Vector order statistics operators as color edge detectors

Color edge detection is approached in this paper using vector order statistics. Based on the R-ordering method, a class of color edge detectors is defined. These detectors function as vector operators as opposed to component-wise operators. Specific edge detectors can be obtained as special cases of this class. Various such detectors are defined and analyzed. Experimental results show the noise robustness of the vector order statistics operators. A quantitative evaluation and comparison to other color edge detectors favors our approach. Edge detection results obtained from real color images demonstrate the effectiveness of the proposed approach in real applications.     

TOURBOT and WebFAIR: Web-operated mobile robots for tele-presence in populated exhibitions

This paper presents a number of techniques that are needed for realizing Web-operated mobile robots. These techniques include effective map-building capabilities, a method for obstacle avoidance based on a combination of range and visual information, and advanced Web and onboard robot interfaces. In addition to video streams, the system provides high-resolution virtual reality visualizations that also include the people in the vicinity of the robot. This increases the flexibility of the interface and simultaneously allows a user to understand the navigation actions of the robot. The techniques described in this article have been successfully deployed within the EU-funded projects TOURBOT and WebFAIR, which aimed to develop interactive tour-guided robots able to serve Web as well as on-site visitors. Technical developments in the framework of these projects have resulted in robust and reliable systems that have been demonstrated and validated in real-world conditions. Equally important, the system setup time has been drastically reduced, facilitating its porting to new environments.     

Vector directional filters-a new class of multichannel imageprocessing filters

Vector directional filters (VDF) for multichannel image processing are introduced and studied. These filters separate the processing of vector-valued signals into directional processing and magnitude processing. This provides a link between single-channel image processing where only magnitude processing is essentially performed, and multichannel image processing where both the direction and the magnitude of the image vectors play an important role in the resulting (processed) image. VDF find applications in satellite image data processing, color image processing, and multispectral biomedical image processing. Results are presented here for the case of color images, as an important example of multichannel image processing. It is shown that VDF can achieve very good filtering results for various noise source models.     

An approach to QRS complex detection using mathematicalmorphology

An approach to QRS complex detection based on mathematical morphology is presented. QRS complexes are detected by the application of a simple morphological operator. This operator works as a peak-valley extractor and it is controlled by the shape of the structuring element. A set (horizontal line segment) is used as a structuring element, resulting in very fast execution times. The accuracy of this approach has been tested using a standard ECG library; a sensitivity of 99.38% and a positive predictivity of 99.48% have been achieved     

Color edge detection using vector order statistics

A method is proposed whereby a color image is treated as a vector field and the edge information carried directly by the vectors is exploited. A class of color edge detectors is defined as the minimum over the magnitudes of linear combinations of the sorted vector samples. From this class, a specific edge detector is obtained and its performance characteristics studied. Results of a quantitative evaluation and comparison to other color edge detectors, using Pratt's (1991) figure of merit and an artificially generated test image, are presented. Edge detection results obtained for real color images demonstrate the efficiency of the detector.     

Visual tracking of hands, faces and facial features of multiple persons

This paper presents an integrated approach for tracking hands, faces and specific facial features (eyes, nose, and mouth) in image sequences. For hand and face tracking, we employ a state-of-the-art blob tracker which is specifically trained to track skin-colored regions. In this paper we extend the skin color tracker by proposing an incremental probabilistic classifier, which can be used to maintain and continuously update the belief about the class of each tracked blob, which can be left-hand, right hand or face as well as to associate hand blobs with their corresponding faces. An additional contribution of this paper is related to the employment of a novel method for the detection and tracking of specific facial features within each detected facial blob which consists of an appearance-based detector and a feature-based tracker. The proposed approach is intended to provide input for the analysis of hand gestures and facial expressions that humans utilize while engaged in various conversational states with robots that operate autonomously in public places. It has been integrated into a system which runs in real time on a conventional personal computer which is located on a mobile robot. Experimental results confirm its effectiveness for the specific task at hand.     

Semi-autonomous Navigation of a Robotic Wheelchair

The present work considers the development of a wheelchair for people with special needs, which is capable of navigating semi-autonomously within its workspace. This system is expected to prove useful to people with impaired mobility and limited fine motor control of the upper extremities. Among the implemented behaviors of this robotic system are the avoidance of obstacles, the motion in the middle of the free space and the following of a moving target specified by the user (e.g., a person walking in front of the wheelchair). The wheelchair is equipped with sonars, which are used for distance measurement in preselected critical directions, and with a panoramic camera with a 360 degree field of view, which is used for following a moving target. After suitably processing the color sequence of the panoramic images using the color histogram of the desired target, the orientation of the target with respect to the wheelchair is determined, while its distance is determined by the sonars. The motion control laws developed for the system use the sensory data and take into account the non-holonomic kinematic constraints of the wheelchair, in order to guarantee certain desired features of the closed-loop system, such as stability. Moreover, they are as simplified as possible to minimize implementation requirements. An experimental prototype has been developed at ICS–FORTH, based on a commercially-available wheelchair. The sensors, the computing power and the electronics needed for the implementation of the navigation behaviors and of the user interfaces (touch screen, voice commands) were developed as add-on modules and integrated with the wheelchair.     

Tele-Presence in Populated Exhibitions Through Web-Operated Mobile Robots

This paper presents techniques that facilitate mobile robots to be deployed as interactive agents in populated environments such as museum exhibitions or trade shows. The mobile robots can be tele-operated over the Internet and, this way, provide remote access to distant users. Throughout this paper we describe several key techniques that have been developed in this context. To support safe and reliable robot navigation, techniques for environment mapping, robot localization, obstacle detection and people-tracking have been developed. To support the interaction of both web and on-site visitors with the robot and its environment, appropriate software and hardware interfaces have been employed. By using advanced navigation capabilities and appropriate authoring tools, the time required for installing a robotic tour-guide in a museum or a trade fair has been drastically reduced. The developed robotic systems have been thoroughly tested and validated in the real-world conditions offered in the premises of various sites. Such demonstrations ascertain the functionality of the employed techniques, establish the reliability of the complete systems, and provide useful evidence regarding the acceptance of tele-operated robotic tour-guides by the broader public.     

Directional processing of color images: theory and experimentalresults

The processing of color image data using directional information is studied. The class of vector directional filters (VDF), which was introduced by the authors in a previous work, is further considered. The analogy of VDF to the spherical median is shown, and their relation to the spatial median is examined. Moreover, their statistical and deterministic properties are studied, which demonstrate their appropriateness in image processing. VDF result in optimal estimates of the image vectors in the directional sense; this is very important in the case of color images, where the vectors' direction signifies the chromaticity of a given color. Issues regarding the practical implementation of VDF are also considered. In addition, efficient filtering schemes based on VDF are proposed, which include adaptive and/or double-window structures. Experimental and comparative results in image filtering show very good performance measures when the error is measured in the L*a*b* space. L*a*b* is known as a space where equal color differences result in equal distances, and therefore, it is very close to the human perception of colors. Moreover, an indication of the chromaticity error is obtained by measuring the error on the Maxwell triangle; the results demonstrate that VDF are very accurate chromaticity estimators.