/10.1006/ciun.1994.1009","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"137087699","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
{"title":"Volumetric Shapes of Solids of Revolution from a Single-View Range Image","authors":"Yokoya N., Levine M.D.","doi":"10.1006/ciun.1994.1003","DOIUrl":"10.1006/ciun.1994.1003","url":null,"abstract":"<div><p>Many man-made objects such as industrial parts are partially constructed of <em>surfaces of revolution</em>, as well as planar surfaces. We have studied the problem of finding and recovering <em>solids of revolution</em> in range data which are potentially useful for modeling and recognizing 3D objects. We propose an approach to the problem which is based on the fact that at least one of two <em>focal surfaces</em> for a surface of revolution degenerates into the axis of rotation. First, by computing the surface normal and principal curvatures, the centers of principal curvature which construct the focal surfaces are obtained for each point in the range image. Then, using the Hough transform, the axes of rotation are detected by finding the centers of principal curvature which lie on straight lines in space. Finally, the solid of revolution is completely determined by estimating the radius function of cross-section along each rotational axis. The proposed method can be used even in situations where occlusion or truncation is a problem because it does not require the visibility of entire surfaces. Experiments have been successfully carried out with real range data obtained from laser rangefinders.</p></div>","PeriodicalId":100350,"journal":{"name":"CVGIP: Image Understanding","volume":"59 1","pages":"Pages 43-52"},"PeriodicalIF":0.0,"publicationDate":"1994-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://sci-hub-pdf.com/10.1006/ciun.1994.1003","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"78354860","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
{"title":"Function-Based Generic Recognition for Multiple Object Categories","authors":"Stark L., Bowyer K.","doi":"10.1006/ciun.1994.1001","DOIUrl":"10.1006/ciun.1994.1001","url":null,"abstract":"Abstract In function-based object recognition an object category is represented by knowledge about object function. Function-based approaches are important because they provide a principled means of constructing generic recognition systems. Our work concentrates specifically on the relation between shape and function of rigid 3D objects. Recognition of an observed object shape is performed by reasoning about the function that the shape might serve. Recent research has demonstrated the feasibility of function-based shape recognition. However, previous efforts have dealt with only a single basic level object category. A number of important issues arise in extending a function-based approach to handle multiple basic level categories. One issue is whether the knowledge about function can be organized into general primitive chunks that are reusable across different categories. Another issue is how to efficiently index the knowledge base so as to avoid exhaustive testing of an object shape against each known category. In order to explore these issues, we have implemented a second-generation function-based recognition system that handles a collection of basic level object categories within the superordinate category furniture. The recognition capabilities and indexing performance of this system have been evaluated on a database of over 250 shapes. We also show recognition results from some 3D shape descriptions acquired from laser range finder data. To our knowledge, this is the first (only) work in function-based recognition to address the recognition of multiple object categories.","PeriodicalId":100350,"journal":{"name":"CVGIP: Image Understanding","volume":"59 1","pages":"Pages 1-21"},"PeriodicalIF":0.0,"publicationDate":"1994-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://sci-hub-pdf.com/10.1006/ciun.1994.1001","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"81886198","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
{"title":"Multiscale Minimization of Global Energy Functions in Some Visual Recovery Problems","authors":"Heitz F., Perez P., Bouthemy P.","doi":"10.1006/ciun.1994.1008","DOIUrl":"10.1006/ciun.1994.1008","url":null,"abstract":"<div><p>Many image analysis and computer vision problems have been expressed as the minimization of global energy functions describing the interactions between the observed data and the image representations to be extracted in a given task. In this note, we investigate a new comprehensive approach to minimize global energy functions using a multiscale relaxation algorithm. The energy function is minimized over nested subspaces of the original space of possible solutions. These subspaces consist of solutions which are constrained at different scales. The constrained relaxation is implemented via a coarse-to-fine multiresolution algorithm that yields fast convergence towards high quality estimates when compared to standard monoresolution or multigrid relaxation schemes. It also appears to be far less sensitive to local minima than standard relaxation algorithms. The efficiency of the approach is demonstrated on a highly nonlinear combinatorial problem which consists of estimating long-range motion in an image sequence on a discrete label space. The method is compared to standard relaxation algorithms on real world and synthetic image sequences.</p></div>","PeriodicalId":100350,"journal":{"name":"CVGIP: Image Understanding","volume":"59 1","pages":"Pages 125-134"},"PeriodicalIF":0.0,"publicationDate":"1994-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://sci-hub-pdf.com/10.1006/ciun.1994.1008","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"76853775","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
{"title":"Towards Model-Based Recognition of Human Movements in Image Sequences","authors":"Rohr K.","doi":"10.1006/ciun.1994.1006","DOIUrl":"10.1006/ciun.1994.1006","url":null,"abstract":"<div><p>The interpretation of the movements of articulated bodies in image sequences is one of the most challenging problems in computer vision. In this contribution, we introduce a model-based approach for the recognition of pedestrians. We represent the human body by a 3D-model consisting of cylinders, whereas for modelling the movement of walking we use data from medical motion studies. The estimation of model parameters in consecutive images is done by applying a Kalman filter. Experimental results are shown for synthetic as well as for real image data.</p></div>","PeriodicalId":100350,"journal":{"name":"CVGIP: Image Understanding","volume":"59 1","pages":"Pages 94-115"},"PeriodicalIF":0.0,"publicationDate":"1994-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://sci-hub-pdf.com/10.1006/ciun.1994.1006","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"80892138","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
{"title":"Convergence and Continuity Criteria for Discrete Approximations of the Continuous Planar Skeleton","authors":"Brandt J.W.","doi":"10.1006/ciun.1994.1007","DOIUrl":"10.1006/ciun.1994.1007","url":null,"abstract":"<div><p>It has been proposed recently that the skeleton of a shape can be computed using the Voronoi diagram of a discrete sample set of the shape boundary. This method avoids many of the complications encountered when computing the skeleton directly from an image because it is based on a continuous-domain model for shapes. In order to make better use of this new approach, it is necessary to establish a bridge between the continuous domain skeleton and its approximation obtained from the discrete boundary sample set. In this paper, the skeleton and Voronoi diagram formulations are briefly reviewed and elaborated upon to establish criteria for the functions to be continuous. Then the new continuity results are related to the discrete sample set model in order to establish conditions under which the skeleton approximation converges to the exact continuous skeleton.</p></div>","PeriodicalId":100350,"journal":{"name":"CVGIP: Image Understanding","volume":"59 1","pages":"Pages 116-124"},"PeriodicalIF":0.0,"publicationDate":"1994-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://sci-hub-pdf.com/10.1006/ciun.1994.1007","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"79242663","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}