Computer vision in target pursuit using a UAV

Research in target pursuit using Unmanned Aerial Vehicle (UAV) has gained attention in recent years, this is primarily due to decrease in cost and increase in demand of small UAVs in many sectors. In computer vision, target pursuit is a complex problem as it involves the solving of many sub-problems which are typically concerned with the detection, tracking and following of the object of interest. At present, the majority of related existing methods are developed using computer simulation with the assumption of ideal environmental factors, while the remaining few practical methods are mainly developed to track and follow simple objects that contain monochromatic colours with very little texture variances. Current research in this topic is lacking of practical vision based approaches. Thus the aim of this research is to fill the gap by developing a real-time algorithm capable of following a person continuously given only a photo input. As this research considers the whole procedure as an autonomous system, therefore the drone is activated automatically upon receiving a photo of a person through Wi-Fi. This means that the whole system can be triggered by simply emailing a single photo from any device anywhere. This is done by first implementing image fetching to automatically connect to WIFI, download the image and decode it. Then, human detection is performed to extract the template from the upper body of the person, the intended target is acquired using both human detection and template matching. Finally, target pursuit is achieved by tracking the template continuously while sending the motion commands to the drone. In the target pursuit system, the detection is mainly accomplished using a proposed human detection method that is capable of detecting, extracting and segmenting the human body figure robustly from the background without prior training. This involves detecting face, head and shoulder separately, mainly using gradient maps. While the tracking is mainly accomplished using a proposed generic and non-learning template matching method, this involves combining intensity template matching with colour histogram model and employing a three-tier system for template management. A flight controller is also developed, it supports three types of controls: keyboard, mouse and text messages. Furthermore, the drone is programmed with three different modes: standby, sentry and search. To improve the detection and tracking of colour objects, this research has also proposed several colour related methods. One of them is a colour model for colour detection which consists of three colour components: hue, purity and brightness. Hue represents the colour angle, purity represents the colourfulness and brightness represents intensity. It can be represented in three different geometric shapes: sphere, hemisphere and cylinder, each of these shapes also contains two variations. Experimental results have shown that the target pursuit algorithm is capable of identifying and following the target person robustly given only a photo input. This can be evidenced by the live tracking and mapping of the intended targets with different clothing in both indoor and outdoor environments. Additionally, the various methods developed in this research could enhance the performance of practical vision based applications especially in detecting and tracking of objects

Evaluation of Skylab (EREP) data for forest and rangeland surveys

The author has identified the following significant results. Four widely separated sites (near Augusta, Georgia; Lead, South Dakota; Manitou, Colorado; and Redding, California) were selected as typical sites for forest inventory, forest stress, rangeland inventory, and atmospheric and solar measurements, respectively. Results indicated that Skylab S190B color photography is good for classification of Level 1 forest and nonforest land (90 to 95 percent correct) and could be used as a data base for sampling by small and medium scale photography using regression techniques. The accuracy of Level 2 forest and nonforest classes, however, varied from fair to poor. Results of plant community classification tests indicate that both visual and microdensitometric techniques can separate deciduous, conifirous, and grassland classes to the region level in the Ecoclass hierarchical classification system. There was no consistency in classifying tree categories at the series level by visual photointerpretation. The relationship between ground measurements and large scale photo measurements of foliar cover had a correlation coefficient of greater than 0.75. Some of the relationships, however, were site dependent

An Interactive Visualisation System for Engineering Design using Evolutionary Computing

This thesis describes a system designed to promote collaboration between the human and computer during engineering design tasks. Evolutionary algorithms (in particular the genetic algorithm) can find good solutions to engineering design problems in a small number of iterations, but a review of the interactive evolutionary computing literature reveals that users would benefit from understanding the design space and having the freedom to direct the search. The main objective of this research is to fulfil a dual requirement: the computer should generate data and analyse the design space to identify high performing regions in terms of the quality and robustness of solutions, while at the same time the user should be allowed to interact with the data and use their experience and the information provided to guide the search inside and outside regions already found. To achieve these goals a flexible user interface was developed that links and clarifies the research fields of evolutionary computing, interactive engineering design and multivariate visualisation. A number of accessible visualisation techniques were incorporated into the system. An innovative algorithm based on univariate kernel density estimation is introduced that quickly identifies the relevant clusters in the data from the point of view of the original design variables or a natural coordinate system such as the principal or independent components. The robustness of solutions inside a region can be investigated by novel use of 'negative' genetic algorithm search to find the worst case scenario. New high performance regions can be discovered in further runs of the evolutionary algorithm; penalty functions are used to avoid previously found regions. The clustering procedure was also successfully applied to multiobjective problems and used to force the genetic algorithm to find desired solutions in the trade-off between objectives. The system was evaluated by a small number of users who were asked to solve simulated engineering design scenarios by finding and comparing robust regions in artificial test functions. Empirical comparison with benchmark algorithms was inconclusive but it was shown that even a devoted hybrid algorithm needs help to solve a design task. A critical analysis of the feedback and results suggested modifications to the clustering algorithm and a more practical way to evaluate the robustness of solutions. The system was also shown to experienced engineers working on their real world problems, new solutions were found in pertinent regions of objective space; links to the artefact aided comparison of results. It was confirmed that in practice a lot of design knowledge is encoded into design problems but experienced engineers use subjective knowledge of the problem to make decisions and evaluate the robustness of solutions. So the full potential of the system was seen in its ability to support decision making by supplying a diverse range of alternative design options, thereby enabling knowledge discovery in a wide-ranging number of applications

