Model for a Gradual Objects Recognition

M. SADGAL*, A. EL FAZZIKI*, and A. AIT OUAHMAN**,

Département Informatique*, Département de Physique**
Université Caddi Ayyad, Faculté des sciences Semlalia
Bd Moulay Abdellah, B.P 2390 .Marrakesh,
MOROCCO

Abstract: The objects appearance in the images is modified because of several external factors (i.e.:
illumination, rotate, pose) and the application of the standard comparison algorithms does not answer
suitably. For landing this problem, we present here an architecture based on a gradual recognition:
The object is represented on a scale of categories, and the task of the algorithms of recognition is to
concentrate on the determination of the category the most detailed according to information extracted from
the image. It is not necessary any more to pass by several intermediate phases before starting the process of
recognition. On this principle, we propose a model for the internal representation of a system of vision which
tries to generalize the recognition of objects by taking into account the categorization.

Key words: Categorization, recognition, representation, modeling, Aerial image, vision.

1. Introduction task of the images treatment algorithms and

The analysis and the interpretation of aerial or
satellite images constitute an important field of
scientific research and study. Many applications
concerned with the resulted techniques: the
construction and update of the topographic maps, the
update of the cadastral plans, the discovery of the
forests diseases, the localization of the pollution
zones, etc.
We work since 1999 in this domain and we
concentrate our efforts on the information extraction
and specially the objects classification and
recognition [1][2][3][4][5][6][7].
The processing complexity required by the
applications drew the attention of several researchers
in vision domain involved by the resolution of
particular problems [8][9][10][11]. So we can find
among these problems: the roads extraction or road
networks [12]. The localization of forests,
vegetations zones, takes an important part of
processing. The extraction of this type of
information brings the use of texture aspect as
unmistakable factor. Mostly, the researches were
based on statistical techniques, mainly the
markovian approach [13]. The third-dimensional
information [14] can concern mountains, high rises,
etc.
This paper treats two problematic aspects
(segmentation: detect zones in the image and
recognition: determine what they are) with the aim
of improving the quality of the treatment and
minimizing the global response time of a vision
system.
Three objectives have been advanced:
The first objective of our work is the implementation
of an internal objects representation facilitating the
1
essentially those of learning and recognition.
The second objective consists in reducing the global
response time of a vision system. Our purpose is to
implement an architecture capable of supplying an
environment that favorite the execution of several
tasks in parallel and be able to improve the learning
and recognition algorithms.
Our third objective is the introduction of the
cooperation as a mechanism to improve quality
search for treatment.
To reach these objectives, an architecture was
proposed by introducing the categorization as a
choice based on the need to organize the world of
objects (here in the wide sense: physical objects,
events, ideas,…) and to establish a convenient
environment for the calculation procedures with the
aim of reducing the computational complexity.
2 Various approches
2.1 The representation Problem
Most part of the objects recognition theories treat
with the geometrical aspect (3D objects shape) and
actually, we can consider two groups of theories
which diverge on the format of the representation as
this is independent or dependent on the object views
to be represented. The first group considers that the
objects are represented by the independent
characteristics (invariants) [15].
One of the most interesting approaches is the
Biederman’s one: "Recognition By Components"
(RBC) [16] based on Marr paradigm [17].
The second group considers that the object
representation is linked to specific object views and
that any other view can be deducted by means of
these views [18].
2.1 Segmentation
The segmentation is a low level processing, which
consists in dividing set pixels into related regions,
homogeneous and different from its neighbors.
Generally, image segmentation is done by the use of
one of two approaches based on the borders
extraction that consists in identifying the transitions
among regions [19][20], and the regions that proceed
growth regions and by division / fusion of regions
Other approaches tempt to cooperate the both [21]..
2.2 Classification
Contrary to the images segmentation, here we try to
identify what represents each of the segmented
regions. As example, in aerial images, we try to
determine the urban zones, the forests, and the water
zones, mountains. The result is naturally a
segmented image. Several approaches are used on
this topic like Distance Minimization and Stochastic
approaches: (Markov fields, Bayesian inference,
Bays rules): In this type of approaches, the models
are often discreet and several works are based on the
Markov fields theory and the Bayesian estimation
[22]. Other methods based on Neuronal Networks
[23],They are capable to process complex problems
of shape recognition, or to simulate the not linear
and\or dynamic processes.
2.3 Objects Recognition (the general aspect)
The objects recognition is a very active domain in
computer vision. The general approach consists in
considering that we have a data bank where are the
objects models and a real world sight stored. We
have to answer an essential question: the extracted
object (by the precedents tools) exists in the data
bank or not. The problem depends on the adopted
objects modeling. In the majority of the cases this
modeling is purely geometrical: the whole
characteristics are called primitives. The recognition
operation consists of matching these characteristics
and those revealed in the image.
3 Architecture for the aerial images
processing systems
We implemented an architecture based on the idea
that the recognition is a gradual operation. The
recognition will be begun from the low level of the
images treatment: the segmentation. To extract the
maximum of information at this stage, we opted for
a segmentation multicriterion (borders, colors,
textures, etc.). The easy access to the objects models
in a selective way is made possible by the
2
categorization. Indeed, the base of models is indexed
by the categories, the search for a particular model
pass at first by the localization of its category, what
reduces considerably the number of models for the
matching afterward. The categorization constitutes
the "master piece" of this architecture, because it is
the way we remember objects, events, ideas, their
differentiation and their grouping seems an active
process allowing to learn and to recognize.
We are based on two principles for the application of
the categorization process: principle of economy, in
that case it has to balance between two opposite
tendencies. The first tendency consists in using the
