Neurocomputing 74 (2010) 164177

Contents lists available at ScienceDirect

Neurocomputing
journal homepage: www.elsevier.com/locate/neucom

Thermal condition monitoring system using log-polar mapping, quaternion

correlation and max-product fuzzy neural network classication
Wai-Kit Wong n, Chu-Kiong Loo, Way-Soong Lim, Poi-Ngee Tan
Faculty of Engineering and Technology, Multimedia University, 75450 Jln Ayer Keroh Lama, Malaysia

a r t i c l e in f o

a b s t r a c t

Article history:
Received 28 October 2008
Received in revised form
20 January 2010
Accepted 12 February 2010
Communicated by A. Zobaa
Available online 1 August 2010

Nowadays, most factories rely on machines to help boost up their production and process. Therefore, an
effective machine condition monitoring system plays an important role in these factories to ensure that
their production and process are running smoothly all the time. In this paper, a new and effective
machine condition monitoring system using log-polar mapper, quaternion based thermal image
correlator and max-product fuzzy neural network classier is proposed. Two classication characteristics, namely peak to sidelobe ratio (PSR) and real to complex ratio of the discrete quaternion
correlation output (p-value) are applied in this proposed machine condition monitoring system. Large
PSR and p-value showed a good match among correlation of the input thermal image with a particular
reference image, but reversely for small PSR and p-value match. In the simulation, log-polar mapping is
found to have solved the rotation and scaling invariant problems in quaternion based thermal image
correlation. Besides, log-polar mapping can possess two fold data compression capability. Log-polar
mapping helps smoothen up the output correlation plane, hence making better measurement for PSR
and p-values. The simulation results have also proven that the proposed system is an efcient machine
condition monitoring system with an accuracy of more than 94%.
& 2010 Elsevier B.V. All rights reserved.

Keywords:
Thermal condition monitoring system
Log-polar mapping
Quaternion correlation
Max-product fuzzy neural network
Thermal imaging

the quaternion numbers, respectively [3]:

1. Introduction
The recently developed concept of quaternion correlation,
based on quaternion algebra introduced by Hamilton in 1843 [1],
is found useful in color pattern recognition (e.g. human face
recognition [2], color alphanumeric words recognition [3]). A
quaternion array is generalized from the complex number
representation and it can be considered as a number with a real
and imaginary term consisting of three orthogonal components as
follows [4]:
f fr fi i fj j fk k

where fr, fi, fj, fk are real quaternion numbers and i, j, k, are
imaginary operators.
In conventional correlation for pattern recognition, patterns
have to be converted to gray level scale or by processing the three
color channels (R, G, B) separately before combining them again.
But for the quaternion correlation technique, all color channels
are processed together using the quaternion array. In quaternion
array, the R, G, B in color image can be represented by inserting
the value of three color channels into the three imaginary terms of
n

Corresponding author. Tel.: +60 6 2523005; fax: + 60 6 2316552.

E-mail addresses: wkwong@mmu.edu.my (W.-K. Wong), ckloo@mmu.edu.my
(C.-K. Loo), wslim@mmu.edu.my (W.-S. Lim), poingee24@yahoo.com (P.-N. Tan).
0925-2312/$ - see front matter & 2010 Elsevier B.V. All rights reserved.
doi:10.1016/j.neucom.2010.02.027

f m,n fR m,ni fG m,nj fB m,nk

where fR(m, n), fG(m, n) and fB(m, n) represent the R, G and B

patterns, respectively, and m, n are the 2-D pixels coordinates.
Quaternion correlator has so far been used in color human face
recognition [2] and color alphanumeric words recognition [3]. It is
not found in object recognition yet, especially in thermal object/
image recognition. In this paper, a new approach is presented,
whereby quaternion correlator is used in thermal image recognition for machine condition monitoring system.
Thermal monitoring is useful for revealing some serious
electrical problems in a factory that often go undetected until a
serious breakdown occurs. In factories, there are various types of
operating machines to be monitored. When there is any
malfunctioning of machine, extra heat will be generated which
can be picked up by a thermal camera. The algorithm proposed in
this paper has made detection and monitoring of conditions
(overheat) of multiple machines in a single view simple and
efcient. The monitoring and analyses of the images will then
alert maintenance personnel to take corrective action and/or
repair the overheat/faulty machine. An image mapping method
for solving problem of scaling and rotational invariant due to the
change of position in either thermal camera or machine during
monitoring process is also proposed. This method is called logpolar mapping [5].

W.-K. Wong et al. / Neurocomputing 74 (2010) 164177

In quaternion correlator, a strong and sharp peak can be

observed in the output correlation plane when the input thermal
image comes from the authentic class (input thermal image
matches with a particular training/reference image stored in the
database), and there will be no discernible peak if the input
thermal image comes from imposter class (input thermal image
does not match with the particular reference image). For better
recognition, peak-to-sidelobe ratio (PSR) [6] is introduced to test
whether an input thermal image belongs to the authentic class or
not. It is because by considering the peak value with the region
around the peak value is more accurate than just a single peak
point. The higher the value of PSR, the more likely the input
thermal image belonging to the reference image class. Another
parameter, the real to complex ratio of the discrete quaternion
correlation output (p-value [3]), is also used in measuring the
quaternion correlation output between the colors, shape, size and
brightness of the input thermal image and a particular reference
thermal image.
Apart from the quaternion correlator, a max-product fuzzy
neural network classier to perform classication on the thermal
images based on the PSR and p-value output from quaternion
correlator is also proposed. Classication in pattern recognition
[7] refers to a procedure whereby individual patterns are placed
into groups based on quantitative information on one or more
characteristics inherent in the patterns and based on a training set
of previously labeled patterns, known as classes. The aim of
classication is to establish a rule whereby a new observed
pattern will map into one of the existing classes. These classes are
predened by a partition of the sample space, which are the
attributes themselves. For example, a machine may be classied
as overheated if the color display in the thermal image is brighter
than the predetermined limits.
In this paper, the max-product fuzzy neural network classier
[8] is modied to perform the classication in machine condition
monitoring system. In the max-product fuzzy neural network
classier, both the PSR and p-value output from the quaternion
correlator are rst fuzzied with Gaussian membership function.
The max-product fuzzy neural network classier is applied for
accurate classication with the weights obtained from training
reference images. The weights are then applied for classication
of input images in real time application. Simulation results show
that in the authentic case, if an input image is well matched with
a particular reference image in the database, followed by
performing quaternion correlation on these two images, their
output correlation plane will have sharp peaks. However in
imposter case, if an input thermal image is not matched with a
particular reference image in the database, the output correlation
plane is at. Large peak to sidelobe ratio (PSR) and real to complex
ratio of the discrete quaternion correlation output (p-value) are
proven to have a good match among correlation of the input
thermal image with a particular reference image, while small PSR
and p-value reect reversely. In the simulation, log-polar mapping
is discovered to solve the rotation and scaling invariant problems
in quaternion based thermal image correlation. Besides that, logpolar mapping can have two-fold data compression capability.
Log-polar mapping helps smoothen up the output correlation
plane, hence improving measurement for PSR and p-values.
Simulation results also show that the proposed system is an
efcient machine condition monitoring system with accuracy
above 94%.
This paper is organized in the following order: Section 2 briey
comments on the machines monitoring system and Section 3
summarizes the log-polar image geometry and the mapping
techniques. The algorithm of the proposed quaternion based
thermal image correlator is described in Section 4. Section 5
describes the structure of the max-product fuzzy neural network

