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Fuzzy-syntactic approach to pattern recognition and scene analysis

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FUZZY-SYNTACTIC APPROACH TO PATTERN RECOGNITION
AND SCENE ANALYSIS

Marzena Bielecka
Department of Geoinformatics and Applied Computer Science
Faculty of Geology, Geophysics and Environmental Protection
AGH University of Science and Technology, Kraków, Poland
bielecka@[Link]

Marek Skomorowski, Andrzej Bielecki

Institute of Computer Science, Jagiellonian University, Kraków, Poland
{skomorowski,bielecki}@[Link]

Keywords: Syntactic pattern recognition, graph grammars, fuzzy graphs, parallel parsing, robot vision system.

Abstract: In syntactic pattern recognition an object is described by symbolic data. The problem of recognition is to
determine whether the describing mathematical structure, for instance a graph, belongs to the language
generated by a grammar describing the mentioned mathematical structures. So called ETPL(k) graph
grammars are a known class of grammars used in pattern recognition. The approach in which ETPL(k)
grammars are used was generalized by using probabilistic mechanisms in order to apply the method to
recognize distorted patterns. In this paper the next step of the method generalization is proposed. The
ETPL(k) grammars are improved by fuzzy sets theory. It turns out that the mentioned probabilistic approach
can be regarded as a special case of the proposed one. Applications to robotics are considered as well.

1 INTRODUCTION analyse the scene they act on (Ferber, 1999; Scheier

and Pfeifer, 1999). For instance in (Kok et al., 2005)
The fundamental idea in syntactic pattern so called coordination graphs are used for solving a
recognition is using of symbolic data like strings, behaviour management problem in a multi-robot
trees and graphs for representation of a class of system. In this graph a node represents an agent and
recognized objects (Chen et al., 1991; Fu, 1982; an edge indices that a corresponding agents have to
Jakubowski, 1997; Jakubowski and Stąpor, 1999). coordinate their actions.
The general scheme of syntactic pattern recognition The use of graph grammars for syntactic pattern
and a scene analysis is following (Fu, 1982). After recognition is relatively rare because of difficulties
in building a syntax analyser of such grammars.
pre-processing the recognized object is segmented in
Therefore every result in building efficient parser for
order to recognize the primitives the pattern consists
graph grammars is valuable. An example of such
of and relations between them. Decision whether the result is a parser for, so called, ETPL(k) (embedding
analysed pattern representation belongs to the class transformation-preserving production-ordered k-left
of objects describing by a given grammar is made nodes unambiguous) grammars introduced in
basing on the parsing algorithm. This classical (Flasiński, 1993 and 1998). An efficient parsing
approach can be applied in robotics, for instance in algorithm for ETPL(k) graph grammars, which the
vision systems and in manufacturing for description computational complexity is O(n2), has been
and analysis of the production process (Chen et al., constructed in (Flasiński, 1993). The so-called IE
1991; Yeh et al. 1993). It seems also be effective for (indexed edge-unambiguous) graphs have been
applying in multi-agent systems, particularly in defined in (Flasiński, 1993) for a description of
embodied cognitive ones because such agents should pattern (scenes) in syntactic pattern recognition.
be equipped with symbolic and explicit Nodes in an IE graph denote pattern primitives.
representation of the surrounding world in order to Edges between two nodes in an IE graph represent

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ICINCO 2007 - International Conference on Informatics in Control, Automation and Robotics

spatial relations between pattern primitives. a) b)

