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Full-Text Articles in Physical Sciences and Mathematics

Software Based Approach To Realtime Sports Graphics, Honesty Beaton Apr 2024

Software Based Approach To Realtime Sports Graphics, Honesty Beaton

SACAD: John Heinrichs Scholarly and Creative Activity Days

My research presents a software-based approach to real-time sports graphics, leveraging Unity, C#, and OpenCV. We aimed to enhance viewer engagement by providing dynamic and interactive graphics during sports broadcasts. My method involves real-time analysis of video feeds to cut out players, place them onto a virtual court, and underlay immersive visuals, giving the appearance that virtual visuals physically exist beneath a player. Evaluation of this approach demonstrates the effectiveness of utilizing a software-based approach for real-time sports graphics, akin to traditional hardware-based solutions


Uncovering And Mitigating Spurious Features In Domain Generalization, Saeed Karimi, Hamdi̇ Di̇bekli̇oğlu Mar 2024

Uncovering And Mitigating Spurious Features In Domain Generalization, Saeed Karimi, Hamdi̇ Di̇bekli̇oğlu

Turkish Journal of Electrical Engineering and Computer Sciences

Domain generalization (DG) techniques strive to attain the ability to generalize to an unfamiliar target domain solely based on training data originating from the source domains. Despite the increasing attention given to learning from multiple training domains through the application of various forms of invariance across those domains, the enhancements observed in comparison to ERM are nearly insignificant under specified evaluation rules. In this paper, we demonstrate that the disentanglement of spurious and invariant features is a challenging task in conventional training since ERM simply minimizes the loss and does not exploit invariance among domains. To address this issue, we …


What You See Is Not What You Know: Studying Deception In Deepfake Video Manipulation, Cathryn Allen, Bryson R. Payne, Tamirat Abegaz, Chuck Robertson Oct 2023

What You See Is Not What You Know: Studying Deception In Deepfake Video Manipulation, Cathryn Allen, Bryson R. Payne, Tamirat Abegaz, Chuck Robertson

Journal of Cybersecurity Education, Research and Practice

Research indicates that deceitful videos tend to spread rapidly online and influence people’s opinions and ideas. Because of this, video misinformation via deepfake video manipulation poses a significant online threat. This study aims to discover what factors can influence viewers’ capability to distinguish deepfake videos from genuine video footage. This work focuses on exploring deepfake videos’ potential use for deception and misinformation by exploring people’s ability to determine whether videos are deepfakes in a survey consisting of deepfake videos and original unedited videos. The participants viewed a set of four videos and were asked to judge whether the videos shown …


A Uav Target Tracking And Control Algorithm Based On Siamrpn, Songming Jiao, Hui Ding, Yufei Zhong, Xin Yao, Jiahao Jiahao Zheng Jun 2023

A Uav Target Tracking And Control Algorithm Based On Siamrpn, Songming Jiao, Hui Ding, Yufei Zhong, Xin Yao, Jiahao Jiahao Zheng

Journal of System Simulation

Aiming at the requirement of autonomously tracking land moving targets of rotary-wing UAVs, an autonomous and stable UAV tracking and control system that can adapt to the common interference environments such as scale changes, occlusions, and attitude changes is constructed.The system extracts the imaging position of the target in airborne camera through the twin network based on deep learning, and obtains the relative pose of the target. The image processing algorithm is designed to process the icons in the tracking frame, and the yaw angle of UAV relative to the tracking target is obtained, Kalman filter is introduced to …


Research On Visual Inspection Algorithm Of Crimping Appearance Defects For Wiring Harness Terminals, Bingan Yuan, Mingen Zhong, Jingxin Ni May 2022

Research On Visual Inspection Algorithm Of Crimping Appearance Defects For Wiring Harness Terminals, Bingan Yuan, Mingen Zhong, Jingxin Ni

Journal of System Simulation

Abstract: Aiming at the low efficiency and high missing rate of wiring harness terminals, an image detection method based on machine vision is proposed. The characteristic parameters of five typical defects in three main parts of wiring harness terminals are analyzed and defined. Tthe algorithms of extracting positioning datum, segmenting inspected-parts adaptively, extracting the defect features and calculating the characteristic parameters are designed respectively, and the defects criterions are given. The experimental results show that the algorithms are suitable for single defect and multi-class defects, both the miss detection rate and the false positiveness rate are low. The accuracy and …


