Research on Tire Surface Damage Detection Method Based on Image Processing.

The performance of the tire has a very important impact on the safe driving of the car, and in the actual use of the tire, due to complex road conditions or use conditions, it will inevitably cause immeasurable wear, scratches and other damage. In order to effectively detect the damage existing in the key parts of the tire, a tire surface damage detection method based on image processing was proposed. In this method, the image of tire side is captured by camera first. Then, the collected images are preprocessed by optimizing the multi-scale bilateral filtering algorithm to enhance the detailed information of the damaged area, and the optimization effect is obvious. Thirdly, the image segmentation based on clustering algorithm is carried out. Finally, the Harris corner detection method is used to capture the "salt and pepper" corner of the target region, and the segmsegmed binary image is screened and matched based on histogram correlation, and the target region is finally obtained. The experimental results show that the similarity detection is accurate, and the damage area can meet the requirements of accurate identification.

Revisiting Mehrotra and Nichani's Corner Detection Method for Improvement with Truncated Anisotropic Gaussian Filtering.

In the early 1990s, Mehrotra and Nichani developed a filtering-based corner detection method, which, though conceptually intriguing, suffered from limited reliability, leading to minimal references in the literature. Despite its underappreciation, the core concept of this method, rooted in the half-edge concept and directional truncated first derivative of Gaussian, holds significant promise. This article presents a comprehensive assessment of the enhanced corner detection algorithm, combining both qualitative and quantitative evaluations. We thoroughly explore the strengths, limitations, and overall effectiveness of our approach by incorporating visual examples and conducting evaluations. Through experiments conducted on both synthetic and real images, we demonstrate the efficiency and reliability of the proposed algorithm. Collectively, our experimental assessments substantiate that our modifications have transformed the method into one that outperforms established benchmark techniques. Due to its ease of implementation, our improved corner detection process has the potential to become a valuable reference for the computer vision community when dealing with corner detection algorithms. This article thus highlights the quantitative achievements of our refined corner detection algorithm, building upon the groundwork laid by Mehrotra and Nichani, and offers valuable insights for the computer vision community seeking robust corner detection solutions.

High-Capacity Spatial Structured Light for Robust and Accurate Reconstruction.

Spatial structured light (SL) can achieve three-dimensional measurements with a single shot. As an important branch in the field of dynamic reconstruction, its accuracy, robustness, and density are of vital importance. Currently, there is a wide performance gap of spatial SL between dense reconstruction (but less accurate, e.g., speckle-based SL) and accurate reconstruction (but often sparser, e.g., shape-coded SL). The central problem lies in the coding strategy and the designed coding features. This paper aims to improve the density and quantity of reconstructed point clouds by spatial SL whilst also maintaining a high accuracy. Firstly, a new pseudo-2D pattern generation strategy was developed, which can improve the coding capacity of shape-coded SL greatly. Then, to extract the dense feature points robustly and accurately, an end-to-end corner detection method based on deep learning was developed. Finally, the pseudo-2D pattern was decoded with the aid of the epipolar constraint. Experimental results validated the effectiveness of the proposed system.

Unsupervised Domain Adaptive Corner Detection in Vehicle Plate Images.

Rectification of vehicle plate images helps to improve the accuracy of license-plate recognition (LPR). It is a perspective-transformation process to project images as if taken from the front geometrically. To obtain the projection matrix, we require the (x, y) coordinates of four corner positions of plates in images. In this paper, we consider the problem of unsupervised domain adaptation for corner detection in plate images. We trained a model with plate images of one country, the source domain, and applied a domain adaptation scheme so that the model is able to work well on the plates of a different country, the target domain. For this study, we created a dataset of 22,096 Korea plate images with corner labels, which are source domain, and 6762 Philippines, which are target domain. To address this problem, we propose a heatmap-based corner-detection model, which outperforms existing scalar-regression methods, and an image classifier for mixed image of source and target images for domain adaptation. The proposed approach achieves better accuracy, which is 19.1% improvement if compared with baseline discriminator-based domain adaptation scheme.

Designing Smart Space Services by Virtual Reality-Interactive Learning Model on College Entrepreneurship Education.

