Harris Algorithm Research Articles

A Measurement Method for Body Parameters of Mongolian Horses Based on Deep Learning and Machine Vision

The traditional manual methods for measuring Mongolian horse body parameters are not very safe, have low levels of automation, and cannot effectively ensure animal welfare. This research proposes a method for extracting target Mongolian horse body parameters based on deep learning and machine vision technology. Firstly, Swin Transformer is used as the backbone feature extraction network of Mask R-CNN model, and the CNN-based differentiated feature clustering model is added to minimize the loss of similarity and spatial continuity between pixels, thereby improving the robustness of the model while reducing error pixels and optimizing the rough mask boundary output. Secondly, an improved Harris algorithm and a polynomial fitting method based on contour curves are applied to determine the positions of various measurement points on the horse mask and calculate various body parameters. The accuracy of the proposed method was tested using 20 Mongolian horses. The experimental results show that compared with the original Mask R-CNN network, the PA (pixel accuracy) and MIoU (mean intersection over union) of the optimized model results increased from 91.46% and 84.72% to 98.72% and 95.36%, respectively. The average relative errors of shoulder height, withers height, chest depth, body length, croup height, shoulder angle, and croup angle were 4.01%, 2.98%, 4.86%, 2.97%, 3.06%, 4.91%, and 5.21%, respectively. The research results can provide technical support for assessing body parameters related to the performance of horses under natural conditions, which is of great significance for improving the refinement and welfare of Mongolian horse breeding techniques.

A robust and accurate feature matching method for multi-modal geographic images spatial registration

ABSTRACT While the current research has achieved satisfactory results for the registration of single mode data, there has always been a significant challenge in the registration of multi-modal images due to the obvious nonlinear radiation differences caused by different imaging mechanisms and imaging time. For example, multi-temporal visible, visible-synthetic aperture radar, visible-near infrared, near infrared-short wave infrared, visible-MAP, etc. To address this problem, we propose a Robust and Accurate Feature Matching Method for Multi-modal Geographic Images Spatial Registration (RAMMR) to fully extract common key points between images, weaken the radiation difference between data, and finally accurately match more inliers to realize multi-modal image registration. Considering the influence of noise and edge information on key point extraction, RAMMR first constructs a new scale space by introducing the Side Window Filter (SWF); Then, we improve Harris algorithm to extract key points based on the SWF scale space; After that, we propose an enhanced log-polar descriptor based on the gradient angles and gradient amplitudes of the scale space, which effectively improves the quality of the descriptor and avoids the mismatch of key points; Based on the standard Euclidean distance, we design a re-match strategy to obtain the initial matching results, and Random Sample Consensus (RANSAC) is used to eliminate outliers. Finally, the affine transformation parameters are calculated based on inliers, and multi-modal image registration is realized. RAMMR is evaluated on different multi-modal datasets and compared with some state-of-art methods. The experimental results show that RAMMR accurately registers multi-modal geographic images and obtains comparative results compared with benchmark methods. Our source datasets are publicly available at https://github.com/RSmfmr/multimodal-dataset.

Resolving Charging Station Placement Issues for Electric Vehicles: Hybrid Optimization-Assisted Multi-Objective Framework

As new energy technology has advanced to a respectable level, Electric Vehicles (EV) have gained recognition from people all over the world and have become increasingly popular in a number of nations. Effective charging station placement is critical for the rapid growth of electric vehicles, as it is vital to provide convenience for electric vehicles while also ensuring the effectiveness of traffic networks. The location of an EV charging station is simply an application situation for the facility location problem. Traditional works often pay attention to the mileage concerns of electric vehicle customers while ignoring their competitive and strategic charging tactics. This research aims to frame the allocation of charging stations issue as a multi-faceted venture by assessing the aspects economically along with the characteristics of the power grid like “cost, Voltage stability, Reliability, and Power loss (VRP) index, waiting time, and accessibility index”. Further, we proposed a hybrid artificial intelligence to resolve the allocation issue. The proposed new Artificial Intelligence (AI) based algorithm is termed as Hybridized Salp and Harris Algorithm (HS-HA). The effectiveness and scalability of the presented algorithm for the charging station placement issue are also assessed through different plans in the IEEE 33-bus distribution systems. Finally, the efficiency of the presented approach is proved over the existing approaches with respect to various measures.