165

classier. In Section 6, the experimental results are discussed.

Finally, Section 7 summarizes the work and some suggestions are
proposed for future work.

2. Machine condition monitoring system model

The machine condition monitoring system developed in this
paper is shown in Fig. 1.
The thermal camera used in this paper is cost effective and has
acceptable resolution model: AXT100 manufactured by Ann Arbor
Sensor Systems [9]. The thermal camera costs about US$5,000 and
can capture thermal images with resolution up to 256  248
display resolution pixels. Besides, AXT100 also has some advanced signal processing features such as linear or logarithmic
scaling, false color and atmospheric correction. The digital control
of AXT100 is also accomplished through the 10/100 Ethernet port
connected to a laptop or PC located in a monitoring room via an
embedded rmware called InternalWeb, which can be interfaced
with Matlab or other image processing software. Therefore, it is
best tted for machine condition monitoring system.
Image partitioner is used for partitioning the input thermal
image into S-partitioned sections, where S is the number of
machines to be monitored. Each partitioned section consists of
one machine to be monitored. An example of a thermal image
with S 3 partition sections is shown in Fig. 2.
Applying the log polar mapping technique [5] converts a
Cartesian image into a retina-like (log-polar) image giving an
important and useful property that scaling and rotating an object
in a Cartesian plane corresponds to translate the object in the logpolar plane. Another advantage of log-polar image representation
is that it possesses data compression characteristics. Detailed
discussion on log-polar mapping will be provided in Section 3.
Quaternion based thermal image correlator is used to obtain
correlation plane for each correlated input thermal image
captured live with reference images of all possible machine
conditions storing in a database, the data is used to calculate some
of the classication characteristics such as the real to complex
ratio of the discrete quaternion correlation (DQCR) output, pvalue and the peak-to-sidelobe ratio, PSR. These classication
characteristics will later be fed into the max-product fuzzy neural
network classier. Detailed descriptions on quaternion based
thermal image correlator will be discussed in Section 4.
The max-product fuzzy neural network classier is rst
applied to train for accurate classication with the weight (w)
obtained from training reference images of all possible machine
conditions stored in the database. During application, the PSR and
p-value output from quaternion based thermal image correlator

Fig. 1. Machine condition monitoring system model.

Fig. 2. Example of a thermal image with S 3 partition sections.

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W.-K. Wong et al. / Neurocomputing 74 (2010) 164177

are rst fuzzied into Gaussian membership function. Then, the

product value is calculated based on multiplication of PSR and pvalue in Gaussian membership value. The product values are
stored in an array and multiplied with the weight (w). Maxcomposition is performed on the output based on two sets of
fuzzy IF-THEN rules, whereas defuzzication is performed to
classify each machines condition under monitoring. Detailed
discussion on max-product fuzzy neural network classier is
given in Section 5.

3. Log-polar mapping
Log-polar imaging geometry is a biological inspiration approach to human eye vision whereby it transforms the original
two dimensional captured image into a spatially variant (retinalike) representation [10]. Generally, the Cartesian image in any
vision system can be resampled to retina-like image through the
use of the mask, inspiring the retina. The retina can be roughly
divided into two distinct regions: fovea and periphery. The fovea
region (central portion of the retina) is formed by approximately
constant size receptive elds and organized in hexagonal form
[10]. In the periphery region, the receptive elds are circularly
distributed with an area exponentially increasing as a function of
the distance to the retina center. Overlapping may exist among
the receptive elds in order to prevent some Cartesian areas from
not being covered by the retina transformation (due to the
circular geometry of the receptive elds) [10].
In many vision systems, there has been a trend to design and use
true retina-like sensors [11,12] or simulate the log-polar images by
software conversion [13,14]. In the software conversion of log-polar
images, practitioners in pattern recognition usually named it as logpolar mapping [13,15]. Log-polar mapping has been used in
designing systems that are scale and rotation invariant [16,17],
and showed good performance. Another advantage is log-polar
image representation has data compression manner. Therefore, in
this proposed machine condition monitoring system, log-polar
mapping is used to convert the input thermal image captured by
thermal camera into log-polar image for solving the scaling and
rotational invariant due to the change of position in either thermal
camera or machines during monitoring process, and preserving ne
image quality in a higher data compression manner. An example

illustrating the log-polar mapping of a hypothetical N-rings retina

containing a 3 rings fovea is shown in Fig. 3.
The log-polar mapping can be summarized as follows. Initially,
the geometry of each section of the partitioned thermal image is
in Cartesian form (x1, y1). Log-polar sampling is applied to sample
the Cartesian input image into log-polar sampling image. Then,
the log-polar image is mapped to another Cartesian form (x2, y2)
whereby in this process, the log-polar sampling image is
unwarped into a log-polar mapping image. Since the output logpolar mapping image has been compressed and also in Cartesian
form, subsequent image processing task will become much easier.
The center of pixel for log-polar sampling expression is
described in [18]:

rx1 ,y1 logl

yx1 ,y1

R
ro

Ny
y1
arctan
2p
x1

The center of pixel for log-polar mapping expression is

described in [18]:


2py
r
5
x2 r, y l ro cos
Ny
r

y2 r, y l ro sin



2py
Ny

where R is the distance between the given point and the center of
q
mapping x21 y21 , ro is a scaling factor dening the size of the
circle at r(x1, y1)0 and l is the base of the algorithm.