However, in practice, structural descriptions may
contain pattern distortions. An idea of a probabilistic
improvement of syntactic recognition of distorted
patterns represented by graphs is described in
(Flasiński and Skomorowski, 1998, Skomorowski
1998) and (Skomorowski, 1999). To take into
account all variations of a distorted pattern under
study, a probabilistic description of the pattern was
introduced. A random IE graph approach (Flasiński
and Skomorowski, 1998, Skomorowski, 1999, Figure 1: Holes in plate and their graph representation.
Skomorowski, 2000) is proposed for such a
description and an efficient parsing algorithm for IE 2.2 Second Example
graphs is presented. Its computational complexity is
O(n2) as well. Considering the previous example assume that
The purpose of this paper is to present an idea of robotic inspection of technological process is based
approach to syntactic recognition of fuzzy patterns on statistical distribution of inaccuracy frequencies
represented by fuzzy IE graphs, followed the (Flasiński and Skomorowski, 1998, Noori and
example of random IE graphs used for distorted Radford, 1995). If a hole is made in a sufficient
pattern description. It turns out that, in a way, the accuracy it is accept by the system. Not only the
fuzzy approach is a generalization of the hole shape but also its location should be taken into
probabilistic one. Fuzziness allows us not only consider. Since inaccuracies of holes location
described distortions in analysed patterns but also influence each other, the simple statistical analysis
give us possibility to describe in proper way patterns can be insufficient to make a decision. In such a case
that can not be presented univocally. Furthermore a fuzzy inference can be applied. Then, holes and
there are a wide class of problems in which objects their locations can be represented by fuzzy sets and
and/or spatial relations are described by fuzzy sets. membership functions can be calculated using the
statistical distribution according to the methodology
described in (Bielecka, 2006). Let, like in the first
example, the inspection system is based on a
2 MOTIVATIONS syntactic pattern recognition in which the holes are
represented by nodes of graphs and spatial relations
In this section a few example, in which the fuzzy- between holes by graph edges. In this example both
syntactic approach seems to be natural, are the graph nodes and its edges would be described as
presented. fuzzy sets. Automatic focusing vision system for
inspection of size and shape and positions of small
2.1 First Example holes in the context of precision engineering,
described in (Han and Han, 1999), is an example of
Assume that during a manufacturing process a a system performing such type of task.
robotic inspection system checks type of a hole in a
making elements, for instance plates, and spatial
2.3 Third Example
relations between holes. Assume also that there are a
few standard types of holes and circular and Consider an autonomous mobile agent. Assume that
quadratic ones are among them – Fig.1a. Let, it has to navigated in an unchanging environment. A
furthermore, the inspection system be based on a helicopter flying autonomously in a textured urban
syntactic pattern recognition approach in which the environment is an example of such agent (Muratet et
holes are represented by nodes of graphs and spatial al., 2005). As it has been already mentioned it
relations between holes by graph edges – see Fig.1b. should be equipped with symbolic representation of
A quadratic hole with rounded vertices can be the surrounding world in order to analyse the scene
regarded as a fuzzy object with partial membership they act on (Ferber, 1999; Scheier and Pfeifer,
to classes of both circular and quadratic holes – see 1999). Let its vision system be a syntactic one based
Fig.1. In this example nodes description as fuzzy on graph representation of the spatial relationships
sets is a natural approach. In this case membership
between obstacles the agent should navigate among.
functions describing fuzzy sets can be define basing
Let according to, for instance, the optimization
on axiomatic method (Bielecka, 2006).
requirements, the system prefers one direction but

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 FUZZY-SYNTACTIC APPROACH TO PATTERN RECOGNITION AND SCENE ANALYSIS

admits also another ones allowing to navigate applied to classical graphs (i.e. non-fuzzy ones) –
without collision. In such a case the scene would be example 3.
represented by a classical (i.e. not fuzzy) IE graph
but directions the agent can choice would be
represented by fuzzy sets – see Fig.2. The decision 3 FUZZY IE GRAPHS
making system would be based on fuzzy inference.
Recall a definition of IE graph (Flasiński, 1993).

Definition 3.1
An IE graph is a quintuple H=(V, E, Σ, Γ, ϕ) where:
V is a finite, non-empty set of nodes of a graph with
assigned indexes in univocally way,
Σ is a finite, non-empty set of node labels,
Γ is a finite, non-empty set of edge labels,
E is a set of graph edges represented by triplet
(v, λ, w) where v, w∈V, λ∈Γ and an index of v
is smaller than an index of w,
ϕ:V→Σ is a nodes labeling function.

