Extract Corner Points Research Articles

Building damage assessment using improved combined adjustment and automatic building corners extraction method

ABSTRACTAccurately estimating the collapse height of buildings during earthquakes holds great significance. Acquiring precise height information of buildings using dual-phase high-resolution stereo satellite images (HRSSIs) requires high-precision ground control points, which are difficult to obtain in earthquake-stricken areas. Spaceborne laser data has been validated to significantly improve the vertical accuracy of HRSSIs. Therefore, this paper first proposes the application of a combined stereo adjustment model in building collapse estimation and thoroughly verifies its feasibility. Firstly, the laser altimetry points (LAPs) acquired by GF-7 and ICESat-1 serve as elevation control points (ECPs), and the tie points from HRSSIs were used as constraint to conduct combined adjustment to improve the consistency of stereoscopic positioning accuracy between HRSSIs before and after the earthquake. Subsequently, a footprints-to-conners, coarse-to-fine, automatic building corners extraction method was performed. Avoiding the time-consuming generation of large-scale DSM while also improving the accuracy of building collapse assessment. Finally, according to the height change of building corners calculated from HRSSIs, building damage assessment was completed. According to the above methods, independent experiments were carried out respectively for the Oaxaca earthquake in Mexico in 2020 and the Kahramanmaras earthquake in Türkiye in 2023. GF-7 HRSSIs was used to verify the accuracy and stability of the proposed method for 3D assessment of building damage. The results indicate that the RMSE of elevation positioning accuracy has been greatly reduced in both regions, ranging from 10.29 m to 0.95 m and from 6.67 m to 0.99 m, respectively. This accuracy guarantees the feasibility of detecting the building floor-level collapse. And 2541 building corner points were extracted from two disaster areas, with correct corner points accounting for 85.18%. A total of 520 buildings were correctly extracted corner points, with an accuracy rate of 94.12% for assessing the degree of damage.

Range Image-Aided Edge Line Estimation for Dimensional Inspection of Precast Bridge Slab Using Point Cloud Data

The accurate estimation of edge lines in precast bridge slabs based on laser scanning is crucial for a geometrical quality inspection. Normally, the as-designed model of precast slabs is used to match with laser scan data to estimate the edge lines. However, this approach often leads to an inaccurate quality measurement because the actually produced slab can be dimensionally different from the as-designed model or the inexistence of the as-designed model. In order to overcome this limitation, this study proposes a novel algorithm that generates and utilizes range images generated from scan points to enhance accuracy. The proposed algorithm operates as follows: first, the scan points are transformed into a range of images, and the corner points of these range images are extracted using a Harris corner detector. Next, the dimensions of the precast bridge slab are computed based on the extracted corner points. Consequently, the extracted corner points from the range images serve as an input for edge line estimation, thereby eliminating the matching errors that could arise when aligning collected scan points to an as-designed model. To evaluate the feasibility of the proposed edge estimation algorithm, a series of tests were conducted on both lab-scale specimens and field-scale precast slabs. The results showed promising accuracy levels of 1.22 mm for lab-scale specimens and 3.10 mm for field-scale precast bridge slabs, demonstrating more accurate edge line estimation results compared to traditional methods. These findings highlight the feasibility of employing the proposed image-aided geometrical inspection method, demonstrating the great potential for application in both small-scale and full-scale prefabricated construction elements within the construction industry, particularly during the fabrication stage.

Door State Recognition Method for Wall Reconstruction from Scanned Scene in Point Clouds

Doors are important elements of building façades in scanned point clouds. Accurate door detection is a critical step in building reconstruction and indoor navigation. However, recent door detection methods may often obtain incomplete information and can only detect doors with a single state (open or closed). To improve this, a door state recognition method is proposed based on corner detection and straight-line fitting. Firstly, plane segmentation based on local features is introduced to obtain structural division from the raw scanned data to extract the wall. Next, the bounding box of each plane is calculated to obtain the corner points, which is then combined with the feature constraint to classify the elements of door and wall. Then, the boundary of each plane is extracted by normal vector, and the disordered and discontinuous boundary points are straight-line fitted based on projection. Finally, the state of the door is obtained through analysis of the angle between the straight-lines of the wall and the door. The effectiveness of the proposed method is tested and evaluated on the Livingroom of ICL-NUIM and House of Room detection datasets. Furthermore, comparative experimental results indicate that our method can extract corner points and recognize the different states of doors effectively and robustly in different scenes.

Nondeformed Ultrasound Image Production Method for Ultrasound-Guided Radiotherapy.

