Region of Interest Generation for Pedestrian Detection using Stereo Vision

Pedestrian detection is an active research area in the field of computer vision. The sliding window paradigm is usually followed to extract all possible detector windows, however, it is very time consuming. Subsequently, stereo vision using a pair of camera is preferred to reduce the search space that includes the depth information. Disparity map generation using feature correspondence is an integral part and a prior task to depth estimation. In our work, we apply the ORB features to fasten the feature correspondence process. Once the ROI generation phase is over, the extracted detector window is represented by low level histogram of oriented gradient (HOG) features. Subsequently, Linear Support Vector Machine (SVM) is applied to classify them as either pedestrian or non-pedestrian. The experimental results reveal that ORB driven depth estimation is at least seven times faster than the SURF descriptor and ten times faster than the SIFT descriptor

Real-time object detection using monocular vision for low-cost automotive sensing systems

This work addresses the problem of real-time object detection in automotive environments using monocular vision. The focus is on real-time feature detection, tracking, depth estimation using monocular vision and finally, object detection by fusing visual saliency and depth information. Firstly, a novel feature detection approach is proposed for extracting stable and dense features even in images with very low signal-to-noise ratio. This methodology is based on image gradients, which are redefined to take account of noise as part of their mathematical model. Each gradient is based on a vector connecting a negative to a positive intensity centroid, where both centroids are symmetric about the centre of the area for which the gradient is calculated. Multiple gradient vectors define a feature with its strength being proportional to the underlying gradient vector magnitude. The evaluation of the Dense Gradient Features (DeGraF) shows superior performance over other contemporary detectors in terms of keypoint density, tracking accuracy, illumination invariance, rotation invariance, noise resistance and detection time. The DeGraF features form the basis for two new approaches that perform dense 3D reconstruction from a single vehicle-mounted camera. The first approach tracks DeGraF features in real-time while performing image stabilisation with minimal computational cost. This means that despite camera vibration the algorithm can accurately predict the real-world coordinates of each image pixel in real-time by comparing each motion-vector to the ego-motion vector of the vehicle. The performance of this approach has been compared to different 3D reconstruction methods in order to determine their accuracy, depth-map density, noise-resistance and computational complexity. The second approach proposes the use of local frequency analysis of i ii gradient features for estimating relative depth. This novel method is based on the fact that DeGraF gradients can accurately measure local image variance with subpixel accuracy. It is shown that the local frequency by which the centroid oscillates around the gradient window centre is proportional to the depth of each gradient centroid in the real world. The lower computational complexity of this methodology comes at the expense of depth map accuracy as the camera velocity increases, but it is at least five times faster than the other evaluated approaches. This work also proposes a novel technique for deriving visual saliency maps by using Division of Gaussians (DIVoG). In this context, saliency maps express the difference of each image pixel is to its surrounding pixels across multiple pyramid levels. This approach is shown to be both fast and accurate when evaluated against other state-of-the-art approaches. Subsequently, the saliency information is combined with depth information to identify salient regions close to the host vehicle. The fused map allows faster detection of high-risk areas where obstacles are likely to exist. As a result, existing object detection algorithms, such as the Histogram of Oriented Gradients (HOG) can execute at least five times faster. In conclusion, through a step-wise approach computationally-expensive algorithms have been optimised or replaced by novel methodologies to produce a fast object detection system that is aligned to the requirements of the automotive domain

Smart environment monitoring through micro unmanned aerial vehicles

In recent years, the improvements of small-scale Unmanned Aerial Vehicles (UAVs) in terms of flight time, automatic control, and remote transmission are promoting the development of a wide range of practical applications. In aerial video surveillance, the monitoring of broad areas still has many challenges due to the achievement of different tasks in real-time, including mosaicking, change detection, and object detection. In this thesis work, a small-scale UAV based vision system to maintain regular surveillance over target areas is proposed. The system works in two modes. The first mode allows to monitor an area of interest by performing several flights. During the first flight, it creates an incremental geo-referenced mosaic of an area of interest and classifies all the known elements (e.g., persons) found on the ground by an improved Faster R-CNN architecture previously trained. In subsequent reconnaissance flights, the system searches for any changes (e.g., disappearance of persons) that may occur in the mosaic by a histogram equalization and RGB-Local Binary Pattern (RGB-LBP) based algorithm. If present, the mosaic is updated. The second mode, allows to perform a real-time classification by using, again, our improved Faster R-CNN model, useful for time-critical operations. Thanks to different design features, the system works in real-time and performs mosaicking and change detection tasks at low-altitude, thus allowing the classification even of small objects. The proposed system was tested by using the whole set of challenging video sequences contained in the UAV Mosaicking and Change Detection (UMCD) dataset and other public datasets. The evaluation of the system by well-known performance metrics has shown remarkable results in terms of mosaic creation and updating, as well as in terms of change detection and object detection

