Tactile Paving Detection by Dynamic Thresholding Based on HSV Space Analysis for Developing a Walking Support System

Ito, Yuki; Premachandra, Chinthaka; Sumathipala, Sagara; Premachandra, H. Waruna H.; Sudantha, B. S.

doi:10.1109/access.2021.3055342

Cited by 23 publications

(8 citation statements)

References 26 publications

(27 reference statements)

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“…However, we could apply some of those works to achieve only straight motions in this study. Furthermore, many studies can be found in the literature for obstacle detection and avoidance [5,33,40,41,45,[49][50][51][52]. However, in this study, the obstacle avoidance was done by keeping a constant distant from the obstacle, as shown in Figure 8.…”

Section: Discussion Regarding Conventional Methodsmentioning

confidence: 99%

Autonomous Spiral Motion by a Small-Type Robot on an Obstacle-Available Surface

Tokunaga

Premachandra

et al. 2021

Micromachines

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Several robot-related studies have been conducted in recent years; however, studies on the autonomous travel of small mobile robots in small spaces are lacking. In this study, we investigate the development of autonomous travel for small robots that need to travel and cover the entire smooth surface, such as those employed for cleaning tables or solar panels. We consider an obstacle-available surface and target this travel on it by proposing a spiral motion method. To achieve the spiral motion, we focus on developing autonomous avoidance of obstacles, return to original path, and fall prevention when robots traverse a surface. The development of regular travel by a robot without an encoder is an important feature of this study. The traveled distance was measured using the traveling time. We achieved spiral motion by analyzing the data from multiple small sensors installed on the robot by introducing a new attitude-control method, and we ensured that the robot returned to the original spiral path autonomously after avoiding obstacles and without falling over the edge of the surface.

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Section: Discussion Regarding Conventional Methodsmentioning

confidence: 99%

Autonomous Spiral Motion by a Small-Type Robot on an Obstacle-Available Surface

Tokunaga

Premachandra

et al. 2021

Micromachines

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“…It has been beneficial in several real-life applications including but not limited to the following. First, the Hough transform is a handy tool for detecting tactile pavement, assisting visually impaired individuals to walk in public places [15]. Second, it is the primary method used in precision agriculture to detect crop rows and direct UAVs in selectively spraying agrochemicals in the field [16].…”

Section: A Line-based Methodsmentioning

confidence: 99%

Detecting Power Lines Using Point Instance Network for Distribution Line Inspection

et al. 2021

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Power outages can disrupt daily domestic activities as well as the economy as operations are hampered when they occur. They can decrease work productivity by delaying operations that require electricity. The key solution to this problem is to ensure that there are fewer or no power interruptions. This can be achieved by ensuring secure and continuous network operations through regular maintenance and inspection. However, the traditional inspection technique of foot patrol is risky, laborious, and timeconsuming. A preferable contemporary technique uses an unmanned aerial vehicle (UAV) for inspecting distribution lines. Detecting power lines are crucial for real-time motion planning and navigation of UAVs. Previous techniques that depend on conventional filters and gradients may fail to detect power lines because of noisy backgrounds. Thus, this study proposes a novel technique by adopting the Transfer Learning approach The process involves fine-tuning a pretrained network from Point Instance Network (PINet) road lane detection model to fit the power line detection task. The proposed method extends the PINet model by adding a comparator for rotation block before it and a postprocessing block after it. This study generates four versions of the model, each of which was trained on one of the following datasets (i) self-gathered images captured by a handheld camera, (ii) a drone, (iii) publicly accessible images from the Power Line Dataset of Mountain Scene (PLDM), and (iv) Power Line Dataset of Urban Scene (PLDU). Experimental results on each dataset confirm the feasibility of the proposed approach.

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“…Many techniques [ 50 , 51 , 52 ] in the recent literature do not analyze the chromaticity information to threshold color images, since they incorporate RGB-channel-based thresholding. While some [ 10 , 53 , 54 ] do apply HSV or L*A*B* color space analysis to thresholding problems, they do not automatically determine the threshold limits based on the unique characteristics of the image. Our proposed method determines the chromaticity of the background or foreground pixels using the hue and saturation histograms and computes the optimal color threshold by considering the changes in histogram gradient and histogram cumulative area.…”

Section: Related Workmentioning

confidence: 99%

A Two-Stage Automatic Color Thresholding Technique

Shamna

Ellam²,

Grübl

et al. 2023

Sensors

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Thresholding is a prerequisite for many computer vision algorithms. By suppressing the background in an image, one can remove unnecessary information and shift one’s focus to the object of inspection. We propose a two-stage histogram-based background suppression technique based on the chromaticity of the image pixels. The method is unsupervised, fully automated, and does not need any training or ground-truth data. The performance of the proposed method was evaluated using a printed circuit assembly (PCA) board dataset and the University of Waterloo skin cancer dataset. Accurately performing background suppression in PCA boards facilitates the inspection of digital images with small objects of interest, such as text or microcontrollers on a PCA board. The segmentation of skin cancer lesions will help doctors to automate skin cancer detection. The results showed a clear and robust background–foreground separation across various sample images under different camera or lighting conditions, which the naked implementation of existing state-of-the-art thresholding methods could not achieve.

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Tactile Paving Detection by Dynamic Thresholding Based on HSV Space Analysis for Developing a Walking Support System

Cited by 23 publications

References 26 publications

Autonomous Spiral Motion by a Small-Type Robot on an Obstacle-Available Surface

Autonomous Spiral Motion by a Small-Type Robot on an Obstacle-Available Surface

Detecting Power Lines Using Point Instance Network for Distribution Line Inspection

A Two-Stage Automatic Color Thresholding Technique

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