Automatic aerial target detection and tracking system in airborne FLIR images based on efficient target trajectory filtering

Common strategies for detection and tracking of aerial moving targets in airborne Forward-Looking Infrared (FLIR) images offer accurate results in images composed by a non-textured sky. However, when cloud and earth regions appear in the image sequence, those strategies result in an over-detection that increases very significantly the false alarm rate. Besides, the airborne camera induces a global motion in the image sequence that complicates even more detection and tracking tasks. In this work, an automatic detection and tracking system with an innovative and efficient target trajectory filtering is presented. It robustly compensates the global motion to accurately detect and track potential aerial targets. Their trajectories are analyzed by a curve fitting technique to reliably validate real targets. This strategy allows to filter false targets with stationary or erratic trajectories. The proposed system makes special emphasis in the use of low complexity video analysis techniques to achieve real-time operation. Experimental results using real FLIR sequences show a dramatic reduction of the false alarm rate, while maintaining the detection rate

Symbolic and Deep Learning Based Data Representation Methods for Activity Recognition and Image Understanding at Pixel Level

Efficient representation of large amount of data particularly images and video helps in the analysis, processing and overall understanding of the data. In this work, we present two frameworks that encapsulate the information present in such data. At first, we present an automated symbolic framework to recognize particular activities in real time from videos. The framework uses regular expressions for symbolically representing (possibly infinite) sets of motion characteristics obtained from a video. It is a uniform framework that handles trajectory-based and periodic articulated activities and provides polynomial time graph algorithms for fast recognition. The regular expressions representing motion characteristics can either be provided manually or learnt automatically from positive and negative examples of strings (that describe dynamic behavior) using offline automata learning frameworks. Confidence measures are associated with recognitions using Levenshtein distance between a string representing a motion signature and the regular expression describing an activity. We have used our framework to recognize trajectory-based activities like vehicle turns (U-turns, left and right turns, and K-turns), vehicle start and stop, person running and walking, and periodic articulated activities like digging, waving, boxing, and clapping in videos from the VIRAT public dataset, the KTH dataset, and a set of videos obtained from YouTube. Next, we present a core sampling framework that is able to use activation maps from several layers of a Convolutional Neural Network (CNN) as features to another neural network using transfer learning to provide an understanding of an input image. The intermediate map responses of a Convolutional Neural Network (CNN) contain information about an image that can be used to extract contextual knowledge about it. Our framework creates a representation that combines features from the test data and the contextual knowledge gained from the responses of a pretrained network, processes it and feeds it to a separate Deep Belief Network. We use this representation to extract more information from an image at the pixel level, hence gaining understanding of the whole image. We experimentally demonstrate the usefulness of our framework using a pretrained VGG-16 model to perform segmentation on the BAERI dataset of Synthetic Aperture Radar (SAR) imagery and the CAMVID dataset. Using this framework, we also reconstruct images by removing noise from noisy character images. The reconstructed images are encoded using Quadtrees. Quadtrees can be an efficient representation in learning from sparse features. When we are dealing with handwritten character images, they are quite susceptible to noise. Hence, preprocessing stages to make the raw data cleaner can improve the efficacy of their use. We improve upon the efficiency of probabilistic quadtrees by using a pixel level classifier to extract the character pixels and remove noise from the images. The pixel level denoiser uses a pretrained CNN trained on a large image dataset and uses transfer learning to aid the reconstruction of characters. In this work, we primarily deal with classification of noisy characters and create the noisy versions of handwritten Bangla Numeral and Basic Character datasets and use them and the Noisy MNIST dataset to demonstrate the usefulness of our approach

Multimedia Forensics

This book is open access. Media forensics has never been more relevant to societal life. Not only media content represents an ever-increasing share of the data traveling on the net and the preferred communications means for most users, it has also become integral part of most innovative applications in the digital information ecosystem that serves various sectors of society, from the entertainment, to journalism, to politics. Undoubtedly, the advances in deep learning and computational imaging contributed significantly to this outcome. The underlying technologies that drive this trend, however, also pose a profound challenge in establishing trust in what we see, hear, and read, and make media content the preferred target of malicious attacks. In this new threat landscape powered by innovative imaging technologies and sophisticated tools, based on autoencoders and generative adversarial networks, this book fills an important gap. It presents a comprehensive review of state-of-the-art forensics capabilities that relate to media attribution, integrity and authenticity verification, and counter forensics. Its content is developed to provide practitioners, researchers, photo and video enthusiasts, and students a holistic view of the field