1 sinp=Ny
1sinp=Ny

Ny is the total number of pixels per ring in log-polar geometry.

This value is assigned by the user. For example, if the user assigns
Ny 5, the ring is divided into 5 sectors or 5 pixels per ring. If
Ny 100, each ring is divided into 100 sectors or 100 pixels per
ring. The higher the Ny, the higher the resolution in y-axis
(angular). In our experimental case, we assign Ny 70 and it
allows a 2 fold data compression in a ne image resolution
manner. This issue is discussed in detail in Section 6.

Fig. 3. An example of log-polar mapping of a N rings retina containing 3 rings fovea. To simplify the gure, no overlapping was use. Note that periphery portion is log-polar.

W.-K. Wong et al. / Neurocomputing 74 (2010) 164177

167

The number of rings in the fovea region expression is given

in [18]:
Nfov

l
l1

The number of rings is an integer. Hence, the calculated Nfov is

rounded to the closer integer value. To sample the Cartesian
pixels (x1, y1) into log polar pixels (r, y), at each center point
calculated using (3) and (4), the corresponding log-polar pixel (rn,
yn) is covers a region of Cartesian pixels with radius
rn lrn1

9
Fig. 6. Unwarping process.

where n 0, 1, y, N 1. Fig. 4 shows the conventional circle

sampling method of log-polar mapping [12,15].
One of the disadvantages of using circle sampling is that
certain regions of Cartesian pixels outside sampling circle did not
cover any log-polar pixels. Therefore, some researchers [13,19,20]
had adopted sector sampling method as shown in Fig. 5, which
could maximize the coverage of Cartesian pixels for each log polar
pixel. The region of Cartesian pixels cover by an individual logpolar pixel will have the same color intensity according to the
respective original Cartesian center sampling point.
During unwarping process, the (r, y) pixels will map each
corresponding (x2, y2) pixel as shown in Fig. 6. The intensity value
in each individual pixel equals the mean intensity value of all
pixels inside the sampling circle on the original Cartesian image
(x1, y1).

4. Quaternion based thermal image correlator

In this section, the algorithm of the quaternion based thermal
image correlator is described.
4.1. Algorithm for quaternion based thermal image correlation
The reference image after performing discrete quaternion
Fourier transforms (DQFT) [3] is given by
Im,n IR m,ni IG m,nj IB m,nk

10

where m and n are the pixel coordinates of the reference image. R,

G, B reference images are represented by IR(m, n), IG(m, n) and
IB(m, n), respectively, and i, j and k are the imaginary terms of
quaternion complex number [1] and the real part is set to zero.
Similarly, hi(m, n) is used for representing input image. Then,
output b(m, n) is produced to judge whether the input image
matches the reference image or not. If hi(m, n) is the space shift of
the reference image
hi m,n Imm0 ,nn0

11

then after some calculation,

Maxbr m,n br m0 ,n0

12

where br m,n is the real part of bm,n and

br m0 ,n0

M
1 N
1
X
X

9Im,n9

13

m0n0

where m and n are the image x-axis and y-axis dimensions,

respectively. At the location (  m0, n0), the multipliers of i-, j-, kimaginary part of b( m0, n0) are equal to zero:
Fig. 4. Conventional circle sampling.

bi m0 ,n0 bj m0 ,n0 bk m0 ,n0 0

14

Thus, the following process can be utilized for thermal image

correlation [3]:
(1) Calculate energy of reference image Im,n:
EI

M
1 N
1
X
X

9Im,n9

15

m0n0

normalizing the reference image I(m, n) and the input image

hi(m, n) as
p
Ia m,n Im,n= EI
16
p
17
Ha m,n hi m,n= EI
(2) Calculate the output of discrete quaternion correlation
(DQCR):
ga m,n
Fig. 5. Sector sampling method for method log-polar image.

M
1 N
1
X
X

t0Z0

Ia t, ZHa tm, Zn

18

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W.-K. Wong et al. / Neurocomputing 74 (2010) 164177

where means the quaternion conjugation operation and do

the space reverse operation:
gm,n ga m,n
19
(3) Perform inverse discrete quaternion Fourier transform
(IDQFT) on (19) to obtain the correlation plane P(m, n).
(4) Search all the local peaks on the correlation plane and record
the location of the local peaks as (ms, ns).
(5) Then at all the location of local peaks (ms, ns) found in step 4,
we calculate the real to
 complex
 value of the DQCR output
Pr ms ,ns 
 
 
 

20
p 
Pr ms ,ns  Pi ms ,ns  Pj ms ,ns  Pk ms ,ns 

where Pr(ms, ns) is the real part of P(ms, ns). Pi(ms, ns), Pj(ms, ns) and
Pk(ms, ns) are the i, j k parts of P(ms, ns), respectively. If p Zd1 and
c1 o9P(ms, ns)9 oc2, it implies that at location (ms, ns), there is an
object that has the same shape, size, color and brightness as the
reference image. If d1 o 1, c1 o1 oc2 and all the variables are near
to 1, the value of p decays faster with the color difference between
the matching image and the reference image.
Another classication characteristic used in quaternion based
thermal image correlation is the peak-to-sidelobe ratio (PSR), which
will be discussed in detail as below. The quaternion based thermal
image correlation consists of 2 stages: enrollment stage and
recognition stage. In the enrollment stage, one or multiple images
of each machine condition are acquired. These multiple reference
images have variety in color tones for different temperature
conditions of the machines. The DQFT of the reference images are
used to train fuzzy neural network and to determine the correlation
lter for each possible machines conditions. In recognition stage, the
thermal camera captures live machine thermal image and the DQFT
of the image is correlated with the one of the reference images, stored
in the database together with their corresponding lter coefcients.
The inverse DQFT of this product is the result in the correlation output
of that lter.
A strong peak can be observed in the correlation output if the
input image comes from imposter class. The peak-to-sidelobe
ratio (PSR) is a method for measuring the peak sharpness which is
dened as follows [2]:
peakmeansidelobe
PSR
ssidelobe

21

where peak is the value of the peak on the correlation output

plane. sidelobe refers to a xed-sized surrounding area off the
peak. mean is the average value of the sidelobe region. s is the
standard deviation of the sidelobe region. Large PSR values
indicate better match of the input image and the corresponding
reference image. Enrollment stage and recognition stage are
discussed in detail in the next sections.

