Cette these concerne l'etude et le developpement d'une architecture logicielle d'un s... more Cette these concerne l'etude et le developpement d'une architecture logicielle d'un systeme de vision pour le guidage d'un robot mobile dans un milieu exterieur. Ce systeme est compose de differents modules assurant chacun une tache specifique, et l'ensemble des taches est coordonne par un module central jouant le role de superviseur. Dans cette etude, l'accent est principalement mis sur le module d'analyse de scene qui est base sur un algorithme de detection des elements lineaires dans l'image numerique. Ce module est fonctionnel sous deux modes differents: la phase initiale qui consiste en un traitement de l'image entiere pour initialiser la navigation, et la phase de suivi continu qui assure le traitement sur des fenetres extraites des images prises periodiquement. Pour diminuer le risque d'erreur lie a ce type de technique, une carte detaillee de l'environnement a ete etablie dans le but de realiser une prediction de scene a partir de ...
Le probleme auquel se trouvent confrontes les concepteurs de systeme de vision est le choix du de... more Le probleme auquel se trouvent confrontes les concepteurs de systeme de vision est le choix du detecteur de contours a utiliser dans l'application envisagee. En effet, les algorithmes de detection de contours proposes dans la litterature sont multiples et different par leurs proprietes mathematiques et algorithmiques et par le type de contours auquel ils sont destines. En outre, ces algorithmes ne donnent aucune information ni sur le contexte precis dans lequel ils peuvent etre utilises avec succes, ni sur les regles de calcul de leurs parametres d'echelle. Par consequent, il est difficile de trouver un detecteur de contours qui s'execute mieux que les autres sur toutes les images. Ce probleme nous a conduit a mener une etude a la fois theorique et experimentale pour rassembler un maximum d'expertises indispensables pour aborder le probleme d'evaluation des performances des detecteurs de contours et de leur selection. Plus precisement, notre contribution principa...
Video security is becoming more and more vital today due to rapid development of hardware equipme... more Video security is becoming more and more vital today due to rapid development of hardware equipments as the number of installed cameras can confirm. This paper presents the system architecture of IVSS, an Intelligent Video Surveillance System based on IPcameras and deployed in an academic environment. In fact, Video surveillance is increasingly found in academic institutions. It is used to oversee the safety of teachers and students, as well as to protect assets from vandalism and theft. In this work the surveillance system is deployed in our university environment, it is based on a set of digital IP video cameras linked by the university IP network infrastructure. Our system architecture is based on efficient moving object detecting and tracking algorithm and a robust statistical activity recognition framework based on SVM which is used for modeling activities. The experimental results on real-time video streams show the feasibility of our system and its effectiveness in human acti...
This paper proposes a video retrieval system from compressed outdoor video surveillance databases... more This paper proposes a video retrieval system from compressed outdoor video surveillance databases. The aim is to extract moving objects from frames provided by MPEG video stream in order to classify them into predefined categories according to image-based properties, and then robustly index them. The principal idea is to combine between useful properties of metrical classification and the notion of temporal consistency. Fuzzy geometry classification is used in order to provide an efficient method to classify motion regions into three generic categories: pedestrian, vehicle and no identified object. The temporal consistency provides a robust classification to changes of objects appearance and occlusion of object motion. The classified motion regions are used as templates for metrical training algorithms and as keys for tree indexing technique.
In this paper an image is used to construct a map database for an autonomous navigation system. I... more In this paper an image is used to construct a map database for an autonomous navigation system. In fact, this map image looks like an aerial image taken at a certain altitude h. The level of the pixels belonging to a static object have been set to a value proportional to the object height. The aim of this method is
This paper proposes a video retrieval system from compressed outdoor video surveillance databases... more This paper proposes a video retrieval system from compressed outdoor video surveillance databases. The aim is to extract moving objects from frames provided by MPEG video stream in order to classify them into predefined categories according to image-based properties, and then robustly index them. The principal idea is to combine between useful properties of metrical classification and the notion of
ACS/IEEE International Conference on Computer Systems and Applications, 2003. Book of Abstracts., 2003
Summary form only given. We propose a content-based video database retrieval system. The aim is t... more Summary form only given. We propose a content-based video database retrieval system. The aim is to extract moving objects from video sequences in order to classify them into predefined categories according to image-based properties, and then robustly index them. The principal idea is to exploit useful properties of fuzzy geometry classification in order to provide a robust method to classify
The paper describes a fuzzy perception based guidance of an autonomous ground vehicle. The techni... more The paper describes a fuzzy perception based guidance of an autonomous ground vehicle. The technique proposed uses a visual servoing approach in which the control incorporates directly the visual feedback. The application involves guiding the vehicle through roadways by detecting the road edges from the image space. The vehicle and the scene models are established from the system behavior and
A new vision system architecture has been developed to support the visual navigation of an autono... more A new vision system architecture has been developed to support the visual navigation of an autonomous mobile robot. This robot is primarily intended for urban park inspection, so it should be able to move in a complex unstructured environment. The system consists of various modules each ensuring a specific task involved in autonomous navigation. Task coordination focuses on the central module called the supervisor which triggers each module at the time appropriate to the current situation of the robot. Most of the processing time is spent with the scene exploration module which is based on the Hough transform to extract the dominant straight features. This module operates in two modes: the initial phase which forms the type of processing applied to the first image acquired in order to initiate navigation, and the continuous following mode which ensures the processing of subsequent images taken at the end of the blind distance. In order to rely less on visual data, a detailed map of ...