The purpose was to improve the limitations of traditional entrepreneurship education, realize the virtual interactive learning between college students and teachers, and stimulate students' exploration of entrepreneurship. This work first discusses the working principle of Virtual Reality (VR) and builds an Interactive Learning Model (ILM) using VR. Then, the VR-ILM is used to design the Smart Space services. Harris Corner Detector (HCD) is used to detect the pixel grayscale change in the Smart Space image window. Further, the VR-ILM-based Smart Space is proposed according to the Smart Space design requirements and principles. Finally, the proposed VR-ILM-based Smart Space is applied to College Entrepreneurship Education (CEE). Its impact on the CEE market, employment in different industries, and students' satisfaction with CEE are studied. The results show that the proposed VR-ILM-based Smart Space has increased the entrepreneurship teaching courses, entrepreneurship coaching activities, and entrepreneurship practice activities by 4, 6, and 24%, respectively. It has reduced entrepreneurship competitions and other forms of entrepreneurship education by 4 and 16%. The proposed VR-ILM-based Smart Space has dramatically improved the practical teaching of CEE. Meanwhile, real estate services have felt the most significant impact of the proposed VR-ILM-based Smart Space, with an employment increase of 43%. Lastly, students' satisfaction with entrepreneurship education practice and teaching methods has increased by nearly 50%. The satisfaction with the internal environment has increased to 78%. The satisfaction with the curriculum system, teachers, and industry financing has increased from 30 to 45%, 24 to 36%, and 45 to 63%, respectively. The satisfaction with the teaching goal has increased to 62%. Thus, the proposed VR-ILM-based Smart Space has dramatically improved students' satisfaction with CEE and has a different impact on the market, industry, and satisfaction with CE. The finding has a certain reference for the VR interactive model.

Chessboard Corner Detection Based on EDLines Algorithm.

To improve the robustness and accuracy of the corner-detection algorithm, this paper proposes a camera-calibration method based on the EDLines algorithm for the automatic detection of chessboard corners. The EDLines algorithm is initially used to perform straight-line detection on the calibration image. The features of the broken straight lines at the corners are then used to filter the straight lines and remove the background straight lines outside the chessboard. The pixels in the rectangular area around the filtered straight line are sorted by the gray gradient. After using the sorted results to fit the straight line, the coordinates of the intersection of the straight lines are taken as the initial coordinates of the corners and perform subpixel optimization on them. Finally, the corner points are sorted by the conversion between pixel-coordinate systems. The camera exposure time changes and complex imaging-background experiments show that the algorithm has no missed detection and redundancy in corner detection. The average reprojection error is found to be less than 0.05 pixels, which can be used in actual calibration.

An Image Registration Method for Multisource High-Resolution Remote Sensing Images for Earthquake Disaster Assessment.

For earthquake disaster assessment using remote sensing (RS), multisource image registration is an important step. However, severe earthquakes will increase the deformation between the remote sensing images acquired before and after the earthquakes on different platforms. Traditional image registration methods can hardly meet the requirements of accuracy and efficiency of image registration of post-earthquake RS images used for disaster assessment. Therefore, an improved image registration method was proposed for the registration of multisource high-resolution remote sensing images. The proposed method used the combination of the Shi_Tomasi corner detection algorithm and scale-invariant feature transform (SIFT) to detect tie points from image patches obtained by an image partition strategy considering geographic information constraints. Then, the random sample consensus (RANSAC) and greedy algorithms were employed to remove outliers and redundant matched tie points. Additionally, a pre-earthquake RS image database was constructed using pre-earthquake high-resolution RS images and used as the references for image registration. The performance of the proposed method was evaluated using three image pairs covering regions affected by severe earthquakes. It was shown that the proposed method provided higher accuracy, less running time, and more tie points with a more even distribution than the classic SIFT method and the SIFT method using the same image partitioning strategy.

Repeatability of radiomics and machine learning for DWI: Short-term repeatability study of 112 patients with prostate cancer.