4.2. Enrollment stage

The schematic of enrollment stage is shown in Fig. 7. In the
enrollment stage, the reference thermal images for each possible
machines conditions in the database are partitioned according to
S machine sections. Each machine section consists of one single
machine to be monitored. S is the total number of machines to be
monitored. These partitioned reference images are then encoded
into a two dimensional quaternion array (QA) as follows:
Ist1 Isrt1 IsRt1 i IsGt1 j IsBt1 k

22

where t1 1, 2, y, T represents the number of reference images,

Isrt1 represents the real part of quaternion array of sth machine
section for reference image t1, s1, 2, y, S represents the number
of partitioned machines sections. IsRt1 , IsGt1 and IsBt1 each
represent the i-, j-, k-imaginary part of sth machine section for
reference image t1, respectively.
Discrete quaternion Fourier transform (DQFT) is then performed on the quaternion array in (22) to transform the
quaternion image to the quaternion frequency domain. A twoside form of DQFT has been proposed by Ell [21,22] as follows:
Ist1 m,n

M
1 N
1
X
X

em1 2pmt=M Ist1 t, Zem2 2pnZ=N

23

t0Z0

where e is exponential term, m1 and m2 are two units pure

quaternion (the quaternion unit with real term equal to zero) that
are orthogonal to each other [23]:

m1 m1,i i m1,j j m1,k k

24

m2 m2,i i m2,j j m2,k k

25

m21,i m21,j m21,k m22,i m22,j m22,k 1i:e : m21 m22 1

26

m1,i m2,i m1,j m2,j m1,k m2,k 0

27

The output of DQFT, Ist1 , is used to train the max-product

fuzzy neural network classier and also to design the correlation
lter.
4.2.1. Quaternion correlator (QC)
To train the max-product fuzzy neural network classier, the
output of the DQFT is rst passed to a quaternion correlator (QC)
as shown in Fig. 8.
The function of the QC is summarized as follows: For DQFT
output of sth machine section, discrete quaternion correlation
(DQCR) [24,25] is performed on reference image Ist1 and
reference image Ist2 , then multiply to the corresponding lter
coefcients (filtt2 ):
gst1 ,

t2 m,n

M
1 N
1
X
X

t0Z0

I s(t1 )
I s(t1 )

Fig. 7. Schematic of enrollment stage.

Ist1 Ist2 tm, Zn filtt2

28

W.-K. Wong et al. / Neurocomputing 74 (2010) 164177

169

(usually 1), for each of the reference images. Lagrange multiplier

is used for optimization, yielding
filtMACE D1 XX 0 D1 X1 c

Fig. 8. Quaternion correlator (QC).

where t1, t2 1, 2, y, T are the number of reference image. Then,

inverse DQFT is performed on (28) to obtain the correlation plane
function:
Pst1 ,

t2 m,n

1 N
1
X
X
1 M
em1 2pmt=M gst1 ,
4p2 t 0 Z 0

t2 m,

This equation is the closed form solution to be the linear

constrained quadratic minimization. D is diagonal matrix with the
average power spectrum of the reference images placed as
elements along diagonal of the matrix. X contains Fourier transform of the reference images lexicographically re-ordered and
placed along each column. As an example, if there are T thermal
reference images of size 100  243( 24300), then X will be a
24300  T matrix. X0 is the matrix transpose of X. c is a column
vector of length T with all entries equal to 1.
The second type of MACE lter is the unconstrained MACE
(UMACE) lter [30]. Just like conventional MACE lter, the UMACE
lter also minimizes the average correlation energy of the reference images and maximizes the correlation output at the origin.
The difference between conventional MACE lter and UMACE
lter is the optimization scheme. Conventional MACE lter is
using Lagrange multiplier whereas for UMACE lter, it uses the
Raleigh quotient, which leads to the following equation:
filtUMACE D1 m

nem2 2pnZ=N
29

The correlation plane is a collection of correlation values, each

one obtained by performing a pixel-by pixel comparison (inner
product) of two images (Ist1 and Ist2 . A sharp peak in the correlation plane indicates the similarity of Ist1 and Ist2 , while the
absence or a lower value of such peak indicates the dissimilarity
of the two.
Subsequently, pst1 ,t2 and PSRst1 ,t2 are calculated from the
correlation plane as in (29) using (20) and (21), respectively.
pst1 ,t2 are the p-values of reference image It1 correlate on
reference image It2 in sth machine section, while PSRst1 ,t2
represents PSR values of reference image It1 correlate on
reference image It2 in sth machine section. These values are then
fed into the max-product fuzzy neural network classier for
training and to calculate the weight, which will be discussed in
Section 5.
4.2.2. Correlation lter
Conventional ltering methods [26] emphasized on applying
matched lters. Matched lters are optimal for detecting a known
reference image in additive white Gaussian noise environment. If
the input image changes slightly from the known reference image
(scale, rotation and pose invariant), the detection of the matched
lters degrades rapidly. However the emerge of correlation lter
designs [27] have changed to handle such types of distortions. The
minimum average correlation energy (MACE) lters [28] are one
of such design and show good results in the eld of automatic
target recognition and applications in biometric verication
[6,29]. MACE lters different from matched lters in that more
than one reference image are used to synthesize a single lter
template, therefore making its classication performance invariant to shift of the input image [27].
There are two types of MACE lters in general, namely: (1)
conventional MACE lter [28] and (2) unconstrained MACE
(UMACE) lter [30], both with the goal to produce sharp peaks
that resemble two dimensional delta-type correlation outputs
when the input image belongs to the authentic class and low
peaks in imposter class. Conventional MACE lter [28] minimizes
the average correlation energy of the reference images while
constraining the correlation output at the origin to a specic value

