Density Based Smart Traffic Control System Using Canny Edge Detection

Algorithm for Congregating Traffic Information

INDEX

ABSTRACT

Background introduction

Goals

Objectives

Existing system

Proposed system

Details

Scope of the project

Module description

Software and hardware requirements

Literature overview

System architecture

Uml diagrams

SCREEN SHOTOS
CONCLUSTION

REFERENCES
 ABSTRACT

As the problem of urban traffic congestion intensifies, there is a pressing need for the introduction of advanced technology and

equipment to improve the state-of-theart of traffic control. The current methods used such as timers or human control are proved

to be inferior to alleviate this crisis. In this paper, a system to control the traffic by measuring the realtime vehicle density using

canny edge detection with digital image processing is proposed. This imposing traffic control system offers significant

improvement in response time, vehicle management, automation, reliability and overall efficiency over the existing systems.

Besides that, the complete technique from image acquisition to edge detection and finally green signal allotment using four sample

images of different traffic conditions is illustrated with proper schematics and the final results are verified by hardware

implementation.
 Background introduction

Traffic congestion is one of the major modern-day crisis in every big city in the world. Recent study of World Bank

has shown that average vehicle speed has been reduced from 21 km to 7 km per hour in the last 10 years in Dhaka [1].

Intermetropolitan area studies suggest that traffic congestion reduces regional competitiveness and redistributes

economic activity by slowing growth in county gross output or slowing metropolitan area employment growth [2].As

more and more vehicles are commissioning in an already congested traffic system, there is an urgent need for a whole

new traffic control system using advanced technologies to utilize the already existent infrastructures to its full extent.

Since building new roads, flyovers, elevated expressway etc. needs extensive planning, huge capital and lots of time;

focus should be directed upon availing existing infrastructures more efficiently and diligently.

Previously different techniques had been proposed, such as infra-red light sensor, induction loop etc. to

acquire traffic date which had their fair share of demerits. In recent years, image processing has shown promising

outcomes in acquiring real time traffic information using CCTV footage installed along the traffic light. Different

approaches have been proposed to [3], some of the work calculate number of vehicles [4- 6].These methods have

shown promising results in collecting traffic data. However, calculating the number of vehicles may give false results

if the intravehicular spacing is very small (two vehicles close to each other may be counted as one) and it may not

count rickshaw or auto-rickshaw as vehicles which are the quotidian means of traffic especially in South-Asian

countries. And counting number of pixels has disadvantage of counting insubstantial materials as vehicles such as

footpath or pedestrians. Some of the work have proposed to allocate time based solely on the density of traffic. But

this may be disadvantageous for those who are in lanes that have less frequency of traffic.

Edge detection technique is imperative to extract the required traffic information from the CCTV footage. t

can be used to isolate the required information from rest of the image. There are several edge detection techniques

available. They have distinct characteristics in terms of noise reduction, detection sensitivity, accuracy etc. Among

them, Prewitt [7], canny [8],Sobel [9], Roberts and LOG are most accredited operators. It has been observed that the

Canny edge detector depicts higher accuracy in detection of object with higher entropy, PSNR(Peak Signal to Noise

Ratio), MSE(Mean Square Error) and execution time compared with Sobel, Roberts, Prewitt, Zero crossing and LOG

[10-12].Here is a comparison between distinct edge detection techniques [13].

 In this paper, a system in which density of traffic is measured by comparing captured image with

real time traffic information against the image of the empty road as reference image is proposed. Here, in figure 1, the

block diagram for proposed traffic control technique is illustrated.

