This paper presents a new approach, known as symmetry axis based feature extraction and recognition (SAFER), for recognizing objects under translation, rotation and scaling. Unlike most previous invariant object recognition (IOR) systems, SAFER puts emphasis on both simplicity and accuracy of the recognition system. To achieve simplicity, it uses simple formulae for extracting invariant features from an object. The scheme used in feature extraction is based on the axis of symmetry and angles of concentric circles drawn around the object. SAFER divides the extracted features into a number of groups based on their similarity. To improve the recognition performance, SAFER uses a number of neural networks (NNs) instead of single NN are used for training and recognition of extracted features. The new approach, SAFER, has been tested on two of real world problems i.e., English characters with two different fonts and images of different shapes. The experimental results show that SAFER can produce good recognition performance in comparison with other algorithms.
Distributed Architecture for Intelligent Robotic Assembly Part III: Design of the Invariant Object Recognition System