PURPOSE: To evaluate repeatability of prostate DWI-derived radiomics and machine learning methods for prostate cancer (PCa) characterization. METHODS: A total of 112 patients with diagnosed PCa underwent 2 prostate MRI examinations (Scan1 and Scan2) performed on the same day. DWI was performed using 12 b-values (0-2000 s/mm2 ), post-processed using kurtosis function, and PCa areas were annotated using whole mount prostatectomy sections. A total of 1694 radiomic features including Sobel, Kirch, Gradient, Zernike Moments, Gabor, Haralick, CoLIAGe, Haar wavelet coefficients, 3D analogue to Laws features, 2D contours, and corner detectors were calculated. Radiomics and 4 feature pruning methods (area under the receiver operator characteristic curve, maximum relevance minimum redundancy, Spearman's ρ, Wilcoxon rank-sum) were evaluated in terms of Scan1-Scan2 repeatability using intraclass correlation coefficient (ICC)(3,1). Classification performance for clinically significant and insignificant PCa with Gleason grade groups 1 versus >1 was evaluated by area under the receiver operator characteristic curve in unseen random 30% data split. RESULTS: The ICC(3,1) values for conventional radiomics and feature pruning methods were in the range of 0.28-0.90. The machine learning classifications varied between Scan1 and Scan2 with % of same class labels between Scan1 and Scan2 in the range of 61-81%. Surface-to-volume ratio and corner detector-based features were among the most represented features with high repeatability, ICC(3,1) >0.75, consistently high ranking using all 4 feature pruning methods, and classification performance with area under the receiver operator characteristic curve >0.70. CONCLUSION: Surface-to-volume ratio and corner detectors for prostate DWI led to good classification of unseen data and performed similarly in Scan1 and Scan2 in contrast to multiple conventional radiomic features.

Real-Time Photometric Calibrated Monocular Direct Visual SLAM.

To solve the illumination sensitivity problems of mobile ground equipment, an enhanced visual SLAM algorithm based on the sparse direct method was proposed in this paper. Firstly, the vignette and response functions of the input sequences were optimized based on the photometric formation of the camera. Secondly, the Shi-Tomasi corners of the input sequence were tracked, and optimization equations were established using the pixel tracking of sparse direct visual odometry (VO). Thirdly, the Levenberg-Marquardt (L-M) method was applied to solve the joint optimization equation, and the photometric calibration parameters in the VO were updated to realize the real-time dynamic compensation of the exposure of the input sequences, which reduced the effects of the light variations on SLAM's (simultaneous localization and mapping) accuracy and robustness. Finally, a Shi-Tomasi corner filtered strategy was designed to reduce the computational complexity of the proposed algorithm, and the loop closure detection was realized based on the oriented FAST and rotated BRIEF (ORB) features. The proposed algorithm was tested using TUM, KITTI, EuRoC, and an actual environment, and the experimental results show that the positioning and mapping performance of the proposed algorithm is promising.

Extrinsic Parameter Calibration Method for a Visual/Inertial Integrated System with a Predefined Mechanical Interface.

For a visual/inertial integrated system, the calibration of extrinsic parameters plays a crucial role in ensuring accurate navigation and measurement. In this work, a novel extrinsic parameter calibration method is developed based on the geometrical constraints in the object space and is implemented by manual swing. The camera and IMU frames are aligned to the system body frame, which is predefined by the mechanical interface. With a swinging motion, the fixed checkerboard provides constraints for calibrating the extrinsic parameters of the camera, whereas angular velocity and acceleration provides constraints for calibrating the extrinsic parameters of the IMU. We exploit the complementary nature of both the camera and IMU, of which the latter assists in the checkerboard corner detection and correction while the former suppresses the effects of IMU drift. The results of the calibration experiment reveal that the extrinsic parameter accuracy reaches 0.04° for each Euler angle and 0.15 mm for each position vector component (1σ).

Building Corner Detection in Aerial Images with Fully Convolutional Networks.