30

31

where D is the diagonal matrix, the same as that in the

conventional MACE lter. m is a column vector containing the
mean values of the Fourier transform of the reference images.
Besides MACE lters, there is a type of correlation lter,
namely the unconstrained optimal tradeoff synthetic discriminant
lter (UOTSDF) shown by Refreiger [31] and Kumar et al. [32],
which has yielded good verication performance. The UOTSDF is
given by
filtUOTSDF aD

p
1a2 C1 m

32

where D is a diagonal matrix with average power spectrum of

the training image placed along the diagonal elements. m is a
column vector containing the mean values of the Fourier transform of the reference images. C is the power spectral density of
the noise. White noise spectrum is the dominant source in
predicting the performance of a thermal imaging system [46]. It is
caused by the uctuation in the detector output. Other noise
sources (total up as background noise) are not that signicant and
normally limited/ltered out by internal lter of advanced
thermal imaging system. For most of the applications, a white
noise power spectral density is assumed; therefore C reduces to
the identity matrix. According to the derivation work done in [32],
to determine the OTSDF, the authors minimized the energy
function, which obtains: a2 + b2 + g2 + d2 1. In UOTSDF, the constants b, g, d E0. a term is typically set to be close to 1 to achieve
good performance even in the presence of noise; however it also
helps improve generalization to distortions outside the reference
images.
By comparing the three correlation lters listed above,
conventional MACE lter is complicated to implement whereby
it requires inversion of a T  T matrix. UMACE lter is simpler to
implement from the computational viewpoint as it involves
inverting the diagonal matrix only, and the performance is close
to the conventional MACE but poorer than UOTSDF. Therefore, we
plan to extend UOTSDF into quaternion version to use in our
quaternion based thermal image correlator for the classication of
machine condition since it is less complicated from computational
viewpoint than conventional MACE lter and achieves good
performance. Further details about the comparison performance
of these lters may be obtained from [27].

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W.-K. Wong et al. / Neurocomputing 74 (2010) 164177

Fig. 9. Schematic of recognition stage.

4.3. Recognition stage

The schematic of recognition stage for classication of
machine condition by quaternion correlation is shown in Fig. 9.
During the recognition stage, thermal image captured live is rst
partitioned according to S machine sections. The partitioned
image is then encoded into two dimensional quaternion array
(QA) as follows:
hsi hsri hsRi i hsGi j hsBi k

33

where i represents the input image, hsr(i) represents the real part
of quaternion array of sth machine section for input image i, s 1,
2, y, S represents the number of partitioned machines sections.
hsR(i), hsG(i) and hsB(i) each represents the i-, j-, k-imaginary parts of
sth machine section for input image i, respectively.
The quaternion array in (33) performs DQFT to transform the
quaternion image to the quaternion frequency domain. A twoside form of DQFT is used:
hsi m,n

M
1 N
1
X
X

em1 2pmt=M hsi t, Zem2 2pnZ=N

34

t0Z0

where e is exponential term, m1 and m2 are two units pure

quaternion as shown in (24) and (25), respectively. The output of
the DQFT, hs(i), is cross correlated with every quaternion
correlation lter in the database using the quaternion correlator
(QC) just as the one shown in Fig. 8, but the DQFT output is now
hs(i). In QC, quaternion correlation is performed on hs(i) with
reference images Ist2 from the database, and is multiplied with
corresponding lter coefcients (filtt2 ):
gsi, t2 m, n

M
1 N
1
X
X

hsi Ist2 tm, Zn filtt2

35

t0Z0

5.1. Dene 2 classes, namely: overheat class and non-overheat class

Then, inverse DQFT is performed on (35) to obtain the

correlation plane function
Psi,t2 m,n

M
1 N
1
X
X

1
em1 2pmt=M gsi,t2 m,n em2 2pnZ=N
4p2 t 0 Z 0

appropriately handle both the uncertainty and imprecision in

linguistic semantics, model expert heuristics and provide requisite high level organizing principles [33]. Neural network in
engineering eld refer to a mathematical/computational model
based on biological neural network. Neural network provides selforganizing substrates for low level representation of information
with adaptation capabilities. Fuzzy logic and neural network are
complementary technologies. Therefore, it is plausible and justied to combine both these approaches in the design of classication systems. Such integrated system is referred to as fuzzy
neural network classier [33].
Various fuzzy neural network classiers have been proposed in
the literature [3437], and there has been much interest of many
fuzzy neural networks applying maxmin composition as functional basis [3840]. However, in [41], Leotamonphong and Fang
mentioned that the maxmin composition is suitable only when
a system allows no compensatability among the elements of a
solution vector. He proposed to use max-product composition in
fuzzy neural network rather than maxmin composition. Another
work by Bourke and Fisher in [42] also commented that the
max-product composition gives better results than the traditional
max-min operator. Therefore, efcient learning algorithms have
been studied by others [43,44] using the max-product composition afterwards.
In this paper, a fuzzy neural network classier using maxproduct composition is proposed for thermal image classication
for machine condition monitoring system. The max-product
composition is the same as a single perceptron except that
summation is replaced by maximization, and in the maxmin
threshold unit, min is replaced by product.

36

psi,t2 and PSRsi,t2 are calculated from the correlation plane as

in (36) using Eqs. (20) and (21), respectively. pst1 ,t2 means pvalues of input image h(i) correlated on reference image It2 in sth
machine section, while PSRsi,t2 means PSR values of input image
h(i) correlated on reference image It2 in sth machine section.
These values are then fed into max-product fuzzy neural network
classier to perform classication for machines conditions, which
will be discussed in Section 5.

5. Max-product fuzzy neural network classier

Fuzzy logic is a type of multi-valued logic that is derived from
fuzzy set theory to deal with approximate reasoning. Fuzzy logic
provides high level framework for approximate reasoning that can

The reference images for all possible machine conditions are

captured and stored in a database. Each reference image is
assigned with a unique number starting from 1 to T, where T is the
total number of reference images. These reference images are
interpreted by an operator (human observer), the overall description of which could be called the Operator perceived activity
(OPA) [45]. The operator comments on each of the reference
images and classied it into either overheat class or non-overheat
class by storing the unique number of reference images according
to the classes type.

