[Studies in Computational Intelligence 481] Artur Babiarz, Robert Bieda, Karol Jędrasiak, Aleksander Nawrat (auth.), Aleksander Nawrat, Zygmunt Kuś (eds.) - Vision Based Systemsfor UAV Applications (2013, Sprin

Recognition and Location of Objects in the Visual Field of a UAV Vision System 29
Picture 1 shows an exemplary result of using operations of the analyzed image
segmentation.
a. b.
Fig. 1 The example segmentation: a. the image of the working scene of a manipulator, b.
binary image
Such binary image is then subjected to a labeling process. This process allows
to clearly define the belonging of individual points in the image to the appropriate
areas, designated in the process of segmentation. A similar process could be applied
to detection of objects in IR cameras [9].
2 Extraction of the Objects’ Characteristics
You In order to clearly describe the designated areas-objects in the image the use
of different techniques is applied to determine the characteristics of clearly describing
the properties of objects. In the described solution the image undergoing
the analyzis was binarized. Binary areas are often described using the so-called
shape factors or description with the use of geometric moments.
Set of features describing objects in an image is often called a vector x of those
features. In the analyzed case, for description of the separated areas-objects in the
image, a 24-elements vector used. The basis of the features’ vector construction
was the analysis of the areas-objects binary with the usage of geometric moments.
Moment of geometric order/row of picture is defined as follows:
, , , 0,1,2, …
The independence of the area- object characteristics from translation (displacement
In the picture) is defined by the definition of the central moments of geometric
order :
(4)