Odu Undergraduate Students Addressing The Societal Problems Of Parking Control, Classroom Seating, And Flood Monitoring In Hampton Roads, Stephanie K. Trusty, Gabriel Del Razo, Nathan Potter, Soad Ibrahim, Ayman Elmesalami Jan 2022

Odu Undergraduate Students Addressing The Societal Problems Of Parking Control, Classroom Seating, And Flood Monitoring In Hampton Roads, Stephanie K. Trusty, Gabriel Del Razo, Nathan Potter, Soad Ibrahim, Ayman Elmesalami

OUR Journal: ODU Undergraduate Research Journal

During the summer of 2021, ODU undergraduate computer science students undertook image processing research projects. These projects focused on utilizing the Raspberry Pi computer and camera module to address three real-world problems concerning parking control, classroom seating, and flood monitoring. The parking lot occupancy project aimed to develop a system that monitors the occupancy of parking spaces in a lot and communicates the status of the lot of drivers and the lot attendants. The COVID-19 classroom occupancy project sought to enforce social distancing protocols in a classroom environment by detecting seating violations and notifying the instructor and the impacted students …


Recent Advances In Smartphone Computational Photography, Paul Friederichsen Mar 2021

Recent Advances In Smartphone Computational Photography, Paul Friederichsen

Scholarly Horizons: University of Minnesota, Morris Undergraduate Journal

Smartphone cameras present many challenges, most of which come from the need for them to be physically small. Their small size puts a fundamental limit on their ability to resolve detail and collect light, which makes low-light photography and zooming difficult. This paper presents two approaches to improve smartphone photography through software techniques. The first is handheld super-resolution which uses natural hand movement to improve the resolution smartphone images, especially when zoomed. The second approach is a system which improves low light photography in smartphones.


A Novel Hybrid Decision-Based Filter And Universal Edge-Based Logical Smoothingadd-On To Remove Impulsive Noise, Rajanbir Singh Ghumaan, Prateek Jeet Singh Sohi, Nikhil Sharma, Bharat Garg Jan 2021

A Novel Hybrid Decision-Based Filter And Universal Edge-Based Logical Smoothingadd-On To Remove Impulsive Noise, Rajanbir Singh Ghumaan, Prateek Jeet Singh Sohi, Nikhil Sharma, Bharat Garg

Turkish Journal of Electrical Engineering and Computer Sciences

This paper presents a novel hybrid filter along with a universal extension to remove salt and pepper noise even at a very high noise density. The proposed filter initially specifies a threshold and then denoises the image using a combination of linear, nonlinear, and probabilistic techniques. Furthermore, to improve the quality, a universal add-on is presented which uses edge detection and smoothening techniques to brush out fine details from the restored image. To evaluate the efficacy, the proposed and existing filtering techniques are implemented in MATLAB and simulated with benchmark images. The simulation results show that the proposed filter is …


A Two-Stage Hair Region Localization Method For Guided Laser Hair Removal, Murat Avşar, İmam Şami̇l Yeti̇k Jan 2021

A Two-Stage Hair Region Localization Method For Guided Laser Hair Removal, Murat Avşar, İmam Şami̇l Yeti̇k

Turkish Journal of Electrical Engineering and Computer Sciences

Removal of hair using laser is a widely used method, where our goal is to permanently remove hair by using laser to cause heat in order to thermally damage the hair follicle. However, currently available laser hair removal systems affect the outer skin layers besides hair follicles. This is a disadvantage of classical methods with major health risks. We propose a method to overcome these health risks by guiding the laser beam only to automatically localized hair regions. This study aims to develop an automated feature-based hair region localization method as an integral part of the proposed hair removal system …


Measurement Error Correction Model Of Tof Depth Camera, Le Wang, Luo Yu, Haikuan Wang, Minru Fei Jun 2020

Measurement Error Correction Model Of Tof Depth Camera, Le Wang, Luo Yu, Haikuan Wang, Minru Fei

Journal of System Simulation

Abstract: 3D data intuitively reflects the full view of the target or scene. Time of Flight (ToF) camera is a range imaging sensor that can provide 3D geometric information of targets immediately, thus it is widely applied in the robot positioning and navigation, 3D reconstruction and other aspects etc. Due to the operational principle of the camera itself, there are variety measurement errors of the source data obtained by ToF, resulting in image distortion. The measurement errors in the imaging process of ToF camera were analyzed and summarized, and the cubic spline interpolation method combined with look-up table was proposed …


