In this paper we propose a neuro-mimetic technique relating to the detection of beacons in mobile robotics. The objective is to bring a robot moving in an unspecified environment to acquire attributes for recognition. We develop a practical approach for the segmentation of images ofobjects of a scene and evaluatethe performances in real time of them. The neuronal classifier used is a window of a network Multi-layer Perceptron MLP (9-6-3-1) using the algorithm of retro-propagation of the gradient,
where the distributed central pixel uses information in gray level. The originality of the work lies in the use of the association of an enhanced neural network configuration and Standard Hough Transform. The results obtained with a momentum of 0.3 and one coefficient of training equal to 0.02 shows that our system is robust with an extremely appreciable computing time.


Neural network classifier; image processing; back-propagation network; detection and object extraction; Hough Transformer

Texte intégral :



A. Ghosh and K. P. Sankar, "Neural Network, self

organization, an object extraction", Pattern Recognition

Letters, volume 13, n°5, May (1992).

Resa Nekovei and Ying Sun,"Back-propagation network

audits configuration for blood vessel detection in angiograms" .IEEE Transactions on Neural Networks, Volume 6, N°1, January (1995).

Atiquzzaman M. Multiresolution Hough transforms—an

efficient method of detecting pattern in images. IEEE

Transactions on Pattern Analysis and Machine Intelligence

(1992); 14(11):1090-5.

Koshimizu H, Numada M.FIHT2 algorithm: a fast

incremental Hough transform. IEICE Transactions (1991);

E74 (10).

Philip KP, Dove EL, McPherson DD, Gotteiner NL, Stanford

W, Chandran KB. The fuzzy Hough transforms feature

extraction in medical images. IEEE Transactions on Medical

Imaging (1994); 13(2):235-40.

Choudhary AN, Ponnusarry R. Implementation and evaluation of Hough transform algorithm on a shared—memory

multiprocessor. Journal of Parallel and Distributed Computing (1991); 12:178–88.

Lotufo RA, Dagless EL, Milford DJ, Morgan AD, Morrissey

JF, Thomas BT. Hough transform for transputer arrays. In:

Proceedings of the third international conference on image

processing and its applications, IEEE proceedings, London,

(1994), pp. 122–33.

Tagzout S, Achour K, Djekoune O. Hough transform for

FPGA implementation. Elsevier Journal, Signal Processing

(2001); 81(6):1295–301.

Rumelhart D. E., J. McClelland and PDP Research group,

"Parallel Distributed Processing", Explorations in the Microstructure of recognition, volume 1, MIT Press, Cambridge, MA (1986).

Fnaiech F., M. Sayadi, et M. Najim, "Factored and fast

algorithms for training feed forward neural networks", ESST

de Tunis (1997).

Caplier A., F. Luthon et C. Dumantier, "Real time

implementations of an mrf-based motion detection algorithm, special issue on real-time motion analysis", Journal of real time imaging, vol. 4, n°1, February (1998), pp. 41-54.

T.Tuytelaars and L.Van Gool, “Matching Widely Separated

Views based on affinity Invariant Neighbourhoods”,

International Journal on Computer Vision, July (2003).

Kohonen T, "An introduction to neural networks", Neural

Networks 1, 3-16, (1988).

Qing Song, Jizhong Xiao and Yeng Chai Soh, "Robust back

propagation training algorithm for multilayered neural tracking controller", IEEE Transactions on Robotics and Automation, vol. 10, n°5, September (1999).

S.Baluja, , Evolution of an artificial neural network based

autonomous land vehicle controller, ALVINN, IEEE Transactions on Systems, Man and Cybernetics, Part B, Vol. 26, No. 3, June (1996), pp. 450-463

L. Paletta, E Rome and A. Pinz, "Visual object detection for autonomous sewer robots", IROS'99, Proceeding of the 1999 IEEE/RSJ, International Conference on Intelligent Robots

and automated Systems, Kyougju, South Korea, October

-21, (1999), pp. 1087-1093.

-Oualid A. Djekoune AO, AchourK, Zoubiri H. Segments

matching using a neural network approach. ACS/IEEE

International conference on computer systems and applications, AICCSA’ 01, June 25-29, (2001), Beirut,

Lebanon. pp. 103-105.

K. Achour, O. Djekoune, “Localisation and guidance with an embarked camera on a mobile robot”. Advanced Robotics,

(2002), (16:1).

Passold F., M.R Stemmer, "Feedback error learning neural

network applied to a Scara robot'', RoMoCo’04, Proceedings

of the fourth international workshop on robot motion and

control, June 17-20 (2004), Puszczykowo, Poland, pp. 197-202.

-K. Achour, O. Djekoune, “Incremental Hough transform: an improved algorithm for digital device implementation” Real

Time Imaging, Elsevier, (2004).


  • Il n'y a présentement aucun renvoi.

Direction des Publications et de l'animation scientifique

Université des Frères Mentouri Constantine 1. Route Ain El-Bey. 25000. Algérie.