Comparison of Contour Based and Feature Based Tracking Methods for Control of Microbiorobots

2009 ◽  
Author(s):  
Dal Hyung Kim ◽  
Edward Steager ◽  
Min Jun Kim
Keyword(s):  
Small Error ◽  
Small Scale ◽  
Scale Invariant ◽  
Sift Algorithm ◽  
Tracking Method ◽  
Miniature Robots ◽  
A Cell ◽  
Feature Based ◽  
Scale Invariant Feature ◽  
Exact Positions

Miniature robots should be precisely controlled because of a small workspace and size of their shapes. Small error of control could lead to failure of tasks such as an assembly. Tracking is one of the most important techniques because control of a small scale robot is hard to accomplish without object’s motion information. In this paper, we compare the feature based and the region based tracking methods with microbiorobot. Invariant features can be extracted using Scale Invariant Feature Transfrom (SIFT) algorithm because microbiorobot is a rigid body unlike a cell. We clearly showed that the feature based tracking method track exact positions of the objects than region based tracking method when objects are close contacted or overlapped. Also, the feature based tracking method allows tracking of objects even though partial object disappears or illumination is changed.

Scale-invariant optical flow in tracking using a pan-tilt-zoom camera

Robotica ◽  
2014 ◽  
Vol 34 (9) ◽  
pp. 1923-1947 ◽  
Author(s):  
Salam Dhou ◽  
Yuichi Motai
Keyword(s):  
Optical Flow ◽  
Focal Length ◽  
Tracking Error ◽  
Feature Points ◽  
Scale Invariant ◽  
Tracking Method ◽  
Camera Control ◽  
Speed Up ◽  
Feature Based ◽  
Scale Invariant Feature

SUMMARYAn efficient method for tracking a target using a single Pan-Tilt-Zoom (PTZ) camera is proposed. The proposed Scale-Invariant Optical Flow (SIOF) method estimates the motion of the target and rotates the camera accordingly to keep the target at the center of the image. Also, SIOF estimates the scale of the target and changes the focal length relatively to adjust the Field of View (FoV) and keep the target appear in the same size in all captured frames. SIOF is a feature-based tracking method. Feature points used are extracted and tracked using Optical Flow (OF) and Scale-Invariant Feature Transform (SIFT). They are combined in groups and used to achieve robust tracking. The feature points in these groups are used within a twist model to recover the 3D free motion of the target. The merits of this proposed method are (i) building an efficient scale-invariant tracking method that tracks the target and keep it in the FoV of the camera with the same size, and (ii) using tracking with prediction and correction to speed up the PTZ control and achieve smooth camera control. Experimental results were performed on online video streams and validated the efficiency of the proposed method SIOF, comparing with OF, SIFT, and other tracking methods. The proposed SIOF has around 36% less average tracking error and around 70% less tracking overshoot than OF.

Medical Image Feature Matching Based on Wavelet Transform and SIFT Algorithm

2011 ◽  
Vol 65 ◽  
pp. 497-502
Author(s):  
Yan Wei Wang ◽  
Hui Li Yu
Keyword(s):  
Wavelet Transform ◽  
Wavelet Transforms ◽  
Medical Image ◽  
Feature Matching ◽  
Image Feature ◽  
Scale Invariant ◽  
Sift Algorithm ◽  
Matching Algorithm ◽  
Invariant Feature ◽  
Scale Invariant Feature

A feature matching algorithm based on wavelet transform and SIFT is proposed in this paper, Firstly, Biorthogonal wavelet transforms algorithm is used for medical image to delaminating, and restoration the processed image. Then the SIFT (Scale Invariant Feature Transform) applied in this paper to abstracting key point. Experimental results show that our algorithm compares favorably in high-compressive ratio, the rapid matching speed and low storage of the image, especially for the tilt and rotation conditions.