Vehicle Logo Recognition Based On Sparse Sampling And Gradient Distribution Features, Binbin Zhou, Shangbing Gao, Zhigeng Pan, Liangliang Wang, Hongyang Wang Jun 2020

Vehicle Logo Recognition Based On Sparse Sampling And Gradient Distribution Features, Binbin Zhou, Shangbing Gao, Zhigeng Pan, Liangliang Wang, Hongyang Wang

Journal of System Simulation

Abstract: The vehicle logo location and recognition are separated in the traditional method, the location errors will affect the subsequent recognition, at the same time the vehicle logo images are with low resolution and poor quality. Thus, a novel method was proposed which integrated the vehicle logo location and recognition organically. The sample images were sampled by sparse sampling, and then the point set was divided into adjacent point set and non adjacent point set, and the gradient feature and light and dark feature were extracted respectively, constructing the feature library. The logo coarse location area was multi-scale scanned. The …


Image Denoising Using Deep Convolutional Autoencoder With Feature Pyramids, Ekrem Çeti̇nkaya, Mustafa Furkan Kiraç Jan 2020

Image Denoising Using Deep Convolutional Autoencoder With Feature Pyramids, Ekrem Çeti̇nkaya, Mustafa Furkan Kiraç

Turkish Journal of Electrical Engineering and Computer Sciences

Image denoising is 1 of the fundamental problems in the image processing field since it is the preliminary step for many computer vision applications. Various approaches have been used for image denoising throughout the years from spatial filtering to model-based approaches. Having outperformed all traditional methods, neural-network-based discriminative methods have gained popularity in recent years. However, most of these methods still struggle to achieve flexibility against various noise levels and types. In this paper, a deep convolutional autoencoder combined with a variant of feature pyramid network is proposed for image denoising. Simulated data generated by Blender software along with corrupted …


Fast Forensic Triage Using Centralised Thumbnail Caches On Windows Operating Systems, Sean Mckeown, Gordon Russell, Petra Leimich Sep 2019

Fast Forensic Triage Using Centralised Thumbnail Caches On Windows Operating Systems, Sean Mckeown, Gordon Russell, Petra Leimich

Journal of Digital Forensics, Security and Law

A common investigative task is to identify known contraband images on a device, which typically involves calculating cryptographic hashes for all the files on a disk and checking these against a database of known contraband. However, modern drives are now so large that it can take several hours just to read this data from the disk, and can contribute to the large investigative backlogs suffered by many law enforcement bodies. Digital forensic triage techniques may thus be used to prioritise evidence and effect faster investigation turnarounds. This paper proposes a new forensic triage method for investigating disk evidence relating to …


Accurate And Compact Stochastic Computations By Exploiting Correlation, Hamdan Abdellatef, Mohamed Khalil Hani, Nasir Shaikh-Husin Jan 2019

Accurate And Compact Stochastic Computations By Exploiting Correlation, Hamdan Abdellatef, Mohamed Khalil Hani, Nasir Shaikh-Husin

Turkish Journal of Electrical Engineering and Computer Sciences

Recent studies have shown, contrary to what was previously believed, that by exploiting correlation in stochastic computing (SC) designs, more accurate SC circuits with low area cost can be realized. However, if these basic SC circuits or blocks are cascaded in series to form a large complex system, correlation between stochastic numbers (SNs) from one block to the next would be lost; thus, inaccuracies are introduced. In this study, we propose correlating circuits to be used in building complex correlated SC systems. One of the circuits is the correlator that restores lost correlations between two SNs due to previous processing. …


A Multiseed-Based Svm Classification Technique For Training Sample Reduction, Imran Sharif, Debasis Chaudhuri Jan 2019

A Multiseed-Based Svm Classification Technique For Training Sample Reduction, Imran Sharif, Debasis Chaudhuri

Turkish Journal of Electrical Engineering and Computer Sciences

A support vector machine (SVM) is not a popular method for a very large dataset classification because the training and testing time for such data are computationally expensive. Many researchers try to reduce the training time of SVMs by applying sample reduction methods. Many methods reduced the training samples by using a clustering technique. To reduce its high computational complexity, several data reduction methods were proposed in previous studies. However, such methods are not effective to extract informative patterns. This paper demonstrates a new supervised classification method, multiseed-based SVM (MSB-SVM), which is particularly intended to deal with very large datasets …


