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Integrated Intelligent Research (IIR) International Journal of Data Mining Techniques and Applications
Volume: 05 Issue: 02 December 2016 Page No.140-142
ISSN: 2278-2419
140
A Review of Edge Detection Techniques for Image
Segmentation
S.Jeyalaksshmi1
, S.
Prasanna2
1
Research Scholar, Department of BCA, Vels University.Chennai.
2
Professor, Department of MCA, Vels University,Chennai.
Abstract: Edge detection is a key stride in Image investigation.
Edges characterize the limits between areas in a image, which
assists with division and article acknowledgment.Edge
discovery is a image preparing method for finding the limits of
articles inside Image. It works by distinguishing irregular in
brilliance and utilized for Image division and information
extraction in zones, for example, Image preparing, PC vision
and Image vision. There are likely more algorithms in a writing
of upgrading and distinguishing edges than whatever other
single subject.In this paper, the principle is to concentrate most
usually utilized edge methods for Image segmentation.
Keywords :Image segmentation, edge detection, digital image
processing.
I. INTRODUCTION
Edge of Image is one of the major device utilized as a part of
most Image preparing applications to get data from the casings
as a fore runner venture to future extraction and item division.
It is the initial step of Image investigation and comprehension.
Edge identification is a procedure of finding an edge of a
Image.Detection of edges in a Image is an essential stride
towards understanding Image highlights. Edges comprises of
important components and contain huge data. It altogether
diminish the Image size and sift through data that might be
viewed as less significant, consequently safeguarding the vital
basic properties of a Image. Most Images contain some
measure of redundancies that can now and then be expelled
when edges are distinguished and supplanted during
remaking.The viability of numerous Image handling relies on
upon the flawlessness of identifying important edges.
This is the place edge discovery becomes possibly the most
important factor. The objective of the edge identification is
(i) create a line drawing of a scene from a Image of that
scene,
(ii) critical elements can be extricated from the edges of
an image(e.g. corners, lines, curves),
(iii) these elements are utilized by more elevated amount
PC vision algorithms (e.g.Acknowledgment).
Additionally, edge detection is one of the methods for making
Images not take up too muchspace in the PC memory. Since
edges frequently happen at Image area speaking to question
limits, edge detection is widely utilized as a part of Image
division when Images are partitioned into regions comparing to
various articles. These components are utilized by cutting edge
PC vision algorithms.Edge detection is a dynamic region of
examination as it encourages more elevated amount Image
investigation. Consistently new edge detection algorithms are
distributed. This paper talks about different systems for edge
detection.
II. MATERIALS AND METHODS
C.Nagaraju et.al(2011)[1] proposed a novel edge detection
algorithm in view of multi structure components morphology
of eight distinct bearings and after that the last edge results are
gotten by utilizing manufactured weighted strategy. The
proposed algorithm is more productive than routine numerical
morphological edge detection algorithms and differential edge
detection operators. G.T. Shrivakshan1
Dr.C.
Chandrasekar2
(2012)[3]deals with the observation of shark fish
classification through image processing using various filters
and is implemented using MATLAB.M.Sridevi and
C.Mala(2012 )[10] compared the different segmentation
algorithms and implemented in MATLAB and concluded the
result that the required segment can be obtained based on
proper mask and threshold values.
Er.Komal Sharma, Er.Navneet Kaur(2013)[13] deals with the
process of those regions in the image where there is an abrupt
change in the brightness of the image using various edge
detection methods. Kiranjeet Kaur, Sheenam
Malhotra(2013)[14] represented methods for edge
segmentation of satellite images which described the different
types of Fuzzy Logic using edge detection. And also described
CBIR technique and Bacterial foraging optimization
technique.Thabit Sultan Mohammed1
, Wisam F. AI-Azzo2
and
Khalid Mohammed (2013)[15]In this simulation system, a user
friendly GUI is developed and two alternative methods for
image acquisition are implemented. Amit Chaudhary1,Tarun
Gulati2 (2013)[18] Concluded that Sobel edge detection
algorithm performs superior to anything Laplacian algorithm;
in any case, the false edges are high in both cases for obscured
or low determination Images. Along these lines, another
algorithm and set of filters(kernels) is proposed and its
outcome are contrasted and the Sobel and Laplacian channels
for three Images and from the outcomes acquired it is found
that the proposed algorithm performs superior to the
aforementioned channels. M.Davoodianidaliki a,*,A.Abedini
b,M.
