The Classical Theory of Invariants and Object Recognition Using Algebraic Curve and Surfaces

Combining implicit polynomials and algebraic invariants for representing and recognizing complicated objects proves to be a powerful technique. In this paper, we explore the findings of the classical theory of invariants for the calculation of algebraic invariants of implicit curves and surfaces, a theory largely disregarded in the computer vision community by a shadow of skepticism. Here, the symbolic method of the classical theory is described, and its results are extended and implemented as an algorithm for computing algebraic invariants of projective, affine, and Euclidean transformations. A list of some affine invariants of 4th degree implicit polynomials generated by the proposed algorithm is presented along with the corresponding symbolic representations, and their use in recognizing objects represented by implicit polynomials is illustrated through experiments. An affine invariant fitting algorithm is also proposed and the performance is studied.     

Planar shape representation and matching under projective transformation

This paper introduces a new representation for planar objects which is invariant to projective transformation. Proposed representation relies on a new shape basis which we refer to as the conic basis. The conic basis takes conic-section coefficients as its dimensions and represents the object as a convex combination of conic-sections. Pairs of conic-sections in this new basis and their projective invariants provides the proposed view invariant representation. We hypothesize that two projectively transformed versions of an object result in the same representation. We show that our hypothesis provides promising recognition performance when we use the nearest neighbor rule to match projectively deformed objects.     

New set of adapted Gegenbauer–Chebyshev invariant moments for image recognition and classification

Orthogonal moments and their invariants to geometric transformations for gray-scale images are widely used in many pattern recognition and image processing applications. In this paper, we propose a new set of orthogonal polynomials called adapted Gegenbauer–Chebyshev polynomials (AGC). This new set is used as a basic function to define the orthogonal adapted Gegenbauer–Chebyshev moments (AGCMs). The rotation, scaling, and translation invariant property of (AGCMs) is derived and analyzed. We provide a novel series of feature vectors of images based on the adapted Gegenbauer–Chebyshev orthogonal moments invariants (AGCMIs). We practice a novel image classification system using the proposed feature vectors and the fuzzy k-means classifier. A series of experiments is performed to validate this new set of orthogonal moments and compare its performance with the existing orthogonal moments as Legendre invariants moments, the Gegenbauer and Tchebichef invariant moments using three different image databases: the MPEG7-CE Shape database, the Columbia Object Image Library (COIL-20) database and the ORL-faces database. The obtained results ensure the superiority of the proposed AGCMs over all existing moments in representation and recognition of the images.

     

3D radial invariant of dual Hahn moments

In this work, we propose new sets of 2D and 3D rotation invariants based on orthogonal radial dual Hahn moments, which are orthogonal on a non-uniform lattice. We also present theoretical mathematics to derive them. Thus, this paper presents in the first case new 2D radial dual Hahn moments based on polar representation of an image by one-dimensional orthogonal discrete dual Hahn polynomials and a circular function. The dual Hahn polynomials are general case of Tchebichef and Krawtchouk polynomials. In the second case, we introduce new 3D radial dual Hahn moments employing a spherical representation of volumetric image by one-dimensional orthogonal discrete dual Hahn polynomials and a spherical function, which are orthogonal on a non-uniform lattice. The 2D and 3D rotational invariants are extracts from the proposed 2D and 3D radial dual Hahn moments respectively. In order to test the proposed approach, three problems namely image reconstruction, rotational invariance and pattern recognition are attempted using the proposed moments. The result of experiments shows that the radial dual Hahn moments have performed better than the radial Tchebichef and Krawtchouk moments, with and without noise. Simultaneously, the mentioned reconstruction converges quickly to the original image using 2D and 3D radial dual Hahn moments, and the test images are clearly recognized from a set of images that are available in COIL-20 database for 2D image and PSB database for 3D image.

     

Computing differential invariants of hybrid systems as fixedpoints

We introduce a fixedpoint algorithm for verifying safety properties of hybrid systems with differential equations whose right-hand sides are polynomials in the state variables. In order to verify nontrivial systems without solving their differential equations and without numerical errors, we use a continuous generalization of induction, for which our algorithm computes the required differential invariants. As a means for combining local differential invariants into global system invariants in a sound way, our fixedpoint algorithm works with a compositional verification logic for hybrid systems. With this compositional approach we exploit locality in system designs. To improve the verification power, we further introduce a saturation procedure that refines the system dynamics successively with differential invariants until safety becomes provable. By complementing our symbolic verification algorithm with a robust version of numerical falsification, we obtain a fast and sound verification procedure. We verify roundabout maneuvers in air traffic management and collision avoidance in train control and car control.     

Radial Hahn Moment Invariants for 2D and 3D Image Recognition

Recently, orthogonal moments have become efficient tools for two-dimensional and three-dimensional (2D and 3D) image not only in pattern recognition, image vision, but also in image processing and applications engineering. Yet, there is still a major difficulty in 3D rotation invariants. In this paper, we propose new sets of invariants for 2D and 3D rotation, scaling and translation based on orthogonal radial Hahn moments. We also present theoretical mathematics to derive them. Thus, this paper introduces in the first case new 2D radial Hahn moments based on polar representation of an object by one-dimensional orthogonal discrete Hahn polynomials, and a circular function. In the second case, we present new 3D radial Hahn moments using a spherical representation of volumetric image by one-dimensional orthogonal discrete Hahn polynomials and a spherical function. Further 2D and 3D invariants are derived from the proposed 2D and 3D radial Hahn moments respectively, which appear as the third case. In order to test the proposed approach, we have resolved three issues: the image reconstruction, the invariance of rotation, scaling and translation, and the pattern recognition. The result of experiments show that the Hahn moments have done better than the Krawtchouk moments, with and without noise. Simultaneously, the mentioned reconstruction converges quickly to the original image using 2D and 3D radial Hahn moments, and the test images are clearly recognized from a set of images that are available in COIL-20 database for 2D image, and Princeton shape benchmark (PSB) database for 3D image.     