Image synthesis based on a model of human vision

Modern computer graphics systems are able to construct renderings of such high quality that viewers are deceived into regarding the images as coming from a photographic source. Large amounts of computing resources are expended in this rendering process, using complex mathematical models of lighting and shading. However, psychophysical experiments have revealed that viewers only regard certain informative regions within a presented image. Furthermore, it has been shown that these visually important regions contain low-level visual feature differences that attract the attention of the viewer. This thesis will present a new approach to image synthesis that exploits these experimental findings by modulating the spatial quality of image regions by their visual importance. Efficiency gains are therefore reaped, without sacrificing much of the perceived quality of the image. Two tasks must be undertaken to achieve this goal. Firstly, the design of an appropriate region-based model of visual importance, and secondly, the modification of progressive rendering techniques to effect an importance-based rendering approach. A rule-based fuzzy logic model is presented that computes, using spatial feature differences, the relative visual importance of regions in an image. This model improves upon previous work by incorporating threshold effects induced by global feature difference distributions and by using texture concentration measures. A modified approach to progressive ray-tracing is also presented. This new approach uses the visual importance model to guide the progressive refinement of an image. In addition, this concept of visual importance has been incorporated into supersampling, texture mapping and computer animation techniques. Experimental results are presented, illustrating the efficiency gains reaped from using this method of progressive rendering. This visual importance-based rendering approach is expected to have applications in the entertainment industry, where image fidelity may be sacrificed for efficiency purposes, as long as the overall visual impression of the scene is maintained. Different aspects of the approach should find many other applications in image compression, image retrieval, progressive data transmission and active robotic vision

Learning from demonstration for locally assistive mobility aids

© 2019, The Author(s). Active assistive systems for mobility aids are largely restricted to environments mapped a-priori, while passive assistance primarily provides collision mitigation and other hand-crafted behaviors in the platform’s immediate space. This paper presents a framework providing active short-term assistance, combining the freedom of location independence with the intelligence of active assistance. Demonstration data consisting of on-board sensor data and driving inputs is gathered from an able-bodied expert maneuvring the mobility aid around a generic interior setting, and used in constructing a probabilistic intention model built with Radial Basis Function Networks. This allows for short-term intention prediction relying only upon immediately available user input and on-board sensor data, to be coupled with real-time path generation based upon the same expert demonstration data via Dynamic Policy Programming, a stochastic optimal control method. Together these two elements provide a combined assistive mobility system, capable of operating in restrictive environments without the need for additional obstacle avoidance protocols. Experimental results in both simulation and on the University of Technology Sydney semi-autonomous wheelchair in settings not seen in training data show promise in assisting users of power mobility aids

Compressed Sensing Based Reconstruction Algorithm for X-ray Dose Reduction in Synchrotron Source Micro Computed Tomography

Synchrotron computed tomography requires a large number of angular projections to reconstruct tomographic images with high resolution for detailed and accurate diagnosis. However, this exposes the specimen to a large amount of x-ray radiation. Furthermore, this increases scan time and, consequently, the likelihood of involuntary specimen movements. One approach for decreasing the total scan time and radiation dose is to reduce the number of projection views needed to reconstruct the images. However, the aliasing artifacts appearing in the image due to the reduced number of projection data, visibly degrade the image quality. According to the compressed sensing theory, a signal can be accurately reconstructed from highly undersampled data by solving an optimization problem, provided that the signal can be sparsely represented in a predefined transform domain. Therefore, this thesis is mainly concerned with designing compressed sensing-based reconstruction algorithms to suppress aliasing artifacts while preserving spatial resolution in the resulting reconstructed image. First, the reduced-view synchrotron computed tomography reconstruction is formulated as a total variation regularized compressed sensing problem. The Douglas-Rachford Splitting and the randomized Kaczmarz methods are utilized to solve the optimization problem of the compressed sensing formulation. In contrast with the first part, where consistent simulated projection data are generated for image reconstruction, the reduced-view inconsistent real ex-vivo synchrotron absorption contrast micro computed tomography bone data are used in the second part. A gradient regularized compressed sensing problem is formulated, and the Douglas-Rachford Splitting and the preconditioned conjugate gradient methods are utilized to solve the optimization problem of the compressed sensing formulation. The wavelet image denoising algorithm is used as the post-processing algorithm to attenuate the unwanted staircase artifact generated by the reconstruction algorithm. Finally, a noisy and highly reduced-view inconsistent real in-vivo synchrotron phase-contrast computed tomography bone data are used for image reconstruction. A combination of prior image constrained compressed sensing framework, and the wavelet regularization is formulated, and the Douglas-Rachford Splitting and the preconditioned conjugate gradient methods are utilized to solve the optimization problem of the compressed sensing formulation. The prior image constrained compressed sensing framework takes advantage of the prior image to promote the sparsity of the target image. It may lead to an unwanted staircase artifact when applied to noisy and texture images, so the wavelet regularization is used to attenuate the unwanted staircase artifact generated by the prior image constrained compressed sensing reconstruction algorithm. The visual and quantitative performance assessments with the reduced-view simulated and real computed tomography data from canine prostate tissue, rat forelimb, and femoral cortical bone samples, show that the proposed algorithms have fewer artifacts and reconstruction errors than other conventional reconstruction algorithms at the same x-ray dose

