Vision-based Real-Time Aerial Object Localization and Tracking for UAV Sensing System

The paper focuses on the problem of vision-based obstacle detection and tracking for unmanned aerial vehicle navigation. A real-time object localization and tracking strategy from monocular image sequences is developed by effectively integrating the object detection and tracking into a dynamic Kalman model. At the detection stage, the object of interest is automatically detected and localized from a saliency map computed via the image background connectivity cue at each frame; at the tracking stage, a Kalman filter is employed to provide a coarse prediction of the object state, which is further refined via a local detector incorporating the saliency map and the temporal information between two consecutive frames. Compared to existing methods, the proposed approach does not require any manual initialization for tracking, runs much faster than the state-of-the-art trackers of its kind, and achieves competitive tracking performance on a large number of image sequences. Extensive experiments demonstrate the effectiveness and superior performance of the proposed approach.Comment: 8 pages, 7 figure

A Bayesian Reflection on Surfaces

The topic of this paper is a novel Bayesian continuous-basis field representation and inference framework. Within this paper several problems are solved: The maximally informative inference of continuous-basis fields, that is where the basis for the field is itself a continuous object and not representable in a finite manner; the tradeoff between accuracy of representation in terms of information learned, and memory or storage capacity in bits; the approximation of probability distributions so that a maximal amount of information about the object being inferred is preserved; an information theoretic justification for multigrid methodology. The maximally informative field inference framework is described in full generality and denoted the Generalized Kalman Filter. The Generalized Kalman Filter allows the update of field knowledge from previous knowledge at any scale, and new data, to new knowledge at any other scale. An application example instance, the inference of continuous surfaces from measurements (for example, camera image data), is presented.Comment: 34 pages, 1 figure, abbreviated versions presented: Bayesian Statistics, Valencia, Spain, 1998; Maximum Entropy and Bayesian Methods, Garching, Germany, 199

Quantum Mechanics with Trajectories: Quantum Trajectories and Adaptive Grids

Although the foundations of the hydrodynamical formulation of quantum mechanics were laid over 50 years ago, it has only been within the past few years that viable computational implementations have been developed. One approach to solving the hydrodynamic equations uses quantum trajectories as the computational tool. The trajectory equations of motion are described and methods for implementation are discussed, including fitting of the fields to gaussian clusters.Comment: Prepared for CiSE, Computing in Science and Engineering IEEE/AIP special issue on computational chemistr

Tracking-Based Non-Parametric Background-Foreground Classification in a Chromaticity-Gradient Space

This work presents a novel background-foreground classification technique based on adaptive non-parametric kernel estimation in a color-gradient space of components. By combining normalized color components with their gradients, shadows are efficiently suppressed from the results, while the luminance information in the moving objects is preserved. Moreover, a fast multi-region iterative tracking strategy applied over previously detected foreground regions allows to construct a robust foreground modeling, which combined with the background model increases noticeably the quality in the detections. The proposed strategy has been applied to different kind of sequences, obtaining satisfactory results in complex situations such as those given by dynamic backgrounds, illumination changes, shadows and multiple moving objects