Elimination Of Useless Images From Raw Camera-Trap Data, Ulaş Tekeli̇, Yalin Baştanlar Jan 2019

Elimination Of Useless Images From Raw Camera-Trap Data, Ulaş Tekeli̇, Yalin Baştanlar

Turkish Journal of Electrical Engineering and Computer Sciences

Camera-traps are motion triggered cameras that are used to observe animals in nature. The number of images collected from camera-traps has increased significantly with the widening use of camera-traps thanks to advances in digital technology. A great workload is required for wild-life researchers to group and label these images. We propose a system to decrease the amount of time spent by the researchers by eliminating useless images from raw camera-trap data. These images are too bright, too dark, blurred, or they contain no animals. To eliminate bright, dark, and blurred images we employ techniques based on image histograms and fast …


Fingerprinting Jpegs With Optimised Huffman Tables, Sean Mckeown, Gordon Russell, Petra Leimich Oct 2018

Fingerprinting Jpegs With Optimised Huffman Tables, Sean Mckeown, Gordon Russell, Petra Leimich

Journal of Digital Forensics, Security and Law

A common task in digital forensics investigations is to identify known contraband images. This is typically achieved by calculating a cryptographic digest, using hashing algorithms such as SHA256, for each image on a given medium, and comparing individual digests with a database of known contraband. However, the large capacities of modern storage media and time pressures placed on forensics examiners necessitates the development of more efficient processing methods. This work describes a technique for fingerprinting JPEGs with optimised Huffman tables which requires only the image header to be present on the media. Such fingerprints are shown to be robust across …


Hardware Implementation Of A Scale And Rotation Invariant Object Detection Algorithm On Fpga For Real-Time Applications, Murat Peker, Hali̇s Altun, Fuat Karakaya Jan 2016

Hardware Implementation Of A Scale And Rotation Invariant Object Detection Algorithm On Fpga For Real-Time Applications, Murat Peker, Hali̇s Altun, Fuat Karakaya

Turkish Journal of Electrical Engineering and Computer Sciences

A hardware implementation of a computationally light, scale, and rotation invariant method for shape detection on FPGA is devised. The method is based on histogram of oriented gradients (HOG) and average magnitude difference function (AMDF). AMDF is used as a decision module that measures the similarity/dissimilarity between HOG vectors of an image in order to classify the object. In addition, a simulation environment implemented on MATLAB is developed in order to overcome the time-consuming and tedious process of hardware verification on the FPGA platform. The simulation environment provides specific tools to quickly implement the proposed methods. It is shown that …


Some Properties Of Digital H-Spaces, Özgür Ege, İsmet Karaca Jan 2016

Some Properties Of Digital H-Spaces, Özgür Ege, İsmet Karaca

Turkish Journal of Electrical Engineering and Computer Sciences

In this paper, we study certain properties of digital H-spaces. We prove that a digital image that has the same digital homotopy type with any digital H-space is also a digital H-space. We show that the digital fundamental group of a digital H-space is abelian. We give examples that are related to a digital homotopy associative H-space and a $\kappa $-contractible digital H-space. Several important applications of digital H-spaces are given in computer vision and image processing. Finally, we deal with the importance of digital H-space in digital topology and image processing. We conclude that any $\kappa $-contractible digital image …


Brain Tumor Detection Using Monomodal Intensity Based Medical Image Registration And Matlab, Emrah Irmak, Ergun Erçelebi̇, Ahmet Hani̇fi̇ Ertaş Jan 2016

Brain Tumor Detection Using Monomodal Intensity Based Medical Image Registration And Matlab, Emrah Irmak, Ergun Erçelebi̇, Ahmet Hani̇fi̇ Ertaş

Turkish Journal of Electrical Engineering and Computer Sciences

digital image processing. Using suitable computer programming techniques and transformation between two images, a new much more informative image can be found. In this paper, three important and basic medical image registration (MIR) methods, namely MIR by maximization of mutual information, MIR using cross correlation (Fourier transform approach), and MIR by minimization of similarity metric, were proposed and accordingly two comprehensive applications were performed using MIR by minimization of the similarity metric, which uses the sum of the squared differences metric as a metric and the regular step gradient descent optimizer as an optimizer. What is more, MR images of …