A SIFT Feature-Based Template Matching Method for Detecting and Counting Objects in Life Space

2010 ◽  
Vol 36 ◽  
pp. 413-421 ◽  
Author(s):  
Hideaki Kawano ◽  
Hideaki Orii ◽  
Katsuaki Shiraishi ◽  
Hiroshi Maeda
Keyword(s):  
Template Matching ◽  
Autonomous Robots ◽  
Target Object ◽  
Main Process ◽  
Spatial Transformation ◽  
Scale Invariant ◽  
Everyday Objects ◽  
Counting Task ◽  
Feature Based ◽  
Scale Invariant Feature

Autonomous robots are at advanced stage in various fields, and they are expected to autonomously work at the scenes of nursing care or medical care in the near future. In this paper, we focus on object counting task by images. Since the number of objects is not a mere physical quantity, it is difficult for conventional phisical sensors to measure such quantity and an intelligent sensing with higher-order recognition is required to accomplish such counting task. It is often that we count the number of objects in various situations. In the case of several objects, we can recognize the number at a glance. On the other hand, in the case of a dozen of objects, the task to count the number might become troublesome. Thus, simple and easy way to enumerate the objects automatically has been expected. In this study, we propose a method to recognize the number of objects by image. In general, the target object to count varies according to user's request. In order to accept the user's various requests, the region belonging to the desired object in the image is selected as a template. Main process of the proposed method is to search and count regions which resembles the template. To achieve robustness against spatial transformation, such as translation, rotation, and scaling, scale-invariant feature transform (SIFT) is employed as a feature. To show the effectiveness, the proposed method is applied to few images containing everyday objects, e.g., binders, cans etc.

An Improved Face Recognition Algorithm Based on SIFT and LBP

2013 ◽  
Vol 427-429 ◽  
pp. 1999-2004 ◽  
Author(s):  
Huai Ming Yang ◽  
Jin Guang Sun
Keyword(s):  
Recognition Rate ◽  
Recognition Algorithm ◽  
Image Feature ◽  
Local Similarity ◽  
Scale Invariant ◽  
Sift Algorithm ◽  
Face Images ◽  
Calculation Results ◽  
Scale Invariant Feature ◽  
Global And Local

A new face image feature extraction and recognition algorithm based on Scale Invariant Feature Transform (SIFT) and Local Linary Patterns (LBP) is proposed in this paper. Firstly, a set of keypoints are extracted from images by using the SIFT algorithm; Secondly, each keypoint is described by LBP patterns; Finally, a combination of the global and local similarity is adopted to calculate the matching results for face images. Calculation results show that the algorithm can reduce the matching dimension of feature points, improve the recognition rate and perspective; it has nice robustness against the interferences such as rotation, lighting and expression.

Recent Advances in Corneal Imaging

2011 ◽  
pp. 271-287
Author(s):  
A. Elbita ◽  
R. Qahwaji ◽  
S. Ipson ◽  
T. Y. Ahmed ◽  
K. Ramaesh ◽  
...  
Keyword(s):  
3D Model ◽  
Visual Quality ◽  
Scale Invariant ◽  
Image Capture ◽  
Diagnostic Aid ◽  
Sift Algorithm ◽  
Scale Invariant Feature ◽  
Future Work ◽  
Corneal Imaging

This chapter details work with sequences of corneal images from a confocal microscope to develop enhancement methods to improve the visual quality of the images. Due to involuntary movements of the subject’s eye during image capture, the images suffer both lateral and longitudinal translations, and work is ongoing to attempt to register adjacent images in the sequence. Currently this registration uses an approach based on the Scale Invariant Feature Transforms (SIFT) algorithm. Registration is a necessary stage in the construction of a 3D model of the subject’s cornea for use as a diagnostic aid. The algorithms, results, progress and suggestions for future work are presented in this chapter.

scholarly journals Robust Image Matching Algorithm Using SIFT on Multiple Layered Strategies

2013 ◽  
Vol 2013 ◽  
pp. 1-12
Author(s):  
Yong Chen ◽  
Lei Shang ◽  
Eric Hu
Keyword(s):  
Image Matching ◽  
Geometric Feature ◽  
Data Sets ◽  
Feature Points ◽  
Matching Method ◽  
Scale Invariant ◽  
Data Set ◽  
Sift Algorithm ◽  
Delta Rule ◽  
Scale Invariant Feature