5.2. Training max-product fuzzy neural network classier

The max-product fuzzy neural network classier is trained in 4
steps:
(1) PSRst1 ,t2 and pst1,t2 outputs from the quaternion correlator of
the enrollment stage are fuzzied through the activation

W.-K. Wong et al. / Neurocomputing 74 (2010) 164177

functions (Gaussian membership function):

"
#
PSRst1 ,t2 12
GPSRst1 ,t2 exp
2

GPst1 ,t2 exp

"
#
PSRst1 ,t2 12

(6) Determine which element in Ys classification matrix match with

Classs:
37

c the position number of element in Ys classification

38

s2

where s is the smoothing factor, which is the deviation of the

Gaussian functions.
(2) Calculate the product value for sth machine section of the
fuzzy neural network classier at each correlated image:
Gst1 ,t2 GPSRst1 ,t2  Gpst1 ,t2

39

Xs training

Gs1,1
6G
6 s2,1
6
6 ^
4

GsT,1

Gs1,2



Gs2,2



&

GsT,2



Gs1,T

40

(4) The output is set to produce 1 if it is authentic class and 0 for

imposter class, and it is in an array of Yidentity, with identity
matrix of dimension T  T. To calculate the weight w for sth
machine section, the equation is
ws Xstraining 1 Yidentity

48

c corresponds to the assigned number of reference image

in database.
(7) Based on two sets of fuzzy IF-THEN rules, perform defuzzication:
R1s : IF matches with the number stored in overheat class

49

Gs2,T 7
7
7
^ 7
5
GsT,T

matrix which has the equal value with Classs :

of sth machine, THEN alarm : machines overheat:

(3) Gather and store the product values in an array:

2

171

41

R2s : IF c matches with the number stored

in non-overheat class of sth machine, THEN
alarm : machines function properly:

50

6. Experimental results
In this section, the application of log-polar mapper, quaternion
based thermal image correlator together with max-product fuzzy
neural network classier for machine condition monitoring
system is illustrated. Here, some experiments were used to prove
the algorithms introduced in Sections 35.

5.3. Max-product fuzzy neural network classication

The max-product fuzzy neural network classication is carried
out through 7 steps:

6.1. Database of reference thermal images for all possible machine

conditions

(1) PSRsi,t2 and psi,t2 outputs from the quaternion correlator of

the recognition stage are fuzzied through the activation
functions (Gaussian membership function):

Thermal images collected at the Applied Mechanics Lab in

Faculty of Engineering and Technology, Multimedia University, is
used to test the proposed machine condition monitoring system.
The database consists of log-polar images unwarped from
Cartesian thermal images captured from three functioning
machines using the AXT100 thermal camera. An image captured
by a digital camera on the site is shown in Fig. 10. A thermal
image is also captured using AXT100 at the same position for all
the functioning machines with overheated condition, as shown in
Fig. 11, and the corresponding log-polar form of it is shown in
Fig. 12. In Fig. 10, machine A (leftmost) and machine C (rightmost)
are vibro test machines of the same model and same
specications, whereas machine B (center) is a fatigue test
machine. Three machines are considered to be overheated when
their motor temperature reach 90 1C.
The captured thermal images using AXT100 via MATLAB has
256  248 display resolution pixels (after camera interpolation).
It is cropped with MATLAB for the region of interest for 3 machine
sections, which is 243  100 pixels. Each machine section is

"
GPSRsi,t exp

PSRsi,t2 12

42

s2

Gpsi,t2 exp

"
#
PSRsi,t2 12

43

s2

(2) Calculate the product value for sth machine section of the
fuzzy neural network classier at input image on the training
images in the database:
Gsi,t2 GPSRsi,t  Gpsi,t2

44

(3) Gather and store the product values in an array:

h
Xs classification Gsi,1

Gsi,2



Gsi,T

45

(4) Obtain the classication outcomes for each machine condition in the sth section by multiplying (45) with the weight
trained at (41):
Ys classification Xs classification  ws

46

(5) Classify the input machine condition with the class of

machine condition it belongs to by using max composition:
h
Xs classification Gsi,1

Gsi,2

...

Gsi,T

47

Fig. 10. Image on the site capture by digital camera.

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W.-K. Wong et al. / Neurocomputing 74 (2010) 164177

machine C overheated, (5) machine A and machine B overheated,

(6) machine A and machine C overheated, (7) machine B and
machine C overheated, (8) machine A, B, and C are overheated.

6.2. Quaternion based thermal image correlation using

unconstrained optimal tradeoff synthetic discriminant lter
(UOTSDF)

Fig. 11. Image on the site capture by thermal camera for all machines are in
overheats condition.

Fig. 12. Log-polar mapping of Fig. 11 as divided into 3 partitioned machines

sections.

Fig. 13. Available Color Palettes in AXT100.

81  100 pixels. After performing log-polar mapping, it becomes

60  70 pixels for each machine section. The database has T30
reference images, each machine section has dimension of 180
horizontal pixels  70 vertical pixels with varying conditions
(temperature level with different color tones in HOT color palette
ranging from black, brown, dark red, red, orange, yellow, light
yellow to white). Fig. 13 shows the color palette of AXT100. The
type GRAY is grayscale, which is not color. Since the proposed
algorithm is color based (quaternion based); hence it is not
suitable. The types GRAYRAIN, IRONRAIN, SPECTRA 1, FLOW 14
are not suitable too because there are black regions intermediate
of many of its range as gaps. Type COOL and MOTION only
required majority 2 channels (GB, or RB). This again limited
user choice only on IRON, HOT and SPECTRA 2. Type IRON and
SPECTRA 2 have a temperature range of magenta color, which
consists of the mixture of R and B. This will cause error/
misjudgment in certain processing/manipulation tasks. Hence
the ideal one is by using HOT color palette, and thats the reason
HOT color palette is pick for the proposed image processing tools.
They can be divided into 8 major outcomes, namely (1) All
machines function properly (none of the machines are overheated), (2) machine A overheated, (3) machine B overheated, (4)

In the experiment, 30 reference images in database are used to

synthesize a single UOTSDF using (32). D and m are calculated
from the reference images, C is an identity matrix of dimension
30  30 and a set to 1. These values are substituted into (32) to
calculate the lters coefcients. Then in enrollment stage, for
each lter line as in Fig. 8, cross
 correlation

 is performed on all the
DQFT reference images Ist1 with Ist2 in the database, and
multiplying the output value with corresponding lter coefcients, respectively, where t1, t2 1, 2, y, 30; s1, 2, 3. In
recognition stage, for each lter line, cross correlation of the DQFT
form is performed on input image (hs(i)) with the DQFT form of


reference images in database Ist1 and multiplying the output
value with corresponding lter coefcients, respectively. For
authentic case (good match between two images), the correlation
plane will have sharp peaks and it will not exhibit such strong
peaks for imposter case (bad or no match between two images).
The investigation for these two cases is given below.
Authentic case: Fig. 16(a, b and c) shows the samples
correlation plane for input thermal image (for every machine is
overheated as in Fig. 14, log polar transform in Fig. 15) matching
with one of the reference image of overheated class in the
database (as in Fig. 12), for section machine A, section machine B
and section machine C, respectively. Since the three pairs of
images are in good match, smooth and sharp peaks correlation
plane can be observed Fig. 16.
Imposter case: Fig. 19(a, b and c) shows the samples
correlation plane for input thermal image (for every machine is
not-overheated as in Fig. 17, log polar transform in Fig. 18)
matching with one of the reference images of overheated class in
the database (as in Fig. 12), for section machine A, section
machine B and section machine C, respectively. Since the three
pairs of images are not in good match, no sharp peak was
observed from their correlation.