categories so as to maximize the quantity of
information which they give us.
The second principle which governs the organization
of our categories is the principle of exploitation of
the structure of the received world [24].
We present in this paragraph some aspects of the
categorization which guided the choice of our
model.
3.1 Categorization: definitions, Model and critical
3.1.1 Category
Classically, a category is seen as a collection of
instances which can be handled indifferently in the
same way. By means of this classic way, the
components of a category are determined by the
matching of a definition, for example: a triangle is a
surface with 3 edges and 3 summits.
3.1.2 Modeling
Any representation of the categories raises the
abstraction problem. Several models are tempted:
a-Prototypes Model:
In the classic way, we have to define all the
characteristics. Rosch [24] have supposed that, from
experiences with copies, a " central tendency " of a
category is formed and that the judgment of
membership in a category is based on this " central
tendency " or "prototype". The problem with this
model is that the typicality is influenced by the
context, and the most typical component is simply a
view point.
b-The exemplars Model:
To solve the problems of the context influence and
the variability, one stocks any category occurrence
(called exemplary [25])). Two other advantages: it is
easier to generate a copy than a prototype, and the
variation of the characteristics of copies is noticed.
The difficulty here is the computing complexity.
c-Hybrid model:
The hybridization here consists of the use of two
modes of data processing. The treatment steered by
the data is determined by the information-stimulus
coming from the outside (bottom / up), while the
treatment steered by concepts is driven by the
information already stored in memory, what implies
a preliminary experience and already acquired
concepts (top / down) [26].
3.2 Description of the approach
3.2.1 The model
Considering the objects particularity of our
application domain (aerial images), it is necessary to
enrich the internal representation by other aspects as
the color and texture, and to endow the system with
an inferences mechanism for landing the gaps of the
prototypes model. In this work we consider that the
categorization is an effective means to organize a
vision system. The internal representation uses
abstraction levels to supply a gradual recognition.
For this, we suppose that the superior level is an
organizing and generative level including knowledge
on the validity of a category. We organize the
characteristics hierarchically in three levels:
- The first level will concern information such as the
color, the texture, the shape, etc.
- The second level will be concentrated on the object
parts. The recognition of a part can select all the
prototypes containing this part.
- The third level will be interested in constraints
intra-objects and inter-objects. A constraint can
suggest a set of prototypes validating it.
To illustrate our idea, we are going to be interested
to the first level of processing and to take into
account the color, the texture and the flat forms
(2D). The modeling takes into account three
abstraction levels: meta-category, basic-category and
sub-category according to the following scheme:
SUR_CATEGORIE
KNOWLEDGE BASE House Zones,…
R1: House is never black
Classes of textures BASE_CATEGORIE
Particular texture City
Classes of colors
Particular color SUB_CATEGORIE
Classes of shapes Rabat
Particular shape
Fig. 1
3
This diagram clarifies the organization of the models
of objects according to three levels of categorization.
We introduced besides, the knowledge than can
contained in categories: rules of correspondence,
deductions procedures, etc. We insist here on the
visual aspect, the characteristics can be introduced
by parameters illustrated here in the left party. Every
characteristic points towards a set of parameters
according to its position (SUB_CATEGORIE,
BASE_CATEGORIE or SUR_CATEGORIE)
3.2.2 The general architecture
Our architecture is based on the idea which consider
the recognition as a gradual process ending in an
identification or in a categorization. It possesses
three big modules (Fig. 3a): a library containing the
tools of images treatment, a module concerning the
segmentation multicriterion (Fig. 3b) and a module
for the categorization tasks (Fig. 3c).
The recognition process proposed in this architecture
follows a simple procedure:
1- Start with the segmentation multicriterion for the
most complete possible extraction of the indicators
(characteristics of texture, shape and color)
2- Selection of categories according to the discovery
of the indications.
3- Elaboration of the segmentation by combination
of criteria and reduction of the categories number by
contribution of precision.
4- Definitive Decision: identification or
categorization
The essential character of this architecture is to
organize the recognition by allowing the process to
be started since the low level of the images treatment
until the highest level. We tempt then, to resolve two
problems: the extraction of objects via the
segmentation and the recognition of the extracted
objects.
An aerial image, in our case, presents several
objects, it would be very difficult to extract them
directly by the segmentation module. Indeed, an
object could be the result of several zones supplied
by the segmentation multicriterion. For that purpose,
several approaches putting in front of the automatic
modeling by the learning were advanced. We cite
some from them: 1) Modelling by the color: object
is represented by a histogram of colors [27]. 2)
Approaches of EigenImages numerous researchers
[28] uses the Karhunen-Loeve transformation ( or
Principal Components Analysis: PCA ) for the
calculation of appropriate images. 3) Probability
Density: Objects are represented by a probability
density of objects characteristics[29]. The learning Image Entry
and the objects localization are formulated as
problems of parameters estimation. TOOLS FOR
Segmentation Categorization
The automatic objects modeling by distributions of IMAGE
PROCESSING Module tasks
probability is used efficiently in many applications.
It is adopted here for illustration.
We treat at first the information concerning the
General Arichitecture
color, the texture and the shape. We combine then
Fig. 3a
these three characteristics to model objects by 3
distributions of probability.
Pretreatment, grading, corrections,…
This diagram (Fig. 3c) suggests a functioning in two
modes: learning and Recognition. Multicriteria Segmentation
To illustrate these processes, we use the framework color Texture
of the Beyesian theory. The allocation of an element
x in one of the models {Z1, Z2, …, Zk} is based on
the following formula (formula of Bayes): Combination of criteria of segmentation
p(Zi|x)= p(x|Zi). p(Zi)/ p(x)
p(Zi|x): the a posteriori probability. Segmentation multicriterion
p(Zi): represent the probability that an element taken Fig. 2b
at random belongs to the model Segmentation by
textures Texture Base
p(x): is the law modeling the global histogram of the of
prototypes
observed image. We often take a uniform law.
p(x|Zi): the a priori probability colour