Purpose: During ultrasound (US)-guided radiotherapy, the tissue is deformed by probe pressure, and the US image is limited by changes in tissue and organ position and geometry when the US image is aligned with computed tomography (CT) image, leading to poor alignment. Accordingly, a pixel displacement-based nondeformed US image production method is proposed. Methods: The correction of US image deformation is achieved by calculating the pixel displacement of an image. The positioning CT image (CTstd) is used as the gold standard. The deformed US image (USdef) is inputted into the Harris algorithm to extract corner points for selecting feature points, and the displacement of adjacent pixels of feature points in the US video stream is calculated using the Lucas-Kanade optical flow algorithm. The moving least squares algorithm is used to correct USdef globally and locally in accordance with image pixel displacement to generate a nondeformed US image (USrev). In addition, USdef and USrev were separately aligned with CTstd to evaluate the improvement of alignment accuracy through deformation correction. Results: In the phantom experiment, the overall and local average correction errors of the US image under the optimal probe pressure were 1.0944 and 0.7388 mm, respectively, and the registration accuracy of USdef and USrev with CTstd was 0.6764 and 0.9016, respectively. During the volunteer experiment, the correction error of all 12 patients' data ranged from -1.7525 to 1.5685 mm, with a mean absolute error of 0.8612 mm. The improvement range of US and CT registration accuracy, before and after image deformation correction in the 12 patients evaluated by a normalized correlation coefficient, was 0.1232 to 0.2476. Conclusion: The pixel displacement-based deformation correction method can solve the limitation imposed by image deformation on image alignment in US-guided radiotherapy. Compared with USdef, the alignment results of USrev with CT were better.

Visual Features Assisted Robot Localization in Symmetrical Environment Using Laser SLAM.

Localization for estimating the position and orientation of a robot in an asymmetrical environment has been solved by using various 2D laser rangefinder simultaneous localization and mapping (SLAM) approaches. Laser-based SLAM generates an occupancy grid map, then the most popular Monte Carlo Localization (MCL) method spreads particles on the map and calculates the position of the robot by a probabilistic algorithm. However, this can be difficult, especially in symmetrical environments, because landmarks or features may not be sufficient to determine the robot’s orientation. Sometimes the position is not unique if a robot does not stay at the geometric center. This paper presents a novel approach to solving the robot localization problem in a symmetrical environment using the visual features-assisted method. Laser range measurements are used to estimate the robot position, while visual features determine its orientation. Firstly, we convert laser range scans raw data into coordinate data and calculate the geometric center. Secondly, we calculate the new distance from the geometric center point to all end points and find the longest distances. Then, we compare those distances, fit lines, extract corner points, and calculate the distance between adjacent corner points to determine whether the environment is symmetrical. Finally, if the environment is symmetrical, visual features based on the ORB keypoint detector and descriptor will be added to the system to determine the orientation of the robot. The experimental results show that our approach can successfully determine the position of the robot in a symmetrical environment, while ordinary MCL and its extension localization method always fail.

Research on Contour Feature Extraction Algorithms for Arc-shaped Groove of Safety Seat Base

The spatial position of the seat base is complicated. The contour structure of arc groove is complex and its contour feature extraction is difficult. Aiming at the above problems, this paper presents an improved corner detection algorithm based on Curvature Scale Space (CSS), which uses adaptive local curvature and dynamic angle threshold to accurately extract corner points of arc groove contour. The correct corner positioning error of the algorithm proposed in this paper is only 0.99 pixel. The experimental results show that this method can effectively implement contour feature extraction.

Detection and Classification of 2D and 3D Hyper Spectral Image using Enhanced Harris Corner Detector

Image classification and visualization is a challenging task in hyper spectral imaging system. To overcome thisissue, here the proposed algorithm incorporates normalized correlation into active corner point of an image representation structure to perform hasty recognition by matching algorithm. Matching algorithms can be of two major categories, based on correlation and based on its features based on correlation and on its feature detection. Proposed algorithms often ignore issues related to scale and orientation and also those to be determined during the localization step. The task of localization involves finding the right region within the search image and passing this region to the verification process. A Harris corner detector is an advancedapproach to detect and extract a huge number of corner points in the input image. We integrate all the extracted corner points into a possible task to locate candidate regions in input image. In terms of detection and classification the proposed method has got better result.