Subpixel corner detection algorithm based on the plane chessboard

In this paper, the pixel-level corner position extracted by the Harris algorithm is used as the initial value of sub-pixel corner detection, and then it is used to detect the sub-pixel corner detection. The sub-pixel corner detection algorithm based on the inner product of the gray gradient has weak anti-noise and poor anti-distortion ability, and the sub-pixel corner detection algorithm based on Gauss quadric surface fitting has a high dependence on the initial value. In this case, a quadric fitting based on an iterative search thought algorithm of subpixel corner detection is proposed in this paper. The experiment shows that the improved algorithm has a stronger ability in anti-noise and anti-distortion and low dependence on the initial value. Using this algorithm to calibrate the camera, the re-projection error is smaller and the calibration accuracy is higher.

Mobile Robot Vision Image Feature Recognition Method Based on Machine Vision

In order to improve the efficiency and accuracy of mobile robot visual image feature recognition, a mobile robot visual image feature recognition method based on machine vision is proposed in this paper. Firstly, the development of mobile robot vision is analyzed, and the specific functions of robot visual feature recognition method are designed; Then, the Fourier series method is used to collect the mobile robot visual image, and the matrix associated with the autocorrelation function is calculated according to the Harris algorithm to complete the edge feature extraction of the mobile robot visual image; SIFT feature points of mobile robot visual image are classified, and mobile robot visual image feature recognition is realized through machine vision. The experimental results show that when the number of images is 600, the accuracy of image feature recognition and the loss value of image edge feature extraction of this method are 96.98% and 6.38%, respectively, and the number of iterations is 500. The time of visual image feature recognition of this method is only 3 minutes; The method has the lowest error mean and error variance under different noise conditions. This method can effectively improve the efficiency and accuracy of image feature recognition.

High-Precision Matching Algorithm for Multi-Image Segmentation of Micro Animation Videos in Mobile Network Environment

In the mobile network environment, the accuracy of related image matching algorithms is affected by factors such as bandwidth uncertainty and channel interference, resulting in significant limitations in image feature matching. This article designs a high-precision matching algorithm for multi-image segmentation of micro animation videos in mobile network environments. Fully denoise micro animation video images using 2D High Density Discrete Wavelet Transform (HD-DWT), and apply fixed block count segmentation to process micro animation video images; Using Harris algorithm to complete image corner detection and obtain corner features of sub images; In the K-means clustering algorithm, SIFT feature vectors are divided into clusters and paired with the nearest neighbor cluster in another sub image to form a sub image matching pair, completing block based sub image matching; Combine all sub image matching results to obtain video image matching results, and use the Improved Random Sampling Consistency (RANCAS) algorithm to remove incorrect matching during the matching process, improving matching accuracy. The experimental results show that the designed algorithm can effectively reduce image noise, improve image quality, and generate a large number of matching pairs in mobile network environments. After the application of the designed algorithm, the production effect of micro animated videos in mobile networks can be significantly improved.

Infrared Thermal Imaging Face Expression Recognition Based on Harris Algorithm

In the field of human–computer interaction, there is a trend toward using emotional interaction and putting emotions at the center. However, traditional facial expression recognition is greatly affected by lighting, skin color and make-up, and is not well recognized. This paper addresses these shortcomings in the following areas: (1) The algorithm of infrared face feature localization is studied, using a combination of region growing algorithm to highlight the organ features of infrared faces, and the Harris corner point detection algorithm to detect the organ features of human beings and locate the location of the large organs related to expressions, such as eyes, nose and mouth. (2) The algorithm for feature extraction is investigated, and the local binarization LBP algorithm is proposed to extract the texture features of the infrared face. The LBP algorithm is synthesized to extract the overall LBP features by applying the innovation of chunking and layering of features. By analyzing and processing the infrared face image data from both visible and infrared face expression data, feature detection, feature extraction and effective classification of the four basic face expressions — happy, angry, disgusted and sad — are performed on the infrared images. The application of the algorithm is processed and improved accordingly to the characteristics of infrared face images, which improves the accuracy of recognition and classification compared to traditional methods.

