T. Leo

Bio: T. Leo is an academic researcher. The author has contributed to research in topics: Hough transform & Sensor fusion. The author has an hindex of 3, co-authored 3 publications receiving 55 citations.

A Bayesian approach to the Hough transform for line detection

Abstract: This paper explains how to associate a rigorous probability value to the main straight line features extracted from a digital image. A Bayesian approach to the Hough Transform (HT) is considered. Under general conditions, it is shown that a probability measure is associated to each line extracted from the HT. The proposed method increments the HT accumulator in a probabilistic way: first calculating the uncertainty of each edge point in the image and then using a Bayesian probabilistic scheme for fusing the probability of each edge point and calculating the line feature probability.

Ultrasonic and video data fusion for mobile robot navigation

Abstract: A multisensor fusion approach for improving the map-building capability of a mobile robot is presented in this paper. Ultrasonic and video data are used. A modelling technique for indoor environments based on line features extraction from video data and from range data is proposed. The Hough transform is considered for extracting lines from the occupancy grid and from video images.

Statistical Hough Transform

Abstract: The standard Hough transform is a popular method in image processing and is traditionally estimated using histograms. Densities modeled with histograms in high dimensional space and/or with few observations, can be very sparse and highly demanding in memory. In this paper, we propose first to extend the formulation to continuous kernel estimates. Second, when dependencies in between variables are well taken into account, the estimated density is also robust to noise and insensitive to the choice of the origin of the spatial coordinates. Finally, our new statistical framework is unsupervised (all needed parameters are automatically estimated) and flexible (priors can easily be attached to the observations). We show experimentally that our new modeling encodes better the alignment content of images.

Joint A Contrario Ellipse and Line Detection

Abstract: We propose a line segment and elliptical arc detector that produces a reduced number of false detections on various types of images without any parameter tuning. For a given region of pixels in a grey-scale image, the detector decides whether a line segment or an elliptical arc is present ( model validation ). If both interpretations are possible for the same region, the detector chooses the one that best explains the data ( model selection ). We describe a statistical criterion based on the a contrario theory, which serves for both validation and model selection. The experimental results highlight the performance of the proposed approach compared to state-of-the-art detectors, when applied on synthetic and real images.

Boolean Derivatives With Application to Edge Detection for Imaging Systems

Abstract: This paper introduces a new concept of Boolean derivatives as a fusion of partial derivatives of Boolean functions (PDBFs). Three efficient algorithms for the calculation of PDBFs are presented. It is shown that Boolean function derivatives are useful for the application of identifying the location of edge pixels in binary images. The same concept is extended to the development of a new edge detection algorithm for grayscale images, which yields competitive results, compared with those of traditional methods. Furthermore, a new measure is introduced to automatically determine the parameter values used in the thresholding portion of the binarization procedure. Through computer simulations, demonstrations of Boolean derivatives and the effectiveness of the presented edge detection algorithm, compared with traditional edge detection algorithms, are shown using several synthetic and natural test images. In order to make quantitative comparisons, two quantitative measures are used: one based on the recovery of the original image from the output edge map and the Pratt's figure of merit.