1,204 research outputs found
Tracking by Prediction: A Deep Generative Model for Mutli-Person localisation and Tracking
Current multi-person localisation and tracking systems have an over reliance
on the use of appearance models for target re-identification and almost no
approaches employ a complete deep learning solution for both objectives. We
present a novel, complete deep learning framework for multi-person localisation
and tracking. In this context we first introduce a light weight sequential
Generative Adversarial Network architecture for person localisation, which
overcomes issues related to occlusions and noisy detections, typically found in
a multi person environment. In the proposed tracking framework we build upon
recent advances in pedestrian trajectory prediction approaches and propose a
novel data association scheme based on predicted trajectories. This removes the
need for computationally expensive person re-identification systems based on
appearance features and generates human like trajectories with minimal
fragmentation. The proposed method is evaluated on multiple public benchmarks
including both static and dynamic cameras and is capable of generating
outstanding performance, especially among other recently proposed deep neural
network based approaches.Comment: To appear in IEEE Winter Conference on Applications of Computer
Vision (WACV), 201
Simple yet efficient real-time pose-based action recognition
Recognizing human actions is a core challenge for autonomous systems as they
directly share the same space with humans. Systems must be able to recognize
and assess human actions in real-time. In order to train corresponding
data-driven algorithms, a significant amount of annotated training data is
required. We demonstrated a pipeline to detect humans, estimate their pose,
track them over time and recognize their actions in real-time with standard
monocular camera sensors. For action recognition, we encode the human pose into
a new data format called Encoded Human Pose Image (EHPI) that can then be
classified using standard methods from the computer vision community. With this
simple procedure we achieve competitive state-of-the-art performance in
pose-based action detection and can ensure real-time performance. In addition,
we show a use case in the context of autonomous driving to demonstrate how such
a system can be trained to recognize human actions using simulation data.Comment: Submitted to IEEE Intelligent Transportation Systems Conference
(ITSC) 2019. Code will be available soon at
https://github.com/noboevbo/ehpi_action_recognitio
Online Multi-Object Tracking Using CNN-based Single Object Tracker with Spatial-Temporal Attention Mechanism
In this paper, we propose a CNN-based framework for online MOT. This
framework utilizes the merits of single object trackers in adapting appearance
models and searching for target in the next frame. Simply applying single
object tracker for MOT will encounter the problem in computational efficiency
and drifted results caused by occlusion. Our framework achieves computational
efficiency by sharing features and using ROI-Pooling to obtain individual
features for each target. Some online learned target-specific CNN layers are
used for adapting the appearance model for each target. In the framework, we
introduce spatial-temporal attention mechanism (STAM) to handle the drift
caused by occlusion and interaction among targets. The visibility map of the
target is learned and used for inferring the spatial attention map. The spatial
attention map is then applied to weight the features. Besides, the occlusion
status can be estimated from the visibility map, which controls the online
updating process via weighted loss on training samples with different occlusion
statuses in different frames. It can be considered as temporal attention
mechanism. The proposed algorithm achieves 34.3% and 46.0% in MOTA on
challenging MOT15 and MOT16 benchmark dataset respectively.Comment: Accepted at International Conference on Computer Vision (ICCV) 201
An optical processor for object recognition and tracking
The design and development of a miniaturized optical processor that performs real time image correlation are described. The optical correlator utilizes the Vander Lugt matched spatial filter technique. The correlation output, a focused beam of light, is imaged onto a CMOS photodetector array. In addition to performing target recognition, the device also tracks the target. The hardware, composed of optical and electro-optical components, occupies only 590 cu cm of volume. A complete correlator system would also include an input imaging lens. This optical processing system is compact, rugged, requires only 3.5 watts of operating power, and weighs less than 3 kg. It represents a major achievement in miniaturizing optical processors. When considered as a special-purpose processing unit, it is an attractive alternative to conventional digital image recognition processing. It is conceivable that the combined technology of both optical and ditital processing could result in a very advanced robot vision system
POL-LWIR Vehicle Detection: Convolutional Neural Networks Meet Polarised Infrared Sensors
For vehicle autonomy, driver assistance and situational awareness, it is
necessary to operate at day and night, and in all weather conditions. In
particular, long wave infrared (LWIR) sensors that receive predominantly
emitted radiation have the capability to operate at night as well as during the
day. In this work, we employ a polarised LWIR (POL-LWIR) camera to acquire data
from a mobile vehicle, to compare and contrast four different convolutional
neural network (CNN) configurations to detect other vehicles in video
sequences. We evaluate two distinct and promising approaches, two-stage
detection (Faster-RCNN) and one-stage detection (SSD), in four different
configurations. We also employ two different image decompositions: the first
based on the polarisation ellipse and the second on the Stokes parameters
themselves. To evaluate our approach, the experimental trials were quantified
by mean average precision (mAP) and processing time, showing a clear trade-off
between the two factors. For example, the best mAP result of 80.94% was
achieved using Faster-RCNN, but at a frame rate of 6.4 fps. In contrast,
MobileNet SSD achieved only 64.51% mAP, but at 53.4 fps.Comment: Computer Vision and Pattern Recognition Workshop 201
A Vision-Based Driver Nighttime Assistance and Surveillance System Based on Intelligent Image Sensing Techniques and a Heterogamous Dual-Core Embedded System Architecture
This study proposes a vision-based intelligent nighttime driver assistance and surveillance system (VIDASS system) implemented by a set of embedded software components and modules, and integrates these modules to accomplish a component-based system framework on an embedded heterogamous dual-core platform. Therefore, this study develops and implements computer vision and sensing techniques of nighttime vehicle detection, collision warning determination, and traffic event recording. The proposed system processes the road-scene frames in front of the host car captured from CCD sensors mounted on the host vehicle. These vision-based sensing and processing technologies are integrated and implemented on an ARM-DSP heterogamous dual-core embedded platform. Peripheral devices, including image grabbing devices, communication modules, and other in-vehicle control devices, are also integrated to form an in-vehicle-embedded vision-based nighttime driver assistance and surveillance system
Complete Solution for Vehicle Re-ID in Surround-view Camera System
Vehicle re-identification (Re-ID) is a critical component of the autonomous
driving perception system, and research in this area has accelerated in recent
years. However, there is yet no perfect solution to the vehicle
re-identification issue associated with the car's surround-view camera system.
Our analysis identifies two significant issues in the aforementioned scenario:
i) It is difficult to identify the same vehicle in many picture frames due to
the unique construction of the fisheye camera. ii) The appearance of the same
vehicle when seen via the surround vision system's several cameras is rather
different. To overcome these issues, we suggest an integrative vehicle Re-ID
solution method. On the one hand, we provide a technique for determining the
consistency of the tracking box drift with respect to the target. On the other
hand, we combine a Re-ID network based on the attention mechanism with spatial
limitations to increase performance in situations involving multiple cameras.
Finally, our approach combines state-of-the-art accuracy with real-time
performance. We will soon make the source code and annotated fisheye dataset
available.Comment: 11 pages, 10 figures. arXiv admin note: substantial text overlap with
arXiv:2006.1650
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