Planning algorithms are impacting technical disciplines and industries around the world, including robotics, computer-aided design, manufacturing, computer graphics, aerospace applications, drug design, and protein folding. This coherent and comprehensive book unifies material from several sources, including robotics, control theory, artificial intelligence, and algorithms. The treatment is centered on robot motion planning but integrates material on planning in discrete spaces. A major part of the book is devoted to planning under uncertainty, including decision theory, Markov decision processes, and information spaces, which are the “configuration spaces” of all sensor-based planning problems. The last part of the book delves into planning under differential constraints that arise when automating the motions of virtually any mechanical system. Developed from courses taught by the author, the book is intended for students, engineers, and researchers in robotics, artificial intelligence, and control theory as well as computer graphics, algorithms, and computational biology.

Planning Algorithms: Introductory Material

We conduct an exhaustive survey of image thresholding methods, categorize them, express their formulas under a uniform notation, and finally carry their performance comparison. The thresholding methods are categorized according to the information they are exploiting, such as histogram shape, measurement space clustering, entropy, object attributes, spatial correlation, and local gray-level surface. 40 selected thresholding methods from various categories are compared in the context of nondestructive testing applications as well as for document images. The comparison is based on the combined performance measures. We identify the thresholding algorithms that perform uniformly better over nonde- structive testing and document image applications. © 2004 SPIE and IS&T. (DOI: 10.1117/1.1631316)

/pdf/survey-over-image-thresholding-techniques-and-quantitative-2ekadyqjhj.pdf

Survey over image thresholding techniques and quantitative performance evaluation

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

Digital watermarking is a key ingredient to copyright protection. It provides a solution to illegal copying of digital material and has many other useful applications such as broadcast monitoring and the recording of electronic transactions. Now, for the first time, there is a book that focuses exclusively on this exciting technology. Digital Watermarking covers the crucial research findings in the field: it explains the principles underlying digital watermarking technologies, describes the requirements that have given rise to them, and discusses the diverse ends to which these technologies are being applied. As a result, additional groundwork is laid for future developments in this field, helping the reader understand and anticipate new approaches and applications.

Digital Watermarking

In digital image processing, thresholding is a well-known technique for image segmentation. Because of its wide applicability to other areas of the digital image processing, quite a number of thresholding methods have been proposed over the years. In this paper, we present a survey of thresholding techniques and update the earlier survey work by Weszka (Comput. Vision Graphics & Image Process 7, 1978 , 259–265) and Fu and Mu (Pattern Recognit. 13, 1981 , 3–16). We attempt to evaluate the performance of some automatic global thresholding methods using the criterion functions such as uniformity and shape measures. The evaluation is based on some real world images.

http://pequan.lip6.fr/~bereziat/pima/2012/seuillage/sahoo88.pdf

A survey of thresholding techniques

https://people.cs.nctu.edu.tw/~whtsai/Journal%20Paper%20PDFs/Wu_&_Tsai_PRL_2003.pdf

A steganographic method for images by pixel-value differencing

A new approach to automatic threshold selection using the moment-preserving principle is proposed. The threshold values are computed deterministically in such a way that the moments of an input picture is preserved in the output picture. Experimental results show that the approach can be employed to threshold a given picture into meaningful gray-level classes. The approach is described for global thresholding, but it is applicable to local thresholding as well.

https://ir.nctu.edu.tw:443/bitstream/11536/4803/1/A1985ADW8000009.pdf

Moment-preserving thresolding: A new approach

https://www.asia.edu.tw/Main_pages/about/Former_president_TsaiWH_publications/Journal%20Paper%20PDFs/Lin_&_Tsai_JSS_2004.pdf

Secret image sharing with steganography and authentication

Moment-preserving thresholding: a new approach

The pattern deformational model proposed by Tsai and Fu [11] is extended so that numerical attributes and probability or density distributions can be introduced into primitives and relations in a nonhierarchical relational graph. Conventional graph isomorphisms are then generalized to include error-correcting capability for matching deformed patterns represented by such attributed relational graphs. An ordered-search algorithm is proposed for determining error-correcting isomorphisms. Finally, a pattern classification approach using graph isomorphisms is described, which can be considered as a combination of structural and statistical techniques.

http://www.asia.edu.tw/Main_pages/about/Former_president_TsaiWH_publications/Journal%20Paper%20PDFs/Tsai_&_Fu_IEEETSMC_1979.pdf

Wen-Hsiang Tsai

Papers

A steganographic method for images by pixel-value differencing

Moment-preserving thresolding: A new approach

Secret image sharing with steganography and authentication

Moment-preserving thresholding: a new approach

Error-Correcting Isomorphisms of Attributed Relational Graphs for Pattern Analysis