Wrist vascular biometric recognition using a portable contactless system

Human wrist vein biometric recognition is one of the least used vascular biometric modalities. Nevertheless, it has similar usability and is as safe as the two most common vascular variants in the commercial and research worlds: hand palm vein and finger vein modalities. Besides, the wrist vein variant, with wider veins, provides a clearer and better visualization and definition of the unique vein patterns. In this paper, a novel vein wrist non-contact system has been designed, implemented, and tested. For this purpose, a new contactless database has been collected with the software algorithm TGS-CVBR®. The database, called UC3M-CV1, consists of 1200 near-infrared contactless images of 100 different users, collected in two separate sessions, from the wrists of 50 subjects (25 females and 25 males). Environmental light conditions for the different subjects and sessions have been not controlled: different daytimes and different places (outdoor/indoor). The software algorithm created for the recognition task is PIS-CVBR®. The results obtained by combining these three elements, TGS-CVBR®, PIS-CVBR®, and UC3M-CV1 dataset, are compared using two other different wrist contact databases, PUT and UC3M (best value of Equal Error Rate (EER) = 0.08%), taken into account and measured the computing time, demonstrating the viability of obtaining a contactless real-time-processing wrist system.Publicad

Feature Matching with Improved SIRB using RANSAC

In this paper we suggest to improve the SIRB SIFT Scale-Invariant Feature Transform and ORB Oriented FAST and Rotated BRIEF algorithm by incorporating RANSAC to enhance the matching performance We use multi-scale space to extract the features which are impervious to scale rotation and affine variations Then the SIFT algorithm generates feature points and passes the interest points to the ORB algorithm The ORB algorithm generates an ORB descriptor where Hamming distance matches the feature points We propose to use RANSAC Random Sample Consensus to cut down on both the inliers in the form of noise and outliers drastically to cut down on the computational time taken by the algorithm This postprocessing step removes redundant key points and noises This computationally effective and accurate algorithm can also be used in handheld devices where their limited GPU acceleration is not able to compensate for the computationally expensive algorithms like SIFT and SURF Experimental results advocate that the proposed algorithm achieves good matching improves efficiency and makes the feature point matching more accurate with scale in-variance taken into consideratio

Performance and analysis of feature tracking approaches in laser speckle instrumentation

This paper investigates the application of feature tracking algorithms as an alternative data processing method for laser speckle instrumentation. The approach is capable of determining both the speckle pattern translation and rotation and can therefore be used to detect the in-plane rotation and translation of an object simultaneously. A performance assessment of widely used feature detection and matching algorithms from the computer vision field, for both translation and rotation measurements from laser speckle patterns, is presented. The accuracy of translation measurements using the feature tracking approach was found to be similar to that of correlation-based processing with accuracies of 0.025–0.04 pixels and a typical precision of 0.02–0.09 pixels depending upon the method and image size used. The performance for in-plane rotation measurements are also presented with rotation measurement accuracies of <0.01 found to be achievable over an angle range of ±10 and of <0.1 over a range of ±25 ±25 , with a typical precision between 0.02 and 0.08 depending upon method and image size. The measurement range is found to be limited by the failure to match sufficient speckles at larger rotation angles. An analysis of each stage of the process was conducted to identify the most suitable approaches for use with laser speckle images and areas requiring further improvement. A quantitative approach to assessing different feature tracking methods is described, and reference data sets of experimentally translated and rotated speckle patterns from a range of surface finishes and surface roughness are presented. As a result, three areas that lead to the failure of the matching process are identified as areas for future investigation: the inability to detect the same features in partially decorrelated images leading to unmatchable features, the variance of computed feature orientation between frames leading to different descriptors being calculated for the same feature, and the failure of the matching processes due to the inability to discriminate between different features in speckle images