Two-dimensional signal and image processing
Two-dimensional signal and image processing
An improved seeded region growing algorithm
Pattern Recognition Letters
Digital Image Processing
IEEE Transactions on Pattern Analysis and Machine Intelligence
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In this paper, we present a method for extracting and tracking of mobile robots in a sequence of noisy frames, assuming a complex background composed of textured floor, illuminated unevenly. A homomorphic filter is used, as a preprocessor, to enhance the acquired frames by eliminating the illumination component and emphasizing the reflectance component of the image function. To speed up preprocessing of each frame, filtering is only applied to the pixels belonging to the regions of interest (ROI). In all the tested cases, homomorphic-filtering led to better results than those obtained without preprocessing. The segmentation process has been based on seeded region growing procedure for reconstructing the shape of the mobile robot. We proposed automatic seed points selection in the binarized difference image, and use of an adaptive threshold. This use eliminates or at least considerably reduces false negative detections, and reduces sensitivity of aggregation results to the selected seed points as compared to the classical seeded region growing procedure. Additionally, by imposing a condition of strong connectivity between a seed point and its neighborhood, aggregation of undesired pixels efficiently eliminates false positive detections. Implementation of segmentation and tracking can be run in real time. High tracking accuracy has been obtained through out all the frames in a test sequence.