Shankavia(2013)[19] utilizes conventional edge detection
administrators like Sobel and Canny as contribution to ACO
and turns the general procedure versatile to
application.Karishma Bhardwaj* and Palvinder Singh
Mann**(2013)[22 ]presented an Adaptive Neuro Fuzzy
Inference System (ANFIS) based edge discovery method and
the proposed strategy recognizes the edges from the
computerized Images utilizing ANFIS based edge indicator
and after that it is contrasted and prevalent edge identifiers
Sobel and Roberts on the premise of execution measurements
PSNR (Peak Signal to Noise Ratio) and MSE (Mean Square
Error). Girish Sahu1, Anand Swaroop Khare2,
A.K.Singh3(2014)[23] demonstrates the correlation of edge
Integrated Intelligent Research (IIR) International Journal of Data Mining Techniques and Applications
Volume: 05 Issue: 02 December 2016 Page No.140-142
ISSN: 2278-2419
141
detection procedures under various conditions proposed novel
technique in view of the denoised Images. Zhenfeng Shao1,
Weixun Zhou1*, Qimin Cheng2 (2014) [24]discussed low-
level components yields unacceptable recovery results in
remote detecting Image recovery due to the presence of the
semantic hole. Keeping in mind the end goal to enhance the
outcome, visual consideration model is utilized to concentrate
notable items from Image as indicated by their saliency. At that
point shading and surface components are separated from
notable questions and taken as highlight vectors for Image
recovery and finished up exploratory results enhances recovery
comes about and acquires higher accuracy. Srinivas.B.L.1
Hemalatha2, Jeevan.K.A3(2014)[25]discussed that the edge
detection Is a major apparatus for Image division which
isolates a Image into its part districts or questions from the
background.Bindu Bansal, Jasbir Singh Saini, Vipan Bansal,
And Gurjit Kaur(2012)[28]has given the correlation of
different edge discovery procedures. Begol, Moslem and
Maghooli,Keivan(2011)[29]concluded the edge detection of
the advanced Image can be enhanced utilizing fluffy
frameworks. Aborisade, D.O(2011)[30] examined the edge
detection procedure taking into account novel fluffy rationale.
Constantina Raluca Mihalache and Mitic?a Craus demonstrates
the working of Neural Network and Fuzzy Membership
Functions for identifying edges.
III. CONCLUSION
In this paper many edge detection methods like Sobel operator
technique, Roberts technique, Prewitt technique, Canny
technique are discussed. Among the above mentioned
techniques, many experimental methods concluded that the
result obtain using canny operator gives the better result.
Choosing a suitable method for edge detection is based on the
some environmental conditions. Each technique have its own
advantages and disadvantages. This paper will be helpful for
the researchers in understanding the concept of edge detection
who are new in this field.
References
[1] C.NagaRaju , S.NagaMani, G.rakesh Prasad,
S.Sunitha,"Morphological Edge Detection Algorithm
based on Multi-Structure Elements of Different
Directions",IJICT,Volume 1 No. 1, May 2011.
[2] Uemura, Takumi, Gou Koutaki, and Keiichi Uchimura.
‘Image segmentation based on edge detection using
boundary code’, IJICIC, Vol. 7, Issue 10, pp. 60731-
6083, 2011.
[3] G.T. Shrivakshan1, Dr. C. Chandrasekar2 , “ A
Comparison of Various Edge Detection Techniques Used
in Image Processing”, IJCSI, Vol. 9, Issue 5, No 1,
September 2012.
[4] Muthukrishnan.R and M.Radha “Edge detection
techniques for image segmentation” IJCSIT, Vol. 3,No.6,
Dec. 2011.
[5] U.Sehgal “Edgedetection techniques in digital image
processing using Fuzzy Logic”, International journalof
Research in IT and Management, Vol.1, Issue 3, 61-66.
[6] K.J.Pithadiya, C.K.Modi & J.D.Chauhan” Selecting the
most favourable edge detection technique for liquid level
inspection in bottles” IJCISIM, ISSN: 2150-7988 Vol. 3,
pp.034-044, 2011.
[7] C. Deng, W. Ma & Y. Yin “ An Edge detection approach
of image fusion based on improved Sobel Operator” 4th
International congress on Image Processing, pp.1189-
1193.