Let us assume that, due to pattern fuzziness, possible

Figure 2: Detection of possible directions of motion.
IE graphs associated with a given example pattern
(scene) may look like IE graphs shown in Fig.3.
2.4 Fourth Example
(a) (b)
Let us consider computer-aided analysis and
recognition of pathological wrist bone lesions
(Tadeusiewicz and Ogiela, 2005; Ogiela et al.,
2006). This method consists on analysis of the
structure of the said bones based on palm
radiological images. During pre-processing Figure 3: Possible IE graphs describing a given scene.
operations in the examined X-ray images the bones
contours were separated and a graph representing In the case of the IE graph shown in Fig.3a fuzziness
bones and spatial relation between them was concerns pattern primitives represented by the node
spanned. In the beginning, spatial relationships 2 labeled by tree and the node 3 labeled by bus. In
given by the graph edges were represented by single the case of the IE graph shown in Fig.3b fuzziness
directions (Tadeusiewicz and Ogiela, 2005) but later concerns a pattern primitive represented by the node
each basic spatial relationship was represented as 4 labeled by bus and a spatial relation between
angular interval (Ogiela et al., 2006). The second pattern primitives represented by the edge
approach can be interpreted in such a way that every connecting the node 3 with the node 4. Assume that
basic spatial relationship is described as a fuzzy set both labeled objects in nodes of a graph and spatial
for which its membership function has positive relations are represented by fuzzy sets of a first order
values on the specified angular interval and is equal (Zadeh L.A., 1965) with membership functions μi
to zero outside this interval. It should be mentioned and νi respectively. Let, furthermore, the set of all
that in (Ogiela et al., 2006) such interpretation was objects Σ be m-elemental and the set of all spatial
not considered. relations be k-elemental. Let us define, informally, a
Recapitulating, four examples in which various fuzzy IE graph as an IE graph in which nodes labels
are replaced by a vector μ = [µ1,...,µm] of values of
aspects of possibility of improve syntactic
membership functions μi, i∈{1,...,m} and edges
approach by fuzzy sets has been discussed. The
labels are replaced by vector ν = [ν1,...,νk] of values
classical IE graphs can be generalized by including of membership functions νj, j∈{1,...,k}.
fuzzy sets to description their nodes (example 1), Let propose a formal definition of a fuzzy IE
edges (example 4), both the nodes and edges graph
(example 2) and fuzzy inference approach can be

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ICINCO 2007 - International Conference on Informatics in Control, Automation and Robotics

Definition 3.2 being a function of n variables can be introduced:

A fuzzy IE graph is a quintuple H=(V, E, Σ, Γ, Φ)
where: n n −1

V is a finite, non-empty set of nodes of a graph with T (a1 ,..., an ) = T (ai ) = T ( T (ai ), an ) (4)
i =1 i =1
assigned indices in univocal way, Having a fuzzy IE graph R the fuzzy measure of an
Σ is a finite, non-empty set of node labels, outcome graph r is calculated as
containing, say, n elements, P S
Γ is a finite, non-empty set of edge labels, λ (r ) = T ( T ( μ αf (α ) ), T (ν gβ( β ) )) (5)
p =1 s =1
containing, say, k elements,
E = V× Θ ×V is a set of fuzzy graph edges
where α is a number of a regarded node, β is a
represented by triplet (v, Θs, w) where v, w∈V number of an edge, f(α) - is a chosen component
and i(v) < i(w) i.e. an index of v is smaller than an number of a vector μα whereas g(β) is a number of
index of w, Θ = [Θ1 ,..., Θ k ] is represented by
s s s
component of a vector νβ. If a product is used as a T-
norm then the presented parsing (see section 4) is
[(λ1 ,ν 1s ),..., (λk ,ν ks }] where ν is is a value of a identical as the random parsing described in
membership function of succeeding edge labels (Skomorowski, 1998). In calculations presented in
for a s-th edge, the next section the minimum Tm-norm is used.
Φ: V → Π1×…×Πm where for every nodes
Φ (ν i ) = (Π1i ,..., Π im ) where Π ik = (σ k , μ ki ) , 4 PARALLEL PARSING
σ k ∈ Σ , μ ki is a value of a membership function
Given an unknown pattern represented by a fuzzy IE
of succeeding nodes labels for an i-th node. graph R, the problem of recognition of a pattern
under study is to determine if an outcome IE graph r,
The fuzzy measure of an outcome IE graph, obtained from the fuzzy IE graph R, belongs to a
obtained form a given fuzzy IE graph, is equal to the graph language L(G) generated by an ETPL(k) graph
value of T-norm of the values components of the grammar G. In the proposed parallel and cut-off
node and edge vectors. Recall axiomatic definition strategy of fuzzy IE graph parsing for an efficient,
of T-norms which is given in, for instance, that is with the computational complexity O(n2),
(Rutkowski, 2005) - definition 4.22, page 80. analysis of fuzzy patterns (scenes) a number of
simultaneously derived graphs is equal to a certain
Definition 3.3 number limit. In this case, derived graphs spread
through the search tree, but only the best, that is with
T-norm is a function T:[0,1]×[0,1]→[0,1] satisfying maximum measure value, limit graphs are expanded.
the following axioms: Let us consider a graph shown in Fig.4a and a
(i) T(a,b) = T(b,a), production shown in Fig.4b. Suppose that the
(ii) T( T(a,b),c ) = T( a,T(b,c) ), embedding transformation for the production shown
(iii) if a ≤ b and c ≤ d then T(a,b) ≤ T(c,d), in Fig.4b is C(r, input) = {(d, b, r, input)} and C(u,
(iv) T(a,0) = 0 and T(a,1) = a. output) = {(e, B, r, input)}. During a derivation, a
non-terminal A in the node 2 of a graph shown in
Theorem Fig.4a is removed and the graph of the production
The functions Tm and Tu given by the formulae shown in Fig.4b is put in the place of the removed
non-terminal A. The first item of the embedding
transformation for the production: C(r,input) = {(d,
Tm(a,b) = min{a,b} and Tu(a,b) = a⋅b (1) b, r, input)} means that the edge r of the graph
shown in Fig.4a should connect the node d of the
are T-norms. The function Tw given by the formulae production graph with the node b of the graph shown
in Fig.4a. The second item of the embedding
Tw(a,1) = a, Tw(a,b) = 0 for a≠1 and b≠1 (2) transformation for the production: C(u, output) =
is a T-norm as well. Furthermore, for every {(e, B, r, input)} means that the edge u of the graph
a,b∈[0,1] if a function T is a T-norm then shown in Fig. 4a should be replaced by the edge r
connecting the node e of the production graph with
the node B of the graph shown in Fig.4a. Thus, after
Tw(a,b) ≤ T(a,b) ≤ Tm(a,b) (3)
the application of the production shown in Fig.4b to
Thanks to the property (ii) in Definition 3.3 T-norm

