The Hessian matrix has a wide range of applications in image processing,such as edge detection,feature point detection,etc.This paper proposes an image enhancement algorithm based on the Hessian matrix.First,the Hessi...The Hessian matrix has a wide range of applications in image processing,such as edge detection,feature point detection,etc.This paper proposes an image enhancement algorithm based on the Hessian matrix.First,the Hessian matrix is obtained by convolving the derivative of the Gaussian function.Then use the Hessian matrix to enhance the linear structure in the image.Experimental results show that the method proposed in this paper has strong robustness and accuracy.展开更多
A new algorithm for segmentation of suspected lung ROI(regions of interest)by mean-shift clustering and multi-scale HESSIAN matrix dot filtering was proposed.Original image was firstly filtered by multi-scale HESSIAN ...A new algorithm for segmentation of suspected lung ROI(regions of interest)by mean-shift clustering and multi-scale HESSIAN matrix dot filtering was proposed.Original image was firstly filtered by multi-scale HESSIAN matrix dot filters,round suspected nodular lesions in the image were enhanced,and linear shape regions of the trachea and vascular were suppressed.Then,three types of information,such as,shape filtering value of HESSIAN matrix,gray value,and spatial location,were introduced to feature space.The kernel function of mean-shift clustering was divided into product form of three kinds of kernel functions corresponding to the three feature information.Finally,bandwidths were calculated adaptively to determine the bandwidth of each suspected area,and they were used in mean-shift clustering segmentation.Experimental results show that by the introduction of HESSIAN matrix of dot filtering information to mean-shift clustering,nodular regions can be segmented from blood vessels,trachea,or cross regions connected to the nodule,non-nodular areas can be removed from ROIs properly,and ground glass object(GGO)nodular areas can also be segmented.For the experimental data set of 127 different forms of nodules,the average accuracy of the proposed algorithm is more than 90%.展开更多
Segmenting the touching objects in an image has been remaining as a hot subject due to the problematic complexities, and a vast number of algorithms designed to tackle this issue have come into being since a decade ag...Segmenting the touching objects in an image has been remaining as a hot subject due to the problematic complexities, and a vast number of algorithms designed to tackle this issue have come into being since a decade ago. In this paper, a new granule segmentation algorithm is developed using saddle point as the cutting point. The image is binarized and then sequentially eroded to form a gray-scale topographic counterpart, followed by using Hessian matrix computation to search for the saddle point. The segmentation is performed by cutting through the saddle point and along the maximal gradient path on the topographic surface. The results of the algorithm test on the given real images indicate certain superiorities in both the segmenting robustness and execution time to the referenced methods.展开更多
The complexity of the kinematics and dynamics of a manipulator makes it necessary to simplify the modeling process.However,the traditional representations cannot achieve this because of the absence of coordinate invar...The complexity of the kinematics and dynamics of a manipulator makes it necessary to simplify the modeling process.However,the traditional representations cannot achieve this because of the absence of coordinate invariance.Therefore,the coordinate invariant method is an important research issue.First,the rigid-body acceleration,the time derivative of the twist,is proved to be a screw,and its physical meaning is explained.Based on the twist and the rigid-body acceleration,the acceleration of the end-effector is expressed as a linear-bilinear form,and the kinematics Hessian matrix of the manipulator（represented by Lie bracket）is deduced.Further,Newton-Euler＇s equation is rewritten as a linear-bilinear form,from which the dynamics Hessian matrix of a rigid body is obtained.The formulae and the dynamics Hessian matrix are proved to be coordinate invariant.Referring to the principle of virtual work,the dynamics Hessian matrix of the parallel manipulator is gotten and the detailed dynamic model is derived.An index of dynamical coupling based on dynamics Hessian matrix is presented.In the end,a foldable parallel manipulator is taken as an example to validate the deduced kinematics and dynamics formulae.The screw theory based method can simplify the kinematics and dynamics of a manipulator,also the corresponding dynamics Hessian matrix can be used to evaluate the dynamical coupling of a manipulator.展开更多
基金supported by the key scientific research projects of the Hunan Provincial Department of Education (No.19A099,20A102)the Educational Reform Project of the Hunan Provincial Department of Education (No.HNJG-2021-1121)+2 种基金the Hunan First Normal University Teaching Reform Project (No.XYS21J09)Shaoyang City Science and Technology Bureau Science and Technology Research Project (No.2020GX31)Shaoyang University Cooperation Project (No.2019HX115).
