Cluster Computing

https://doi.org/10.1007/s10586-017-1604-y

An image edge recognition approach based on multi-operator

dynamic weight detection in virtual reality scenario
Yujing Chen1,2 · Dong Wang3 · Gongbing Bi4

Received: 27 November 2017 / Revised: 13 December 2017 / Accepted: 21 December 2017

© Springer Science+Business Media, LLC, part of Springer Nature 2018

Abstract
Virtual reality (VR) is based on graphics, images and sensors, and its simulation environment is a real-time and dynamic
three dimensions realistic image generated by computer. The detection and extraction method of image edge and contour
features is one of the research contents and hotspots in image detection, processing and analysis. Based on the traditional edge
detection algorithm, in this paper a dynamic weight edge detection method based on multi-operator is proposed, an image
edge detection system based on VR is developed, and the proposed algorithm is compared with the traditional method from the
aspects of continuity, smoothness, edge width, positioning accuracy and system performance of the edge. The results indicate
that this algorithm is the optimization and supplement of the traditional edge detection algorithm, has certain advantages in
continuity and positioning accuracy, and can achieve rapid detection of VR image edge, which provides a theoretical basis
for the research of VR image processing in the future.

Keywords Virtual reality · Image edge recognition · Operator · Dynamic weight

1 Introduction present, most applications of VR are based on the original

Virtual reality (VR) as an important direction of simula-
tion technology and the integrity technology of simulation
technology, computer graphics, man-machine interface tech-
nology, multimedia technology, sensor technology, network
technology and other technologies, is a very challenging
cross-technique forward discipline and research field. VR
mainly includes simulation environment, perception, natu-
ral skill and sensing equipment. Simulation environment is
the real-time and dynamic three-dimensional realistic image
generated by computer [14]. VR is widely used in many
fields including medicine, industry, and entertainment. At
B Dong Wang
wangdong@gzhu.edu.cn
1 School of Insurance, Guangdong University of Finance,
Guangzhou 510520, People’s Republic of China
2 School of Management, Guangdong University of
Technology, Guangzhou 510520, People’s Republic of China
3 School of Management, Guangzhou University, Guangzhou
510006, People’s Republic of China
4 School of Management, University of Science and
Technology of China, Hefei 230026, People’s Republic of
China
image, and the application effect is not ideal for the image
with fuzzy boundary Haubner, [11], therefore, the appropri-
ate method of image edge detection must be developed to
obtain better applications of VR in different fields. Image
edge detection as the most basic content in computer vision
and image processing [23], is an important problem that has
not been satisfactorily solved [1,15]. The research of human
visual system indicates that boundaries in images are very
important, and people tend to recognize an object just by
a rough outline. This fact provides important implications
for the study of machine vision [22], that the object can be
expressed by its boundary, and the primitive graph composed
of the discontinuous points of the gray scale in image can
carry most of the useful information of the original image.
The essence of edge detection is to extract the boundary
between object and background in image by adopting some
algorithm [24].
Edge is the most basic feature of image, and its detection as
the first stage of image processing by machine vision system,
is one of the classical research contents in the field of machine
vision, and the correctness and reliability of its results will
directly affect the understanding of the objective world by
the machine vision system [25]. Image edge detection as the
primary stage of vision has a long history of research with the

