Signature is one of human biometrics that may change due to some factors, for example age, mood and environment, which means two signatures from a person cannot perfectly matching each other. A Signature Verification System (SVS) is a solution for such situation. The system can be decomposed into three stages: data acquisition and preprocessing, feature extraction and verification. This paper presents techniques for SVS that uses Freeman chain code (FCC) as data representation. Before extracting the features, the raw images will undergo preprocessing stage; binarization, noise removal, cropping and thinning. In the first part of feature extraction stage, the FCC was extracted by using boundary-based style on the largest contiguous part of the signature images. The extracted FCC was divided into four, eight or sixteen equal parts. In the second part of feature extraction, six global features were calculated against split image to test the feature efficiency. Finally, verification utilized Euclidean distance to measured and matched in k-Nearest Neighbors. MCYT bimodal database was used in every stage in the system. Based on the experimental results, the lowest error rate for FRR and FAR were 6.67 % and 12.44 % with AER 9.85 % which is better in term of performance compared to other works using that same database.
A heuristic algorithm to perform path planning for single manipulator in 2D environment containing deformable objects is presented. The environment is partitioned into a quadtree hierarchy for both sampling and space navigation use before combination of artificial potential field and heuristic reasoning are applied iteratively to generate feasible path for the manipulator. The algorithm specifically targets for the shortest path without damaging any objects due to deep collision depth between manipulator link and object. Resulting path is in turn to be used in generating micro-instruction controlling the manipulator. Implementation results show feasibility to solve problems involving simple object and manipulator configuration.
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