Noise Resistant Morphological Algorithm of Moving Forklift Truck Detection on Noisy Image Data
We investigate the specific problem of machine vision, namely, video-based detection of the moving forklift truck. It is shown that the detection quality of the state-of-the-art local descriptors (SURF, SIFT, etc.) is not satisfactory if the resolution is low and the illumination is changed dramatically. In this paper, we propose to use a simple mathematical morphological algorithm to detect the presence of a cargo on the forklift truck. At first, the movement direction is estimated by the updating motion history image method and the front part of the moving object is obtained. Next, contours are detected and morphological operations in front of the moving object are used to estimate simple geometric features of empty forklift. In the experimental study it has been shown that the proposed method has 40% lower FAR and 27% lower FRR in comparison with conventional matching of local descriptors. Moreover, our algorithm is 7 times faster.
Background: The problem of video-based detection of the moving forklift truck is explored. It is shown that the detection quality of the state-of-the-art local descriptors (SURF, SIFT, FAST, ORB) is not satisfactory if the resolution is low and the lighting is changed dramatically.
Methods: In this paper we propose to use a simple mathematical morphological algorithm to detect the presence of a cargo on the forklift truck. At first, the movement direction is estimated by the updating motion history image method and the front part of the moving object is obtained. Next, contours are detected and binary morphological operations in front of the moving object are used to estimate simple geometric features of empty forklift.
Results: Our experimental study shows that the best results are achieved if the bounding rectangles of empty forklift contours are used as an object validation rule. Namely, FAR and FRR of empty cargo detection is 7\% and 50\% lower than FAR and FRR of the FAST descriptor. The proposed method is much more resistant to the effect of additive noise. The average frame processing time for our morphological algorithm is 5 ms (compare with 35 ms. of FAST method)
Conclusions: The proposed morphological method is task specific and can be used only for forklift truck detection. Additional detection principles need to be added to adopt algorithm for other moving object detection in noisy environment.
This work addresses the problem of video matting, that is extracting the opacity-layer of a foreground object from a video sequence. We introduce the notion of alpha-flow which corresponds to the flow in the opacity layer. The idea is derived from the process of rotoscoping, where a user-supplied object mask is smoothly interpolated between keyframes while preserving its correspondence with the underlying image. Our key contribution is an algorithm which infers both the opacity masks and the alpha-flow in an efficient and unified manner. We embed our algorithm in an interactive video matting system where the first and last frame of a sequence are given as keyframes, and additional user strokes may be provided in intermediate frames. We show high quality results on various challenging sequences, and give a detailed comparison to competing techniques.
We present a system for the large-scale automatic traffic signs recognition and mapping and experimentally justify design choices made for different components of the system. Our system works with more than 140 different classes of traffic signs and does not require labor -intensivelabellingof a large amount of training data due to the training on synthetically generated images. We evaluated our system on the large dataset of Russian traffic signs and made this dataset publically available to encourage futurecomparison.
Measures and functionals of global asymmetry of noisy and noisefree images are axiomatically introduced. Explicit expressions are obtained that make these functionals applicable for determining the symmetry axes of noisy images. It is shown that some asymmetry functionals are unstable against noise levels of images; i.e., the symmetry axis obtained using these functionals may deviate significantly if the signalto noise ratio is large. Sufficient and necessary conditions are obtained under which the symmetry axes calcu lated using asymmetry functionals remain unchanged.
The problem of automatic detection of the moving forklift truck in video data is explored. This task is formulated in terms of computer vision approach as a moving object detection in noisy environment. It is shown that the state-of-the-art local descriptors (SURF, SIFT, FAST, ORB) are not characterized with satisfactory detection quality if the camera resolution is low, the lighting is changed dramatically and shadows are observed. In this paper we propose to use a simple mathematical morphological algorithm to detect the presence of a cargo on the forklift truck. Its first step is the estimation of the movement direction and the front part of the truck by using the updating motion history image. The second step is the application of Canny contour detection and binary morphological operations in front of the moving object to estimate simple geometric features of empty forklift. The algorithm is implemented with the OpenCV library. Our experimental study shows that the best results are achieved if the difference of the width of bounding rectangles is used as a feature. Namely, the detection accuracy is 78.7% (compare with 40% achieved by the best local descriptor), while the average frame processing time is only 5 ms (compare with 35 ms for the fastest descriptor).
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