- Learning Mode: Validation

Of
The element x is the pixel, the process consists in the
finding models of textures, colors and form. Other
categories

Here we determine the various parameters reserved

catégorisation
Tasks Of
categorization
characteristics (color, texture and shape) by means
of a sample of examples of images of objects. We
look then for the parameters which maximize the Context
Definitive
law of a priori probability p(x|Zi). Décision
- Recognition Mode:
Modèls
The element x is the zone and it will attribute it to a Base of

model of known object which makes maximal the a objects

posteriori probability p(Zi|x). Categorization Tasks

The raw image is segmented by means of several Fig. 2c
criteria: textures, colors, borders.... So the 4 Example
segmented image presents zones to the To illustrate the categorization interest in a system of
categorization process entry of which one or several vision we consider the example presented in figure
prototypes (models) are selected. These prototypes fig 3:
are going to constitute initial hypotheses, which
must be verified by the presence in the image.
Without these mechanisms of data reduction, the
problem of the recognition of objects would lead to a
combinatorial explosion. Valley of Dades ( Morocco)
To refine the categorization, zones can be combined Fig. 4
Fig. 3
(in the sense to reduce the prototypes number).
The part "definitive decision" uses the context, so Firstly, we have a base of models for objects
certain hypotheses can be eliminated. manipulated for example (Fig. 4)