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continuous emergency of new theory and new method. On the
one hand, it shows the importance of this research direction,
on the other hand, it reflects its depth and difficulty. With the
development of computer vision and image processing tech-
nology, there is an urgent need for the breakthrough in the
early stage of vision and a better edge detection algorithm [3].
In recent years, the researches of image edge detection
algorithm have made great progress, from gradient analysis
to time-frequency analysis, from the classical Robert [20],
Davies [6], Canny [4], LoG [18] edge detection methods to
the new wavelet analysis, neural network analysis, genetic
algorithm and fuzzy algorithm. These algorithms can make
the quality of detected edge be higher, and better solve the
detection accuracy and anti-noise performance problems [5,
10,12]. But people often encounter a series of problems in
the process of selecting algorithms,
(1) Which method should be selected for the image bound-
ary detection in VR?
(2) Which method is better for detecting images?
(3) Are there any more convenient operation and more intu-
itive contrast?
Based on the above three questions, the edge detection
method based on multi-operator dynamic weight was pro-
posed in this paper on the basis of traditional edge detection
algorithm, and another detection scheme based on various
methods is designed, and then an operation system of image
boundary processing based on VR is developed.
2 Literature review
With the rapid development of VR, image processing by
VR has become a hot current issue [19]. In medicine,
image definition of VR affects doctors’ judgments and accu-
racy of the operation directly [14]. In industry, the image
edge detection of virtual display technology is related to
the accuracy of industrial production [21]. In 1959, Julez
has already mentioned the edge detection technology Julez,
[13], but he didn’t conduct the systematic research, while
the earliest systematic study of edge detection was con-
ducted by Roberts [20] in 1965, from then on, edge detection
has gradually coming into our view, and has been studied
by many experts and scholars at home and abroad. How-
ever, until now, there is still no perfect algorithm that can
fully meet the requirements of people, which makes many
experts and scholars still study this topic, and new the-
ories and methods have been continuously put forward,
which is still the reason why edge detection is still con-
cerned. From 1965 when Roberts began his research of
edge detection till now, with the perseverance of researchers,
new theories and methods have been continuously put for-
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ward, which can be simply divided into the following
categories:
2.1 Classical edge detection algorithm
Classical edge detection algorithm is based on original image
to locate the edge by getting the differential of the place where
the grey scale change in image is obvious, in short, by using
the gradient change between light and dark. Its biggest advan-
tage lies in its simplicity and effectiveness. The classical edge
detection algorithms mainly include Roberts operator, Sobel
operator, Prewitt operator, Canny operator, Kirsch operator,
Laplacian operator, LoG operator (see Table 1). However,
in practical applications, the pixel neighborhood is sensitive
to this, so the detected edge is wider, thus the edge thin-
ning operation is needed, but this reduces the positioning
accuracy. In order to improve this shortcoming, Laplacian
operator of Laplasse edge detection is proposed. Laplacian
operator is a second order differential operator, which effec-
tively improves the shortcomings of the first order differential
operator in some aspects. But because of their inherent char-
acteristics, they are susceptible to noise at work, so Marr and
Hildreth put forward the LOG (Laplacian of Gaussian) oper-
ator. This method will filter the image before detecting the
edge, and then use the Laplace operator to conduct the detec-
tion. After that, Canny found that the optimization operator
could be approximately replaced by the first-order derivative
of the Gaussian function, thus based on this, he proposed the
Canny operator Canny [4], and verified the effectiveness of
this operator in detection, location and single edge response.
2.2 Improved algorithm based on classical edge
detection algorithm
Most of the classical edge detection algorithms belonging to
differential algorithms are based on differential operations
in mathematics, which is relatively mature with the biggest
advantages of convenience, reliability and simple operation,
and has been widely used in many fields with significant
effects. For this reason, the improvement of classical algo-
rithms has become one of the research directions. Many
experts and scholars have made great efforts and obtained
fruitful results in this field. The traditional Canny edge detec-
tion operator was improved in this paper, which has obtained
good experimental results. Deriche et al. [7] proposed a new
algorithm for replacing convolution by highly recursive algo-
rithm, which effectively suppresses the influence of noise and
reduces the amount of calculation. Galvanin et al. combined
the Canny algorithm with nonlinear anisotropic diffusion
structure, and proposed an algorithm based on local differ-
ence [9].
 Table 1 Conclusion of classical edge detection algorithm
Algorithm Main idea
Roberts operator Find edges by using local
difference operators
Sobel operator Sharpening operator based on
gradient and difference principle
Prewitt operator First order differential operator
based on gray difference between
left and right, upper and lower
adjacent points of image pixels
Kirsch operator Each pixel is carried out the
convolution with 8 templates,
and its maximum value is used as
the edge output value
Laplacian operator Second-order differential operator
LoG operator Second-order differential operator
via high pass filtering
Canny operator Multi-level edge detection algorithm
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Pixel definition Problems
  2
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G (x, y) = [x f (i, j)]2 −  y f (i, j) This operator will produce relatively wide
response in the area around the edge of the
image, and the low precision of the edge point
is not very high. Therefore, when using Robert
operator to do image edge detection, the image
must be conducted with thinning operation to
increase the accuracy of the inspection
  
