Abstract: With the aging of the world population and the
continuous growth in technology, service robots are more and more
explored nowadays as alternatives to healthcare givers or personal
assistants for the elderly or disabled people. Any service robot
should be capable of interacting with the human companion, receive
commands, navigate through the environment, either known or
unknown, and recognize objects. This paper proposes an approach
for object recognition based on the use of depth information and
color images for a service robot. We present a study on two of the
most used methods for object detection, where 3D data is used to
detect the position of objects to classify that are found on horizontal
surfaces. Since most of the objects of interest accessible for service
robots are on these surfaces, the proposed 3D segmentation reduces
the processing time and simplifies the scene for object recognition.
The first approach for object recognition is based on color histograms,
while the second is based on the use of the SIFT and SURF feature
descriptors. We present comparative experimental results obtained
with a real service robot.
Abstract: Color Histogram is considered as the oldest method
used by CBIR systems for indexing images. In turn, the global
histograms do not include the spatial information; this is why the
other techniques coming later have attempted to encounter this
limitation by involving the segmentation task as a preprocessing step.
The weak segmentation is employed by the local histograms while
other methods as CCV (Color Coherent Vector) are based on strong
segmentation. The indexation based on local histograms consists of
splitting the image into N overlapping blocks or sub-regions, and
then the histogram of each block is computed. The dissimilarity
between two images is reduced, as consequence, to compute the
distance between the N local histograms of the both images resulting
then in N*N values; generally, the lowest value is taken into account
to rank images, that means that the lowest value is that which helps to
designate which sub-region utilized to index images of the collection
being asked. In this paper, we make under light the local histogram
indexation method in the hope to compare the results obtained against
those given by the global histogram. We address also another
noteworthy issue when Relying on local histograms namely which
value, among N*N values, to trust on when comparing images, in
other words, which sub-region among the N*N sub-regions on which
we base to index images. Based on the results achieved here, it seems
that relying on the local histograms, which needs to pose an extra
overhead on the system by involving another preprocessing step
naming segmentation, does not necessary mean that it produces better
results. In addition to that, we have proposed here some ideas to
select the local histogram on which we rely on to encode the image
rather than relying on the local histogram having lowest distance with
the query histograms.
Abstract: The robustness of color-based signatures in the presence of a selection of representative distortions is investigated. Considered are five signatures that have been developed and evaluated within a new modular framework. Two signatures presented in this work are directly derived from histograms gathered from video frames. The other three signatures are based on temporal information by computing difference histograms between adjacent frames. In order to obtain objective and reproducible results, the evaluations are conducted based on several randomly assembled test sets. These test sets are extracted from a video repository that contains a wide range of broadcast content including documentaries, sports, news, movies, etc. Overall, the experimental results show the adequacy of color-histogram-based signatures for video fingerprinting applications and indicate which type of signature should be preferred in the presence of certain distortions.
Abstract: People detection from images has a variety of applications such as video surveillance and driver assistance system, but is still a challenging task and more difficult in crowded environments such as shopping malls in which occlusion of lower parts of human body often occurs. Lack of the full-body information requires more effective features than common features such as HOG. In this paper, new features are introduced that exploits global self-symmetry (GSS) characteristic in head-shoulder patterns. The features encode the similarity or difference of color histograms and oriented gradient histograms between two vertically symmetric blocks. The domain-specific features are rapid to compute from the integral images in Viola-Jones cascade-of-rejecters framework. The proposed features are evaluated with our own head-shoulder dataset that, in part, consists of a well-known INRIA pedestrian dataset. Experimental results show that the GSS features are effective in reduction of false alarmsmarginally and the gradient GSS features are preferred more often than the color GSS ones in the feature selection.