 Goals

In this paper, a system in which density of traffic is measured by comparing captured image with real time traffic

information against the image of the empty road as reference image is proposed
 Objectives Existing system

a system to control the traffic by measuring the realtime vehicle density using canny edge detection with digital image

processing is proposed. This imposing traffic control system offers significant improvement in response time, vehicle

management, automation, reliability and overall efficiency over the existing systems. Besides that, the complete technique from

image acquisition to edge detection and finally green signal allotment using four sample images of different traffic conditions is

illustrated with proper schematics and the final results are verified by hardware implementation.
 Existing System :

Traffic congestion is one of the major modern-day crisis in every big city in the world. Recent study of World Bank

has shown that average vehicle speed has been reduced from 21 km to 7 km per hour in the last 10 years in Dhaka [1].

Intermetropolitan area studies suggest that traffic congestion reduces regional competitiveness and redistributes

economic activity by slowing growth in county gross output or slowing metropolitan area employment growth [2].As

more and more vehicles are commissioning in an already congested traffic system, there is an urgent need for a whole

new traffic control system using advanced technologies to utilize the already existent infrastructures to its full extent.

Since building new roads, flyovers, elevated expressway etc. needs extensive planning, huge capital and lots of time;

focus should be directed upon availing existing infrastructures more efficiently and diligently.

Previously different techniques had been proposed, such as infra-red light sensor, induction loop etc. to

acquire traffic date which had their fair share of demerits. In recent years, image processing has shown promising

outcomes in acquiring real time traffic information using CCTV footage installed along the traffic light. Different

approaches have been proposed to glean traffic data. Some of them count total number of pixels [3], some of the work

calculate number of vehicles [4- 6].These methods have shown promising results in collecting traffic data. However,

calculating the number of vehicles may give false results if the intravehicular spacing is very small (two vehicles close

to each other may be counted as one) and it may not count rickshaw or auto-rickshaw as vehicles which are the

quotidian means of traffic especially in South-Asian countries. And counting number of pixels has disadvantage of

counting insubstantial materials as vehicles such as footpath or pedestrians. Some of the work have proposed to

allocate time based solely on the density of traffic. But this may be disadvantageous for those who are in lanes that

have less frequency of traffic

 Proposed System :

Edge detection technique is imperative to extract the required traffic information from the CCTV footage. It can be

used to isolate the required information from rest of the image. There are several edge detection techniques available.

They have distinct characteristics in terms of noise reduction, detection sensitivity, accuracy etc. Among them, Prewitt

[7], canny [8],Sobel [9], Roberts and LOG are most accredited operators. It has been observed that the Canny edge

detector depicts higher accuracy in detection of object with higher entropy, PSNR(Peak Signal to Noise Ratio),

MSE(Mean Square Error) and execution time compared with Sobel, Roberts, Prewitt, Zero crossing and LOG [10-

12].Here is a comparison between distinct edge detection techniques [13].

In this paper, a system in which density of traffic is measured by comparing captured image with real time

traffic information against the image of the empty road as reference image is proposed. Here, in figure 1, the block

diagram for proposed traffic control technique is illustrated

 Scope of the project

In this paper, a smart traffic control system availing image processing as an instrument for measuring the density has

been proposed. Besides explaining the limitations of current near obsolete traffic control system, the advantages of

proposed traffic control system have been demonstrated. For this purpose, four sample images of different traffic

scenario have been attained. Upon completion of edge detection, the similarity between sample images with the

reference image has been calculated. Using this similarity, time allocation has been carried out for each individual

image in accordance with the time allocation algorithm

 Module description

1) Pre-processing

2) Calculating gradients

3) Non-maximum suppression

4) Thresholding with hysterysis

 Software and hardware requirements

HARDWARE REQUIREMENTS:

System : Pentium Dual Core.

Hard Disk : 120 GB.

Monitor : 15’’ LED

Input Devices : Keyboard, Mouse

Ram : 1 GB

SOFTWARE REQUIREMENTS:

Operating system : Windows 7.