G (i, j) = max |x f (i, j)| ,  y f (i, j) It has better detection effect for the image with
gray gradient and low noise, while it is not
ideal for the image with mixed multiple
complex noises
  
G (i, j) = max |x f (i, j)| ,  y f (i, j) Every pixel whose gray value is greater than or
equal to the threshold is considered to be an
edge point. This judgment is unreasonable and
causes the misjudgment of edge points, because
the gray values of many noise points are also
large, moreover, the edge of the edge point with
smaller amplitude is lost
G (i, j) = max {|M0 | , |M1 | , . . . , |M7 |} Eight templates are adopted to process the edges
of detection image with large amount of
calculation
f = ∇ 2 f = ∇ ∗ ∇ f It is suitable when only considering the edge
∇ 2 = f (i, j) = position rather than the pixel gray difference
f (i + 1, j) + f (i − 1, j) around it. The response to the isolated pixel is
+ f (i, j + 1) + f (i, j − 1) − more intense than that of the edge or line, so it
4 f (i, j) is only suitable for noiseless images
 
∇ 2 G (r ) = 1 − r 2 /2σ 2 .exp r 2 /2σ 2 The noise has always been weakened, and it has
become very sensitive to regions with relatively
small contrast
  (G. f )
∂G ∂2
Gn = ; n V G; n = (|G. f )| Edge point satisfaction:  G. f = 0 For step edges, if the noise can be removed by
∂n ∂n
smoothing operator, this will increase the
uncertainty of edge location. If the sensitivity
of edge detection operator to edge is enhanced,
the sensitivity to the noise will be enhanced.
Therefore, the anti-jamming ability and edge
location ability of edge detection operators
become a pair of contradictions that cannot be
unified

