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1 NATO ASI Series Advanced Science Institutes Series A series presenting the results of activities sponsored by the NA TO Science Committee, which aims at the dissemination of advanced scientific and technological knowledge, with a view to strengthening links between scientific communities. The Series is published by an international board of publishers in conjunction with the NATO Scientific Affairs Division A Life Sciences B Physics C Mathematical and Physical Sciences o Behavioural and Social Sciences E Applied Sciences F Computer and Systems Sciences G Ecological Sciences H Cell Biology Plenum Publishing Corporation London and New York D. Reidel Publishing Company Dordrecht, Boston, Lancaster and Tokyo Martinus Nijhoff Publishers Boston, The Hague, Dordrecht and Lancaster Springer-Verlag Berlin Heidelberg New York London Paris Tokyo

2 The ASI Series Books Published as a Result of Activities of the Special Programme on SENSORY SYSTEMS FOR ROBOTIC CONTROL This book contains the proceedings of a NATO Advanced Research Workshop held within the activities of the NATO Special Programme on Sensory Systems for Robotic Control, running from 1983 to 1988 under the auspices of the NATO Science Committee. Other books previously published as a result of the activities of the Special Programme are: Vol. F25: Pyramidal Systems for Computer Vision. Edited by V. Cantoni and S. Levialdi Vol. F29: Languages for Sensor-Based Control in Robotics. Edited by U. Rembold and K. Hormann Vol. F33: Machine Intelligence and Knowledge Engineering for Robotic Applications. Edited by A. K. C. Wong and A. Pugh Vol. F42: Real-Time Object Measurement and Classification. Edited by A. K. Jain Series F: Computer and Systems Sciences Vol. 42

3 Real-Time Object Measurement and Classification Edited by Anil K. Jain Department of Computer Science Michigan State University East Lansing, Michigan 48824, USA Springer-Verlag Berlin Heidelberg New York London Paris Tokyo Published in cooperation with NATO Scientific Affairs Division

4 Proceedings of the NATO Advanced Research Workshop on Real-Time Object and Environment Measurement and Classification, held in Maratea, Italy, August 31 September 3, ISBN-13: : / e-isbn-13: Library of Congress Cataloging-in-Publication Data. Real-time objects and environments measurement and classification / edited by Anil K. Jain. p. cm.-(nato ASI series. Series F, Computer and systems sciences: vol. 42) "Proceedings of the NATO Advanced Research Workshop on Real-time Object and Environment Measurement and Classification, held in Maratea, Italy, August 31 - September 3, 1987"-CIP t.p. verso. ISBN (U.S.) 1 Robot vision-congresses 2. Real-time data processing-congresses. 3. Robotics-Congresses. I. Jain, Anil Kumar. II. NATO Advanced Research Workshop on Real-time Object and Environment Measurement and Classification (1987: Maratea, Italy) III. Series: NATO ASI series. Series F, Computer and systems science; vol. 42. T J211.3.R '92-dc This work is subject to copyright. All rights are reserved, whether the whole or part of the material is concerned, specifically the rights of translation, reprinting, re-use of illustrations, recitation, broadcasting, reproduction on microfilms or in other ways, and storage in data banks. Duplication of this publication or parts thereof is only permitted under the provisions of the German Copyright Law of September 9, 1965, in its version of June 24, 1985, and a copyright fee must always be paid. Violations fall under the prosecution act of the German Copyright Law. Springer-Verlag Berlin Heidelberg 1988 Softcover reprint of the hardcover 1 st edition 1988 Printing: Druckhaus Beltz, Hemsbach; Binding J. Schaffer GmbH & Co. KG, Grunstadt 2145/