Coding Language : JAVA/J2EE

Tool : Netbeans 7.2.1

Database : MYSQL
 Literature overview

M. Sweet, “Traffic Congestion’s Economic Impacts: Evidence from US Metropolitan

Regions,” Urban Studies, vol. 51, no. 10, pp. 2088–2110, Oct. 2013

Traffic congestion alleviation has long been a common core transport policy objective, but it remains

unclear under which conditions this universal byproduct of urban life also impedes the economy. Using

panel data for 88 US metropolitan statistical areas, this study estimates congestion’s drag on employment

growth (1993 to 2008) and productivity growth per worker (2001 to 2007). Using instrumental variables,

results suggest that congestion slows job growth above thresholds of approximately 4.5 minutes of delay

per one-way auto commute and 11,000 average daily traffic (ADT) per lane on average across the regional

freeway network. While higher ADT per freeway lane appears to slow productivity growth, there is no

evidence of congestion-induced travel delay impeding productivity growth. Results suggest that the strict

policy focus on travel time savings may be misplaced and, instead, better outlooks for managing

congestion’s economic drag lie in prioritising the economically most important trips (perhaps through road

pricing) or in providing alternative travel capacity to enable access despite congestion

Md. Munir Hasan, Gobinda Saha, Aminul Hoque and Md. Badruddoja Majumder, “Smart

Traffic Control System with Application of Image Processing Techniques,”in 3rd

International Conference on Informatic Electronics & Vision, Dhaka, May 2014.

In this paper we propose a method for determining traffic congestion on roads using image processing techniques and a model for

controlling traffic signals based on information received from images of roads taken by video camera. We extract traffic density which

corresponds to total area occupied by vehicles on the road in terms of total amount of pixels in a video frame instead of calculating number

of vehicles. We set two parameters as output, variable traffic cycle and weighted time for each road based on traffic density and control

traffic lights in a sequential manner.

Vismay Pandit, Jinesh Doshi, Dhruv Mehta, Ashay Mhatre and Abhilash Janardhan,

“Smart Traffic Control System Using Image Processing,”International Journal of Emerging

Trends & Technology in Computer Science (IJETTCS), Vol. 3, Issue 1, January – February

2014

In this paper we propose a method for determining traffic congestion on roads using image processing techniques and a model for

controlling traffic signals based on information received from images of roads taken by video camera. We extract traffic density which

corresponds to total area occupied by vehicles on the road in terms of total amount of pixels in a video frame instead of calculating number

of vehicles. We set two parameters as output, variable traffic cycle and weighted time for each road based on traffic density and control

traffic lights in a sequential manner.

Pallavi Choudekar, Sayanti Banerjee and M. K. Muju, “Implementation of image processing

in real time traffic light control,” in3rd International Conference on Electronics Computer

Technology, April, 2011.

In this paper we propose a method for determining traffic congestion on roads using image processing

techniques and a model for controlling traffic signals based on information received from images of

roads taken by video camera. We extract traffic density which corresponds to total area occupied by

vehicles on the road in terms of total amount of pixels in a video frame instead of calculating number

of vehicles. We set two parameters as output, variable traffic cycle and weighted time for each road

based on traffic density and control traffic lights in a sequential manner.

 SYSTEM ARCHITECTURE

In this section, image preprocessing is performed to convert the raw images into more accessible form for edge

detection purpose. At first, four images of different traffic scenario are selected and image of the empty road is chosen

as reference image. All the images are then resized into 400*400 pixel using the following formula for constant spatial

resolution and greater computational efficiency. Original height/original width*new width = new height (1) Original

width/original height*new height = new width (2) As grayscale image has superior signal to noise ration compared to

RGB image, it is advantageous to convert RGB images into grayscale for further processing. When converting an