RTV-SIFT: Harnessing Structure Information for Robust Optical and SAR Image Registration

Registration of optical and synthetic aperture radar (SAR) images is challenging because extracting located identically and unique features on both images are tricky. This paper proposes a novel optical and SAR image registration method based on relative total variation (RTV) and scale-invariant feature transform (SIFT), named RTV-SIFT, to extract feature points on the edges of structures and construct structural edge descriptors to improve the registration accuracy. First, a novel RTV-Harris feature point detection method by combining the RTV and the multiscale Harris algorithm is proposed to extract feature points on both images’ significant structures. This ensures a high repetition rate of the feature points. Second, the feature point descriptors are constructed on enhanced phase congruency edge (EPCE), which combines the Sobel operator and maximum moment of phase congruency (PC) to extract edges from structured images that enhance robustness to nonlinear intensity differences and speckle noise. Finally, after coarse registration, the position and orientation Euclidean distance (POED) between feature points is utilized to achieve fine feature point matching to improve the registration accuracy. The experimental results demonstrate the superiority of the proposed RTV-SIFT method in different scenes and image capture conditions, indicating its robustness and effectiveness in optical and SAR image registration.

Geological Borehole Video Image Stitching Method Based on Local Homography Matrix Offset Optimization.

Due to the influence of the shooting environment and inherent image characteristics, there is a large amount of interference in the process of image stitching a geological borehole video. To accurately match the acquired image sequences in the inner part of a borehole, this paper presents a new method of stitching an unfolded borehole image, which uses the image generated from the video to construct a large-scale panorama. Firstly, the speeded-up robust feathers (SURF) algorithm is used to extract the image feature points and complete the rough matching. Then, the M-estimator sample consensus (MSAC) algorithm is introduced to remove the mismatched point pairs and obtain the homography matrix. Subsequently, we propose a local homography matrix offset optimization (LHOO) algorithm to obtain the optimal offset. Finally, the above process is cycled frame by frame, and the image sequence is continuously stitched to complete the construction of a cylindrical borehole panorama. The experimental results show that compared with those of the SIFT, Harris, ORB and SURF algorithms, the matching accuracy of our algorithm has been greatly improved. The final test is carried out on 225 consecutive video frames, and the panorama has a good visual effect, and the average time of each frame is 100 ms, which basically meets the requirements of the project.

CDFSL: Image Registration for Spaceborne Hyperspectral and Multispectral Data Having Large Spatial-Resolution Difference

Image registration aims to eliminate the geometric deviation between multi-source data with the same range, and to promote the collaborative application of data. In recent years, spaceborne hyperspectral (HS) and multispectral (MS) data have been widely used in Earth observation. However, the difference in the number of bands, spatial resolution, and spectral resolution puts forward higher requirements on the registration algorithm. The key to HS and MS image registration is to extract more common key points, weaken and eliminate the difference of radiation and spatial texture information to build superior descriptors, and achieve high-precision matching of key points. This paper introduces a new robust HS and MS registration method based on common deep feature subspaces. We first construct the common deep feature subspaces extraction network to extract consistent edge features and common subspace images of the image pair. Then, Harris algorithm is used to extract key points from consistent edge features between images, which reduces the impact of spatial resolution differences between images. Besides, the SIFT descriptor and subspace images are used to describe key points, which reduces the impact of radiation differences between images. Finally, Euclidean distance is used for the initial matching of key points, and the affine matrix is calculated after the outliers are eliminated, and image registration is performed. We perform experiments on spaceborne HS and MS datasets of different spatial resolutions and comparisons with state-of-the-art methods. Experimental results show that our method can obtain satisfactory registration results and is robust.

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.

Confusion Matrix as Performance Measure for Corner Detectors

Nowadays, corner detection algorithms have been proposed by several researchers who described them contrarily, depending on their respective viewpoints to obtain the data and information as a human eye does. Basically, no researchers have come up with a technique to compare corner detectors with another’s. Thus, this study proposed to adapt the confusion matrix technique as a performance measure for corner detectors. The judgement accuracy of every corner detector will only be pleased if the actual corner points are already known. Therefore, this study is attracted to explore the accuracy of corner detectors, namely the Global and Local Curvature Scale space (GLCSS), Affine Resilient Curvature Scale Space (ARCSS), and Harris. These corner detectors were analysed using the nine characters selected from Jawi, Chinese, and Tamil characters, three characters each, respectively. This study specifically detected the true corners for these characters using the determined corner detectors. The actual corner of all these characters was confirmed through a survey of twenty respondents. The majority of marked corners by respondents were considered actual corner points. Then, the input image for all characters was converted into a grayscale image. Every image will undergo pre-processing step, the process of boundary extraction using Canny edge detector. Thus, the edge image was extracted to get the corner point by applying the corner detectors, and the corner point detected was marked on that image. Above and beyond, the study aims to introduce a confusion matrix approach as a performance measure to carry out the most outstanding algorithm in detecting the true corner points for all the tested characters. From the evaluation, GLCSS and Harris algorithms have shown good accuracy. Henceforth, the study is not trying to judge the goodness of each corner detector but only to introduce confusion matrix as a tool that can be considered to measure the performance of the corner detector.

