The authors describe a general-purpose, representation-independent method for the accurate and computationally efficient registration of 3-D shapes including free-form curves and surfaces. The method handles the full six degrees of freedom and is based on the iterative closest point (ICP) algorithm, which requires only a procedure to find the closest point on a geometric entity to a given point. The ICP algorithm always converges monotonically to the nearest local minimum of a mean-square distance metric, and the rate of convergence is rapid during the first few iterations. Therefore, given an adequate set of initial rotations and translations for a particular class of objects with a certain level of 'shape complexity', one can globally minimize the mean-square distance metric over all six degrees of freedom by testing each initial registration. One important application of this method is to register sensed data from unfixtured rigid objects with an ideal geometric model, prior to shape inspection. Experimental results show the capabilities of the registration algorithm on point sets, curves, and surfaces. >

A method for registration of 3-D shapes

Bilateral filtering smooths images while preserving edges, by means of a nonlinear combination of nearby image values. The method is noniterative, local, and simple. It combines gray levels or colors based on both their geometric closeness and their photometric similarity, and prefers near values to distant values in both domain and range. In contrast with filters that operate on the three bands of a color image separately, a bilateral filter can enforce the perceptual metric underlying the CIE-Lab color space, and smooth colors and preserve edges in a way that is tuned to human perception. Also, in contrast with standard filtering, bilateral filtering produces no phantom colors along edges in color images, and reduces phantom colors where they appear in the original image.

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Bilateral filtering for gray and color images

The Hausdorff distance measures the extent to which each point of a model set lies near some point of an image set and vice versa. Thus, this distance can be used to determine the degree of resemblance between two objects that are superimposed on one another. Efficient algorithms for computing the Hausdorff distance between all possible relative positions of a binary image and a model are presented. The focus is primarily on the case in which the model is only allowed to translate with respect to the image. The techniques are extended to rigid motion. The Hausdorff distance computation differs from many other shape comparison methods in that no correspondence between the model and the image is derived. The method is quite tolerant of small position errors such as those that occur with edge detectors and other feature extraction methods. It is shown that the method extends naturally to the problem of comparing a portion of a model against an image. >

Comparing images using the Hausdorff distance

We present a neural network-based upright frontal face detection system. A retinally connected neural network examines small windows of an image and decides whether each window contains a face. The system arbitrates between multiple networks to improve performance over a single network. We present a straightforward procedure for aligning positive face examples for training. To collect negative examples, we use a bootstrap algorithm, which adds false detections into the training set as training progresses. This eliminates the difficult task of manually selecting nonface training examples, which must be chosen to span the entire space of nonface images. Simple heuristics, such as using the fact that faces rarely overlap in images, can further improve the accuracy. Comparisons with several other state-of-the-art face detection systems are presented, showing that our system has comparable performance in terms of detection and false-positive rates.

Neural network-based face detection

This paper describes a new approach to low level image processing; in particular, edge and corner detection and structure preserving noise reduction.

Non-linear filtering is used to define which parts of the image are closely related to each individual pixel; each pixel has associated with it a local image region which is of similar brightness to that pixel. The new feature detectors are based on the minimization of this local image region, and the noise reduction method uses this region as the smoothing neighbourhood. The resulting methods are accurate, noise resistant and fast.

Details of the new feature detectors and of the new noise reduction method are described, along with test results.

SUSAN—A New Approach to Low Level Image Processing

Various types of moments have been used to recognize image patterns in a number of applications. A number of moments are evaluated and some fundamental questions are addressed, such as image-representation ability, noise sensitivity, and information redundancy. Moments considered include regular moments, Legendre moments, Zernike moments, pseudo-Zernike moments, rotational moments, and complex moments. Properties of these moments are examined in detail and the interrelationships among them are discussed. Both theoretical and experimental results are presented. >

On image analysis by the methods of moments

A parallel algorithm is presented for detecting dominant points on a digital closed curve. The procedure requires no input parameter and remains reliable even when features of multiple sizes are present on the digital curve. The procedure first determines the region of support for each point based on its local properties, then computes measures of relative significance (e.g. curvature) of each point, and finally detects dominant points by a process of nonmaximum suppression. This procedure leads to the observation that the performance of dominant points detection depends not only on the accuracy of the measure of significance, but also on the precise determination of the region of support. This solves the fundamental problem of scale factor selection encountered in various dominant point detection algorithms. The inherent nature of scale-space filtering in the procedure is addressed, and the performance of the procedure is compared to those of several other dominant point detection algorithms, using a number of examples. >

On the detection of dominant points on digital curves

This paper presents a comparative study and survey of model-based object-recognition algorithms for robot vision. The goal of these algorithms is to recognize the identity, position, and orientation of randomly oriented industrial parts. In one form this is commonly referred to as the "bin-picking" problem, in which the parts to be recognized are presented in a jumbled bin. The paper is organized according to 2-D, 2½-D, and 3-D object representations, which are used as the basis for the recognition algorithms. Three central issues common to each category, namely, feature extraction, modeling, and matching, are examined in detail. An evaluation and comparison of existing industrial part-recognition systems and algorithms is given, providing insights for progress toward future robot vision systems.

Model-based recognition in robot vision

Various types of moments have been used to recognize image patterns in a number of applications. The authors evaluate a number of moments and addresses some fundamental questions, such as image representation ability, noise sensitivity, and information redundancy. Moments considered include regular moments, Legendre moments, Zernike moments, pseudo-Zernike moments, rotational moments and complex moments. Properties of these moments are examined in detail, and the interrelationships among them are discussed. Both theoretical and experimental results are presented. >

This paper surveys publications, reports, and articles dealing with automated visual inspection for industry The references are organized according to their contents: overview and discussions, rationales, components and design considerations, commercially available systems, applications A number of applications and their inspection methodologies are discussed in detail: the inspection of printed circuit boards, photomasks, integrated circuit chips Other inspection applications are listed as a bibliography A list of selectively annotated references in commercially available visual inspection tools is also included

Roland T. Chin

Papers

On image analysis by the methods of moments

On the detection of dominant points on digital curves

Model-based recognition in robot vision

On image analysis by the methods of moments

Automated Visual Inspection: A Survey