RGB image to grayscale, it is pertinent to consider the RGB values for each pixel and make as output a single value

reflecting the brightness of that pixel. One of the approaches is to take the average of the contribution from each

channel: (R+B+C)/3. However, since the perceived brightness is often dominated by the green component, a different,

more "humanoriented", method is to consider a weighted average: I=0.3R + 0.59G + 0.11B (3) Since Gaussian noise

is the preeminent source of noise in digital image, the cardinal purpose of applying Gaussian filter is to eliminate these
noises. This step is crucial to impede noises associated with the digital images detected as false edge. The equation

for a Gaussian filter kernel of size (2k+1)*(2k+1) is given by, the Gaussian kernel will affect the performance of the

detector. The larger the size is, the lower the detector’s sensitivity to noise. Additionally, the localization error to

detect the edge will slightly increase with the increase of the Gaussian filter kernel size. A 5×5 is an appropriate size

for most cases, but this will also vary depending on specific

situations. A 5×5 Gaussian filter with sigma=1.4 is used in this paper. Once a suitable kernel has been selected, then

the Gaussian smoothing can be performed using standard convolution methods. After image preprocessing the

resultant outputs are depicted

 Uml diagrams

UML stands for Unified Modeling Language. UML is a standardized general-

purpose modeling language in the field of object-oriented software engineering. The

standard is managed, and was created by, the Object Management Group.

The goal is for UML to become a common language for creating models of

object oriented computer software. In its current form UML is comprised of two

major components: a Meta-model and a notation. In the future, some form of method

or process may also be added to; or associated with, UML.

The Unified Modeling Language is a standard language for specifying,

Visualization, Constructing and documenting the artifacts of software system, as

well as for business modeling and other non-software systems.

The UML represents a collection of best engineering practices that have

proven successful in the modeling of large and complex systems.

The UML is a very important part of developing objects oriented software

and the software development process. The UML uses mostly graphical notations to

express the design of software projects.

GOALS:

The Primary goals in the design of the UML are as follows:

 1. Provide users a ready-to-use, expressive visual modeling Language so that

they can develop and exchange meaningful models.

2. Provide extendibility and specialization mechanisms to extend the core

concepts.

3. Be independent of particular programming languages and development

process.

4. Provide a formal basis for understanding the modeling language.

5. Encourage the growth of OO tools market.

6. Support higher level development concepts such as collaborations,

frameworks, patterns and components.

7. Integrate best practices.

USE CASE DIAGRAM:

A use case diagram in the Unified Modeling Language (UML) is a type of

behavioral diagram defined by and created from a Use-case analysis. Its purpose is

to present a graphical overview of the functionality provided by a system in terms

of actors, their goals (represented as use cases), and any dependencies between those

use cases. The main purpose of a use case diagram is to show what system functions

are performed for which actor. Roles of the actors in the system can be depicted.
CLASS DIAGRAM:

In software engineering, a class diagram in the Unified Modeling Language (UML)

is a type of static structure diagram that describes the structure of a system by

showing the system's classes, their attributes, operations (or methods), and the

relationships among the classes. It explains which class contains information.

SEQUENCE DIAGRAM:

A sequence diagram in Unified Modeling Language (UML) is a kind of interaction

diagram that shows how processes operate with one another and in what order. It is

a construct of a Message Sequence Chart. Sequence diagrams are sometimes called

event diagrams, event scenarios, and timing diagrams.

ACTIVITY DIAGRAM:

Activity diagrams are graphical representations of workflows of stepwise activities

and actions with support for choice, iteration and concurrency. In the Unified

Modeling Language, activity diagrams can be used to describe the business and
operational step-by-step workflows of components in a system. An activity diagram

shows the overall flow of control.

State chart diagram

Statechart diagram is used to describe the states of different objects in its life cycle. Emphasis is

placed on the state changes upon some internal or external events. These states of objects are

important to analyze and implement them accurately.

Statechart diagrams are very important for describing the states. States can be identified as the

condition of objects when a particular event occurs.

Before drawing a Statechart diagram we should clarify the following points −

 Identify the important objects to be analyzed.

 Identify the states.

 Identify the events.

Following is an example of a Statechart diagram where the state of Order object is analyzed

The first state is an idle state from where the process starts. The next states are arrived for events

like send request, confirm request, and dispatch order. These events are responsible for the state

changes of order object.