Power Pylon Reconstruction Based on Abstract Template Structures Using Airborne LiDAR Data

As an important power facility for transmission corridors, automatic three-dimensional (3D) reconstruction of the pylon plays an important role in the development of smart grid. In this study, a novel three-dimensional reconstruction method using airborne LiDAR (Light Detection And Ranging) point cloud is developed and tested. First, a principal component analysis (PCA) algorithm is performed for pylon redirection based on the structural feature of the upper part of a pylon. Then, based on the structural similarity of a pylon, a pylon is divided into three parts that are inverted triangular pyramid lower structures, quadrangular frustum pyramid middle structures, and complex upper or lateral structures. The reconstruction of the inverted triangular pyramid structures and quadrangular frustum pyramid structures is based on prior knowledge and a data-driven strategy, where the 2D alpha shape algorithm is used to obtain contour points and 2D linear fitting is carried out based on the random sample consensus (RANSAC) method. Complex structures’ reconstruction is based on the priori abstract template structure and a data-driven strategy, where the abstract template structure is used to determine the topological relationship among corner points and the image processing method is used to extract corner points of the abstract template structure. The main advantages in the proposed method include: (1) Improving the accuracy of the pylon decomposition method through introducing a new feature to identify segmentation positions; (2) performing the internal structure of quadrangular frustum pyramids reconstruction; (3) establishing the abstract template structure and using image processing methods to improve computational efficiency of pylon reconstruction. Eight types of pylons are tested in this study, and the average error of pylon reconstruction is 0.32 m and the average of computational time is 0.8 s. These results provide evidence that the pylon reconstruction method developed in this study has high accuracy, efficiency, and applicability.

Corner detection based on gradient ghost imaging

Gradient ghost imaging (GGI) is a new imaging method that can directly extract the edge of a target from the correlation of light intensity fluctuations. However, there are problems of poor image quality and practicability in GGI. The corner point is an important target feature and has important applications in the fields of image processing and machine vision. In this paper, we propose a corner detection scheme that combines a corner detection algorithm based on curvature scale space with a GGI system, which can directly extract corner points from the reconstruction results of ghost imaging. A simulation and experimental results show that our method can acquire precise and robust corner information of an unknown target in undersampled cases, which promotes the practical development of ghost imaging.

An Approach to Detect Vehicles in Multiple Climatic Conditions Using the Corner Point Approach

Abstract This paper presents a new method of detecting vehicles by using a simple and effective algorithm. The features of a vehicle are the most important aspects in detection of vehicles. The corner points are considered for the proposed algorithm. A large number of points are densely packed within the area of a vehicle, and the points are calculated by using the Harris corner detector. Making use of the fact that they are densely packed, grouping of these points is carried out. This grouping indicates that the group of corners belongs to each vehicle, and such groupings play a vital role in the algorithm. Once grouping is done, the next step is to eliminate the background noise. The Lucas-Kande algorithm is used to track the extracted corner points. Each corner point of the vehicle is tracked to make the output stable and reliable. The proposed algorithm is new, detect vehicles in multiple conditions, and also works for complex environments.

Infrared and Visible Image Registration Based on Scale-Invariant PIIFD Feature and Locality Preserving Matching

Registration of multi-sensor data is a prerequisite for multimodal image analysis such as image fusion. This paper focuses on the problem of infrared and visible image registration, which has played an important role for the purpose of enhancing visual perception. Existing methods based on multimodal feature descriptor such as partial intensity invariant feature descriptor (PIIFD) usually fail in correctly aligning infrared and visible image pairs, due to their significant differences in resolution and appearance. In this paper, we propose a scale-invariant PIIFD (SI-PIIFD) feature and a robust feature matching method to address this problem. Specifically, we first extract corner points as control point candidates since they are usually sufficient and uniformly distributed across the image domain. Then, the SI-PIIFDs are calculated for all corner points and matched according to the descriptor similarity together with a locality preserving geometric constraint. Subsequently, we model the spatial transformation between an infrared and visible image pair with an affine function and introduce a robust Bayesian framework to estimate it from the SI-PIIFD feature matches even if they contaminated by false matches. Finally, the backward approach is chosen for image transformation to avoid holes and overlaps in the output image. Extensive experiments on a challenging dataset with comparisons to other state-of-the-arts demonstrate the effectiveness of the proposed method, both in terms of accuracy and efficiency.