International Conference on Image Analysis and Recognition, 2004
This paper describes a low-cost algorithm for tracking lane boundaries in a sequence of images. T... more This paper describes a low-cost algorithm for tracking lane boundaries in a sequence of images. The algorithm is destined to painted road with slow curvature. The basic idea proposed in our approach is that complete processing of each image can be avoided using the knowledge of the lane markings position in the previous ones. The markings detection is obtained using
Proceedings 199 IEEE/IEEJ/JSAI International Conference on Intelligent Transportation Systems (Cat. No.99TH8383), 1999
Describes a visual control scheme for outdoor navigation of an autonomous mobile robot. The invol... more Describes a visual control scheme for outdoor navigation of an autonomous mobile robot. The involved control system includes the fuzzy approach at two levels. A fuzzy perception system which detects efficiently the road edges from the perception-domain image, and a fuzzy control system which uses the knowledge-base information and the scene model to control the robot motion. On the other hand, the fuzzy control system is finely tuned through feedback of mean square errors between the scene model parameters and the knowledge-base data. Hence, a road configuration from a preprocessed image is compared with a fuzzy template made from the fuzzy membership function based on the knowledge-base module. Finally, the fuzzy controller uses results of these calculations to home the robot on the planned path. The paper shows the principle of this system and the simulation results confirming the feasibility of the approach
Character segmentation is a challenging problem in the field of optical character recognition. Pr... more Character segmentation is a challenging problem in the field of optical character recognition. Presence of touched characters make this dilemma more crucial. The goal of this paper is to provide major concepts and progress in domain of off-line cursive touched character segmentation. Accordingly, two broad classes of technique are identified. These include methods that perform explicit or implicit character segmentation. The basic methods used by each class of technique are presented and the contributions of individual algorithms within each class are discussed. It is the first survey that focuses on touched character segmentation and provides segmentation rates, descriptions of the test data for the approaches discussed. Finally, the main trends in the field of touched character segmentation are examined, important contributions are presented and future directions are also suggested.
Cette these concerne l'etude et le developpement d'une architecture logicielle d'un s... more Cette these concerne l'etude et le developpement d'une architecture logicielle d'un systeme de vision pour le guidage d'un robot mobile dans un milieu exterieur. Ce systeme est compose de differents modules assurant chacun une tache specifique, et l'ensemble des taches est coordonne par un module central jouant le role de superviseur. Dans cette etude, l'accent est principalement mis sur le module d'analyse de scene qui est base sur un algorithme de detection des elements lineaires dans l'image numerique. Ce module est fonctionnel sous deux modes differents: la phase initiale qui consiste en un traitement de l'image entiere pour initialiser la navigation, et la phase de suivi continu qui assure le traitement sur des fenetres extraites des images prises periodiquement. Pour diminuer le risque d'erreur lie a ce type de technique, une carte detaillee de l'environnement a ete etablie dans le but de realiser une prediction de scene a partir de ...
Le probleme auquel se trouvent confrontes les concepteurs de systeme de vision est le choix du de... more Le probleme auquel se trouvent confrontes les concepteurs de systeme de vision est le choix du detecteur de contours a utiliser dans l'application envisagee. En effet, les algorithmes de detection de contours proposes dans la litterature sont multiples et different par leurs proprietes mathematiques et algorithmiques et par le type de contours auquel ils sont destines. En outre, ces algorithmes ne donnent aucune information ni sur le contexte precis dans lequel ils peuvent etre utilises avec succes, ni sur les regles de calcul de leurs parametres d'echelle. Par consequent, il est difficile de trouver un detecteur de contours qui s'execute mieux que les autres sur toutes les images. Ce probleme nous a conduit a mener une etude a la fois theorique et experimentale pour rassembler un maximum d'expertises indispensables pour aborder le probleme d'evaluation des performances des detecteurs de contours et de leur selection. Plus precisement, notre contribution principa...
Video security is becoming more and more vital today due to rapid development of hardware equipme... more Video security is becoming more and more vital today due to rapid development of hardware equipments as the number of installed cameras can confirm. This paper presents the system architecture of IVSS, an Intelligent Video Surveillance System based on IPcameras and deployed in an academic environment. In fact, Video surveillance is increasingly found in academic institutions. It is used to oversee the safety of teachers and students, as well as to protect assets from vandalism and theft. In this work the surveillance system is deployed in our university environment, it is based on a set of digital IP video cameras linked by the university IP network infrastructure. Our system architecture is based on efficient moving object detecting and tracking algorithm and a robust statistical activity recognition framework based on SVM which is used for modeling activities. The experimental results on real-time video streams show the feasibility of our system and its effectiveness in human acti...