The Unbalanced Classification Problem: Detecting Breaches in Security

This research proposes several methods designed to improve solutions for security classification problems. The security classification problem involves unbalanced, high-dimensional, binary classification problems that are prevalent today. The imbalance within this data involves a significant majority of the negative class and a minority positive class. Any system that needs protection from malicious activity, intruders, theft, or other types of breaches in security must address this problem. These breaches in security are considered instances of the positive class. Given numerical data that represent observations or instances which require classification, state of the art machine learning algorithms can be applied. However, the unbalanced and high-dimensional structure of the data must be considered prior to applying these learning methods. High-dimensional data poses a “curse of dimensionality” which can be overcome through the analysis of subspaces. Exploration of intelligent subspace modeling and the fusion of subspace models is proposed. Detailed analysis of the one-class support vector machine, as well as its weaknesses and proposals to overcome these shortcomings are included. A fundamental method for evaluation of the binary classification model is the receiver operating characteristic (ROC) curve and the area under the curve (AUC). This work details the underlying statistics involved with ROC curves, contributing a comprehensive review of ROC curve construction and analysis techniques to include a novel graphic for illustrating the connection between ROC curves and classifier decision values. The major innovations of this work include synergistic classifier fusion through the analysis of ROC curves and rankings, insight into the statistical behavior of the Gaussian kernel, and novel methods for applying machine learning techniques to defend against computer intrusion detection. The primary empirical vehicle for this research is computer intrusion detection data, and both host-based intrusion detection systems (HIDS) and network-based intrusion detection systems (NIDS) are addressed. Empirical studies also include military tactical scenarios

The development of RAF air power doctrine 1999-2013

In this thesis, the development of RAF air power doctrine in 1999-2013 is explored. Three issues of doctrine are explored in terms of the factors that influenced the preparation process. The four-factor model of doctrine preparation as developed by Oliver Daddow is applied to air power doctrine. The main factors included in the thesis are that of the external environment of previous and on-going operations, the internal environment of domestic politics in inter-service rivalry, the influence of networks of academic and independent contributors and, finally, the impact of authors on the doctrine preparation process.The research demonstrates that, in the timeframe under review here, the doctrine preparation process was primarily influenced by the different stages of jointery institutionalisation. The dominance of jointery in national defence discourse stimulated the RAF to adapt its framework document – the environment doctrine in accordance with new trends in jointery. Therefore, the third edition of AP 3000 was aimed at demonstrating the service‟s commitment to jointery with the two other services. The fourth edition aimed at demonstrating that the service can produce a joint environment doctrine under single-service authorship. Finally, the last doctrine JDP 0-30 demonstrated a crucial shift from single-service to joint authorship over environmental doctrine and new trends in its preparation process.The originality of this thesis lies in the chosen timeframe and the systematic nature of the analysis. This thesis fills an existing gap – to be precise the lack of systematic research on the development of RAF doctrine over the last two decades. This thesis is a logical continuation of the existing works on air power doctrine development which concentrated on the preceding decades. One key aspect of originality is the use of interviews to provide perspectives of doctrine development that were not previously available to a wider audience

COBE's search for structure in the Big Bang

The launch of Cosmic Background Explorer (COBE) and the definition of Earth Observing System (EOS) are two of the major events at NASA-Goddard. The three experiments contained in COBE (Differential Microwave Radiometer (DMR), Far Infrared Absolute Spectrophotometer (FIRAS), and Diffuse Infrared Background Experiment (DIRBE)) are very important in measuring the big bang. DMR measures the isotropy of the cosmic background (direction of the radiation). FIRAS looks at the spectrum over the whole sky, searching for deviations, and DIRBE operates in the infrared part of the spectrum gathering evidence of the earliest galaxy formation. By special techniques, the radiation coming from the solar system will be distinguished from that of extragalactic origin. Unique graphics will be used to represent the temperature of the emitting material. A cosmic event will be modeled of such importance that it will affect cosmological theory for generations to come. EOS will monitor changes in the Earth's geophysics during a whole solar color cycle