Fig. 14. Sample input thermal image (all machines in overheat condition).

Fig. 15. Log-polar mapping of Fig. 14 as divided into 3 partitioned machines

sections.

W.-K. Wong et al. / Neurocomputing 74 (2010) 164177

173

Fig. 16. Samples correlation plane for input thermal image (for every machine is overheated) matching with one of the reference image of overheated class for both all the
machines in the database (authentic case) (a) section machine A, (b) section machine B, (c) section machine C.

Table 1
Normalized PSR and p-values for both authentic and imposter case.

Fig. 17. Sample input thermal image (all machines in overheat condition).

Authentic case

Normalized PSR

Normalized p-value

Section mac. A
Section mac. B
Section mac. C

0.95281
1.0000
0.9674

0.7971
0.8987
0.8317

Imposter case

Normalized PSR

Normalized p-value

Section mac. A
Section mac. B
Section mac. C

0.0338
0.0421
0.0371

0.0287
0.0373
0.0345

normalized PSR and p-value in authentic case of section machine

A, B and C, whereas small PSR and p-value exhibiting in the
imposter case of section machine A, B and C.

Fig. 18. Log polar mapping of Fig. 16 as divided into 3 partitioned machines
sections.

Table 1 shows the PSR and p-value for both authentic and
imposter case as shown in Fig. 16 and 19 for section machine A, B
and C. Note that the sharp correlation peak resulting in large

6.3. Log-polar mapping for solving rotation and scaling invariant

Log-polar mapping is used in the proposed machine condition
monitoring system to solve the rotation and scaling invariant. For
each of the partitioned machine section (with total x1 81 and
total y1 100), log-polar sampling is used to sample Cartesian

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W.-K. Wong et al. / Neurocomputing 74 (2010) 164177

Fig. 19. Samples correlation plane for input thermal image (for every machine is not-overheated) matching with one of the reference image of overheated class for both all
the machines in the database (imposter case) (a) section machine A, (b) section machine B, (c) section machine C.

Fig. 20. An example case of rotational invariant (a) Cartesian input image capture
by digital camera (1.6 m), (b) the same image as in (a) capture using thermal
camera during the machine being overheated, (c) log polar mapping image of (b),
(d) rotational invariant of (a) capture by digital camera, (e) thermal image of (d) in
Cartesian form, (f) log-polar form of (e).

input image into log-polar sampling image (with total r 60 and

total y 70) and then mapping into log-polar mapping image
with total x2 60 and y2 70. By applying log-polar mapping,
a data reduction ratio of 8100:4200 is obtained with almost 2 fold
of data compression in a ne image resolution manner. Fig. 20
shows an example of log-polar mapping for section machine A.
Fig. 20b is captured using thermal camera at the same position
of the machine in Fig. 20a when the machine is overheated. Say, if
a rotational invariant occurs on the same machine as shown in
Fig. 20d, the corresponding thermal images in Cartesian and log
polar forms are shown in Fig. 20e f, respectively. The output
correlation plane obtained from (i) Fig. 20b and b itself, (ii)
Fig. 20b and e, (iii) Fig. 20c and c itself, (iv) Fig. 20c and f are
shown in Fig. 21a, b, c and d, respectively. From Fig. 21a and b, the
correlation planes are obtained among thermal images that are
captured directly without log-polar mapping. It is observable that
the correlation planes are actually not smooth and consist of more
than one focusing sharp peaks. It is difcult to detect PSR and pvalues from such correlation planes. However, in Fig. 21c and d,
after performing log-polar mapping on the captured images, the
correlation planes are smooth and they are almost identical in
shape. The calculated PSR and p-values from these two planes
after normalization are (PSRFig. 21c 1.0000, PSRFig. 21d 0.9267,
pFig. 21c 0.8894, pFig. 21d 0.8054). PSRFig. 21d is of 7.4% deviate
from PSRFig. 21c and pFig. 21d is of 8.5% deviate from pFig. 21c.

W.-K. Wong et al. / Neurocomputing 74 (2010) 164177

175

Fig. 21. Output correlation planes among: (a) Fig. 20b and b itself, (b) Fig. 20b and e, (c) Fig. 20c and c itself, (d) Fig. 20c and f.

Fig. 22. An example case of scaling invariant (a) Cartesian input image capture by
digital camera (3.2 m), (b) the same image as in (a) capture using thermal camera
during the machine is overheated, (c) log polar mapping image of (b).

The deviation is less than 9%, which can be considered close to

each other. This shows that log-polar mapping not only provides a
smoother correlation plane for PSR and p-values measurement, it
actually solves rotational invariant problem in quaternion based
thermal image correlation too.
For scaling invariant, a test is conducted on machine section A but
at different distance between the machine and the camera, as shown
in Fig. 20a and Fig. 22a. The distance of machinecamera is 1.6 m in
Fig. 20a and 3.2 m in Fig. 22a. Their thermal images captured at
overheated condition are shown in Fig. 20b and Fig. 22b, respectively,
and their log-polar images are shown in Fig. 20c and Fig. 22c
respectively. The output correlation plane obtained for (i) Fig. 20b and
Fig. 22b, and (ii) Fig. 20c and Fig. 22c are shown in Fig. 23a and b,
respectively. The output correlation plane in Fig. 23a (correlated

images without log-polar mapping) is with rough surfaces and overall

low normalized amplitudes as compared to Fig. 23b (correlated
images with log-polar mapping). By comparing output correlation
planes in Fig. 23b and Fig. 21c, the overall normalized amplitudes in
the correlation plane of Fig. 23b are reduced to almost 1=4 of that in
Fig. 21c. However, their plane shapes are almost identical. Sharp
peaks can still be detected around central regions, and their PSR and
p-values after normalizing are (PSRFig. 21c 1.0000, PSRFig. 23b 0.8647,
pFig. 21c 0.8894, pFig. 23b 0.7681). PSRFig. 23b is of 13.5% deviate from
PSRFig. 21c and pFig. 23d is of 12.3% deviate from pFig. 21c. The deviation is
less than 14%, which can be considered near to each other. Hence, it is
proven that log-polar mapping can be used to solve scaling invariant
problem in quaternion based thermal image correlation.

