A humanoid robot that can go up and down stairs, crawl underneath obstacles or simply walk around requires reliable perceptual capabilities for obtaining accurate and useful information about its surroundings. In this work we present a system for generating threedimensional (3D) environment maps from data taken by stereo vision. At the core is a method for precise segmentation of range data int...

Segmentation is the art of partitioning an image into different regions where each one has some degree of uniformity in its feature space. A number of methods have been proposed and blind segmentation is one of them. It uses intrinsic image features, such as pixel intensity, color components and texture. However, some virtues, like poor contrast, noise and occlusion, can weaken the procedure. T...

In this paper, we tackle the problem of unsupervised selection and posterior recognition of visual landmarks in images sequences acquired by an indoor mobile robot. This is a highly valuable perceptual capability for a wide variety of robotic applications, in particular autonomous navigation. Our method combines a bottom-up data driven approach with top-down feedback provided by high level sema...

Scene analysis is a major aspect of perception and continues to challenge machine perception. This paper addresses the scene-analysis problem by integrating a primitive segmentation stage with a model of associative memory. The model is a multistage system that consists of an initial primitive segmentation stage, a multimodule associative memory, and a short-term memory (STM) layer. Primitive s...

This paper presents, a hybrid method, low-resolution and high-resolution, for Persian page segmentation. In the low-resolution page segmentation, a pyramidal image structure is constructed for multiscale analysis and segments document image to a set of regions. By high-resolution page segmentation, by connected components analysis, each region is segmented to homogeneous regions and identifyi...

Despite using different algorithms, most unsupervised automatic phone segmentation methods achieve similar performance in terms of percentage correct boundary detection. Nevertheless, unsupervised segmentation algorithms are not able to perfectly reproduce manually obtained reference transcriptions. This paper investigates fundamental problems for unsupervised segmentation algorithms by compari...

Bottom-up approaches, which rely mainly on continuity principles, are often insufficient to form accurate segments in natural images. In order to improve performance, recent methods have begun to incorporate top-down cues, or object information, into segmentation. In this paper, we propose an approach to utilizing category-based information in segmentation, through a formulation as an image lab...

Unlike European languages, many Asian languages like Chinese and Japanese do not have typographic boundaries in written system. Word segmentation (tokenization) that break sentences down into individual words (tokens) is normally treated as the first step for machine translation (MT). For Chinese and Japanese, different rules and segmentation tools lead different segmentation results in differe...

Text line segmentation is an inherent part of document recognition system and important preprocessing step for word and character segmentation. Presence of touching or overlapping text lines, short-lines, curvilinear or skewed lines and small or variant gaps between the text lines make the segmentation challenging. These variations cause errors in recognition phase. This paper describes the top...

Texture image analysis is one of the most important working realms of image processing in medical sciences and industry. Up to present, different approaches have been proposed for segmentation of texture images. In this paper, we offered unsupervised texture image segmentation based on Markov Random Field (MRF) model. First, we used Gabor filter with different parameters’ (frequency, orientatio...