Fig. 1 Steps for edge detection
2.3 Edge detection algorithm based on wavelet
transform
Wavelet transform (WT) as a new multiresolution analy-
sis method, is developed under the background that the
Fourier analysis can not analyze mutational signals and non-
stationary signals Mallat [16]. There are amazing similarities
between WT and Fourier analysis, both from classical har-
monic analysis. WT inherited and developed the idea of the
localization of Fourier transformation, but better than the
Fourier transformation, because it solved the defects that
the size of Fourier transform window does not change with
frequency. With the time frequency localization and multires-
olution properties, it is the local transformation of time and
frequency, and can conduct the time-domain and frequency-
domain analysis at the same time, which can extract signals
and analyze local signals more effectively. Because of the
characteristics of WT, it can be used to refine and ana-
lyze the signals at multiple scales. WT can be located in
any tiny area by adjusting the sampling step, so wavelet
is also known as the mathematical microscope. In recent
years, with the continuous development and improvement
of wavelet theory, it has been widely used in edge detec-
tion. A WT maximum method proposed by Mallat [17], has
achieved good results in signal singularity analysis and image
edge detection. In 2001, an improved method based on the
Helmholtz’s theorems proposed by Desolneux et al. is used
to extract the edges by using its parameters [8]. In 2009,
an improved algorithm was proposed by Thomas Batard et
al. by using Clifford Algebra to measure ND image. In a
word, wavelet transform is an efficient edge detection method
[2].
With the continuous social development, edge detection
technology has been applied in more and more fields, but
at the same time, the requirements of these applications for
edge detection technology are also increasing, thus making
the detection more difficult, which in turn promotes the devel-
opment of edge detection technology to a higher level.
3 Boundary detection system based on VR
image
3.1 Basic methods and principles of system
The process of the general edge detection algorithm is as
follows (see Fig. 1): Firstly, the original image is smoothed
and filtered to get a smooth image. Secondly, the image of
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the edge enhanced can be obtained by using the algorithm,
and the image is 256 gray level. At this time, the gray level of
the image has no area, the image is only a place of gray scale
mutation, its gray level is worth to enhance. After the closed
value segmentation, the 256 level image is transformed into
a two value image. The edge mutation is clearly displayed
and the edge image is obtained.
There are many methods can be chosen when conduct-
ing image edge detection, but every method has its own
advantages and shortcomings with different edge values of
different algorithms. Generally speaking, no matter what
kind of detection methods, the edges of their detected results
are consistent. Therefore, it is difficult to produce a new and
effective method on the basis of these algorithms, thus a
“boundary detection system based on VR image” was pro-
posed in this paper, whose basic principles and procedures
are as follows (see Fig. 2):
(1) Establish the database of digital image edge detection;
(2) Select an inspected image, which is conducted with edge
detection by the selected three operators or algorithms
in the database, and then return to the binary image of
the edge image;
(3) Based on the edge graph generated by three methods,
the different weights are given to the three gray matri-
ces, and their weighted averages are obtained from the
image at the corresponding position, and then establish
the suitable threshold to obtain the edge detection results
finally;
3
am G m (i, j)
m=1
G(i, j) =
3
ak
k=1
where, G m (i, j) is the grayscale images obtained by dif-
ferent algorithms, and am is the weight of corresponding
algorithm.
3.2 Results of system detection
The advantages of this system is able to display the original
image, the image detected by general edge detection algo-
rithm and the image detected by “the edge detection method
based on multi-operator dynamic weight” at the same time,
thus it is convenient to compare the similarity between the
edge image and the original image. Meanwhile, it is also
convenient to compare the detection difference between the
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Fig. 2 System flowchart
common method and the method designed by this system,
which is reflected intuitively, as shown in Fig. 3, namely, the
comparison of the detection results of the same image by the
detection system.
4 Result and evaluation
4.1 Agreement of effect evaluation method
In the edge detection evaluation, the correctness of the
detection of one point can be divided into four cases, respec-
tively as the correct detection of edge point (Truepositive
or Hit), the correct detection of non-edge point (TrueNega-
tive or Correctrejeetion), the error detection of edge point
(FalseNegative or Missdeteetion), and the error detection
of non-edge point (FalsePositive lseAlarin), as shown in
Table 2.
In the above four kinds of edge point positioning methods,
the first two are correct positioning, and the latter two are
error detection. The first two are generally merged into one,
which is referred to as correct detection. The error detection
of edge point is called missed detection, and error detection
of non-edge points is called error detection.
Generally speaking, some properties involved in all the
articles about the comparison of edge detection algorithms
are as follows: Good edge detection must achieve: Good loca-
tion without error location; good positioning accuracy that
can locate the position of edge point accurately without any
offset; certain anti-interference ability to noise; the obtained
edge is preferably one pixel wide and has been thinned.
4.2 Comprehensive evaluation on detection effect
of computer image detection system
In this paper, the performances of the eight detection methods
involved in this design were compared with the perfor-
mance of the detection method proposed in this system,
among which, the objects of comparison include: Roberts
operator, Sobel operator, Prewitt operator, Canny operator,
Kirsch operator, Laplacian operator, LoG operator, the edge
detection method based on Laplacian and grey relational
grade, and the detection method proposed in this system.
The compared performances include edge continuity c, edge
smoothness s, thinning degree of edges T (it can also be
the edge width), and positioning accuracy of edges, among
which, the most important performance is the edge location,
which will be measured by missing detection rate and error
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Fig. 3 Comparisons of
detection results

Table 2 Four cases of detected

Four cases of detected point
edge point
Correct detection of edge point
Correct detection of non-edge point
Error detection of edge point
Error detection of non-edge point
Description Abbreviation
In the prior knowledge, it is an edge point that is G T DT
correctly detected by an algorithm
In the prior knowledge, it isn’t an edge point that G F DF
is correctly excluded by an algorithm
In the prior knowledge, it is an edge point that is G T DF
wrongly missed by an algorithm
In the prior knowledge, it isn’t an edge point that G F DT
is wrongly detected by an algorithm

detection rate. In addition, for this system, we set up another
evaluation standard, that is, the performance evaluation of
the system. The general qualitative conclusion is divided into
five grades according to the visual observation: good, better,
general, poorer, and poor. Some representative images will
be selected for each performance.
4.3 Edge continuity
The continuity of the edges requires that the detection results
are continuous, and that the edge detection algorithm has
little response to noise and high-frequency signals, and the
noise in the image and the small range of high-frequency
signals will cause the edge discontinuity. The discontinu-
ous algorithm will directly result in the edge fracture of the
image, even the error connection with other edges, causing
the error segmentation. The disadvantages of this method are:
different images with different measurement need the man-
ual observation, and the adaptive ability is not strong. In this
method, the qualitative observation is used to determine the
performance that the edge continuity is good or bad. Mul-
tiple images and algorithms are used to judge and evaluate
the continuity of edges subjectively, and then the observation
results are expressed by different grades.
Edge smoothness The smoothness of the edge directly
affects the subjective vision with little effect of subsequent