6.4. Efciency of the machine monitoring system

The machine monitoring system was evaluated based on the
thermal images captured live and displayed on monitor scene as
interpreted by an operator (human observer) the overall description
of which could be called the operator perceived activity (OPA) [45].
The operator comments on the images captured by the thermal
camera, whether any of the machines are overheated or not. The
system was evaluated with 30,000 samples images captured by the
thermal camera for monitoring the machines, as in Fig. 10. Out of
the 30,000 samples images, one-third (10,000) sample images are
captured in a xed position (same angle01 face to face camera
machine as in Fig. 11, same distance1.6 meter cameramachine),

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W.-K. Wong et al. / Neurocomputing 74 (2010) 164177

Fig. 23. Output correlation planes among: (a) Fig. 20b and Fig. 22b, (b) Fig. 20c and Fig. 22c.

one-third (10,000) sample images are captured in a xed distance

(1.6 m cameramachine) but different angles (ranging between  301
cameramachinerotational invariant) and another one-third
(10,000) samples images are captured in a xed angle (01 face to
face cameramachine as in Fig. 11) but different distances (ranges
between 1.6 and 3.6 m cameramachinescaling invariant). In xed
position case, 9851 samples are tracked correctly (machine conditions
agreed by both observer and the machine condition monitoring
system), with an accuracy of 98.51%, whereas in rotational invariant
case, 9006 samples are tracked correctly, with an accuracy of 90.06%.
In scaling invariant case, 9366 samples are tracked correctly, with an
accuracy of 93.66%.
From the experimental results, it is proven that the proposed
machine monitoring system achieved the best performance in
monitoring xed position machines while its performance
degrades a little in scaling invariant and rotational invariant
cases. Out of 30,000 samples images, 28,223 were tracked
perfectly (output machine conditions agreed by both observer
and the machine condition monitoring system), i.e. an overall
accuracy of 94.08%. The proposed machine monitoring system is
also discovered to be capable of accepting rotational invariant
angle up to  301 and scaling invariant distance up to maximum
3.6 m. Beyond this angle and distance range, the machine sections
seriously overlap/overshape in images, and seriously degrade the
classication results. The proposed machine monitoring system
for now seems to only accept mild overlap/overshape for assigned
machine sections in images caused by mild scaling and rotational
invariant in camera viewpoint. This issue can be further studied in
future for the enhancement of the machine monitoring system to
be used in serious scaling and rotational invariant environment.

7. Conclusion
This paper presented a system capable of monitoring machine
condition using log-polar mapping method, quaternion based
thermal image correlator and max-product fuzzy neural network
classier. The results show that the proposed machine condition
monitoring system achieved very high accuracy, i.e. more than
94%. One of the advantages using quaternion correlation rather
than conventional correlation method is that quaternion correlation method deals with color images without converting those
images into grayscale images. Hence, important color information
can be preserved. Max-product fuzzy neural network provides
high level framework for approximate reasoning; hence it is best

suited for classication use. We also found that the use of logpolar mapping solves rotation and scaling problems in quaternion
based thermal image correlation. In addition, log-polar mapping
has data compression capability. Therefore the use of log-polar
mapping reduces the computation time and memory storage
needs. Log-polar mapping also smoothens the output correlation
plane, hence making better measurement for PSR and p-value.
Based on the experimental results, the use of PSR and p-value
provides higher accuracy in tracking thermal condition in the
proposed machine condition monitoring system. In future, there
is a plan to implement this machine condition monitoring system
in a wide area coverage using minimum hardware manner,
whereby the machines surrounded in an omnidirectional (3601)
view can be monitored by using a single thermal camera and a
specic design hyperbolic mirror. Therefore, a mathematical
model has to be formulated to design the geometry of such
mirror and an unwarping processing method also needs to be
researched for unwarping the omnidirectional image into panoramic forms for better machine partitioning purpose. These
topics will be addressed in future work.
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Wai-Kit Wong was born in Bahau, Malaysia. He

received his B. Eng. Sc. Degree (Honors) in electronics
engineering majoring in Telecommunications and M.
Eng. Sc. Degree in the years 2003 and 2006, respectively, both from Multimedia University (MMU),
Malaysia. In November 2006, he joined the Faculty of
Engineering and Technology, MMU, as a lecturer and
currently he is pursuing his PhD degree in MMU. His
research interests fall in the general areas of telecommunications and image processing. He has worked
in the areas of digital signal processing, multiuser
detection, power line communication and image
processing. His current research interests include face
recognition, pattern recognition, omnidirectional surveillance system and thermal
condition monitoring.

Chu-Kiong Loo was born in Melaka, Malaysia. He

received his PhD (University Sains Malaysia), B. Eng.
(First class Hons in Mechanical Engineering from
University Malaya), PhD in AI and robotics from
University Science of Malaysia (USM). He is the Project
leader and the Dean of Faculty of Information Science
and Technology, Multimedia University, Malaysia.
Formerly he was a design Engineer in various Industrial rms in different capacities as well as he is the
former chairman of Centre for Robotics and automation in Multimedia University. Currently, he is an
expert in Quantum Soft-computing includes Brain
inspired quantum neural network, quantum clustering,
constructivism Inspired Neural Network, synergetic Neural Networks, Robotic
Intelligent System Development and Applications.

Way-Soong Lim was born in Melaka, Malaysia. He

received his PhD (Multimedia University Malaysia) in
year 2007. He is currently the deputy Dean of Faculty
of Engineering and Technology, Multimedia University.
His research interests include the general areas of
Neural Networks, Pattern Recognition, Robotics and
Automation

Poi-Ngee Tan received his B. Eng. (Hons) Electronics

majoring in Telecommunications from Faculty of
Engineering and Technology, Multimedia University,
Malaysia in 2009. In the same year, he joined Unitele
Multimedia Sdn. Bhd, which is wholly owned by
Multimedia University as research ofcer. His research
mainly focuses on thermal infrared imaging and also
antenna design for synthethic aperture radar. His
research interests include thermal imaging, image
analysis, as well as antenna fabrication.