LuvHarris: A Practical Corner Detector for Event-Cameras.

There have been a number of corner detection methods proposed for event cameras in the last years, since event-driven computer vision has become more accessible. Current state-of-the-art have either unsatisfactory accuracy or real-time performance when considered for practical use, for example when a camera is randomly moved in an unconstrained environment. In this paper, we present yet another method to perform corner detection, dubbed look-up event-Harris (luvHarris), that employs the Harris algorithm for high accuracy but manages an improved event throughput. Our method has two major contributions, 1. a novel "threshold ordinal event-surface" that removes certain tuning parameters and is well suited for Harris operations, and 2. an implementation of the Harris algorithm such that the computational load per event is minimised and computational heavy convolutions are performed only 'as-fast-as-possible', i.e., only as computational resources are available. The result is a practical, real-time, and robust corner detector that runs more than 2.6× the speed of current state-of-the-art; a necessity when using a high-resolution event-camera in real-time. We explain the considerations taken for the approach, compare the algorithm to current state-of-the-art in terms of computational performance and detection accuracy, and discuss the validity of the proposed approach for event cameras.

Distributed Small-Step Path Planning and Detection Method for Post-earthquake Robot to Inspect and Evaluate Building Damage.

Post-earthquake robots can be used extensively to inspect and evaluate building damage for safety assessment. However, the surrounding environment and path for such robots are complex and unstable with unexpected obstacles. Thus, path planning for such robot is crucial to guarantee satisfactory inspection and evaluation while approaching the ideal position. To achieve this goal, we proposed a distributed small-step path planning method using modified reinforcement learning (MRL). Limited distance and 12 directions were gridly refined for the robot to move around. The small moving step ensures the path planning to be optimal in a neighboring safe region. The MRL updates the direction and adjusts the path to avoid unknown disturbances. After finding the best inspection angle, the camera on the robot can capture the picture clearly, thereby improving the detection capability. Furthermore, the corner point detection method of buildings was improved using the Harris algorithm to enhance the detection accuracy. An experimental simulation platform was established to verify the designed robot, path planning method, and overall detection performance. Based on the proposed evaluation index, the post-earthquake building damage was inspected with high accuracy of up to 98%, i.e., 20% higher than traditional unplanned detection. The proposed robot can be used to explore unknown environments, especially in hazardous conditions unsuitable for humans.

Research on Positioning Method in Underground Complex Environments Based on Fusion of Binocular Vision and IMU.

Aiming at the failure of traditional visual slam localization caused by dynamic target interference and weak texture in underground complexes, an effective robot localization scheme was designed in this paper. Firstly, the Harris algorithm with stronger corner detection ability was used, which further improved the ORB (oriented FAST and rotated BRIEF) algorithm of traditional visual slam. Secondly, the non-uniform rational B-splines algorithm was used to transform the discrete data of inertial measurement unit (IMU) into second-order steerable continuous data, and the visual sensor data were fused with IMU data. Finally, the experimental results under the KITTI dataset, EUROC dataset, and a simulated real scene proved that the method used in this paper has the characteristics of stronger robustness, better localization accuracy, small size of hardware equipment, and low power consumption.

Landscape Fusion Method Based on Augmented Reality and Multiview Reconstruction.

This paper proposes a fused landscape augmented reality method based on 3D model multiview reconstruction. Based on the principles related to augmented reality technology, the proposed method uses natural features of images for training and extraction, which solves the problems of convenience and aesthetics caused by artificial signs. By extracting and training natural features at different scales of the acquired images, Harris and FREAK algorithms are used to extract features and create binary descriptors for real-time acquired images. Feature matching is performed on the above two features to estimate the location where the reconstructed model will appear. At the same time, for the difficulties of 3D model reconstruction requiring relevant expertise and the defects of poor reconstruction effect, the SFM algorithm is used for multiview reconstruction of landscape models to realize the augmented reality fusion method of natural scenes and landscape models. After the experiments, the fusion achieved by this method works well, which proves that the method is feasible and has potential.