Describing Images Using A Multilayer Framework Based On Qualitative Spatial Models, Tao Wang, Hui Shi Dec 2015

Describing Images Using A Multilayer Framework Based On Qualitative Spatial Models, Tao Wang, Hui Shi

Baltic International Yearbook of Cognition, Logic and Communication

To date most research in image processing has been based on quantitative representations of image features using pixel values, however, humans often use abstract and semantic knowledge to describe and analyze images. To enhance cognitive adequacy and tractability, we here present a multilayer framework based on qualitative spatial models. The layout features of segmented images are defined by qualitative spatial models which we introduce, and represented as a set of qualitative spatial constraints. Assigned different semantic and context knowledge, the image segments and the qualitative spatial constraints are interpreted from different perspectives. Finally, the knowledge layer of the framework enables …


Detection Of Microcalcification In Digitized Mammograms With Multistable Cellular Neural Networks Using A New Image Enhancement Method: Automated Lesion Intensity Enhancer (Alie), Levent Ci̇vci̇k, Burak Yilmaz, Yüksel Özbay, Gani̇me Di̇lek Emli̇k Jan 2015

Detection Of Microcalcification In Digitized Mammograms With Multistable Cellular Neural Networks Using A New Image Enhancement Method: Automated Lesion Intensity Enhancer (Alie), Levent Ci̇vci̇k, Burak Yilmaz, Yüksel Özbay, Gani̇me Di̇lek Emli̇k

Turkish Journal of Electrical Engineering and Computer Sciences

Microcalcification detection is a very important issue in early diagnosis of breast cancer. Generally physicians use mammogram images for this task; however, sometimes analyzing these images become a hard task because of problems in images such as high brightness values, dense tissues, noise, and insufficient contrast level. In this paper, we present a novel technique for the task of microcalcification detection. This technique consists of three steps. The first step is focused on removing pectoral muscle and unnecessary parts from the mammogram images by using cellular neural networks (CNNs), which makes this a novel process. In the second step, we …


Contrast Enhancement Using Linear Image Combinations Algorithm (Ceulica) For Enhancing Brain Magnetic Resonance Images, Burak Yilmaz, Yüksel Özbay Jan 2014

Contrast Enhancement Using Linear Image Combinations Algorithm (Ceulica) For Enhancing Brain Magnetic Resonance Images, Burak Yilmaz, Yüksel Özbay

Turkish Journal of Electrical Engineering and Computer Sciences

Brain magnetic resonance imaging (MRI) images support important information about brain diseases for physicians. Morphological alterations in brain tissues indicate the probable existence of a disease in many cases. Proper estimation of these tissues, measuring their sizes, and analyzing their image patterns are parts of the diagnosis process. Therefore, the interpretability and perceptibility level of the MRI image is valuable for physicians. In this paper, a new image contrast enhancement algorithm based on linear combinations is presented. The proposed algorithm is focused on improving the interpretability and perceptibility of the image information. An MRI image is presented to the algorithm, …


A Novel Fuzzy Filter For Speckle Noise Removal, Mehmet Ali̇ Soytürk, Alper Baştürk, Mehmet Emi̇n Yüksel Jan 2014

A Novel Fuzzy Filter For Speckle Noise Removal, Mehmet Ali̇ Soytürk, Alper Baştürk, Mehmet Emi̇n Yüksel

Turkish Journal of Electrical Engineering and Computer Sciences

In this paper, a novel fuzzy system-based method for speckle noise removal is proposed. The proposed method consists of a fuzzy inference system, an edge detection and dilation unit, and an image combiner. The fuzzy inference system includes 5 inputs and 1 output, and it is responsible for filtering the speckle noisy image. The inputs of the fuzzy system consist of the center pixel of the filtering window and its 2 horizontal and vertical neighbors. The edge detection and dilation unit is used for classifying the uniform areas and nonuniform image regions such as edges. The image combiner unites the …


Spatiotemporal Realization Of An Artificial Retina Model And Performance Evaluation Through Isi- And Spike Count-Based Image Reconstruction Methods, İrfan Karagöz, Mustafa Özden Jan 2014

Spatiotemporal Realization Of An Artificial Retina Model And Performance Evaluation Through Isi- And Spike Count-Based Image Reconstruction Methods, İrfan Karagöz, Mustafa Özden