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Table 3 Edge smoothness

Algorithm Continuity Smoothness Edge width
evaluation table
Roberts operator common poorer 1
Sobel operator better good 2
Prewitt operator better good 2
Canny operator better common 1
Kirsch operator better good 2
Laplacian operator poorer common 2
LoG operator better better 4
Laplacian and grey relational grade common common 2
Detection method of this system better better 2

Table 4 Results comparison of

Algorithm Missed detection Error detection Location error
graph lena detection by edge
detection based on Roberts operator 0.46872 0.71973 1.18845
multi-algorithm dynamic weight
Sobel operator 0.02189 1.30657 1.32846
Prewitt operator 0.03423 1.24572 1.27995
Canny operator 0.25547 1.40693 1.6624
Kirsch operator 0.02578 1.57832 1.6041
Laplacian operator 0.48523 0.58792 1.07315
LoG operator 0.02007 3.51246 3.53253
Laplacian and grey relational grade 0.49271 0.70073 1.19344
Detection method of this system 0.52893 0.72393 1.15286

processing. The general edge judgment method does not pay
attention to this performance. The smoothness measure of
edge detection is shown in Table 3, and the thinning degree
the edge is also qualitatively judged by the human eye.
The thinning degree of the edge is the detected width of
edge, which is the step diagram with clear boundary. Based
on its detection, the obtained width of edge is the edge pixel
graph of the algorithm for this image, and also is the edge
pixel width of any images. This graph is adopted because its
detection results are clear at a glance. The design of the algo-
rithm itself determines the thinning degree of the edge. The
edge width detected by algorithm is determined by the char-
acteristics of the algorithm itself. Table 3 is the index table of
edge continuity, smoothness, and the detected width of edge.
Edge location The edge location checks whether the edge
detection algorithms can detect the edges of a given target.
These edges that are not easy to be detected may be the details
of high frequency, or may be the unobvious grey mutation
caused by the optical reason before the digitization of image.
The edge detection algorithms should be able to locate the
edge as much as possible. At the same time, the error rate of
locating the non-edge as edge also needs to be investigated.
Location error includes edge error detection and non-edge
error detection, that is, missed detection and error detection.
A scanning method is proposed to determine the rate of
location error. The procedures to determine the missed detec-
tion by scanning method are as follows: Firstly, the real edge
graph is determined through artificial method, and the pro-
gressive scanning is conducted with the real edge graph to
judge whether there is a corresponding edge point in the test
graph when encountering an edge point. If there is a corre-
sponding point, make marks in the two graphs. Finally, the
points that are not marked are counted as the missed points.
The number of missed points divided by the total number of
edges is the rate of missed detection. The determination of
error detection is based on the marking of edge points, and
the edge points which are not marked are error detection.
The detection result that is a single pixel wide algorithm,
can be used to directly determine the rate of location error.
The three basic algorithms in “the edge detection based on
multi-algorithm dynamic weight” are selected as follows:
Canny, Prewitt and Kirsch operators, and the relative weight
is set to 7:5:3, and then the detection results of graph Lena
is as follows (Table 4).
According to the data in the statistical table, several char-
acteristics of the system algorithm are shown below: (1) The
location error of missed detection is lower than that of error
detection, that is to say, in the edge detection, the circum-
stance that the edge points miss the detection is less; (2) The
positioning accuracy of the algorithm in this system is higher
than the average level, having a large positioning accuracy.
The location error reflects the difference in the positioning
performance of the algorithms. As shown in the above table,