Calibration and rectification of vertically aligned binocular omnistereo vision systems

Omnidirectional stereo vision systems have been widely used as primary vision sensors in intelligent robot 3D measurement tasks, which require stereo calibration and rectification. Current stereo calibration and rectification methods suffer from complex calculations or a lack of accuracy. This paper establishes a simple and effective equivalency between an omnidirectional stereo vision system and a perspective vision system by studying stereo calibration and rectification methods. First, we improved the stereo calibration method. By applying the essential matrix, the complicated calibration process of the original method is simplified. By using a manual extraction method to extract corner points, noise error is eliminated and high precision is ensured. Second, we propose a new rectification method. By using the proposed simple rectification model and calibration data, the baseline length and an accurate column-aligned image pair are easily obtained, which reduces the computation time. The proposed stereo calibration and rectification method can simply and effectively obtain two key parameters of the triangulation formula for 3D measurement tasks: baseline length and parallax. Using real data captured by equipment, we performed experiments covering all the necessary stages to obtain a high-performance omnidirectional stereo vision system. Statistical analyses of the experimental results demonstrate the effectiveness of the proposed method.

AUTOMATIC 3D BUILDING RECONSTRUCTION FROM A DENSE IMAGE MATCHING DATASET

Over the last 20 years the demand for three dimensional (3D) building models has resulted in a vast amount of research being conducted in attempts to automate the extraction and reconstruction of models from airborne sensors. Recent results have shown that current methods tend to favour planar fitting procedures from lidar data, which are able to successfully reconstruct simple roof structures automatically but fail to reconstruct more complex structures or roofs with small artefacts. Current methods have also not fully explored the potential of recent developments in digital photogrammetry. Large format digital aerial cameras can now capture imagery with increased overlap and a higher spatial resolution, increasing the number of pixel correspondences between images. Every pixel in each stereo pair can also now be matched using per-pixel algorithms, which has given rise to the approach known as dense image matching. This paper presents an approach to 3D building reconstruction to try and overcome some of the limitations of planar fitting procedures. Roof vertices, extracted from true-orthophotos using edge detection, are refined and converted to roof corner points. By determining the connection between extracted corner points, a roof plane can be defined as a closed-cycle of points. Presented results demonstrate the potential of this method for the reconstruction of complex 3D building models at CityGML LoD2 specification.

AUTOMATIC 3D BUILDING RECONSTRUCTION FROM A DENSE IMAGE MATCHING DATASET

Abstract. Over the last 20 years the demand for three dimensional (3D) building models has resulted in a vast amount of research being conducted in attempts to automate the extraction and reconstruction of models from airborne sensors. Recent results have shown that current methods tend to favour planar fitting procedures from lidar data, which are able to successfully reconstruct simple roof structures automatically but fail to reconstruct more complex structures or roofs with small artefacts. Current methods have also not fully explored the potential of recent developments in digital photogrammetry. Large format digital aerial cameras can now capture imagery with increased overlap and a higher spatial resolution, increasing the number of pixel correspondences between images. Every pixel in each stereo pair can also now be matched using per-pixel algorithms, which has given rise to the approach known as dense image matching. This paper presents an approach to 3D building reconstruction to try and overcome some of the limitations of planar fitting procedures. Roof vertices, extracted from true-orthophotos using edge detection, are refined and converted to roof corner points. By determining the connection between extracted corner points, a roof plane can be defined as a closed-cycle of points. Presented results demonstrate the potential of this method for the reconstruction of complex 3D building models at CityGML LoD2 specification.

Epipolar rectification method for a stereovision system with telecentric cameras

3D metrology of a stereovision system requires epipolar rectification to be performed before dense stereo matching. In this study, we propose an epipolar rectification method for a stereovision system with two telecentric lens-based cameras. Given the orthographic projection matrices of each camera, the new projection matrices are computed by determining the new camera coordinates system in affine space and imposing some constraints on the intrinsic parameters. Then, the transformation that maps the old image planes on to the new image planes is achieved. Experiments are performed to validate the performance of the proposed rectification method. The test results show that the perpendicular distance and 3D reconstructed deviation obtained from the rectified images is not significantly higher than the corresponding values obtained from the original images. Considering the roughness of the extracted corner points and calibrated camera parameters, we can conclude that the proposed method can provide sufficiently accurate rectification results.

표 서식 문서의 구조 분석을 위한 선분 에지 기반의 유형별 꼭짓점 검출

It is very important to classify a lot of table-form documents into the same type of classes or to extract information filled in the template automatically. For these, it is necessary to accurately analyze table-form structure. This paper proposes an algorithm to extract corner points based on line edge segments and to classify the type of junction from table-form images. The algorithm preprocesses image through binarization, skew correction, deletion of isolated small area of black color because that they are probably generated by noises.. And then, it processes detections of edge block, line edges from a edge block, corner points. The extracted corner points are classified as 9 types of junction based on the combination of horizontal/vertical line edge segments in a block. The proposed method is applied to the several unconstraint document images such as tax form, transaction receipt, ordinary document containing tables, etc. The experimental results show that the performance of point detection is over 99%. Considering that almost corner points make a correspondence pair in the table, the information of type of corner and width of line may be useful to analyse the structure of table-form document.