Component diagram :

Component diagrams are used to describe the physical artifacts of a system. This artifact includes

files, executables, libraries, etc

The purpose of this diagram is different. Component diagrams are used during the implementation

phase of an application. However, it is prepared well in advance to visualize the implementation

details.
Initially, the system is designed using different UML diagrams and then when the artifacts are

ready, component diagrams are used to get an idea of the implementation.

This diagram is very important as without it the application cannot be implemented efficiently. A

well-prepared component diagram is also important for other aspects such as application

performance, maintenance, etc.

Before drawing a component diagram, the following artifacts are to be identified clearly −

 Files used in the system.

 Libraries and other artifacts relevant to the application.

 Relationships among the artifacts.

After identifying the artifacts, the following points need to be kept in mind.

 Use a meaningful name to identify the component for which the diagram is to be drawn.

 Prepare a mental layout before producing the using tools.

 Use notes for clarifying important points.

Following is a component diagram for order management system. Here, the artifacts are files.

The diagram shows the files in the application and their relationships. In actual, the component

diagram also contains dlls, libraries, folders, etc.

In the following diagram, four files are identified and their relationships are produced. Component

diagram cannot be matched directly with other UML diagrams discussed so far as it is drawn for

completely different purpose.

Deployement diagram :

Deployment diagram represents the deployment view of a system. It is related to the component

diagram because the components are deployed using the deployment diagrams. A deployment

diagram consists of nodes. Nodes are nothing but physical hardware used to deploy the

application.

Deployment diagrams are useful for system engineers. An efficient deployment diagram is very

important as it controls the following parameters −

 Performance

 Scalability

 Maintainability

 Portability

Before drawing a deployment diagram, the following artifacts should be identified −

 Nodes

 Relationships among nodes

Following is a sample deployment diagram to provide an idea of the deployment view of order

management system. Here, we have shown nodes as −

 Monitor

 Modem

 Caching server

 Server
The application is assumed to be a web-based application, which is deployed in a clustered

environment using server 1, server 2, and server 3. The user connects to the application using the

Internet. The control flows from the caching server to the clustered environment
 EXPLANATION AND SCREEN SHOTOS

In this paper author is describing concept to control or automate green traffic signal allotment time
based on congestion available at road side using Canny Edge Detection Algorithm. To implement
this technique we are uploading current traffic image to the application and application will extract
edges from images and if there is more traffic then there will be more number of edges with white
colour and if uploaded image contains less traffic then it will have less number of white colour
edges. Empty edges will have black colour with value 0. By counting number of non-zeroes white
pixels we will have complete idea of available traffic and based on that we will allocate time to
green signal. If less traffic is there then green signal time will be less otherwise green signal
allocation time will be more. To compare current traffic we will take one reference image with
high traffic and comparison will be done between uploaded image white pixels and reference
image white pixels. Using below code we will allocate time to green signal.

avg = (sample_pixels/refrence_pixels) *100 //in this step we are getting average white pixels
if avg >= 90: //if avg pixels > 90 percent then signal time will be 60 secs. Similarly apply for all
messagebox.showinfo("Green Signal Allocation Time","Traffic is very high allocation green
signal time : 60 secs")
if avg > 85 and avg < 90:
messagebox.showinfo("Green Signal Allocation Time","Traffic is high allocation green signal
time : 50 secs")
if avg > 75 and avg <= 85:
messagebox.showinfo("Green Signal Allocation Time","Traffic is moderate green signal time : 40
secs")
if avg > 50 and avg <= 75:
messagebox.showinfo("Green Signal Allocation Time","Traffic is low allocation green signal time
: 30 secs")
if avg <= 50:
messagebox.showinfo("Green Signal Allocation Time","Traffic is very low allocation green signal
time : 20 secs")

To implement this projects following modules are designed

Upload Image Module: In this module current traffic image will be uploaded to application and
then convert colour image into Gray Scale image format to have pixels values as black and white
colour.