Contributions to improve the technologies supporting unmanned aircraft operations

Mención Internacional en el título de doctorUnmanned Aerial Vehicles (UAVs), in their smaller versions known as drones, are becoming increasingly important in today's societies. The systems that make them up present a multitude of challenges, of which error can be considered the common denominator. The perception of the environment is measured by sensors that have errors, the models that interpret the information and/or define behaviors are approximations of the world and therefore also have errors. Explaining error allows extending the limits of deterministic models to address real-world problems. The performance of the technologies embedded in drones depends on our ability to understand, model, and control the error of the systems that integrate them, as well as new technologies that may emerge. Flight controllers integrate various subsystems that are generally dependent on other systems. One example is the guidance systems. These systems provide the engine's propulsion controller with the necessary information to accomplish a desired mission. For this purpose, the flight controller is made up of a control law for the guidance system that reacts to the information perceived by the perception and navigation systems. The error of any of the subsystems propagates through the ecosystem of the controller, so the study of each of them is essential. On the other hand, among the strategies for error control are state-space estimators, where the Kalman filter has been a great ally of engineers since its appearance in the 1960s. Kalman filters are at the heart of information fusion systems, minimizing the error covariance of the system and allowing the measured states to be filtered and estimated in the absence of observations. State Space Models (SSM) are developed based on a set of hypotheses for modeling the world. Among the assumptions are that the models of the world must be linear, Markovian, and that the error of their models must be Gaussian. In general, systems are not linear, so linearization are performed on models that are already approximations of the world. In other cases, the noise to be controlled is not Gaussian, but it is approximated to that distribution in order to be able to deal with it. On the other hand, many systems are not Markovian, i.e., their states do not depend only on the previous state, but there are other dependencies that state space models cannot handle. This thesis deals a collection of studies in which error is formulated and reduced. First, the error in a computer vision-based precision landing system is studied, then estimation and filtering problems from the deep learning approach are addressed. Finally, classification concepts with deep learning over trajectories are studied. The first case of the collection xviiistudies the consequences of error propagation in a machine vision-based precision landing system. This paper proposes a set of strategies to reduce the impact on the guidance system, and ultimately reduce the error. The next two studies approach the estimation and filtering problem from the deep learning approach, where error is a function to be minimized by learning. The last case of the collection deals with a trajectory classification problem with real data. This work completes the two main fields in deep learning, regression and classification, where the error is considered as a probability function of class membership.Los vehículos aéreos no tripulados (UAV) en sus versiones de pequeño tamaño conocidos como drones, van tomando protagonismo en las sociedades actuales. Los sistemas que los componen presentan multitud de retos entre los cuales el error se puede considerar como el denominador común. La percepción del entorno se mide mediante sensores que tienen error, los modelos que interpretan la información y/o definen comportamientos son aproximaciones del mundo y por consiguiente también presentan error. Explicar el error permite extender los límites de los modelos deterministas para abordar problemas del mundo real. El rendimiento de las tecnologías embarcadas en los drones, dependen de nuestra capacidad de comprender, modelar y controlar el error de los sistemas que los integran, así como de las nuevas tecnologías que puedan surgir. Los controladores de vuelo integran diferentes subsistemas los cuales generalmente son dependientes de otros sistemas. Un caso de esta situación son los sistemas de guiado. Estos sistemas son los encargados de proporcionar al controlador de los motores información necesaria para cumplir con una misión deseada. Para ello se componen de una ley de control de guiado que reacciona a la información percibida por los sistemas de percepción y navegación. El error de cualquiera de estos sistemas se propaga por el ecosistema del controlador siendo vital su estudio. Por otro lado, entre las estrategias para abordar el control del error se encuentran los estimadores en espacios de estados, donde el filtro de Kalman desde su aparición en los años 60, ha sido y continúa siendo un gran aliado para los ingenieros. Los filtros de Kalman son el corazón de los sistemas de fusión de información, los cuales minimizan la covarianza del error del sistema, permitiendo filtrar los estados medidos y estimarlos cuando no se tienen observaciones. Los modelos de espacios de estados se desarrollan en base a un conjunto de hipótesis para modelar el mundo. Entre las hipótesis se encuentra que los modelos del mundo han de ser lineales, markovianos y que el error de sus modelos ha de ser gaussiano. Generalmente los sistemas no son lineales por lo que se realizan linealizaciones sobre modelos que a su vez ya son aproximaciones del mundo. En otros casos el ruido que se desea controlar no es gaussiano, pero se aproxima a esta distribución para poder abordarlo. Por otro lado, multitud de sistemas no son markovianos, es decir, sus estados no solo dependen del estado anterior, sino que existen otras dependencias que los modelos de espacio de estados no son capaces de abordar. Esta tesis aborda un compendio de estudios sobre los que se formula y reduce el error. En primer lugar, se estudia el error en un sistema de aterrizaje de precisión basado en visión por computador. Después se plantean problemas de estimación y filtrado desde la aproximación del aprendizaje profundo. Por último, se estudian los conceptos de clasificación con aprendizaje profundo sobre trayectorias. El primer caso del compendio estudia las consecuencias de la propagación del error de un sistema de aterrizaje de precisión basado en visión artificial. En este trabajo se propone un conjunto de estrategias para reducir el impacto sobre el sistema de guiado, y en última instancia reducir el error. Los siguientes dos estudios abordan el problema de estimación y filtrado desde la perspectiva del aprendizaje profundo, donde el error es una función que minimizar mediante aprendizaje. El último caso del compendio aborda un problema de clasificación de trayectorias con datos reales. Con este trabajo se completan los dos campos principales en aprendizaje profundo, regresión y clasificación, donde se plantea el error como una función de probabilidad de pertenencia a una clase.I would like to thank the Ministry of Science and Innovation for granting me the funding with reference PRE2018-086793, associated to the project TEC2017-88048-C2-2-R, which provide me the opportunity to carry out all my PhD. activities, including completing an international research internship.Programa de Doctorado en Ciencia y Tecnología Informática por la Universidad Carlos III de MadridPresidente: Antonio Berlanga de Jesús.- Secretario: Daniel Arias Medina.- Vocal: Alejandro Martínez Cav