Development of a Machine Vision System for Image Recognition of Design Estimates

This paper discusses implementation of a machine vision system for pattern recognition of design estimates. The main problem in the development of these systems is the choice of unique features that remain invariant to various kinds of transformations. Angular descriptors were chosen as a dominant feature. The paper presents a comparative analysis of the corner detection methods of the Moravec algorithm, the Harris algorithm, and the Shi-Tomasi algorithm. The authors have developed software in Python language that implements the operation of the Harris detector and the Shih-Tomasi detector. The recognition system is being tested for building 3D models in Blender

(Retracted) Target recognition approach using image local features in rehabilitation robots

From the computer science literature, it can be seen that many different technologies are used in target recognition, which is one of the most significant areas in the artificial intelligence field. Target recognition is applied in a variety of disciplines, including healthcare, robot vision, vehicular traffic, and virtual reality. Target recognition techniques involve a robotic vision system that must perform with high accuracy and efficiency in real time; additionally, it must have the capacity to handle difficult identification contexts. In one existing target recognition system, the Harris algorithm is used; it provides a higher accuracy compared to more traditional algorithms. In order to improve its achieved accuracy, we focus on the target detection algorithm of a rehabilitation robot that is based on the local features of images. Considering the feature points of the images and target identification technology, a rehabilitation robotic recognition method is developed in this work. Initially, it collects the images, and then, adaptive weighted symplectic geometry decomposition is used for pre-processing. This method helps to reduce the noise in the images. Next, the features are extracted, and the vectors of the features are separated and identified. Afterward, one-to-many rehabilitation modes and actual system monitors are implemented to precisely select the target condition based on the functional criteria of the rehabilitation robot recognition method. Finally, an invertible color-to-grayscale conversion method using clustering and reversible watermarking is applied. It converts images into grayscale. The Gaussian distribution is consistently utilized to define the position and the quantity of the extracted feature points. Related images are retrieved as well. According to experimental findings, the proposed method improves the accuracy and the recall rate compared with the Harris algorithm.

Robust registration of SAR and optical images based on deep learning and improved Harris algorithm

Traditional algorithms can achieve good results when registering homologous images, but it cannot reach satisfying results for registration between synthetic aperture radar (SAR) and optical images. The difficulty is that the image texture information and structures of different modalities is very different which leads to poor registration results. To solve this problem, we present a robust matching framework for registration between SAR and optical images. First, a novel deep learning network is utilized to generate high quality pseudo-optical images from SAR images. Next, feature points are detected and extracted using the multi-scale Harris algorithm. Then the feature points are constructed through the gradient position orientation histogram method. Finally, the actual position of the feature points will be reconstructed through a feedback mechanism for matching. Experimental results demonstrate its superior matching performance with respect to the state-of-the-art methods.

A Target Corner Detection Algorithm Based on the Fusion of FAST and Harris

Corner detection is a common method to obtain image features, and the detection effect influences the performance of matching and tracking directly. A FAST-Harris fusion corner detection algorithm is proposed to improve the shortcomings of the Harris algorithm, such as the low detection accuracy and low positioning accuracy, and a corner detection fusion model is established. First, the detected target image is padded, and then the FAST algorithm is used with a 25% reduced contrast points to achieve fast capture roughly; in this way, a candidate corner set is obtained. Then, screening the candidate corner is set one by one by calculating the response function of the Harris with Scharr operator to achieve capture accurately. Finally, the real corners are obtained using SAD for nonmaximum suppression. The positioning error, error detection rate, robustness, and running time of corner detection are obtained by the PyCharm platform. Compared with Harris, the error detection rate and localization error of the algorithm are reduced by 16.89% and 42.04%, respectively. Compared with 8 popular corner detection algorithms, the error detection rate and localization error of the algorithm in this paper are the lowest, which are 24.60% and 1.42 pixels. The robust performance in lossy JPEG compression is the best, with 17.37% shorter running time than Harris algorithm. The method in this paper can be used in scenarios such as autonomous driving and image search services.