5 PREFACE This book contains papers presented at the NATO Advanced Research Workshop on "Real-time Object and Environment Measurement and Classification" held in Hotel Villa del Mare, Maratea, Italy, August 31 - September 3, This workshop was organized under the NATO Special Programme on Sensory Systems for Robotic Control. Professor Eric Backer, Delft University of Technology, The Netherlands and Professor Erdal Panayirci, Technical University of Istanbul, Turkey were the members of the organizing committee for this workshop. There were four major themes of this workshop: Real-time Requirements, Feature Measurement, Object Representation and Recognition, and Architecture for Measurement and Classification. A total of twenty-five technical presentations were made. These talks covered a wide spectrum of topics including hardware implementation of specific vision algorithms, a complete vision system for object tracking and inspection, using three cameras (trinocular stereo) for feature measurement, neural network for object recognition, integration of CAD (Computer-Aided Design) and vision systems, and the use of pyramid architectures for solving varioos computer vision problems. The most useful parts of the workshop were the three panel discussions on 1. Real-time Requirements 2. Feature Measurement 3. Architecture for Measurement and Classification The panel discussions were very lively and brought together some very useful and thought-provoking ideas and information. There was a lot of disagreement on the question: What constitutes real-time? One interesting definition proposed was that a "real-time system takes at most as much time as a human system". In the same spirit, there was general agreement that the real-time requirement is determined by the type of process which the vision system is trying to track, monitor, or inspect. The input and processing requirements of a vision system are demanding. This emphasizes the need for a good computer vision development facility (both hardware and software), so that we can validate vision algorithms on a reasonable number of test images. The panel on Feature Measurement addressed the following questions: 1. How should objects be represented? 2. What features should be measured? 3. How should we extract the features? Some of the speakers reminded the audience about the gestalt theory; humans are not very good at measuring things but they are good at recognizing shapes. Vision problems are very difficult; we still cannot write an algorithm to recognize commonly encountered objects such as chairs, bottles, etc. Humans also use color information in object recognition, but current vision systems do not make good use of it.

6 VI The panel on Architecture for Vision addressed the issue that there is a substantial gap between the builders of computer architecture and users of vision systems. We need more research in tailoring architecture to vision applications. While we do have some chips available for various vision applications, the necessary software support and complete systems are not yet available. In order for the field of computer vision to be commercially viable, an average engineer must have access to a cookbook of rules and tools to build a vision system. We were fortunate to attract thirty-two well-known and active researchers from thirteen different countries to this workshop. I want to thank all the participants for their cooperation and support. The beautiful location and surroundings of Maratea as well as the enthusiasm of the participants resulted in a successful workshop. I firmly believe that small workshops like this lead to good technical discussion and exchange of ideas. Some of the participants are already thinking of initiating cooperative research projects. Finally, I would like to thank Ms. Cathy Davison for her cheerful help in handling various administrative details related to the workshop. East Lansing October 1987 Anil K. Jain

7 TABLE OF CONTENTS 1. J. Sanz Two real-time architectures for image processing and computer vis i on E. Backer and J.J. Gerbrands A flexible and intelligent system for fast measurements in binary images for in-line robotic control.... E.O. Oickmanns Object recognition and real-time relative state estimation under egomot ion V. Llario Hardware-software trade-offs in robot vision 5. F.C.A. Groen, P.P. Jonker and R.P.W. Ouin Hardware versus software implementations of fast image processing algorithms B. Zavidovique, A.F. Lanusse and P. Garda Robot perception systems: some design issue. 7. V. Oi Gesu and A. Machi Two parallel algorithms for the analysis of random images. 8. J. Illingworth, J. Kittler and J. Princen Shape detection using the adaptive Hough transform 9. E. Panayirci and Y. Oenizhan Shape analysis based on boundary curve segmentation. 10. M. Pietikainen and O. Silven Progress in trinocular stereo G. Stockman Feature extraction using structured light. 12. V. Oi Gesu A clustering approach to texture classification. 13. B. Kruse Spatial feature measurements in parallel structures. 14. G. Zimmermann and R. Kories What an autonomous robot can learn about its environment starting from scratch using image sequences L. Caponetti, A. Oistante, N. Ancona and R. Mugnuolo Three-dimensional object recognition based on multiview representation and extended Gaussian image III

8 VIII 16. R. Jain, T. Sripradisvarakul and N. O'Brien Symbolic surface descriptors T. Tsao and L. Kanal A novel architecture for real time pick up of 3D motion and 3D layout information from the flow of the optic array A. Steiger-Gar~ao, J. Santos-Afonso and C. Queir6s Object identification and automatic learning using CA vision, CAD and AI based approach P.A. Devijver and M.M. Dekesel Real-time restoration and segmentation algorithms for hidden Markov mesh random fields image models T.J. Fountain Coherent architectures for machine vision S.L. Tanimoto Architectural solutions for intermediate-level vision. 22. C.W. Swonger Statistical optimization of image processing architectures for maximum resource utilization and throughput V. Cantoni, L. Carrioli, M. Ferretti, L. Lombardi and K. Matthews Object recognition in multi-resolution systems T.C. Henderson and C. Hansen Multisensor knowledge systems L.F. Pau Knowledge representation for three-dimensional sensor fusion with context truth maintenance LIST OF PARTICIPANTS

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