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An algorithm is presented that is able to detect the regions which correspond to the single isolated human insulin crystals in a group of previously segmented foreground regions. It is based on a single nearest prototype rule, which requires the knowledge of a class prototype for each class of segmented foreground regions. Each class prototype represents a 7-dimensional mean vector of rotation, translation...
In this paper, a semi-automatic system for the detection and classification of hypo echoic nodules in prostate transrectal ultrasound (TRUS) images using active contours identification and parabolic zone division is presented. First, a TRUS image is acquired, then the image is preprocessed using a median filter. After preprocessing, the image is segmented using active contours, then the different...
This work presents an evaluation of color image segmentation based on rough set theory. A performance comparison of two algorithms in different color spaces, RGB and CIELUV, is carried on. In this histogram-based approach to segmentation, the concept of Histon plays a fundamental role. Thresholds are obtained using a roughness measure, and the segmentation is accomplished using a region merging procedure...
We present a robust DFT-based watermarking method applied to medical imaging stored in DICOM standard format. The watermark is a 1-D binary pseudo-random pattern generated by a secret key which is embedded into the magnitude of the DFT middle frequencies of the original image in order to preserve a high quality perception. To increase security of the watermark, data bits are scrambled using a secret...
In this paper, image enhancement issues are addressed by analyzing the effect of two well-known color constancy algorithms in combination with gamma correction. Those effects are studied applying the algorithms separately and in combination. Images from the Barnard dataset and from the Berkeley dataset are considered for experimental tests. The performance of the approaches is evaluated comparing...
In this paper, we propose a vision-based system for real-time 3D trajectory tracking. The vision system is implemented using the KINECT sensor (color and depth cameras). Image processing is performed using freeware and open source software. The image processing recovers the 3D position vector for the centroid of the target to track. We define a target object to track in a 3D space in order to emulate,...
This paper proposes the implementation of an algorithm for the parallel self-parking of a tricycle mobile robot. Knowing the dimensions of the mobile robot, our strategy consists in validating the minimal distance required by the robot to perform the parking task. The robotic platform is equipped with an ultrasonic sensor centered in the front part of the robot, that measures the distances in meters...
Distance perception has been studied for long in Cognitive Sciences and stills a complex problem. According to some research hypothesis in psychology, perception of distance is not a geometrical process but emerges as an association of multimodal sensory information. Instead of giving the robot the explicit means to model the external metric or topology of the free space or to exploit geometrical...
3D reconstruction of large scale areas was created by merging real world information from different sensors, this is an important issue in multimedia research. In this paper, we propose an efficient construction of urban scenes from LIDAR data. The system is composed of a Velodyne LIDAR 64E and a differential GPS. The sensors are synchronized through their internal clocks, and the position of the...
Mixture of Gaussian (MOG) approach is a powerful estimation and prediction background subtraction model. Nevertheless, although it has been improved by using several algorithms such as Expectation Maximization (EM), it is still susceptible to sudden changes in light conditions effects. In this paper, we analyze the MOG approach in order to explore its strengths and weaknesses in order to create a...
This paper describes the implementation of an electronic control system applied to a multivariable system called hexapod robot walker. The application focuses on the navigation system for the movement of the robot, planning the movements of the robot legs. The measurement of physical variables of the robot is performed using electronic force sensors mounted on the end of the legs. Just as an inertial...
This paper focuses on the general problem of coordinating of multi-robot systems, more specifically, it addresses the self-election of heterogeneous and specialized tasks by autonomous robots. In this regard, it has proposed experimenting with two different techniques based chiefly on self-organization and emergence biologically inspired, by applying response threshold models as well as ant colony...
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