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the LoG operator is the most likely to cause location error.
Laplacian is the second-order zero crossing algorithm with
accurate positioning, but is easy to be affected by noise. In
the above table, the least location error is shown when the
image is simple and noiseless. The positioning effect of this
system is also better.
In this paper, the “boundary detection system based on VR
image” was conducted with comparative analysis by using
the continuity, smoothness, edge width, positioning accu-
racy, whose results show that this method performs better
in continuity and smoothness, and the edge width is also
in general grade. But it has better precision in the focus
positioning, which is better than the average level of var-
ious methods(when Canny:Prewitt:Kirsch = 7:5:3). At the
same time, the performance of the system is also evaluated.
On the whole, the system proposed a new method and idea of
edge detection with remarkable effect, hoping to contribute
to future research.
5 Conclusion
Image edge detection in virtual reality technology is a hot
issue in the field of image processing and analysis. Most of
the existing articles and researches focus on single image
processing algorithms. Only a few articles and designs focus
on the establishment of a computer image detection system,
and a number of algorithms are studied and compared in this
system. The results of this study are as follows:
(1) In this paper, an “edge detection method based on VR”
is proposed and the implementation method and steps
of the algorithm are given. At the same time, the corre-
sponding simulation experiments are carried out;
(2) A computer image detection system is presented in this
paper. Through the algorithm database of the system, a
complex step can be quickly realized from the image
reading, edge detection, and output to the results. At the
same time, the system interface provides two kinds of
detection methods, which are general algorithm detec-
tion and multi-operator based dynamic weight edge
detection operator. And the results can be visually con-
trasted and analyzed under the same interface.
(3) Through comprehensive evaluation, it is found that the
system has high operability and practicability, and the
algorithm proposed in this paper has reached the general
level in the detection effect.
(4) The system uses different algorithms and can be applied
to different situations. For example, it can be used to
detect complex edge images and mechanical images.
Although the system and algorithm have their own advan-
tages through comprehensive evaluation, the method is
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immature, and the research time is not long, so the system and
algorithm also have the following shortcomings: although the
system has certain advantages in operability and practicality,
the algorithm database is not large enough, so the selection
of algorithm is still not comprehensive, and some new algo-
rithm research is not included in it. In the further, for VR
Simulation environment, a key task is to help people learn
that the environment is now safe for them and encourage
people to relax. Then the clear image we can get which will
make the edge detection more easier.
Acknowledgements This paper is supported by grants from the
National Natural Science Foundation of China (71731010, 71671048),
the Natural Science Foundation of Guangdong Province
(2015A030310506), the Philosophy and Social Science Planning Pro-
gram of Guangdong Province (GD16XGL38), and the Philosophy and
Social Science Planning Program of Guangzhou (2016GZQN32).
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Cluster Computing

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ior Economics.
Press, Cambridge (1965)
21. Shum, H., Kangs, A.: A review of image-based rendering tech-
niques. In: Proceedings of IEEE/SPIE Visual Communications and
Image Processing (2000)
22. Tsai, P., Chang, C., Hu, Y.C., : An adaptive tow-stage edge detection Gongbing Bi received the M.S from
scheme for digital color image. Real-Time Imaging 8(4), 329–343 Anhui University, Hefei, China, in
(2002) 2001, and the Ph.D. degree from
23. Wang, D., Chen, Y., Xu, J.: Knowledge management of web finan- University of Science and Tech-
cial reporting in human-computer interactive perspective. Eurasia nology of China, Hefei, China, in
J. Math. Sci. Technol. Educ. 13, 1–25 (2017) 2005. He is currently a Profes-
24. Yu, Y., Chang, C.: A new edge detection approach based on image sor with the school of manage-
context analysis. Image Vis. Comput. 24, 1090–1102 (2006) ment. His research interests are
25. Zhang, H., Fritts, J., Goldman, S.: Image segmentation evaluation: Decision Science, DEA,
a survey of unsupervised methods. Comput. Vis. Image Underst. Operational Research and Supply
110(2), 260–280 (2008) Chain Economics. He has
published many academic
researches in famous international
journal, include but not limited to
Yujing Chen received the B.S. EJOR, Omega, JORS, ANOR.
degree in statistics from the South
China Agriculture University,
Guangzhou, China, in 2012, and
the M.S. degree from Hong Kong
University of Science and Tech-
nology, Hong Kong, in 2013. She
is currently pursuing the Ph.D.
degree in management science
and engineering from Guangzhou
University of Technology,
Guangzhou, China.

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