[8] Mohamed A. EI-Sayed, “ A New Algorithm Based
Entropic Threshold for Edge Detection in Images” IJCSI,
Vol. 8, Issue 5, No.1, September 2011.
[9] Mitra Basu, Senior Member IEEE, “Gaussian Based
Edge-Detection Methods A Survey’, IEEE Transactions
on System, man, and cybernetics part c: Application and
Reviews, Vol.32, No.3, August 2002.
[10] M.sridevi and C.Mala “ A Survey on Monochrome Image
Segmentation Methods’ 2nd International Conference on
communication, computing & Security – 2012.
[11] Jaskirat Kaur, Sunil Agarwal, Renu vig, ‘ A comparative
analysis of thresholding and edge detection segmentation
techniques”, International Journal of computer
applications Vol. 39, p.29 -2012.
[12] AkanshaMehrotra, KrishnaKantSingh.M.J.Nigam, “A
Novel Algorithm for Impulse Noise Removal and Edge
Detection”, International Journal of computer
applications Vol.38, No. 7, January 2012.
[13] Er.Komal Sharma, Er.Navneet Kaur ‘Comparative
Analysis of Various Edge Detection Techniques’
International Journal of Advanced Research in Computer
Science and Software Engineering, Volume 3, Issue 12,
December 2013.
[14] Kiranjeet Kaur, Sheenam Malhotra, “ A survey on edge
detection using different techniques” International
Journal of Application or Innovation in Engineering &
Management, Vol. 2, Issue 4, April 2013.ISSN :2319-
4847.
[15] Thabit Sultan Mohammed1, Wisam F. AI-Azzo2 and
Khalid Mohammed, “Image Processing Development and
Implementation : A Software Simulation using
MATLAB”, ICIT 2013. The 6th International Conference
on Information Technology.
[16] Poonam Dhankhari1, Neha Sahu2, “ A Review and
Research of Edge Detection Techniques for Image
Segmentation”, International Journal of Computer
Science and Mobile Computing, Vol. 2, Issue 7, July
2013, pg.86-92.
[17] Pooja Sharma, Gurpreet Singh, Amandeep Kaur, ‘
Different techniques of Edge Detection in Digital Image
Processing’, IJERA, Vol.3, Issue 3, May-Jun 2013, PP.
458-461. ISSN: 2248-9622.
[18] Amit Chaudhary1,Tarun Gulati2, ‘Segmenting digital
images using edge detection’, IJAIEM,Vol. 2, Issue 5,
May 2013.
[19] M.Davoodianidaliki a,*,A.Abedini b,M. Shankavi
a,’AdaptiveEdge Detection Using Adjusted Ant Colony
Optimization’, International Archives Of The
Photogrammetry, Remote Sensing And Spatial
Information Sciences, Volume XL-1/w3,2013, SMPR
2013; 5-8 october 2013, Tehran, Iran.
[20] Tzu-Heng Henry Lee and Taipei, Taiwan ROC, “Edge
Detection Analysis”, IJCSI, VOL. 5, Issue 6, No. 1,
September 2012.
[21] Yang, Y., Newsam.S., ‘Geographic image retrieval using
local invariant features’, IEEE Transactions on
Geoscience and Remote Sensing 51(2), pp.818-832-
2013.
Integrated Intelligent Research (IIR) International Journal of Data Mining Techniques and Applications
Volume: 05 Issue: 02 December 2016 Page No.140-142
ISSN: 2278-2419
142
[22] Karishma Bhardwaj* and Palvinder Singh Mann**,
“Adaptive Neuro-Fuzzy Inference System(ANFIS) Based
Edge Detection Technique”, International journal for
Science and Engineering ISSN No. (online):2250-
3641Technologies with Latest Trends, 8(I), 7-13 (2013).
[23] Girish Sahu1, Anand Swaroop Khare2, A.K.Singh3,
“review on image enhancement using canny edge
detection method: Literature Survey”, Global Journal of
Multidisciplinary Studies, Volume 3, Issue 12, November
2014. ISSN:2348 – 0459.
[24] Zhenfeng Shao1, Weixun Zhou1*, Qimin Cheng2,
“Remote Sensing Image Retrieval with Combined
Features of Salient Region”, The International Archives
of the photogrammetry, Remote Sensing and Spatial
Information Sciences, Volume XL-6,2014. ISPRS
Technical Commission VI Symposium, 19-21 May 2014,
Wuhan, China.