32
 FUZZY-SYNTACTIC APPROACH TO PATTERN RECOGNITION AND SCENE ANALYSIS

the node indexed by 2 of the graph shown in Fig.4a C(r, input) = {(b, a, r, input)}
we obtain a graph shown in Fig.4c. C(t, output) = {(b, A, t, output), (a, A, r, input)}

(3)
C(r, input) = {(d, a, r, input)}
C(t, output) = {(d, A, t, output), (E, A, r, input)}

(4)
C(s, input) = {(d, a, s, input)}

Figure 4: An example derivation step in an ETPL(k) graph (5)

grammar.
C(s, input) = {(d, a, s, input)}, C(t, input) = {(d, b, t, input)}
Suppose that we analyze an unknown fuzzy pattern C(r, output) = {(d, c ,r, output)}, C(v, output) = {(d, D ,v, output)}
represented by a fuzzy IE graph shown in Fig.5. (for
clarity, only non-zero membership functions vectors (6)
components are specified).

C(s, input) = {(d, a, s, input)}, C(t, input) = {(d, b, t, input)}

C(r, output) = {(d, c ,r, output), (d, a, r, output)}
C(v, output) ={(d, D ,v, output)}

(7)

C(s, input) = {(b, a, s, input)}, C(t, input) = {(b, b, t, input)}

C(r, output) = {(b, c, r, output),(b, a, r, output)}
C(v, output) = {(b, D , v, output)}

(8)

Figure 5: An example fuzzy IE graph representing an C(s, input) = {(g, b, s, input)}

unknown distorted pattern. C(v, output) = {(g, f, v, output)}

(9)
Let us assume that a number of simultaneously
derived graphs is equal to 2 (that is limit = 2). C(s, input) = {(a, b, s, input)}, C(v, output) = {(a, f, v, output)}
Furthermore let us assume that we are given an
ETPL(k) graph grammar G with a starting graph Z (10)
shown in Fig.6 and a set of productions shown in
Fig.7. C(t, input) = {(g, a, t, input)}
C(v, input) = {(h, d ,u, input), (h, b, u, input)}

(11)
C(t, input) = {(a, a, t, input)}
C(v, input) = {(b, d, u, input), (b, b, u, input)}

Figure 7: A set of productions of an ETPL(k) graph.