4.1 Segmentation:

4
We chose 3 criteria of segmentation for this
example: borders, color and texture:
- Segmentation by the Detection of the borders:
The detection of the borders is based on the
techniques of derivation. A point on the border
Between two regions possess an important grey level
jump. The module of the pressure gradient in this
point must be maximal according to the direction
If g (x, y) represents the grey level at the pixel (x, y),
the gradient is (wg/wx, wg/wy) and the direction is
(wg/wy)/(wg/wx). In practice, we use derivation filters
like Sobel, Perwitt, Kirch, etc.
To improve the detection of outlines we adopted the
algorithm of Canny-Deriche [19].
- Segmentation by Colors:
We used an effective algorithm proposed and
described by D. Comaniciu in [30] based on "Shift
Mean". It is based on the analysis of characteristics
space. In this paradigm, pixels are grouped and
expressed in a space of colors.
We can have more details in [30].
- Segmentation by textures:
Segmentation by textures based on Fields of Markov
hidden (MRF). We used here a version proposed by
S. DERRODE in the Project SIR and presented
recently in [31]. The algorithm can be summarized
in 3 phases: 1) Initiate segmentation by the
algorithm K-means. 2) Estimation of the parameters
by the algorithm (ICE) [31]. 3) The original image is
segmented from the estimated parameters in a
bayesian context. The used algorithm is the
"Maximum Posteriori Mode" ( MPM).
The segmentation of the image according to three
criteria: color, texture and borders gives the zones
(Fig. 5):
S1 S2 S3
S1 : 3 different textures: t1, t2 and t3
S2 : 3 different colours: c1, c2 and c3
S3 : 2 outlines separating 3 different zones: f1, f2 and f3
Fig. 5
In this segmentation, we notice that zones
determined by outlines are not exactly the same that
those exits of the other segmentations (textures and
colors). On the other hand these last ones confused
zones f3 with t3 and c3 respectively. The
Combination of the criteria in the process of
segmentation allows to correct this defect and to
determine four zones:
5
z1 = t1-c1-f1,
z2 = t2-c2-f2,
z3 = t3-c3-f2
z4 = t3-c3-f3
Fig. 6
4.2 Categorization Task
In this phase, the categorization role is efficient, the
system has to supply objects prototypes
corresponding to zones. At this level, the only
characteristics allowing to select the list of the
prototypes are the texture, the color and the shape.
Let us take for example the zone z3 (after its
extraction of the origin image).
Forest Texture
Dominant color: green
Unknown shape
Fig. 7
4.3 Decision Phase
A simple intersection of two selected classes will
give two prototypes P1 and P2 what makes easier
and faster the part of recognition ( two objects).
P1 and P2
Fig. 8
The process continues in the same way for the other
zones.
Results:
Zone1: uniform color blue (selected objects: sky, sea,…)
Zone2: brown color and texture bare ground (mountain)
Zone3: forest
Zone4: forest (badly classified), almost triangular shape
5 Conclusion
The introduction of the phase of categorization in a
vision system thus allows to facilitate the task in the
recognition of objects. This domain covers different
applications such as the cartography, the agriculture,
the oceanography etc., and the automation of the
treatment of images constitutes the inescapable tool
of the practitioners.
In our part, we proposed architecture including the
levels. The architecture based on he recommended
model allowed us to organize the tasks of the
segmentation and the selection of prototypes in this
phase of the categorization. The competition
between several prototypes allows to deliver quickly
those who are considered relevant in the phase of the
recognition.
The part of the parallelism is important, what
reduces considerably the time of answer. We shall
complete this work by the introduction Multi-agents
system to benefit the cooperation and the
competitiveness.
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