In aerial images, corner points can be detected to describe the structural information of buildings for city modeling, geo-localization, and so on. For this specific vision task, the existing generic corner detectors perform poorly, as they are incapable of distinguishing corner points on buildings from those on other objects such as trees and shadows. Recently, fully convolutional networks (FCNs) have been developed for semantic image segmentation that are able to recognize a designated kind of object through a training process with a manually labeled dataset. Motivated by this achievement, an FCN-based approach is proposed in the present work to detect building corners in aerial images. First, a DeepLab model comprised of improved FCNs and fully-connected conditional random fields (CRFs) is trained end-to-end for building region segmentation. The segmentation is then further improved by using a morphological opening operation to increase its accuracy. Corner points are finally detected on the contour curves of building regions by using a scale-space detector. Experimental results show that the proposed building corner detection approach achieves an F-measure of 0.83 in the test image set and outperforms a number of state-of-the-art corner detectors by a large margin.

FAST Pre-Filtering-Based Real Time Road Sign Detection for Low-Cost Vehicle Localization.

In order to overcome the limitations of GNSS/INS and to keep the cost affordable for mass-produced vehicles, a precise localization system fusing the estimated vehicle positions from low-cost GNSS/INS and low-cost perception sensors is being developed. For vehicle position estimation, a perception sensor detects a road facility and uses it as a landmark. For this localization system, this paper proposes a method to detect a road sign as a landmark using a monocular camera whose cost is relatively low compared to other perception sensors. Since the inside pattern and aspect ratio of a road sign are various, the proposed method is based on the part-based approach that detects corners and combines them to detect a road sign. While the recall, precision, and processing time of the state of the art detector based on a convolutional neural network are 99.63%, 98.16%, and 4802 ms respectively, the recall, precision, and processing time of the proposed method are 97.48%, 98.78%, and 66.7 ms, respectively. The detection performance of the proposed method is as good as that of the state of the art detector and its processing time is drastically reduced to be applicable for an embedded system.

A Spiking Neural Model of HT3D for Corner Detection.

Obtaining good quality image features is of remarkable importance for most computer vision tasks. It has been demonstrated that the first layers of the human visual cortex are devoted to feature detection. The need for these features has made line, segment, and corner detection one of the most studied topics in computer vision. HT3D is a recent variant of the Hough transform for the combined detection of corners and line segments in images. It uses a 3D parameter space that enables the detection of segments instead of whole lines. This space also encloses canonical configurations of image corners, transforming corner detection into a pattern search problem. Spiking neural networks (SNN) have previously been proposed for multiple image processing tasks, including corner and line detection using the Hough transform. Following these ideas, this paper presents and describes in detail a model to implement HT3D as a Spiking Neural Network for corner detection. The results obtained from a thorough testing of its implementation using real images evince the correctness of the Spiking Neural Network HT3D implementation. Such results are comparable to those obtained with the regular HT3D implementation, which are in turn superior to other corner detection algorithms.

Brain medical image diagnosis based on corners with importance-values.

BACKGROUND: Brain disorders are one of the top causes of human death. Generally, neurologists analyze brain medical images for diagnosis. In the image analysis field, corners are one of the most important features, which makes corner detection and matching studies essential. However, existing corner detection studies do not consider the domain information of brain. This leads to many useless corners and the loss of significant information. Regarding corner matching, the uncertainty and structure of brain are not employed in existing methods. Moreover, most corner matching studies are used for 3D image registration. They are inapplicable for 2D brain image diagnosis because of the different mechanisms. To address these problems, we propose a novel corner-based brain medical image classification method. Specifically, we automatically extract multilayer texture images (MTIs) which embody diagnostic information from neurologists. Moreover, we present a corner matching method utilizing the uncertainty and structure of brain medical images and a bipartite graph model. Finally, we propose a similarity calculation method for diagnosis. RESULTS: Brain CT and MRI image sets are utilized to evaluate the proposed method. First, classifiers are trained in N-fold cross-validation analysis to produce the best θ and K. Then independent brain image sets are tested to evaluate the classifiers. Moreover, the classifiers are also compared with advanced brain image classification studies. For the brain CT image set, the proposed classifier outperforms the comparison methods by at least 8% on accuracy and 2.4% on F1-score. Regarding the brain MRI image set, the proposed classifier is superior to the comparison methods by more than 7.3% on accuracy and 4.9% on F1-score. Results also demonstrate that the proposed method is robust to different intensity ranges of brain medical image. CONCLUSIONS: In this study, we develop a robust corner-based brain medical image classifier. Specifically, we propose a corner detection method utilizing the diagnostic information from neurologists and a corner matching method based on the uncertainty and structure of brain medical images. Additionally, we present a similarity calculation method for brain image classification. Experimental results on two brain image sets show the proposed corner-based brain medical image classifier outperforms the state-of-the-art studies.

