Wireless endoscopy systems is a new innovative method widely used for gastrointestinal tract examination in recent decade. Wireless Micro-Ball endoscopy system with multiple image sensors is the newest proposed method which can make a full view image of the gastrointestinal tract. But still the quality of images from this new wireless endoscopy system is not satisfactory. It's hard for doctors and specialist to easily examine and interpret the captured images. The image features also are not distinct enough to be used for further processing. So as to enhance these low-contrast endoscopic images a new image enhancement method based on the endoscopic images features and color distribution is proposed in this work. The enhancement method is performed on three main steps namely color space transformation, edge preserving mask formation, and histogram information correction. The luminance component of CIE Lab, YCbCr, and HSV color space is enhanced in this method and then two other components added finally to form an enhanced color image. The experimental result clearly show the robustness of the method.
Abstract. Bio-inspired aggregation is one of the most fundamental behaviours that has been studied in swarm robotic for more than two decades. Biology revealed that the environmental characteristics are very important factors in aggregation of social insects and other animals. In this paper, we study the effects of different environmental factors such as size and texture of aggregation cues using real robots. In addition, we propose a mathematical model to predict the behaviour of the aggregation during an experiment.
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