Turkish Journal of Electrical Engineering and Computer Sciences

Development of an artificial retina model that can mimic the biologic retina is a highly challenging task and this task is an important step in the development of a visual prosthesis. The receptive field structure of the retina layer is usually modeled as a 2D difference of Gaussian (DOG) filter profile. In the present study, as a different approach, a retina model including a 3D 2-stage DOG filter (3D-ADOG) that has an adaptively changing bandwidth with respect to the local image statistic is developed. Using this modeling, the adaptive image processing of the retina can be realized. The contribution of …


An Automated Prognosis System For Estrogen Hormone Status Assessment In Breast Cancer Tissue Samples, Fati̇h Sarikoç, Adem Kalinli, Hülya Akgün, Fi̇gen Öztürk Jan 2013

An Automated Prognosis System For Estrogen Hormone Status Assessment In Breast Cancer Tissue Samples, Fati̇h Sarikoç, Adem Kalinli, Hülya Akgün, Fi̇gen Öztürk

Turkish Journal of Electrical Engineering and Computer Sciences

Estrogen receptor (ER) status evaluation is a widely applied method in the prognosis of breast cancer. However, testing for the existence of the ER biomarker in a patient's tumor sample mainly depends on the subjective decisions of the doctors. The aim of this paper is to introduce the usage of a machine learning tool, functional trees (FTs), to attain an ER prognosis of the disease via an objective decision model. For this aim, 27 image files, each of which came from a biopsy sample of an invasive ductal carcinoma patient, were scanned and captured by a light microscope. From these …


Resolution Enhancement Of Video Sequences By Using Discrete Wavelet Transform And Illumination Compensation, Sara Izadpanahi, Çağri Özçinar, Gholamreza Anbarjafari, Hasan Demirel Jan 2012

Resolution Enhancement Of Video Sequences By Using Discrete Wavelet Transform And Illumination Compensation, Sara Izadpanahi, Çağri Özçinar, Gholamreza Anbarjafari, Hasan Demirel

Turkish Journal of Electrical Engineering and Computer Sciences

This research paper proposes a new technique for video resolution enhancement that employees an illumination compensation procedure before the registration process. After the illumination compensation process, the respective frames are registered using the Irani and Peleg technique. In parallel, the corresponding frame is decomposed into high-frequency (low-high, high-low, and high-high) and low-frequency (low-low) subbands using discrete wavelet transform (DWT). The high-frequency subbands are superresolved using bicubic interpolation. Afterwards, the interpolated high-frequency subbands and superresolved low-frequency subband obtained by registration are used to construct the high-resolution frame using inverse DWT. The superiority of the proposed resolution enhancement method over well-known video …


Change Detection Without Difference Image Computation Based On Multiobjective Cost Function Optimization, Turgay Çeli̇k, Zeki̇ Yetgi̇n Jan 2011

Change Detection Without Difference Image Computation Based On Multiobjective Cost Function Optimization, Turgay Çeli̇k, Zeki̇ Yetgi̇n

Turkish Journal of Electrical Engineering and Computer Sciences

In this paper, we propose a novel method for unsupervised change detection in multi-temporal satellite images by using multiobjective cost function optimization via genetic algorithm (GA). The spatial image grid of the input multi-temporal satellite images is divided into two distinct regions, representing ``changed'' and ``unchanged'' regions between input images, via the intermediate change detection mask produced by the GA. The dissimilarity of pixels of ``changed'' regions and similarity of pixels of ``unchanged'' regions between input multi-temporal images are measured using image quality metrics which consider correlation, spectral distortion, radiometric distortion, and contrast distortion. The contextual information of each pixel …


Knowledge-Based Navigation For Autonomous Road Vehicles, Murat Eki̇nci̇, Franches W.J.Gibbs, Barry T. Thomas Jan 2000

Knowledge-Based Navigation For Autonomous Road Vehicles, Murat Eki̇nci̇, Franches W.J.Gibbs, Barry T. Thomas

Turkish Journal of Electrical Engineering and Computer Sciences

This paper presents a computer vision system for an autonomous road vehicle (ARV) that is capable of negotiating complex road networks including road junctions in real time. The ultimate aim of the system is to enable the vehicle to drive automatically along a given complex road network whose geometric description is known. This computer vision system includes three main techniques which are necessary for an ARV: a) road following, b) road junction detection, c) manoeuvring at the road junction. The road following algorithm presents a method of executing a number of algorithms using different methods concurrently, fusing their outputs together …