Hybrid Sampling Bayesian Occupancy Filter

International audienceModeling and monitoring dynamic environments is a complex task but is crucial in the field of intelligent vehicle. A traditional way of addressing these issues is the modeling of moving objects, through Detection And Tracking of Moving Objects (DATMO) methods. An alternative to a classic object model framework is the occupancy grid filtering domain. Instead of segmenting the scene into objects and track them, the environment is represented as a regular grid of occupancy, in which each cell is tracked at a sub-object level. The Bayesian Occupancy Filter is a generic occupancy grid framework which predicts the spread of spatial occupancy by estimating cell velocity distributions. However its velocity model, corresponding to a transition histogram per cell, leads to huge data management which in practice makes it hardly compatible to severe computational and hardware constraints, like in many embedded systems. In this paper, we present a new representation for the BOF, describing the environment through a mix of static and dynamic occupancy. This differentiation enables the use of a model adapted to the considered nature: static occupancy is described in a classic occupancy grid, while dynamic occupancy is modeled by a set of moving particles. Both static and dynamic parts are jointly generated and evaluated, their distribution over the cells being adjusted. This approach leads to a more compact model and to drastically improve the accuracy of the results, in particular in term of velocities. Experimental results show that the number of values required to model the velocities have been reduced from a typical 900 per cell (for a 30x30 neighborhood) to less than 2 per cell in average. The massive data compression allows to plan dedicated embedded devices

Joint Tracking and Event Analysis for Carried Object Detection

This paper proposes a novel method for jointly estimating the track of a moving object and the events in which it participates. The method is intended for dealing with generic objects that are hard to localise and track with the performance of current detection algorithms - our focus is on events involving carried objects. The tracks for other objects with which the target object interacts (e.g. the carrying person) are assumed to be given. The method is posed as maximisation of a posterior probability defined over event sequences and temporally-disjoint subsets of the tracklets from an earlier tracking process. The probability function is a Hidden Markov Model coupled with a term that penalises non-smooth tracks and large gaps in the observed data. We evaluate the method using tracklets output by three state of the art trackers on the new created MINDSEYE2015 dataset and demonstrate improved performance

Detection and 3D modelling of vehicles from terrestrial stereo image pairs

The detection and pose estimation of vehicles plays an important role for automated and autonomous moving objects e.g. in autonomous driving environments. We tackle that problem on the basis of street level stereo images, obtained from a moving vehicle. Processing every stereo pair individually, our approach is divided into two subsequent steps: the vehicle detection and the modelling step. For the detection, we make use of the 3D stereo information and incorporate geometric assumptions on vehicle inherent properties in a firstly applied generic 3D object detection. By combining our generic detection approach with a state of the art vehicle detector, we are able to achieve satisfying detection results with values for completeness and correctness up to more than 86%. By fitting an object specific vehicle model into the vehicle detections, we are able to reconstruct the vehicles in 3D and to derive pose estimations as well as shape parameters for each vehicle. To deal with the intra-class variability of vehicles, we make use of a deformable 3D active shape model learned from 3D CAD vehicle data in our model fitting approach. While we achieve encouraging values up to 67.2% for correct position estimations, we are facing larger problems concerning the orientation estimation. The evaluation is done by using the object detection and orientation estimation benchmark of the KITTI dataset (Geiger et al., 2012).DFG/GRK/215

Distributed mining of convoys in large scale datasets

Tremendous increase in the use of the mobile devices equipped with the GPS and other location sensors has resulted in the generation of a huge amount of movement data. In recent years, mining this data to understand the collective mobility behavior of humans, animals and other objects has become popular. Numerous mobility patterns, or their mining algorithms have been proposed, each representing a specific movement behavior. Convoy pattern is one such pattern which can be used to find groups of people moving together in public transport or to prevent traffic jams. A convoy is a set of at least m objects moving together for at least k consecutive time stamps where m and k are user-defined parameters. Existing algorithms for detecting convoy patterns do not scale to real-life dataset sizes. Therefore in this paper, we propose a generic distributed convoy pattern mining algorithm called DCM and show how such an algorithm can be implemented using the MapReduce framework. We present a cost model for DCM and a detailed theoretical analysis backed by experimental results. We show the effect of partition size on the performance of DCM. The results from our experiments on different data-sets and hardware setups, show that our distributed algorithm is scalable in terms of data size and number of nodes, and more efficient than any existing sequential as well as distributed convoy pattern mining algorithm, showing speed-ups of up to 16 times over SPARE, the state of the art distributed co-movement pattern mining framework. DCM is thus able to process large datasets which SPARE is unable to.SCOPUS: ar.jDecretOANoAutActifinfo:eu-repo/semantics/publishe

Online Domain Adaptation for Multi-Object Tracking

Automatically detecting, labeling, and tracking objects in videos depends first and foremost on accurate category-level object detectors. These might, however, not always be available in practice, as acquiring high-quality large scale labeled training datasets is either too costly or impractical for all possible real-world application scenarios. A scalable solution consists in re-using object detectors pre-trained on generic datasets. This work is the first to investigate the problem of on-line domain adaptation of object detectors for causal multi-object tracking (MOT). We propose to alleviate the dataset bias by adapting detectors from category to instances, and back: (i) we jointly learn all target models by adapting them from the pre-trained one, and (ii) we also adapt the pre-trained model on-line. We introduce an on-line multi-task learning algorithm to efficiently share parameters and reduce drift, while gradually improving recall. Our approach is applicable to any linear object detector, and we evaluate both cheap "mini-Fisher Vectors" and expensive "off-the-shelf" ConvNet features. We quantitatively measure the benefit of our domain adaptation strategy on the KITTI tracking benchmark and on a new dataset (PASCAL-to-KITTI) we introduce to study the domain mismatch problem in MOT.Comment: To appear at BMVC 201

Ludwig: A parallel Lattice-Boltzmann code for complex fluids

This paper describes `Ludwig', a versatile code for the simulation of Lattice-Boltzmann (LB) models in 3-D on cubic lattices. In fact `Ludwig' is not a single code, but a set of codes that share certain common routines, such as I/O and communications. If `Ludwig' is used as intended, a variety of complex fluid models with different equilibrium free energies are simple to code, so that the user may concentrate on the physics of the problem, rather than on parallel computing issues. Thus far, `Ludwig''s main application has been to symmetric binary fluid mixtures. We first explain the philosophy and structure of `Ludwig' which is argued to be a very effective way of developing large codes for academic consortia. Next we elaborate on some parallel implementation issues such as parallel I/O, and the use of MPI to achieve full portability and good efficiency on both MPP and SMP systems. Finally, we describe how to implement generic solid boundaries, and look in detail at the particular case of a symmetric binary fluid mixture near a solid wall. We present a novel scheme for the thermodynamically consistent simulation of wetting phenomena, in the presence of static and moving solid boundaries, and check its performance.Comment: Submitted to Computer Physics Communication