grammar G.
Figure 6: A starting graph Z of an example ETPL(k) graph
grammar G.
In the first step of the derivation, after the
application of the production (1), shown in Fig.7, to
(1)
the node indexed by 2 of the starting graph Z, shown
C(r, input) = {(b, a, r, input)} in Fig.6, we obtain a graph q1 shown in Fig.8a.
C(t, output) = {(b, A, t, output), (c, A, r, input)} Similarly, after the application of the production (2)
(2)

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ICINCO 2007 - International Conference on Informatics in Control, Automation and Robotics

to the node indexed by 2 of the starting graph Z we The contributions of nodes indexed by 6 of the
obtain a graph q2 shown in Fig.8b. The graphs q1 graphs q1,6 and q1,7 are not taken into account in this
case as the node indexed by 6 and labeled by F in
(a) (b) the graph q1,7 is not a terminal one. Consequently,
the contribution of the edge connecting nodes
indexed by 3 and 6 as well as the contribution of the
edge connecting nodes indexed by 6 and 7 in the
graphs q1,6 and q1,7 are not taken into account.
Similarly, we compute the following values: λ(q2,6)
Figure 8: Derived graphs q1 and q2. = 0.2 and λ(q2,7) = 0.2. As λ(q1,6) > λ(q1,7) > λ(q2,6)
= λ(q2,7) we choose the graphs q1,6 and q1,7 for
and q2 (Fig.8) are admissible for further derivation, further derivation, that is we choose two graphs with
that is they can be outcome graphs obtained from the maximum value (limit = 2). Similarly, in two next
fuzzy IE graph shown in Fig.5. The application of the steps of derivation the final outcome IE graph is
production (3) to the node indexed by 2 of the obtained – see Fig.11. The derived graph q1,7,10,8 is
starting graph Z does not lead to a graph which can also an outcome IE graph obtained from the parsed
be an outcome graph obtained from the fuzzy IE fuzzy IE graph shown in Fig.5.
graph shown in Fig.5. Thus, a graph obtained after
the application of the production (3) to the node
indexed by 2 of the starting graph Z is not
admissible for further derivation. As in the analyzed
example a number of simultaneously derived graphs
is equal to 2 we expand the graphs q1 and q2 in the
second step of derivation.

In the second step of derivation, after the application

of the productions (6) and (7) (Fig.7) to the node
indexed by 3 of the graph q1 (Fig.8a) we obtain Figure 9: Derived graphs q1,6 and q1,7.
graphs q1,6 and q1,7 shown in Fig.9. Similarly, after
the application of the productions (6) and (7) to the
node indexed by 3 of the graph q2 (Fig.8b) we obtain
graphs q2,6 and q2,7 shown in Fig.10. The
application of the production (5) to the node indexed
by 3 of the graphs q1 and q2 (Fig.8) leads to graphs
which can not be outcome graphs obtained from the
fuzzy IE graph shown in Fig.5, as they miss the node
indexed by 7 and labeled by f of the fuzzy IE graph
shown in Fig.5. Thus, graphs obtained after the
application of the production (5) to the nodes
Figure 10: Derived graphs q2,6 and q2,7.
indexed by 3 of the graphs q1 and q2 (Fig.8) are not
admissible for further derivation. The graphs q1,6,
q1,7 (Fig.9) and q2,6, q2,7 (Fig.10) are admissible for
further derivation, that is they can be outcome
graphs obtained from the fuzzy IE graph shown in
Fig.5.
Because in the analyzed example a number of
simultaneously derived graphs is equal to 2 we
should choose only two graphs from among the
graphs q1,6, q1,7 (Fig.9) and q2,6, q2,7 (Fig.8) for
further derivation. In order to do it, compute the
following values: λ(q1,6) = 0.7 and λ(q1,7) = 0.3. Figure 11: A derived graph q1,7,10,8.

34
 FUZZY-SYNTACTIC APPROACH TO PATTERN RECOGNITION AND SCENE ANALYSIS

5 CONCLUSIONS Jakubowski R., 1997. Structural approach to modeling and

analysis of 2D-shapes, Bulletin of the Polish Academy
of Sciences – Technical Sciences, 45, 373-387.
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Jakubowski J., Stąpor K., 1999. Structural method in
approach to recognition of fuzzy patterns
perceptual organization of 2D-curve detection,
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scene analysis with references to robotics (Han and 324.
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