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Abstract: This paper presents a method for classification of ship in image recorded by a stationary camera. This paper mainly discusses
the classification of ship by using image processing. Firstly, we extract and calculate the dimension and parameters of the ship by using
image processing techniques and then these parameters are given to the inputs of neural network, which classifies the ships into three
categories; small, medium and large. We use a feed forward neural network trained using the back-propagation learning algorithm to
classify the ships. We also provided the experimental results using actual data of ship which demonstrate the effectiveness of the
method. Moreover, we present a method to recognize the type of ship and also provided the graphical user interface (GUI) which
allows the user to simulate the classification result. The paper also discusses the present condition of Marine Watch System and gives
some issues to be considered. The objective of this study is to achieve the integration of the traditional navigation equipment with an
image processing system.
Keywords: Ship Classification, Image Processing, Neural Network, Marine Watch System.
ڣ໘⧚Ϣ⼲㒣㔥㒰䆚߿ᡔᴃ㠍㠊ߚ㉏ⱘᑨ⫼
䞥䲾Ѝ 1, 2 ᮑᳱ ع2
1.
㟾⍋⬉㋏㒳Ϣ⬉ᄤ㋏ˈ㓙⬌⍋џᄺˈӄ ˈܝ㓙⬌
2.
ଚ㠍ᄺ䰶ˈϞ⍋⍋џᄺˈ1550 ⌺ϰ䘧, Ϟ⍋ˈ200135, Ё
ᨬ 㽕˖ᴀ᭛ᦤߎϔ⾡Ѣ䴭ᗕ✻⠛ᇍ㠍া䖯㸠ߚ㉏ⱘᮍ⊩ˈЏ㽕䞛⫼ڣ໘⧚ᡔᴃDŽ佪ܜ៥Ӏ䗮䖛ڣ໘⧚ᡔᴃᇍ✻⠛ᦤপ
⡍ᕕˈ✊ৢᇚ䖭ѯ⡍ᕕЎሖࠡ⼲㒣㔥㒰ⱘ䕧ܹˈ䆹⼲㒣㔥㒰⫼ BP ㅫ⊩(ডӴ᪁ㅫ⊩)ᴹ䖯㸠, ⬅䆹⼲㒣㔥㒰ᇚ✻⠛Ё
ⱘ㠍াߚЎൟ㠍ǃЁൟ㠍ǃᇣൟ㠍ϝ㉏DŽ៥Ӏ⫼ⳳᅲⱘ㠍ⱘሎᇌᅲ偠ˈᅲ偠㒧ᵰ䆕ᯢњ䆹ᮍ⊩ⱘ᳝ᬜᗻDŽˈ៥Ӏᦤ
ߎϔ⾡䆚߿㠍া㉏ൟⱘᮍ⊩ˈ⫼᠋ৃҹ䗮䖛 GUI 䖯㸠ᢳᅲ偠DŽ᳔ৢˈᴀ᭛䖬䅼䆎њ"┰㠛ⲥ⌟㋏㒳"(Marine Watch System)
ⱘⷨお⦄⢊DŽᴀ᭛䆩ᇚڣ໘⧚ᡔᴃ䲚៤ࠄӴ㒳ⱘ㠍াᇐ㟾䆒Ёˈᑊ㦋ᕫњᕜདⱘ㒧ᵰDŽ
1. Introduction
Safer Navigation is very important issue to be considered. Therefore, ship detection and classification is very
important to prevent the ships from causing marine accidents. For the sea surveillance, if we only want to detect the
ships that are approaching the shore or other ships, radar system is the best choice. But radar only knows some
objects are approaching and it is hard to classify what kind of object it belongs to. Moreover, it cannot detect object
in its blind area. Automatic identification system (AIS) is required for the convention ships of 300 GT and over
when the SOLAS Chapter V as revised comes into force on July 1, 2002. Since the ships that weigh below 300 GT
have no duty to install, that is, not all vessels are installed with AIS and ships without AIS installed cannot be
detected and identified. Besides, AIS may be switched off under the dangerous condition. This might be the case in
sea area where pirates and armed robber are known to operate. Therefore, we should consider other possible ways
helping to get vessel information and identification of vessels that are not equipped with AIS and cannot be detected
by radar at sea. Under these circumstances, other marine watch support systems should be constructed and used
extensively.
Safer navigation can be made by image processing, that is, monitoring the other ships and tries to get
information via image processing techniques. This paper proposes a method for classification of ships by image
processing. A classification system like the one proposed here can provide important data for ship identification.
The system we propose consists of four stages.
Khin Hnin Thant: Postgraduate student, Instructor, MMU. khthant@gmail.com
Shi Chaojian, Proffessor, Shanghai Maritime University, cjshi@shmtuedu.cn
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x Image Acquisition
x Segmentation
x Feature Extraction
x Ship Classification
The paper is organized as follows: Section 1 is introduction; Section 2 describes an overview of our work and
then a description of our approach is presented; Section 3 experimental results of image processing result and actual
data results are presented; Section 4 discussion on idea for further work and finally conclusions are drawn in Section
5.