As for the unsatisfactory accuracy caused by SIFT (scale-invariant feature transform) in complicated image matching, a novel matching method on multiple layered strategies is proposed in this paper. Firstly, the coarse data sets are filtered by Euclidean distance. Next, geometric feature consistency constraint is adopted to refine the corresponding feature points, discarding the points with uncoordinated slope values. Thirdly, scale and orientation clustering constraint method is proposed to precisely choose the matching points. The scale and orientation differences are employed as the elements ofk-means clustering in the method. Thus, two sets of feature points and the refined data set are obtained. Finally, 3 * delta rule of the refined data set is used to search all the remaining points. Our multiple layered strategies make full use of feature constraint rules to improve the matching accuracy of SIFT algorithm. The proposed matching method is compared to the traditional SIFT descriptor in various tests. The experimental results show that the proposed method outperforms the traditional SIFT algorithm with respect to correction ratio and repeatability.

scholarly journals Study on the Influence of Image Noise on Monocular Feature-Based Visual SLAM Based on FFDNet

Sensors ◽  
2020 ◽  
Vol 20 (17) ◽  
pp. 4922
Author(s):  
Like Cao ◽  
Jie Ling ◽  
Xiaohui Xiao
Keyword(s):  
Visual Slam ◽  
Scale Invariant ◽  
Original Sequence ◽  
Speeded Up Robust Features ◽  
Localization And Mapping ◽  
Feature Based ◽  
Scale Invariant Feature ◽  
Influence Of Noise ◽  
Denoised Image ◽  
Better Than

Noise appears in images captured by real cameras. This paper studies the influence of noise on monocular feature-based visual Simultaneous Localization and Mapping (SLAM). First, an open-source synthetic dataset with different noise levels is introduced in this paper. Then the images in the dataset are denoised using the Fast and Flexible Denoising convolutional neural Network (FFDNet); the matching performances of Scale Invariant Feature Transform (SIFT), Speeded Up Robust Features (SURF) and Oriented FAST and Rotated BRIEF (ORB) which are commonly used in feature-based SLAM are analyzed in comparison and the results show that ORB has a higher correct matching rate than that of SIFT and SURF, the denoised images have a higher correct matching rate than noisy images. Next, the Absolute Trajectory Error (ATE) of noisy and denoised sequences are evaluated on ORB-SLAM2 and the results show that the denoised sequences perform better than the noisy sequences at any noise level. Finally, the completely clean sequence in the dataset and the sequences in the KITTI dataset are denoised and compared with the original sequence through comprehensive experiments. For the clean sequence, the Root-Mean-Square Error (RMSE) of ATE after denoising has decreased by 16.75%; for KITTI sequences, 7 out of 10 sequences have lower RMSE than the original sequences. The results show that the denoised image can achieve higher accuracy in the monocular feature-based visual SLAM under certain conditions.

An Image Stitching Algorithm Based on Histogram Matching and SIFT Algorithm

2017 ◽  
Vol 31 (04) ◽  
pp. 1754006 ◽  
Author(s):  
Jing Zhang ◽  
Guangxue Chen ◽  
Zhaoyang Jia
Keyword(s):  
Weighted Average ◽  
Image Stitching ◽  
Scale Invariant ◽  
Sift Algorithm ◽  
Matching Process ◽  
Histogram Matching ◽  
Key Points ◽  
Illumination Changes ◽  
Scale Invariant Feature ◽  
Ransac Algorithm

Image stitching among images that have significant illumination changes will lead to unnatural mosaic image. An image stitching algorithm based on histogram matching and scale-invariant feature transform (SIFT) algorithm is brought out to solve the problem in this paper. First, histogram matching is used for image adjustment, so that the images to be stitched are at the same level of illumination, then the paper adopts SIFT algorithm to extract the key points of the images and performs the rough matching process, followed by RANSAC algorithm for fine matches, and finally calculates the appropriate mathematical mapping model between two images and according to the mapping relationship, a simple weighted average algorithm is used for image blending. The experimental results show that the algorithm is effective.

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