Collision Avoidance Using Deep Learning-Based Monocular Vision

Autonomous driving technologies, including monocular vision-based approaches, are in the forefront of industrial and research communities, since they are expected to have a significant impact on economy and society. However, they have limitations in terms of crash avoidance because of the rarity of labeled data for collisions in everyday traffic, as well as due to the complexity of driving situations. In this work, we propose a simple method based solely on monocular vision to overcome the data scarcity problem and to promote forward collision avoidance systems. We exploit state-of-the-art deep learning-based optical flow and monocular depth estimation methods, as well as object detection to estimate the speed of the ego-vehicle and to identify the lead vehicle, respectively. The proposed method utilizes car stop situations as collision surrogates to obtain data for time to collision estimation. We evaluate this approach on our own driving videos, collected using a spherical camera and smart glasses. Our results indicate that similar accuracy can be achieved on both video sources: the external road view from the car’s, and the ego-centric view from the driver’s perspective. Additionally, we set forth the possibility of using spherical cameras as opposed to traditional cameras for vision-based automotive sensing

Joint A Contrario Ellipse and Line Detection.

This is the author accepted manuscript. The final version is available from IEEE via http://dx.doi.org/10.1109/TPAMI.2016.2558150We propose a line segment and elliptical arc detector that produces a reduced number of false detections on various types of images without any parameter tuning. For a given region of pixels in a grey-scale image, the detector decides whether a line segment or an elliptical arc is present (model validation). If both interpretations are possible for the same region, the detector chooses the one that best explains the data (model selection ). We describe a statistical criterion based on the a contrario theory, which serves for both validation and model selection. The experimental results highlight the performance of the proposed approach compared to state-of-the-art detectors, when applied on synthetic and real images.This work was partially funded by the Qualcomm postdoctoral program at École Polytechnique Palaiseau, a Google Faculty Research Award, the Marie Curie grant CIG-334283-HRGP, a CNRS chaire d’excellence and chaire Jean Marjoulet, and EPSRC grant EP/L010917/1

Aportació als mètodes de seguiment tridimensional d'objectes d'alta velocitat d'operació mitjançant l'estereovisió

Postprint (published version

Human robot interaction in a crowded environment

Human Robot Interaction (HRI) is the primary means of establishing natural and affective communication between humans and robots. HRI enables robots to act in a way similar to humans in order to assist in activities that are considered to be laborious, unsafe, or repetitive. Vision based human robot interaction is a major component of HRI, with which visual information is used to interpret how human interaction takes place. Common tasks of HRI include finding pre-trained static or dynamic gestures in an image, which involves localising different key parts of the human body such as the face and hands. This information is subsequently used to extract different gestures. After the initial detection process, the robot is required to comprehend the underlying meaning of these gestures [3]. Thus far, most gesture recognition systems can only detect gestures and identify a person in relatively static environments. This is not realistic for practical applications as difficulties may arise from people‟s movements and changing illumination conditions. Another issue to consider is that of identifying the commanding person in a crowded scene, which is important for interpreting the navigation commands. To this end, it is necessary to associate the gesture to the correct person and automatic reasoning is required to extract the most probable location of the person who has initiated the gesture. In this thesis, we have proposed a practical framework for addressing the above issues. It attempts to achieve a coarse level understanding about a given environment before engaging in active communication. This includes recognizing human robot interaction, where a person has the intention to communicate with the robot. In this regard, it is necessary to differentiate if people present are engaged with each other or their surrounding environment. The basic task is to detect and reason about the environmental context and different interactions so as to respond accordingly. For example, if individuals are engaged in conversation, the robot should realize it is best not to disturb or, if an individual is receptive to the robot‟s interaction, it may approach the person. Finally, if the user is moving in the environment, it can analyse further to understand if any help can be offered in assisting this user. The method proposed in this thesis combines multiple visual cues in a Bayesian framework to identify people in a scene and determine potential intentions. For improving system performance, contextual feedback is used, which allows the Bayesian network to evolve and adjust itself according to the surrounding environment. The results achieved demonstrate the effectiveness of the technique in dealing with human-robot interaction in a relatively crowded environment [7]

Third Earth Resources Technology Satellite Symposium. Volume 3: Discipline summary reports

Presentations at the conference covered the following disciplines: (1) agriculture, forestry, and range resources; (2) land use and mapping; (3) mineral resources, geological structure, and landform surveys; (4) water resources; (5) marine resources; (6) environment surveys; and (7) interpretation techniques