2.2 Segmentation
In the analysis of the objects in images it is essential that we can distinguish between the objects of interest and "the
rest." This latter group is also referred to as the background. The techniques that are used to find the objects of
interest are usually referred to as segmentation techniques - segmenting the foreground from background.
In detecting ships, segmentation of the image is to separate the ships from the background. There are various
approaches to this, with varying degrees of effectiveness. To be useful, the segmentation method needs to accurately
separate ships from the background, be fast enough to operate in real time, be insensitive to lighting and weather
conditions and require a minimal amount of initialization. In general, the more accurate the segmentation, the more
likely recognition is to succeed. In this paper we use two of the most common techniques: thresholding and edge
finding.
2.2.1 Thresholding
Threshold means pixel value set to discriminate dark and light intensities. This technique is based upon a simple
concept. A parameter called the brightness threshold is chosen and applied to the image f [i, j ] as follows:
If f [i, j ] t - f [i, j ] = object = 1
Else f [i, j ] = background = 0
This version of the algorithm assumes that we are interested in light objects on a dark background. For dark objects
on a light background we would use:
If f [i, j ] < - f [i, j ] = object = 1
Else f [i, j ] = background = 0
In this paper, we choose background which is simple and homogeneous so as to be easy and good for segmentation.
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Sobel operator
1 0 1 1 2 1
2 0 2 and 0 0 0
1 0 1 1 2 1
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however, in spite of the inaccuracies discovered, this method proved to be much quicker, more accurate, and more
adaptable to generic scenes.
Length overall
Water line
Base Line
Length between perpendiculars
Fig.3.The image of the ship: x and y denote the length and high of the ship in image
3. Ship Classification
Multilayered feed forward neural networks trained using the back propagation algorithm account for a majority of
applications on neural networks to real world problems. This is because BP is easy to implement and fast and
efficient to operate.
In this paper, we used feed forward neural networks trained using the BP algorithm to classify the ships. We
use the back propagation training function in Matlab toolbox to train feed forward neural network to solve
classification problem. Input vectors and the corresponding target vectors are used to train a network until it can
classify input vectors in an appropriate way as defined by us.
The configuration of the network is as follows:
Number of network layers : 3
Number of neurons in input layer : 8
Number of neurons in hidden layer : 17
Number of neurons in output layer : 2
The transfer function of hidden layer and output layer are ‘tansig’ and ‘logsig’. The training function of the network
is ‘trainlm’. The network classifies the ships into three categories.
In the multilayer feed forward network, each input vector is weighted with an appropriate weight, the sum of
the weighted inputs and the bias forms the input to the transfer function. Neurons use the differentiable transfer
function to generate their output. The network is trained with back propagation.
There are generally four steps in our training process:
i. Assemble the training data
ii. Create the network object
iii. Train the network
iv. Simulate the network response to new inputs
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Fig.4. An example of ship patterns in training sets (above row) and their noisy patterns (below)
Ship Classification
Classification
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4. Experiment
In this paper, the computer system and software configuration given below is used to implement and evaluate the
performance of the proposed dimension-based ship classification by image processing. We use the images with
600x400 pixels size. According to the data processing capability of computer hardware used in this experiment,
image processing works required an average time of 3.0 s.
x Main Computer System
CPU: Intel ® 1.66 GHz, Centrino Duo, 980 MHz, Main Memory: 504 MB
x Digital Image Acquisition Device: Sony DSC- W12
x Operation System: Windows XP Professional
x Software Development tool for image processing: MS Visual C++ 6.0
Software Development tool for training neural network: MATLAB 7
Classification Results
1. Classification Rate by Using Parameters in Image
99
97
95
93 Le ngth
91 He ight
89
87
85
small me dium large
ship ship ship
99
97
95
93 Le ngth
91 Height
89
87
85
small me dium large
ship ship ship
Small (under 5000 DWT); Medium (10000 DWT~50000 DWT); Large (above 70000 DWT)
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Both the generalization and approximation ability of a feed forward neural network are closely related to the
architecture of the network. Therefore, choosing an appropriate network architecture (which means the number of
layers and the number of hidden neurons) is an issue of paramount important. Answers to questions such as these
come more from experience than from mathematics. A large effort has to be devoted to this issue. To perform the
network with large size of training set is our goal. Also, the resolution of the input image vectors has to be increased.
To enable classification into a larger number of ship categories, we intend to integrate the network which is more
robust and speed up in the network convergence. This issue is under study.
Acknowledgement
The research work of this paper is partially sponsored by Shanghai Leading Academic Discipline Project, T0603
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