[25] Srinivas.B.L.1 Hemalatha2, Jeevan.K.A.3, ‘Edge
detection techniques for image segmentation’, IJIRCCE,
Vol. 3, Special Issue 7, October 2015.
[26] Jamil A.M.Saif, Ali Abdo Mohammed Al-kubati,
Abdultawab Saif Hazaa and Mohammed AI Moraish,
“Image Segmentation using Edge Detection and
Threshold” The 13th International Arab Conference on
Information technology (ACIT), 2012 Dec 10-13
ISSN:1812-0857.
[27] Hemalatha and Jeevan K.A.,’Pattern recognition in image
processing – A study’, International Journal of Innovative
Research in Computer and Communication Engineering
Vol. 2, Issue 5,pp.378-384,2014.
[28] Bindu Bansal, Jasbir Singh Saini, Vipan Bansal, And
Gurjit Kaur “Comparison Of Various Edge Detection
Techniques” Journal of Information and Operations
Management , Volume 3, Issue 1, pp.103-106,2012.
[29] Begol, Moslem and Maghooli,Keivan “Improving Digital
Image Edge Detection by Fuzzy Systems”, In
proceedings of World Academy of Science, Engineering
and Technology, Vol.57, pp.76-79, 2011.
[30] Aborisade, D.O “ Novel Fuzzy logic Based Edge
Detection Technique” International Journal of Advanced
Science and Technology, Vol. 29, pp.75-82, April, 2011.
[31] Constantina Raluca Mihalache and Mitic˘a Craus “Neural
Network and Fuzzy Membership Functions Based Edge
Detection for Digital Images” 16th International
Conference on System Theory,Control and
Computing,(IEEE),2012.

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A Review of Edge Detection Techniques for Image Segmentation

  • 1. Integrated Intelligent Research (IIR) International Journal of Data Mining Techniques and Applications Volume: 05 Issue: 02 December 2016 Page No.140-142 ISSN: 2278-2419 140 A Review of Edge Detection Techniques for Image Segmentation S.Jeyalaksshmi1 , S. Prasanna2 1 Research Scholar, Department of BCA, Vels University.Chennai. 2 Professor, Department of MCA, Vels University,Chennai. Abstract: Edge detection is a key stride in Image investigation. Edges characterize the limits between areas in a image, which assists with division and article acknowledgment.Edge discovery is a image preparing method for finding the limits of articles inside Image. It works by distinguishing irregular in brilliance and utilized for Image division and information extraction in zones, for example, Image preparing, PC vision and Image vision. There are likely more algorithms in a writing of upgrading and distinguishing edges than whatever other single subject.In this paper, the principle is to concentrate most usually utilized edge methods for Image segmentation. Keywords :Image segmentation, edge detection, digital image processing. I. INTRODUCTION Edge of Image is one of the major device utilized as a part of most Image preparing applications to get data from the casings as a fore runner venture to future extraction and item division. It is the initial step of Image investigation and comprehension. Edge identification is a procedure of finding an edge of a Image.Detection of edges in a Image is an essential stride towards understanding Image highlights. Edges comprises of important components and contain huge data. It altogether diminish the Image size and sift through data that might be viewed as less significant, consequently safeguarding the vital basic properties of a Image. Most Images contain some measure of redundancies that can now and then be expelled when edges are distinguished and supplanted during remaking.The viability of numerous Image handling relies on upon the flawlessness of identifying important edges. This is the place edge discovery becomes possibly the most important factor. The objective of the edge identification is (i) create a line drawing of a scene from a Image of that scene, (ii) critical elements can be extricated from the edges of an image(e.g. corners, lines, curves), (iii) these elements are utilized by more elevated amount PC vision algorithms (e.g.Acknowledgment). Additionally, edge detection is one of the methods for making Images not take up too muchspace in the PC memory. Since edges frequently happen at Image area speaking to question limits, edge detection is widely utilized as a part of Image division when Images are partitioned into regions comparing to various articles. These components are utilized by cutting edge PC vision