Minimal Decomposition of Model-Based Invariants

Model-based invariants are relations between model parameters and image measurements, which are independent of the imaging parameters. Such relations are true for all images of the model. Here we describe an algorithm which, given L independent model-based polynomial invariants describing some shape, will provide a linear re-parameterization of the invariants. This re-parameterization has the properties that: (i) it includes the minimal number of terms, and (ii) the shape terms are the same in all the model-based invariants. This final representation has 2 main applications: (1) it gives new representations of shape in terms of hyperplanes, which are convenient for object recognition; (2) it allows the design of new linear shape from motion algorithms. In addition, we use this representation to identify object classes that have universal invariants.     

Affine moment invariants generated by graph method

The paper presents a general method of an automatic deriving affine moment invariants of any weights and orders. The method is based on representation of the invariants by graphs. We propose an algorithm for eliminating reducible and dependent invariants. This method represents a systematic approach to the generation of all relevant moment features for recognition of affinely distorted objects. We also show the difference between pseudoinvariants and true invariants.     

Radial Meixner Moment Invariants for 2D and 3D Image Recognition

In this paper, we propose a new set of 2D and 3D rotation invariants based on orthogonal radial Meixner moments. We also present a theoretical mathematics to derive them. Hence, this paper introduces in the first case a new 2D radial Meixner moments based on polar representation of an object by a one-dimensional orthogonal discrete Meixner polynomials and a circular function. In the second case, we present a new 3D radial Meixner moments using a spherical representation of volumetric image by a one-dimensional orthogonal discrete Meixner polynomials and a spherical function. Further 2D and 3D rotational invariants are derived from the proposed 2D and 3D radial Meixner moments respectively. In order to prove the proposed approach, three issues are resolved mainly image reconstruction, rotational invariance and pattern recognition. The result of experiments prove that the Meixner moments have done better than the Krawtchouk moments with and without nose. Simultaneously, the reconstructed volumetric image converges quickly to the original image using 2D and 3D radial Meixner moments and the test images are clearly recognized from a set of images that are available in a PSB database.     

Pattern vectors from algebraic graph theory

Graph structures have proven computationally cumbersome for pattern analysis. The reason for this is that, before graphs can be converted to pattern vectors, correspondences must be established between the nodes of structures which are potentially of different size. To overcome this problem, in this paper, we turn to the spectral decomposition of the Laplacian matrix. We show how the elements of the spectral matrix for the Laplacian can be used to construct symmetric polynomials that are permutation invariants. The coefficients of these polynomials can be used as graph features which can be encoded in a vectorial manner. We extend this representation to graphs in which there are unary attributes on the nodes and binary attributes on the edges by using the spectral decomposition of a Hermitian property matrix that can be viewed as a complex analogue of the Laplacian. To embed the graphs in a pattern space, we explore whether the vectors of invariants can be embedded in a low-dimensional space using a number of alternative strategies, including principal components analysis (PCA), multidimensional scaling (MDS), and locality preserving projection (LPP). Experimentally, we demonstrate that the embeddings result in well-defined graph clusters. Our experiments with the spectral representation involve both synthetic and real-world data. The experiments with synthetic data demonstrate that the distances between spectral feature vectors can be used to discriminate between graphs on the basis of their structure. The real-world experiments show that the method can be used to locate clusters of graphs.     

Novel moment invariants for improved classification performance in computer vision applications

A novel set of moment invariants based on the Krawtchouk moments are introduced in this paper. These moment invariants are computed over a finite number of image intensity slices, extracted by applying an innovative image representation scheme, the image slice representation (ISR) method. Based on this technique an image is decomposed to a several non-overlapped intensity slices, which can be considered as binary slices of certain intensity. This image representation gives the advantage to accelerate the computation of image's moments since the image can be described in a number of homogenous rectangular blocks, which permits the simplification of the computation formulas. The moments computed over the extracted slices seem to be more efficient than the corresponding moments of the same order that describe the whole image, in recognizing the pattern under processing. The proposed moment invariants are exhaustively tested in several well known computer vision datasets, regarding their rotation, scaling and translation (RST) invariant recognition performance, by resulting to remarkable outcomes.     

Proving total correctness and generating preconditions for loop programs via symbolic-numeric computation methods

We present a symbolic-numeric hybrid method, based on sum-of-squares (SOS) relaxation and rational vector recovery, to compute inequality invariants and ranking functions for proving total correctness and generating preconditions for programs. The SOS relaxation method is used to compute approximate invariants and approximate ranking functions with floating point coefficients. Then Gauss-Newton refinement and rational vector recovery are applied to approximate polynomials to obtain candidate polynomials with rational coefficients, which exactly satisfy the conditions of invariants and ranking functions. In the end, several examples are given to show the effectiveness of our method.