<title>Automated transformation-invariant shape recognition through wavelet multiresolution</title>

Abstract

The purpose of this study is to demonstrate the e#ciency of Wavelet Multi-Resolution Analysis (W-MRA) applied to automated shape recognition in an automatic vehicle driving scheme. Di#erent types of shapes have to be recognized in this framework. They pertain to most of the objects entering the sensors field of a car. These objects can be road signs, lane separation lines, moving or static obstacles, other automotive vehicles, or visual beacons. The recognition process must be invariant to global, a#ne or not, transformations which are : rotation, translation, scaling and perspective (wide angle camera lenses). It also has to be invariant to more local, elastic, deformations due to environmental conditions (weather : rain, mist, light reverberation) as well as optical or electrical noise.