algorithms.Edge detection is a dynamic region of examination as it encourages more elevated amount Image investigation. Consistently new edge detection algorithms are distributed. This paper talks about different systems for edge detection. II. MATERIALS AND METHODS C.Nagaraju et.al(2011)[1] proposed a novel edge detection algorithm in view of multi structure components morphology of eight distinct bearings and after that the last edge results are gotten by utilizing manufactured weighted strategy. The proposed algorithm is more productive than routine numerical morphological edge detection algorithms and differential edge detection operators. G.T. Shrivakshan1 Dr.C. Chandrasekar2 (2012)[3]deals with the observation of shark fish classification through image processing using various filters and is implemented using MATLAB.M.Sridevi and C.Mala(2012 )[10] compared the different segmentation algorithms and implemented in MATLAB and concluded the result that the required segment can be obtained based on proper mask and threshold values. Er.Komal Sharma, Er.Navneet Kaur(2013)[13] deals with the process of those regions in the image where there is an abrupt change in the brightness of the image using various edge detection methods. Kiranjeet Kaur, Sheenam Malhotra(2013)[14] represented methods for edge segmentation of satellite images which described the different types of Fuzzy Logic using edge detection. And also described CBIR technique and Bacterial foraging optimization technique.Thabit Sultan Mohammed1 , Wisam F. AI-Azzo2 and Khalid Mohammed (2013)[15]In this simulation system, a user friendly GUI is developed and two alternative methods for image acquisition are implemented. Amit Chaudhary1,Tarun Gulati2 (2013)[18] Concluded that Sobel edge detection algorithm performs superior to anything Laplacian algorithm; in any case, the false edges are high in both cases for obscured or low determination Images. Along these lines, another algorithm and set of filters(kernels) is proposed and its outcome are contrasted and the Sobel and Laplacian channels for three Images and from the outcomes acquired it is found that the proposed algorithm performs superior to the aforementioned channels. M.Davoodianidaliki a,*,A.Abedini b,M. Shankavia(2013)[19] utilizes conventional edge detection administrators like Sobel and Canny as contribution to ACO and turns the general procedure versatile to application.Karishma Bhardwaj* and Palvinder Singh Mann**(2013)[22 ]presented an Adaptive Neuro Fuzzy Inference System (ANFIS) based edge discovery method and the proposed strategy recognizes the edges from the computerized Images utilizing ANFIS based edge indicator and after that it is contrasted and prevalent edge identifiers Sobel and Roberts on the premise of execution measurements PSNR (Peak Signal to Noise Ratio) and MSE (Mean Square Error). Girish Sahu1, Anand Swaroop Khare2, A.K.Singh3(2014)[23] demonstrates the correlation of edge
  • 2. Integrated Intelligent Research (IIR) International Journal of Data Mining Techniques and Applications Volume: 05 Issue: 02 December 2016 Page No.140-142 ISSN: 2278-2419 141 detection procedures under various conditions proposed novel technique in view of the denoised Images. Zhenfeng Shao1, Weixun Zhou1*, Qimin Cheng2 (2014) [24]discussed low- level components yields unacceptable recovery results in remote detecting Image recovery due to the presence of the semantic hole. Keeping in mind the end goal to enhance the outcome, visual consideration model is utilized to concentrate notable items from Image as indicated by their saliency. At that point shading and surface components are separated from notable questions and taken as highlight vectors for Image recovery and finished up exploratory results enhances recovery comes about and acquires higher accuracy. Srinivas.B.L.1 Hemalatha2, Jeevan.K.A3(2014)[25]discussed that the edge detection Is a major apparatus for Image division which isolates a Image into its part districts or questions from the background.Bindu Bansal, Jasbir Singh Saini, Vipan Bansal, And Gurjit Kaur(2012)[28]has given the correlation of different edge discovery procedures. Begol, Moslem and Maghooli,Keivan(2011)[29]concluded the edge detection of the advanced Image can be enhanced utilizing fluffy