Video modeling via implicit motion representations

Video modeling refers to the development of analytical representations for explaining the intensity distribution in video signals. Based on the analytical representation, we can develop algorithms for accomplishing particular video-related tasks. Therefore video modeling provides us a foundation to bridge video data and related-tasks. Although there are many video models proposed in the past decades, the rise of new applications calls for more efficient and accurate video modeling approaches.;Most existing video modeling approaches are based on explicit motion representations, where motion information is explicitly expressed by correspondence-based representations (i.e., motion velocity or displacement). Although it is conceptually simple, the limitations of those representations and the suboptimum of motion estimation techniques can degrade such video modeling approaches, especially for handling complex motion or non-ideal observation video data. In this thesis, we propose to investigate video modeling without explicit motion representation. Motion information is implicitly embedded into the spatio-temporal dependency among pixels or patches instead of being explicitly described by motion vectors.;Firstly, we propose a parametric model based on a spatio-temporal adaptive localized learning (STALL). We formulate video modeling as a linear regression problem, in which motion information is embedded within the regression coefficients. The coefficients are adaptively learned within a local space-time window based on LMMSE criterion. Incorporating a spatio-temporal resampling and a Bayesian fusion scheme, we can enhance the modeling capability of STALL on more general videos. Under the framework of STALL, we can develop video processing algorithms for a variety of applications by adjusting model parameters (i.e., the size and topology of model support and training window). We apply STALL on three video processing problems. The simulation results show that motion information can be efficiently exploited by our implicit motion representation and the resampling and fusion do help to enhance the modeling capability of STALL.;Secondly, we propose a nonparametric video modeling approach, which is not dependent on explicit motion estimation. Assuming the video sequence is composed of many overlapping space-time patches, we propose to embed motion-related information into the relationships among video patches and develop a generic sparsity-based prior for typical video sequences. First, we extend block matching to more general kNN-based patch clustering, which provides an implicit and distributed representation for motion information. We propose to enforce the sparsity constraint on a higher-dimensional data array signal, which is generated by packing the patches in the similar patch set. Then we solve the inference problem by updating the kNN array and the wanted signal iteratively. Finally, we present a Bayesian fusion approach to fuse multiple-hypothesis inferences. Simulation results in video error concealment, denoising, and deartifacting are reported to demonstrate its modeling capability.;Finally, we summarize the proposed two video modeling approaches. We also point out the perspectives of implicit motion representations in applications ranging from low to high level problems