A Real-Time Marker-Based Visual Sensor Based on a FPGA and a Soft Core Processor.

This paper introduces a real-time marker-based visual sensor architecture for mobile robot localization and navigation. A hardware acceleration architecture for post video processing system was implemented on a field-programmable gate array (FPGA). The pose calculation algorithm was implemented in a System on Chip (SoC) with an Altera Nios II soft-core processor. For every frame, single pass image segmentation and Feature Accelerated Segment Test (FAST) corner detection were used for extracting the predefined markers with known geometries in FPGA. Coplanar PosIT algorithm was implemented on the Nios II soft-core processor supplied with floating point hardware for accelerating floating point operations. Trigonometric functions have been approximated using Taylor series and cubic approximation using Lagrange polynomials. Inverse square root method has been implemented for approximating square root computations. Real time results have been achieved and pixel streams have been processed on the fly without any need to buffer the input frame for further implementation.

A Motion-Based Feature for Event-Based Pattern Recognition.

This paper introduces an event-based luminance-free feature from the output of asynchronous event-based neuromorphic retinas. The feature consists in mapping the distribution of the optical flow along the contours of the moving objects in the visual scene into a matrix. Asynchronous event-based neuromorphic retinas are composed of autonomous pixels, each of them asynchronously generating "spiking" events that encode relative changes in pixels' illumination at high temporal resolutions. The optical flow is computed at each event, and is integrated locally or globally in a speed and direction coordinate frame based grid, using speed-tuned temporal kernels. The latter ensures that the resulting feature equitably represents the distribution of the normal motion along the current moving edges, whatever their respective dynamics. The usefulness and the generality of the proposed feature are demonstrated in pattern recognition applications: local corner detection and global gesture recognition.

Asynchronous event-based corner detection and matching.

This paper introduces an event-based luminance-free method to detect and match corner events from the output of asynchronous event-based neuromorphic retinas. The method relies on the use of space-time properties of moving edges. Asynchronous event-based neuromorphic retinas are composed of autonomous pixels, each of them asynchronously generating "spiking" events that encode relative changes in pixels' illumination at high temporal resolutions. Corner events are defined as the spatiotemporal locations where the aperture problem can be solved using the intersection of several geometric constraints in events' spatiotemporal spaces. A regularization process provides the required constraints, i.e. the motion attributes of the edges with respect to their spatiotemporal locations using local geometric properties of visual events. Experimental results are presented on several real scenes showing the stability and robustness of the detection and matching.

A short line segment squirms along a zigzag line.

When a short straight line segment moves across a zigzag line and is viewed in one's peripheral vision, it appears to exhibit nonrigid squirming motion (the squirm effect). This phenomenon demonstrates that the form, orientation, and motion direction of a short line are influenced by those of a longer one when they are viewed in one's peripheral vision.

Real time corner detection for miniaturized electro-optical sensors onboard small unmanned aerial systems.

This paper describes the target detection algorithm for the image processor of a vision-based system that is installed onboard an unmanned helicopter. It has been developed in the framework of a project of the French national aerospace research center Office National d'Etudes et de Recherches Aérospatiales (ONERA) which aims at developing an air-to-ground target tracking mission in an unknown urban environment. In particular, the image processor must detect targets and estimate ground motion in proximity of the detected target position. Concerning the target detection function, the analysis has dealt with realizing a corner detection algorithm and selecting the best choices in terms of edge detection methods, filtering size and type and the more suitable criterion of detection of the points of interest in order to obtain a very fast algorithm which fulfills the computation load requirements. The compared criteria are the Harris-Stephen and the Shi-Tomasi, ones, which are the most widely used in literature among those based on intensity. Experimental results which illustrate the performance of the developed algorithm and demonstrate that the detection time is fully compliant with the requirements of the real-time system are discussed.