frameworks. Aborisade, D.O(2011)[30] examined the edge detection procedure taking into account novel fluffy rationale. Constantina Raluca Mihalache and Mitic?a Craus demonstrates the working of Neural Network and Fuzzy Membership Functions for identifying edges. III. CONCLUSION In this paper many edge detection methods like Sobel operator technique, Roberts technique, Prewitt technique, Canny technique are discussed. Among the above mentioned techniques, many experimental methods concluded that the result obtain using canny operator gives the better result. Choosing a suitable method for edge detection is based on the some environmental conditions. Each technique have its own advantages and disadvantages. This paper will be helpful for the researchers in understanding the concept of edge detection who are new in this field. References [1] C.NagaRaju , S.NagaMani, G.rakesh Prasad, S.Sunitha,"Morphological Edge Detection Algorithm based on Multi-Structure Elements of Different Directions",IJICT,Volume 1 No. 1, May 2011. [2] Uemura, Takumi, Gou Koutaki, and Keiichi Uchimura. ‘Image segmentation based on edge detection using boundary code’, IJICIC, Vol. 7, Issue 10, pp. 60731- 6083, 2011. [3] G.T. Shrivakshan1, Dr. C. Chandrasekar2 , “ A Comparison of Various Edge Detection Techniques Used in Image Processing”, IJCSI, Vol. 9, Issue 5, No 1, September 2012. 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Shankavi a,’AdaptiveEdge Detection Using Adjusted Ant Colony Optimization’, International Archives Of The Photogrammetry, Remote Sensing And Spatial Information Sciences, Volume XL-1/w3,2013, SMPR 2013; 5-8 october 2013, Tehran, Iran. [20] Tzu-Heng Henry Lee and Taipei, Taiwan ROC, “Edge Detection Analysis”, IJCSI, VOL. 5, Issue 6, No. 1, September 2012. [21] Yang, Y., Newsam.S., ‘Geographic image retrieval using local invariant features’, IEEE Transactions on Geoscience and Remote Sensing 51(2), pp.818-832- 2013.
  • 3. Integrated Intelligent Research (IIR) International Journal of Data Mining Techniques and Applications Volume: 05 Issue: 02 December 2016 Page No.140-142 ISSN: 2278-2419 142 [22] Karishma Bhardwaj* and Palvinder Singh Mann**, “Adaptive Neuro-Fuzzy Inference System(ANFIS) Based Edge Detection Technique”, International journal for Science and Engineering ISSN No. (online):2250- 3641Technologies with Latest Trends, 8(I), 7-13 (2013). [23] Girish Sahu1, Anand Swaroop Khare2, A.K.Singh3, “review on image enhancement using canny edge detection method: Literature Survey”, Global Journal of Multidisciplinary Studies, Volume 3, Issue 12, November 2014. ISSN:2348 – 0459. [24] Zhenfeng Shao1, Weixun Zhou1*, Qimin Cheng2, “Remote Sensing Image Retrieval with Combined Features of Salient Region”, The International Archives of the photogrammetry, Remote Sensing and Spatial Information Sciences, Volume XL-6,2014. ISPRS Technical Commission VI Symposium, 19-21 May 2014, Wuhan, China. [25] Srinivas.B.L.1 Hemalatha2, Jeevan.K.A.3, ‘Edge detection techniques for image segmentation’, IJIRCCE, Vol. 3, Special Issue 7, October 2015. [26] Jamil A.M.Saif, Ali Abdo Mohammed Al-kubati, Abdultawab Saif Hazaa and Mohammed AI Moraish, “Image Segmentation using Edge Detection and Threshold” The 13th International Arab Conference on Information technology (ACIT), 2012 Dec 10-13 ISSN:1812-0857. [27] Hemalatha and Jeevan K.A.,’Pattern recognition in image processing – A study’, International Journal of Innovative Research in Computer and Communication Engineering Vol. 2, Issue 5,pp.378-384,2014. [28] Bindu Bansal, Jasbir Singh Saini, Vipan Bansal, And Gurjit Kaur “Comparison Of Various Edge Detection Techniques” Journal of Information and Operations Management , Volume 3, Issue 1, pp.103-106,2012. [29] Begol, Moslem and Maghooli,Keivan “Improving Digital Image Edge Detection by Fuzzy Systems”, In proceedings of World Academy of Science, Engineering and Technology, Vol.57, pp.76-79, 2011. [30] Aborisade, D.O “ Novel Fuzzy logic Based Edge Detection Technique” International Journal of Advanced Science and Technology, Vol. 29, pp.75-82, April, 2011. [31] Constantina Raluca Mihalache and Mitic˘a Craus “Neural Network and Fuzzy Membership Functions Based Edge Detection for Digital Images” 16th International Conference on System Theory,Control and Computing,(IEEE),2012.