matlab图像处理中英文翻译文献培训课件.docx
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matlab图像处理中英文翻译文献培训课件
附录A英文原文
Scenerecognitionforminerescuerobot
localizationbasedonvision
CUIYi-an(崔益安),CAIZi-xing(蔡自兴),WANGLu(王璐)
Abstract:
AnewscenerecognitionsystemwaspresentedbasedonfuzzylogicandhiddenMarkovmodel(HMM)thatcanbeappliedinminerescuerobotlocalizationduringemergencies.Thesystemusesmonocularcameratoacquireomni-directionalimagesofthemineenvironmentwheretherobotlocates.Byadoptingcenter-surrounddifferencemethod,thesalientlocalimageregionsareextractedfromtheimagesasnaturallandmarks.TheselandmarksareorganizedbyusingHMMtorepresentthescenewheretherobotis,andfuzzylogicstrategyisusedtomatchthesceneandlandmark.Bythisway,thelocalizationproblem,whichisthescenerecognitionprobleminthesystem,canbeconvertedintotheevaluationproblemofHMM.Thecontributionsoftheseskillsmakethesystemhavetheabilitytodealwithchangesinscale,2Drotationandviewpoint.Theresultsofexperimentsalsoprovethatthesystemhashigherratioofrecognitionandlocalizationinbothstaticanddynamicmineenvironments.
Keywords:
robotlocation;scenerecognition;salientimage;matchingstrategy;fuzzylogic;hiddenMarkovmodel
1Introduction
Searchandrescueindisasterareainthedomainofrobotisaburgeoningandchallengingsubject[1].Minerescuerobotwasdevelopedtoenterminesduringemergenciestolocatepossibleescaperoutesforthosetrappedinsideanddeterminewhetheritissafeforhumantoenterornot.Localizationisafundamentalprobleminthisfield.Localizationmethodsbasedoncameracanbemainlyclassifiedintogeometric,topologicalorhybridones[2].Withitsfeasibilityandeffectiveness,scenerecognitionbecomesoneoftheimportanttechnologiesoftopologicallocalization.
Currentlymostscenerecognitionmethodsarebasedonglobalimagefeaturesandhavetwodistinctstages:
trainingofflineandmatchingonline.
Duringthetrainingstage,robotcollectstheimagesoftheenvironmentwhereitworksandprocessestheimagestoextractglobalfeaturesthatrepresentthescene.Someapproacheswereusedtoanalyzethedata-setofimagedirectlyandsomeprimaryfeatureswerefound,suchasthePCAmethod[3].However,thePCAmethodisnoteffectiveindistinguishingtheclassesoffeatures.Anothertypeofapproachusesappearancefeaturesincludingcolor,textureandedgedensitytorepresenttheimage.Forexample,ZHOUetal[4]usedmultidimensionalhistogramstodescribeglobalappearancefeatures.Thismethodissimplebutsensitivetoscaleandilluminationchanges.Infact,allkindsofglobalimagefeaturesaresufferedfromthechangeofenvironment.
LOWE[5]presentedaSIFTmethodthatusessimilarityinvariantdescriptorsformedbycharacteristicscaleandorientationatinterestpointstoobtainthefeatures.Thefeaturesareinvarianttoimagescaling,translation,rotationandpartiallyinvarianttoilluminationchanges.ButSIFTmaygenerate1000ormoreinterestpoints,whichmayslowdowntheprocessordramatically.
Duringthematchingstage,nearestneighborstrategy(NN)iswidelyadoptedforitsfacilityandintelligibility[6].Butitcannotcapturethecontributionofindividualfeatureforscenerecognition.Inexperiments,theNNisnotgoodenoughtoexpressthesimilaritybetweentwopatterns.Furthermore,theselectedfeaturescannotrepresentthescenethoroughlyaccordingtothestate-of-artpatternrecognition,whichmakesrecognitionnotreliable[7].
Sointhisworkanewrecognitionsystemispresented,whichismorereliableandeffectiveifitisusedinacomplexmineenvironment.Inthissystem,weimprovetheinvariancebyextractingsalientlocalimageregionsaslandmarkstoreplacethewholeimagetodealwithlargechangesinscale,2Drotationandviewpoint.Andthenumberofinterestpointsisreducedeffectively,whichmakestheprocessingeasier.FuzzyrecognitionstrategyisdesignedtorecognizethelandmarksinplaceofNN,whichcanstrengthenthecontributionofindividualfeatureforscenerecognition.Becauseofitspartialinformationresumingability,hiddenMarkovmodelisadoptedtoorganizethoselandmarks,whichcancapturethestructureorrelationshipamongthem.SoscenerecognitioncanbetransformedtotheevaluationproblemofHMM,whichmakesrecognitionrobust.
2Salientlocalimageregionsdetection
Researchesonbiologicalvisionsystemindicatethatorganism(likedrosophila)oftenpaysattentiontocertainspecialregionsinthescenefortheirbehavioralrelevanceorlocalimagecueswhileobservingsurroundings[8].Theseregionscanbetakenasnaturallandmarkstoeffectivelyrepresentanddistinguishdifferentenvironments.Inspiredbythose,weusecenter-surrounddifferencemethodtodetectsalientregionsinmulti-scaleimagespaces.Theopponenciesofcolorandtexture