Multiobjective Discrete Particle Swarm Optimization for Multisensor Image Alignment

A new technique is proposed for multisensor image registration by matching the features using discrete particle swarm optimization (DPSO). The feature points are first extracted from the reference and sensed image using improved Harris corner detector available in the literature. From the extracted corner points, DPSO finds the three corresponding points in the sensed and reference images using multiobjective optimization of distance and angle conditions through objective switching technique. By this, the global best matched points are obtained which are used to evaluate the affine transformation for the sensed image. The performance of the image registration is evaluated and concluded that the proposed approach is efficient.

위성영상정보 기반 코너 포인트 객체 추출 안드로이드 스마트폰 앱 개발

최근 국내외적으로 인터넷 웹에서 스마트폰 앱으로 정보통신기술 사용자 요구와 개발 환경이 변화되고 있어 공간정보 분야에서도 이에 따른 기술적 대응이 요구되고 있다. 그러나 현재의 수준은 스마트폰 지도서비스와 위치 확인 서비스가 주가 되고 있어 공간정보 콘텐츠 서비스를 위한 스마트폰 앱의 개발은 전세계 기술 개발 동향을 고려하더라도 시험 개발의 초기 단계로 볼 수 있다. 본 연구에서는 공간영상정보를 활용하여 코너 포인트 객체 (Corner Point Feature) 추출 및 DB 연동 처리 기능을 제공하는 앱을 개발하였다. 이때 코너 포인트 객체 추출은 Harris 알고리즘을 적용하였으며 데이터베이스 서버와 어플리케이션 서버, 사용자 환경으로 구분한 기본적인 시스템 환경의 모든 처리 모듈은 오픈소스 기반으로 설계 및 구현하였다. 추출되는 코너 포인트는 사용자 요구사항에 따라 화면 확대, 축소에 따라 상세화(Level of Details) 과정을 거쳐 화면에 최적화하도록 설계하였다. 한편 공간영상정보와 통일한 대상 지역의 수치지도가 있는 경우에는 앱 상에서수치지도 레이어를 중첩 표현할 수 있는 추가 기능을 제공하도록 하였다. 본 연구에서 추출되는 자동 POI(Point of Interests) 설정이나 포인트 객체 기반 국토변화 탐지에 적용이 가능할 것으로 예상한다. In the information communication technology, it is world-widely apparent that trend movement from internet web to smartphone app by users demand and developers environment. So it needs kinds of appropriate technological responses from geo-spatial domain regarding this trend. However, most cases in the smartphone app are the map service and location recognition service, and uses of geo-spatial contents are somewhat on the limited level or on the prototype developing stage. In this study, app for extraction of corner point features using geo-spatial imagery and their linkage to database system are developed. Corner extraction is based on Harris algorithm, and all processing modules in database server, application server, and client interface composing app are designed and implemented based on open source. Extracted corner points are applied LOD(Level of Details) process to optimize on display panel. Additional useful function is provided that geo-spatial imagery can be superimposed with the digital map in the same area. It is expected that this app can be utilized to automatic establishment of POI (Point of Interests) or point-based land change detection purposes.

SLAM in Indoor Environments using Omni-directional Vertical and Horizontal Line Features

An autonomous mobile robot must have the ability to navigate in an unknown environment. The simultaneous localization and map building (SLAM) problem have relation to this autonomous ability. Vision sensors are attractive equipment for an autonomous mobile robot because they are information-rich and rarely have restrictions on various applications. However, many vision based SLAM methods using a general pin-hole camera suffer from variation in illumination and occlusion, because they mostly extract corner points for the feature map. Moreover, due to the narrow field of view of the pin-hole camera, they are not adequate for a high speed camera motion. To solve these problems, this paper presents a new SLAM method which uses vertical lines extracted from an omni-directional camera image and horizontal lines from the range sensor data. Due to the large field of view of the omni-directional camera, features remain in the image for enough time to estimate the pose of the robot and the features more accurately. Furthermore, since the proposed SLAM does not use corner points but the lines as the features, it reduces the effect of illumination and partial occlusion. Moreover, we use not only the lines at corners of wall but also many other vertical lines at doors, columns and the information panels on the wall which cannot be extracted by a range sensor. Finally, since we use the horizontal lines to estimate the positions of the vertical line features, we do not require any camera calibration. Experimental work based on MORIS, our mobile robot test bed, moving at a human's pace in the real indoor environment verifies the efficacy of this approach.