This paper proposes a video retrieval system from compressed outdoor video surveillance databases... more This paper proposes a video retrieval system from compressed outdoor video surveillance databases. The aim is to extract moving objects from frames provided by MPEG video stream in order to classify them into predefined categories according to image-based properties, and then robustly index them. The principal idea is to combine between useful properties of metrical classification and the notion of temporal consistency. Fuzzy geometry classification is used in order to provide an efficient method to classify motion regions into three generic categories: pedestrian, vehicle and no identified object. The temporal consistency provides a robust classification to changes of objects appearance and occlusion of object motion. The classified motion regions are used as templates for metrical training algorithms and as keys for tree indexing technique.
In this paper an image is used to construct a map database for an autonomous navigation system. I... more In this paper an image is used to construct a map database for an autonomous navigation system. In fact, this map image looks like an aerial image taken at a certain altitude h. The level of the pixels belonging to a static object have been set to a value proportional to the object height. The aim of this method is
This paper proposes a video retrieval system from compressed outdoor video surveillance databases... more This paper proposes a video retrieval system from compressed outdoor video surveillance databases. The aim is to extract moving objects from frames provided by MPEG video stream in order to classify them into predefined categories according to image-based properties, and then robustly index them. The principal idea is to combine between useful properties of metrical classification and the notion of
ACS/IEEE International Conference on Computer Systems and Applications, 2003. Book of Abstracts., 2003
Summary form only given. We propose a content-based video database retrieval system. The aim is t... more Summary form only given. We propose a content-based video database retrieval system. The aim is to extract moving objects from video sequences in order to classify them into predefined categories according to image-based properties, and then robustly index them. The principal idea is to exploit useful properties of fuzzy geometry classification in order to provide a robust method to classify
The paper describes a fuzzy perception based guidance of an autonomous ground vehicle. The techni... more The paper describes a fuzzy perception based guidance of an autonomous ground vehicle. The technique proposed uses a visual servoing approach in which the control incorporates directly the visual feedback. The application involves guiding the vehicle through roadways by detecting the road edges from the image space. The vehicle and the scene models are established from the system behavior and
A new vision system architecture has been developed to support the visual navigation of an autono... more A new vision system architecture has been developed to support the visual navigation of an autonomous mobile robot. This robot is primarily intended for urban park inspection, so it should be able to move in a complex unstructured environment. The system consists of various modules each ensuring a specific task involved in autonomous navigation. Task coordination focuses on the central module called the supervisor which triggers each module at the time appropriate to the current situation of the robot. Most of the processing time is spent with the scene exploration module which is based on the Hough transform to extract the dominant straight features. This module operates in two modes: the initial phase which forms the type of processing applied to the first image acquired in order to initiate navigation, and the continuous following mode which ensures the processing of subsequent images taken at the end of the blind distance. In order to rely less on visual data, a detailed map of ...
International Conference on Image Analysis and Recognition, 2004
This paper describes a low-cost algorithm for tracking lane boundaries in a sequence of images. T... more This paper describes a low-cost algorithm for tracking lane boundaries in a sequence of images. The algorithm is destined to painted road with slow curvature. The basic idea proposed in our approach is that complete processing of each image can be avoided using the knowledge of the lane markings position in the previous ones. The markings detection is obtained using
Proceedings 199 IEEE/IEEJ/JSAI International Conference on Intelligent Transportation Systems (Cat. No.99TH8383), 1999
Describes a visual control scheme for outdoor navigation of an autonomous mobile robot. The invol... more Describes a visual control scheme for outdoor navigation of an autonomous mobile robot. The involved control system includes the fuzzy approach at two levels. A fuzzy perception system which detects efficiently the road edges from the perception-domain image, and a fuzzy control system which uses the knowledge-base information and the scene model to control the robot motion. On the other hand, the fuzzy control system is finely tuned through feedback of mean square errors between the scene model parameters and the knowledge-base data. Hence, a road configuration from a preprocessed image is compared with a fuzzy template made from the fuzzy membership function based on the knowledge-base module. Finally, the fuzzy controller uses results of these calculations to home the robot on the planned path. The paper shows the principle of this system and the simulation results confirming the feasibility of the approach
Character segmentation is a challenging problem in the field of optical character recognition. Pr... more Character segmentation is a challenging problem in the field of optical character recognition. Presence of touched characters make this dilemma more crucial. The goal of this paper is to provide major concepts and progress in domain of off-line cursive touched character segmentation. Accordingly, two broad classes of technique are identified. These include methods that perform explicit or implicit character segmentation. The basic methods used by each class of technique are presented and the contributions of individual algorithms within each class are discussed. It is the first survey that focuses on touched character segmentation and provides segmentation rates, descriptions of the test data for the approaches discussed. Finally, the main trends in the field of touched character segmentation are examined, important contributions are presented and future directions are also suggested.
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