Pre-process module: In this module Gaussian Filter will be applied on uploaded image to convert
image into smooth format. After applying filter Canny Edge Detection will be applied on image
to get edges from the image. Each vehicle will have white colour pixels and non-vehicle will have
black colour pixels.
White Pixel Count Module: Using this module we will count white pixels from canny image to get
complete traffic count

Calculate Green Signal Time Allocation Module: Based on white pixel count traffic signal time
will be calculated. How this time will be calculated is already explain in previous page.

Steps to upload image and get edges

Each lane will have a minimum amount of green signal duration allocated. According to the
percentage of matching allocated traffic light duration can be controlled. The matching is achieved
by comparing the number of white points between two images. The entire image processing before
edge detection i.e. image acquisition, image resizing, RGB to gray conversion and noise reduction
is explained in section II. At section III, canny edge detection operation and white point count are
depicted. Canny edge detector operator is selected because of its greater overall performance.
Percentage matching for different sample images and traffic time allocation for them are
demonstrated in section IV. The content of this paper completely serves the purpose of
demonstrating the limitations of current traffic control techniques and the solution of this
limitations with detailed explanation. Image matching by comparing detected edges is a novel
approach to identify the vehicular density with propitious accuracy. As far as we know, matching
images by comparing detected edges has not been used before for smart traffic control application.

Canny Edge Detection Algorithm Description

A lot of people consider the Canny Edge Detector the ultimate edge detector. You get clean, thin
edges that are well connected to nearby edges. If you use some image processing package, you
probably get a function that does everything. Here, I'll go into exactly how they work.

The canny edge detector is a multistage edge detection algorithm. The steps are:
1) Pre-processing
2) Calculating gradients
3) Non-maximum suppression
4) Thresholding with hysterysis

The two key parameters of the algorithm are - an upper threshold and a lower threshold. The upper
threshold is used to mark edges that are definitely edges. The lower threshold is to find faint pixels
that are actually a part of an edge.

The general criteria for edge detection include:

Detection of edge with low error rate, which means that the detection should accurately catch as
many edges shown in the image as possible.

The edge point detected from the operator should accurately localize on the center of the edge.
A given edge in the image should only be marked once, and where possible, image noise should
not create false edges.
To satisfy these requirements Canny used the calculus of variations – a technique which finds the
function which optimizes a given functional. The optimal function in Canny's detector is described
by the sum of four exponential terms, but it can be approximated by the first derivative of a
Gaussian.Among the edge detection methods developed so far, Canny edge detection algorithm is
one of the most strictly defined methods that provides good and reliable detection. Owing to its
optimality to meet with the three criteria for edge detection and the simplicity of process for
implementation, it became one of the most popular algorithms for edge detection.

To implement this project we are using 4 input images given in paper and on reference image.
Below are the images screen shots saved inside images folder

We can upload above 4 images to application to calculate traffic signal time.

Screen shots

To run this project double click on ‘run.bat’ file to get below screen
In above screen click on ‘Upload Traffic Image’ button to upload image.

In above screen I am uploading image B and now click on ‘Open’ button to load image
In above screen we got message as input image loaded. Now click on ‘Image Pre-processing Using
Canny Edge Detection’ button to apply Gaussian filter and to get canny edges, after clicking button
wait for few seconds till you get below screen with edges

In above screen left side image is the uploaded image and right side is the ‘Reference Image’, Now
close this above screen and click on ‘White Pixel count’ button to get white pixels from both
images
In above screen dialog box we can see total white pixels found in both sample and reference image.
Now click on ‘Calculate Green Signal Time Allocation’ button to get signal time

For that uploaded image we got message as it contains high traffic and signal time must be 60
seconds. Similarly you can upload any image and get output. Below is the output for image A
Above time for image A
 CONCLUSTION

