Dynamic Body VSLAM with Semantic Constraints

Image based reconstruction of urban environments is a challenging problem that deals with optimization of large number of variables, and has several sources of errors like the presence of dynamic objects. Since most large scale approaches make the assumption of observing static scenes, dynamic objects are relegated to the noise modeling section of such systems. This is an approach of convenience since the RANSAC based framework used to compute most multiview geometric quantities for static scenes naturally confine dynamic objects to the class of outlier measurements. However, reconstructing dynamic objects along with the static environment helps us get a complete picture of an urban environment. Such understanding can then be used for important robotic tasks like path planning for autonomous navigation, obstacle tracking and avoidance, and other areas. In this paper, we propose a system for robust SLAM that works in both static and dynamic environments. To overcome the challenge of dynamic objects in the scene, we propose a new model to incorporate semantic constraints into the reconstruction algorithm. While some of these constraints are based on multi-layered dense CRFs trained over appearance as well as motion cues, other proposed constraints can be expressed as additional terms in the bundle adjustment optimization process that does iterative refinement of 3D structure and camera / object motion trajectories. We show results on the challenging KITTI urban dataset for accuracy of motion segmentation and reconstruction of the trajectory and shape of moving objects relative to ground truth. We are able to show average relative error reduction by a significant amount for moving object trajectory reconstruction relative to state-of-the-art methods like VISO 2, as well as standard bundle adjustment algorithms

Human mobility monitoring in very low resolution visual sensor network

This paper proposes an automated system for monitoring mobility patterns using a network of very low resolution visual sensors (30 30 pixels). The use of very low resolution sensors reduces privacy concern, cost, computation requirement and power consumption. The core of our proposed system is a robust people tracker that uses low resolution videos provided by the visual sensor network. The distributed processing architecture of our tracking system allows all image processing tasks to be done on the digital signal controller in each visual sensor. In this paper, we experimentally show that reliable tracking of people is possible using very low resolution imagery. We also compare the performance of our tracker against a state-of-the-art tracking method and show that our method outperforms. Moreover, the mobility statistics of tracks such as total distance traveled and average speed derived from trajectories are compared with those derived from ground truth given by Ultra-Wide Band sensors. The results of this comparison show that the trajectories from our system are accurate enough to obtain useful mobility statistics

Phase Space Transport in Noisy Hamiltonian Systems

This paper analyses the effect of low amplitude friction and noise in accelerating phase space transport in time-independent Hamiltonian systems that exhibit global stochasticity. Numerical experiments reveal that even very weak non-Hamiltonian perturbations can dramatically increase the rate at which an ensemble of orbits penetrates obstructions like cantori or Arnold webs, thus accelerating the approach towards an invariant measure, i.e., a near-microcanonical population of the accessible phase space region. An investigation of first passage times through cantori leads to three conclusions, namely: (i) that, at least for white noise, the detailed form of the perturbation is unimportant, (ii) that the presence or absence of friction is largely irrelevant, and (iii) that, overall, the amplitude of the response to weak noise scales logarithmically in the amplitude of the noise.Comment: 13 pages, 3 Postscript figures, latex, no macors. Annals of the New York Academy of Sciences, in pres

Globally Optimal Cell Tracking using Integer Programming

We propose a novel approach to automatically tracking cell populations in time-lapse images. To account for cell occlusions and overlaps, we introduce a robust method that generates an over-complete set of competing detection hypotheses. We then perform detection and tracking simultaneously on these hypotheses by solving to optimality an integer program with only one type of flow variables. This eliminates the need for heuristics to handle missed detections due to occlusions and complex morphology. We demonstrate the effectiveness of our approach on a range of challenging sequences consisting of clumped cells and show that it outperforms state-of-the-art techniques.Comment: Engin T\"uretken and Xinchao Wang contributed equally to this wor