• The KIPS Transactions:PartB
• /
• v.9B no.6
• /
• pp.707-714
• /
• 2002

This paper presents a real-time Hausdorff matching algorithm for tracking of moving object acquired from an active camera. The proposed method uses the edge image of object as its model and uses Hausdorff distance as the cost function to identify hypothesis with the model. To enable real-time processing, a high speed approach to calculate Hausdorff distance and half cross matching method to improve performance of existing search methods are also presented. the experimental results demonstrate that the proposed method can accurately track moving object in real-time.

• Journal of the Korean Institute of Telematics and Electronics S
• /
• v.34S no.12
• /
• pp.70-80
• /
• 1997

This paper proposes a hierarchical Hausdorff distance (HD) matching algorithm baased on coarse-to-fine approach. It reduces the computational complexity greatly by using the pyramidal structures consisting of distance transform (DT) and edge pyramids. Also, inthe proposed hierarchical HD matching, a thresholding method is presented to find an optimal matching position with small error, in which the threshold values are determined by using the property between adjacent level of a DT map pyramid. By computer simulation, the performance of the conventional and proposed hierarchical HD matching algorithms is compared in therms of the matching position for binary images containing uniform noise.

• Journal of Institute of Control, Robotics and Systems
• /
• v.17 no.9
• /
• pp.916-921
• /
• 2011

Mobile robot localization is the task of estimating the robot pose in a given environment. This research deals with outdoor localization based on an elevation map. Since outdoor environments are large and contain many complex objects, it is difficult to robustly estimate the robot pose. This paper proposes a Hausdorff distance-based map matching method. The Hausdorff distance is exploited to measure the similarity between extracted features obtained from the robot and elevation map. The experiments and simulations show that the proposed Hausdorff distance-based map matching is useful for robust outdoor localization using an elevation map. Also, it can be easily applied to other probabilistic approaches such as a Markov localization method.

• Journal of the Korean Institute of Telematics and Electronics S
• /
• v.34S no.11
• /
• pp.93-101
• /
• 1997

A Hausdorff distance (HD) is one of commonly used measures for object matching. It calculates the distance between two point sets of edges in two-dimensional binary images without establishing correspondences. This paper proposes three object matching algorithm using robust HD measures based on M-estimation, least trimmed square (LTS), and .alpha.-trimmed mean methods, which are more efficient than the conventional HD measures. By computer simulation with synthetic and real images, the matching performance of the conventional HD smeasures and proposed' robust ones is compared.

• Transactions of the Korean Society of Mechanical Engineers A
• /
• v.25 no.5
• /
• pp.841-849
• /
• 2001

The pixel information of the object was obtained sequentially and pixels were clustered to a label by the line labeling method. Feature points were determined by finding the slope for edge pixels after selecting the fixed number of edge pixels. The slope was estimated by the least square method to reduce the detection error. Once a matching point was determined by comparing the feature information of the object and the pattern, the parameters for translation, scaling and rotation were obtained by selecting the longer line of the two which passed through the matching point from left and right sides. Finally, modified Hausdorff Distance has been used to identify the similarity between the object and the given pattern. The multi-label method was developed for recognizing the patterns with more than one label, which performs the modified Hausdorff Distance twice. Experiments have been performed to verify the performance of the proposed algorithm and method for simple target image, complex target image, simple pattern, and complex pattern as well as the partially hidden object. It was proved via experiments that the proposed image matching algorithm for recognizing the object had a good performance of matching.

• Journal of the Korean Institute of Telematics and Electronics S
• /
• v.36S no.11
• /
• pp.60-67
• /
• 1999

This paper proposes a robust oriented Hausdorff measure (ROHM) for 20D object matching. The ROHM is introduced by replacing the distance concept of the conventional Hausdorff distance (HD) algorithm by the accumulation scheme of the Hough transform (HT). The proposed algorithm can be considered as the modified directed HT using the distance transform (DT). The orientation information at each pixel is also used for removing incorrect correspondences. Experiments with various test images show that the performance of the proposed algorithm is better than that of conventional HD algorithms considered.

• Journal of Korean Society of Industrial and Systems Engineering
• /
• v.38 no.2
• /
• pp.56-62
• /
• 2015

The Hausdorff distance is commonly used as a similarity measure between two-dimensional binary images. Since the document images may be contaminated by a variety of noise sources during transmission, scanning or conversion to digital form, the measure should be robust to the noise. Original Hausdorff distance has been known to be sensitive to outliers. Transforming the given image to grayscale image is one of methods to deal with the noises. In this paper, we propose a Hausdorff distance applied to grayscale images. The proposed method is tested with synthetic images with various levels of noises and compared with other methods to show its robustness.

• Journal of Intelligence and Information Systems
• /
• v.6 no.1
• /
• pp.65-72
• /
• 2000

In this paper we propose the new binary image matching algorithm called the Fuzzy logic induced Hausdorff Distance(FHD) for finding the maximally matched image with the query image. The membership histogram is obtained by normalizing the cardinality of the subset with the corresponding radius after obtaining the distribution of the minimum distance computed by the Hausdroff distance between two binary images. in the proposed algorithm, The fuzzy influence method Center of Gravity(COG) is applied to calculate the best matching candidate in the membership function described above. The proposed algorithm shows the excellent results for the face image recognition when the noise is added to the query image as well as for the character recognition.

• The Journal of the Korea Contents Association
• /
• v.6 no.10
• /
• pp.134-142
• /
• 2006

In this paper, we investigate a Hausdorff distance, which is used for the measurement of image similarity, to see whether it is also effective for document retrieval. The proposed method uses a local crowdedness and a Hausdorff distance to locate text images by determining whether a pair of images scanned at different time comes from the same text or not. To reduce the processing time, which is one of the disadvantages of a Hausdorff distance algorithm, we adopt a local crowdedness for feature point extraction. We apply the proposed method to 190 pairs of the same class and 190 pairs of the different class collected from postal envelop images. The results show that the modified Hausdorff distance proposed in this paper performed well in locating the tort region and calculating the degree of similarity between two images. An improvement of accuracy by 2.7% and 9.0% has been obtained, compared to a binary correlation method and the original Hausdorff distance method, respectively.

• KSCE Journal of Civil and Environmental Engineering Research
• /
• v.26 no.3D
• /
• pp.519-525
• /
• 2006

The traditional area-based matching or efficient matching methods using epipolar geometry and height restriction of stereo images, which have a confined search space for image matching, have still some disadvantages such as mismatching and timeconsuming, especially in the dense metropolitan city that very high and similar buildings exist. To solve these problems, a new image matching method through building recognition has been presented. This paper described building recognition in color stereo images using edge and color information as a elementary study of new matching scheme. We introduce the modified Hausdorff distance for using edge information, and the modified color indexing with 3-D RGB histogram for using color information. Color information or edge information alone is not enough to find conjugate building pairs. For edge information only, building recognition rate shows 46.5%, for color information only, 7.1%. However, building recognition rate distinctly increase 78.5% when both information are combined.