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ABSTRACT
This work presents a novel pattern recognition approach for
the automatic analysis of ground penetrating radar (GPR)
images. The developed system comprises pre-processing,
segmentation, object detection and material recognition
stages. Object detection is done using an innovative
unsupervised strategy based on genetic algorithms (GA) that
allows to localize linear/hyperbolic patterns in GPR images.
Object material recognition is approached as a classification
issue, which is solved by means of a support vector machine
(SVM) classifier. Results on synthetic images show that the
proposed system exhibits promising performances both in
terms of object detection and material recognition.
Index Terms - Ground penetrating radar, buried
objects, genetic algorithms, support vector machine.
1. INTRODUCTION
The development of noninvasive techniques to extract
information about the underground has shown in the last
years a growing interest by public as well as private entities
related to different application fields, such as oil and gas
exploration, geology, conduits and pipes location, and
archaeology. Depending on the application, an appropriate
sensor is used for imaging the underground. In particular, for
the problem of detecting buried objects at small depths,
which is the focus of this work, the most frequently used
technique is based on the ground penetrating radar (GPR).
This technique consists in the transmission and reception of
electromagnetic waves by means of which it is aimed at
achieving an exploration depth of few meters with a
resolution of several centimeters. Typically, the
interpretation of the large amount of acquired and stored
GPR data requires a human operator with high skill and
experience, involving thus high costs in terms of time and
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2. OBJECT DETECTION
2.1. Pre-processing
A pre-processing procedure is implemented for solving three
main issues: 1) reducing noise; 2) eliminating the undesired
presence of the ground surface echo; and 3) compensating
propagation losses. Noise reduction is performed with a
median filter, while the elimination of the ground surface
echo is done by a simple average operation. A time-gain
filter is used to compensate signal amplitude, attenuated by
spreading and losses.
2.2. Segmentation
The resulting pre-processed image is subject to a modulus
operator for overcoming phase inversion problems, which
are generated by the presence of objects with particular
dielectric characteristics. Then the image is thresholded to
discriminate between objects and the background. This
binarization operation, which allows to put under light the
parts of the image containing potential targets, is based on
the fact that buried objects are generally associated with
relatively large amplitude echoes. It is implemented by
means of the Kapurs thresholding technique [5]-[6], which
relies on the entropy maximization principle.
2.3. Single object detection
The next step consists in identifying the targets in the
obtained binary image in a completely unsupervised way.
This is done by means of a search of linear and hyperbolic
patterns representing potential targets. This search problem
is viewed as a matching problem in which it is looked for the
set of best linear or/and hyperbolic patterns fitting the
content of the binary image. It is solved through a genetic
optimization framework where the chromosome models
apex position and curvature coefficient associated with the
candidate pattern. Each gene assumes a real value spanning
an interval depending on image dimension. The adopted
fitness function is the Hamming distance between the
content of the binary image and the image that contains the
pattern encoded by the candidate chromosome.
2.4. Multiple object detection
Since the image may contain several patterns, the GA is run
in cascade several times, each associated with the search of a
single pattern in the image. Once a pattern is identified, it is
removed from the image to allow the GA for searching for
another pattern in the next iteration. The process is stopped
when a new extracted pattern is statistically incompatible
with the previous ones. The last phase consists in converting
detected patterns into geospatial coordinates, i.e., in
localizing the object in the ground in terms of horizontal
position and depth from the ground surface. The conversion
from image to geospatial domain is possible knowing the
3. MATERIAL RECOGNITION
After the object detection, the next phase consists in
recognizing the material of localized objects. We solve this
problem by viewing it as a classification issue which will be
based on the analysis of the waveform of the received
signals and will require the definition of two main
components, namely a feature extraction strategy and a
classifier.
Since the apex position estimation performed by the
previously described detection method may be subject to
errors, a correction operation based on pattern energy
matching is first carried out. The feature extraction starts
hence from the knowledge of the apex position of the
detected pattern. In particular, a windowing operation
centered at the apex is applied for extracting the most
relevant signal amplitudes of the object. Afterwards, noise
effect is reduced through a mean operation performed over
adjacent traces. The result is a vector of waveform features,
each corresponding to a precise sampling time around the
object apex. Finally, the feature vector is normalized in the
range [0,1]. Thanks to normalization, the object features do
not depend neither on the dimension nor on the depth of the
object, but only on its dielectric characteristics.
Classification operation is performed by means of a
support vector machine (SVM) classifier [7]-[8]. The choice
of SVMs is motivated by their good generalization
capability and their low sensitivity to the curse of
dimensionality supported by the margin maximization
principle they are based on and their sparse representation of
the decision function.
4. EXPERIMENTAL DESIGN
In order to validate the proposed system, several sets of
experiments were conducted according to three phases
devoted to the assessment of: 1) the linear/hyperbolic pattern
detection method; 2) the material recognition method; and 3)
the global system, respectively.
In the first phase, 33 synthetic binary images conveying
hyperbolic and linear patterns in presence of noise were
produced. For each image, the parameters associated with
the patterns (i.e., number of patterns, position, curvature,
length, and thickness) were chosen randomly. Binary noise
was generated with a variable.
For the others phases, GPR images were generated
using the software GprMax [9]. This tool, developed using
the Finite Difference Time Domain (FDTD) method, allows
to simulate both two and three-dimensional acquisition
scenarios. In our case, two-dimensional scenarios were
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(b)
(a)
(c)
(e)
(f)
(d)
(g)
Fig. 1: Example of system evaluation on an archaeological scenario. (a) Simulated scenario; (b) Original GPR image; (c) Pre-processed
image; (d) Segmented image; (e) Segmented image with detected patterns; (f) Segmented image with detected patterns and their material
type; (g) Reconstructed scenario.
6. CONCLUSION
In this work, an innovative system for the automatic analysis
of GPR images has been presented. This system allows to
detect the presence in the ground of buried objects and to
estimate their position as well as their material type. After
the pre-processing and segmentation stages, the detection
operation is performed using a new iterative process based
on genetic algorithms, while the estimation of the material
type is handled as a classification issue solved by means of a
support vector machine classifier.
The obtained experimental results show that the
implemented
system
exhibits
very
encouraging
performances, in terms of both detection/positioning (error
of the order of few centimeters) and material recognition
(accuracy around 80%). The system appears efficient for the
automatic interpretation of GPR images in archaeological
explorations.
Work is in progress to improve further the implemented
system by considering additional characteristics that we have
not examined in this work, namely the size estimation and
the shape recognition of the detected buried objects.
REFERENCES
[1] L. Capineri, P. Grande, J. A. G. Temple, Advanced ImageProcessing Technique for Real-Time Interpretation of GroundPenetrating Radar Images, International Journal of Imaging
Systems and Technology, vol. 9, pp. 51-59, 1998.
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