文摘The Hessian matrix has a wide range of applications in image processing,such as edge detection,feature point detection,etc.This paper proposes an image enhancement algorithm based on the Hessian matrix.First,the Hessian matrix is obtained by convolving the derivative of the Gaussian function.Then use the Hessian matrix to enhance the linear structure in the image.Experimental results show that the method proposed in this paper has strong robustness and accuracy.
基金Projects(61172002,61001047,60671050)supported by the National Natural Science Foundation of ChinaProject(N100404010)supported by Fundamental Research Grant Scheme for the Central Universities,China
文摘A new algorithm for segmentation of suspected lung ROI(regions of interest)by mean-shift clustering and multi-scale HESSIAN matrix dot filtering was proposed.Original image was firstly filtered by multi-scale HESSIAN matrix dot filters,round suspected nodular lesions in the image were enhanced,and linear shape regions of the trachea and vascular were suppressed.Then,three types of information,such as,shape filtering value of HESSIAN matrix,gray value,and spatial location,were introduced to feature space.The kernel function of mean-shift clustering was divided into product form of three kinds of kernel functions corresponding to the three feature information.Finally,bandwidths were calculated adaptively to determine the bandwidth of each suspected area,and they were used in mean-shift clustering segmentation.Experimental results show that by the introduction of HESSIAN matrix of dot filtering information to mean-shift clustering,nodular regions can be segmented from blood vessels,trachea,or cross regions connected to the nodule,non-nodular areas can be removed from ROIs properly,and ground glass object(GGO)nodular areas can also be segmented.For the experimental data set of 127 different forms of nodules,the average accuracy of the proposed algorithm is more than 90%.
基金Ningbo Natural Science Foundation (No.2006A610016)Foundation of the Ministry of Education Ministry for Returned Overseas Students & Scholars (SRF for ROCS, SEM. No.2006699).
文摘Segmenting the touching objects in an image has been remaining as a hot subject due to the problematic complexities, and a vast number of algorithms designed to tackle this issue have come into being since a decade ago. In this paper, a new granule segmentation algorithm is developed using saddle point as the cutting point. The image is binarized and then sequentially eroded to form a gray-scale topographic counterpart, followed by using Hessian matrix computation to search for the saddle point. The segmentation is performed by cutting through the saddle point and along the maximal gradient path on the topographic surface. The results of the algorithm test on the given real images indicate certain superiorities in both the segmenting robustness and execution time to the referenced methods.
基金Supported by National Natural Science Foundation of China(Grant Nos.51375420,51105322)
文摘The complexity of the kinematics and dynamics of a manipulator makes it necessary to simplify the modeling process.However,the traditional representations cannot achieve this because of the absence of coordinate invariance.Therefore,the coordinate invariant method is an important research issue.First,the rigid-body acceleration,the time derivative of the twist,is proved to be a screw,and its physical meaning is explained.Based on the twist and the rigid-body acceleration,the acceleration of the end-effector is expressed as a linear-bilinear form,and the kinematics Hessian matrix of the manipulator（represented by Lie bracket）is deduced.Further,Newton-Euler＇s equation is rewritten as a linear-bilinear form,from which the dynamics Hessian matrix of a rigid body is obtained.The formulae and the dynamics Hessian matrix are proved to be coordinate invariant.Referring to the principle of virtual work,the dynamics Hessian matrix of the parallel manipulator is gotten and the detailed dynamic model is derived.An index of dynamical coupling based on dynamics Hessian matrix is presented.In the end,a foldable parallel manipulator is taken as an example to validate the deduced kinematics and dynamics formulae.The screw theory based method can simplify the kinematics and dynamics of a manipulator,also the corresponding dynamics Hessian matrix can be used to evaluate the dynamical coupling of a manipulator.
