dsef 0.3.0

Direct Step Edge Detection

Direct Step Edge Follower

DSEF Package

The Direct Step Edge Follower (DSEF) is a edge-following algorithm designed for high-precision edge detection with low computational cost. It employs stepwise directional refinement and kernel-based statistical testing to enhance accuracy, particularly in challenging lighting conditions.

Citation

To cite DSEF in your research, please cite as:

@article{Sivertsen2025DSEF,
  author    = {Agnar Sivertsen and Fabio A. A. Andrade and Marcos Moura and Carlos A. M. Correia and Mariane R. Petraglia},
  title     = {Direct Step Edge Follower: a novel edge follower algorithm applied to solar panels inspections with Unmanned Aerial Vehicles},
  journal   = {Preprint},
  year      = {2025},
  month     = {April},
  url       = {https://www.researchgate.net/publication/390370984_Direct_Step_Edge_Follower_a_novel_edge_follower_algorithm_applied_to_solar_panels_inspections_with_Unmanned_Aerial_Vehicles}
}

Speeds

The DSEF can work in three modes, or speeds, are described in the table below:

Parameter	Low	Medium	High
$\Delta s$ (EdgeSearch step)	dist ⁄ 80	dist ⁄ 60	dist ⁄ 40
$\Delta \ell$ (EdgeFollow step)	diag ⁄ 200	diag ⁄ 100	diag ⁄ 50
$\Delta \theta$ (Angle Res.)	$\Omega$ ⁄ 90	4 $\Omega$ ⁄ 90	10 $\Omega$ ⁄ 90
$N_{\theta}$ (LUT size)	360 ⁄ $\Delta \theta$	360 ⁄ $\Delta \theta$	360 ⁄ $\Delta \theta$

Where $\mathrm{dist} = \sqrt{(u_{\mathrm{end}}-u_{\mathrm{start}})^2 + (v_{\mathrm{end}}-v_{\mathrm{start}})^2}$ and $\mathrm{diag} = \sqrt{(\mathrm{Width})^2 + (\mathrm{Height})^2}$

Lower speeds have more accuracy, due to the smaller steps, and higher speeds can have less accuracy but are faster.

How to use

The examples of DSEF can be found in the following links:

Simple Implementation of DSEF Search and Follow

Implementation and Comparison between the different Speed Modes in DSEF