Fuzzy logic based approach for object feature tracking

This thesis introduces a novel technique for feature tracking in sequences of greyscale images based on fuzzy logic. A versatile and modular methodology for feature tracking using fuzzy sets and inference engines is presented. Moreover, an extension of this methodology to perform the correct tracking of multiple features is also presented. To perform feature tracking three membership functions are initially defined. A membership function related to the distinctive property of the feature to be tracked. A membership function is related to the fact of considering that the feature has smooth movement between each image sequence and a membership function concerns its expected future location. Applying these functions to the image pixels, the corresponding fuzzy sets are obtained and then mathematically manipulated to serve as input to an inference engine. Situations such as occlusion or detection failure of features are overcome using estimated positions calculated using a motion model and a state vector of the feature. This methodology was previously applied to track a single feature identified by the user. Several performance tests were conducted on sequences of both synthetic and real images. Experimental results are presented, analysed and discussed. Although this methodology could be applied directly to multiple feature tracking, an extension of this methodology has been developed within that purpose. In this new method, the processing sequence of each feature is dynamic and hierarchical. Dynamic because this sequence can change over time and hierarchical because features with higher priority will be processed first. Thus, the process gives preference to features whose location are easier to predict compared with features whose knowledge of their behavior is less predictable. When this priority value becomes too low, the feature will no longer tracked by the algorithm. To access the performance of this new approach, sequences of images where several features specified by the user are to be tracked were used. In the final part of this work, conclusions drawn from this work as well as the definition of some guidelines for future research are presented.Nesta tese é introduzida uma nova técnica de seguimento de pontos característicos de objectos em sequências de imagens em escala de cinzentos baseada em lógica difusa. É apresentada uma metodologia versátil e modular para o seguimento de objectos utilizando conjuntos difusos e motores de inferência. É também apresentada uma extensão desta metodologia para o correcto seguimento de múltiplos pontos característicos. Para se realizar o seguimento são definidas inicialmente três funções de pertença. Uma função de pertença está relacionada com a propriedade distintiva do objecto que desejamos seguir, outra está relacionada com o facto de se considerar que o objecto tem uma movimentação suave entre cada imagem da sequência e outra função de pertença referente à sua previsível localização futura. Aplicando estas funções de pertença aos píxeis da imagem, obtêm-se os correspondentes conjuntos difusos, que serão manipulados matematicamente e servirão como entrada num motor de inferência. Situações como a oclusão ou falha na detecção dos pontos característicos são ultrapassadas utilizando posições estimadas calculadas a partir do modelo de movimento e a um vector de estados do objecto. Esta metodologia foi inicialmente aplicada no seguimento de um objecto assinalado pelo utilizador. Foram realizados vários testes de desempenho em sequências de imagens sintéticas e também reais. Os resultados experimentais obtidos são apresentados, analisados e discutidos. Embora esta metodologia pudesse ser aplicada directamente ao seguimento de múltiplos pontos característicos, foi desenvolvida uma extensão desta metodologia para esse fim. Nesta nova metodologia a sequência de processamento de cada ponto característico é dinâmica e hierárquica. Dinâmica por ser variável ao longo do tempo e hierárquica por existir uma hierarquia de prioridades relativamente aos pontos característicos a serem seguidos e que determina a ordem pela qual esses pontos são processados. Desta forma, o processo dá preferência a pontos característicos cuja localização é mais fácil de prever comparativamente a pontos característicos cujo conhecimento do seu comportamento seja menos previsível. Quando esse valor de prioridade se torna demasiado baixo, esse ponto característico deixa de ser seguido pelo algoritmo. Para se observar o desempenho desta nova abordagem foram utilizadas sequências de imagens onde várias características indicadas pelo utilizador são seguidas. Na parte final deste trabalho são apresentadas as conclusões resultantes a partir do desenvolvimento deste trabalho, bem como a definição de algumas linhas de investigação futura

Study on quality in 3D digitisation of tangible cultural heritage: mapping parameters, formats, standards, benchmarks, methodologies and guidelines: final study report.

This study was commissioned by the Commission to help advance 3D digitisation across Europe and thereby to support the objectives of the Recommendation on a common European data space for cultural heritage (C(2021) 7953 final), adopted on 10 November 2021. The Recommendation encourages Member States to set up digital strategies for cultural heritage, which sets clear digitisation and digital preservation goals aiming at higher quality through the use of advanced technologies, notably 3D. The aim of the study is to map the parameters, formats, standards, benchmarks, methodologies and guidelines relating to 3D digitisation of tangible cultural heritage. The overall objective is to further the quality of 3D digitisation projects by enabling cultural heritage professionals, institutions, content-developers, stakeholders and academics to define and produce high-quality digitisation standards for tangible cultural heritage. This unique study identifies key parameters of the digitisation process, estimates the relative complexity and how it is linked to technology, its impact on quality and its various factors. It also identifies standards and formats used for 3D digitisation, including data types, data formats and metadata schemas for 3D structures. Finally, the study forecasts the potential impacts of future technological advances on 3D digitisation

Developing and demonstrating an institutional mechanism for transferring remote sensing technology to 14 western states using northern California as the test site

There are no author-identified significant results in this report