In this paper, a smart traffic control system availing image processing as an instrument for measuring the density has

been proposed. Besides explaining the limitations of current near obsolete traffic control system, the advantages of

proposed traffic control system have been demonstrated. For this purpose, four sample images of different traffic

scenario have been attained. Upon completion of edge detection, the similarity between sample images with the

reference image has been calculated. Using this similarity, time allocation has been carried out for each individual

image in accordance with the time allocation algorithm. In addition, similarity in percentage and time allocation have

been illustrated for each of the four sample images using Python programming language. Besides presenting the

schematics for the proposed smart traffic control system, all the necessary results have been verified by hardware

implementation.
 REFERENCES

[1] Siddique, A. (2017). WB: Dhaka’s average traffic speed 7kmph. [online] Dhaka Tribune. Available at:

http://www.dhakatribune.com/bangladesh/dhaka/2017/07/19/dhakaaverage- traffic-speed-7-kmph/ [Accessed 25 Jul.

2017].

[2] M. Sweet, “Traffic Congestion’s Economic Impacts: Evidence from US Metropolitan Regions,” Urban Studies,

vol. 51, no. 10, pp. 2088–2110, Oct. 2013.

[3] Md. Munir Hasan, Gobinda Saha, Aminul Hoque and Md. Badruddoja Majumder, “Smart Traffic Control System

with Application of Image Processing Techniques,”in 3rd International Conference on Informatics, Electronics &

Vision, Dhaka, May 2014.

[4] Vismay Pandit, Jinesh Doshi, Dhruv Mehta, Ashay Mhatre and Abhilash Janardhan, “Smart Traffic Control

System Using Image Processing,”International Journal of Emerging Trends & Technology in Computer Science

(IJETTCS), Vol. 3, Issue 1, January – February 2014.

[5] Pallavi Choudekar, Sayanti Banerjee and M. K. Muju, “Implementation of image processing in real time traffic

light control,” in3rd International Conference on Electronics Computer Technology, April, 2011.

[6] T. Semertzidis, K. Dimitropoulos, A. Koutsia and N. Grammalidis, “Video sensor network for real-time traffic

monitoring and surveillance,”The Institution of Engineering and Technology, Volume 4, Issue 2, June 2010, pp. 103

– 112.

[7] Lei Yang, Dewei Zhao and Xiaoyu Wu, “An improved Prewitt algorithm for edge detection based on noised

image,”in 4th International Congress on Image and Signal Processing, Shanghai, China, October 2011.
[8] Weibin Rong, Zhanjing Li and Wei Zhang, “An improved canny edge detection algorithm,”in IEEE International

Conference on Mechatronics and Automation, August 2014.

[9] Wenshuo Gao, Xiaoguang Zhang and Lei Yang, “An improved Sobel edge detection,” in3rd International

Conference on Computer Science and Information Technology, July 2010.

[10] G.T. Shrivakshan and Dr.C. Chandrasekar, “A Comparison of various Edge Detection Techniques used in Image

Processing,”International Journal of Computer Science Issues, Vol. 9, Issue 5, No 1, September 2012.

[11] Pinaki Pratim Acharjya, Ritaban Das and Dibyendu Ghoshal, “Study and Comparison of Different Edge Detectors

for Image Segmentation,”Global Journal of Computer Science and Technology Graphics& Vision, Volume 12 Issue

13 Version 1.0 Year 2012.

[12] Jiaqiao He, Liya Hou and Weiyi Zhang, “A Kind of Fast Image Edge Detection Algorithm Based on Dynamic

Threshold Value,”Sensors & Transducers, Vol. 24, Special Issue, August 2013, pp. 179-183.

[13] S.K. Katiyar and P.V. Arun, “Comparative analysis of common edge detection techniques in context of object

extraction,”IEEE Transactions on Geoscience and Remote Sensing, Vol.50 no.