8,804 research outputs found
Robust Multi-Person Tracking from Moving Platforms
In this paper, we address the problem of multi-person tracking in busy pedestrian
zones, using a stereo rig mounted on a mobile platform. The
complexity of the problem calls for an integrated solution, which
extracts as much visual information as possible and combines it
through cognitive feedback. We propose such an approach, which
jointly estimates camera position, stereo depth, object detection,
and tracking. We model the interplay between these components
using a graphical model. Since the model has to
incorporate object-object interactions, and temporal links to past
frames, direct inference is intractable. We therefore propose a two-stage
procedure: for each frame we first solve a simplified version of the
model (disregarding interactions and temporal continuity) to
estimate the scene geometry and an overcomplete set of object
detections. Conditioned on these results, we then address object
interactions, tracking, and prediction in a second step. The
approach is experimentally evaluated on several long and difficult
video sequences from busy inner-city locations. Our results show
that the proposed integration makes it possible to deliver stable
tracking performance in scenes of realistic complexity
Event-based Vision: A Survey
Event cameras are bio-inspired sensors that differ from conventional frame
cameras: Instead of capturing images at a fixed rate, they asynchronously
measure per-pixel brightness changes, and output a stream of events that encode
the time, location and sign of the brightness changes. Event cameras offer
attractive properties compared to traditional cameras: high temporal resolution
(in the order of microseconds), very high dynamic range (140 dB vs. 60 dB), low
power consumption, and high pixel bandwidth (on the order of kHz) resulting in
reduced motion blur. Hence, event cameras have a large potential for robotics
and computer vision in challenging scenarios for traditional cameras, such as
low-latency, high speed, and high dynamic range. However, novel methods are
required to process the unconventional output of these sensors in order to
unlock their potential. This paper provides a comprehensive overview of the
emerging field of event-based vision, with a focus on the applications and the
algorithms developed to unlock the outstanding properties of event cameras. We
present event cameras from their working principle, the actual sensors that are
available and the tasks that they have been used for, from low-level vision
(feature detection and tracking, optic flow, etc.) to high-level vision
(reconstruction, segmentation, recognition). We also discuss the techniques
developed to process events, including learning-based techniques, as well as
specialized processors for these novel sensors, such as spiking neural
networks. Additionally, we highlight the challenges that remain to be tackled
and the opportunities that lie ahead in the search for a more efficient,
bio-inspired way for machines to perceive and interact with the world
A Cognitive Framework to Secure Smart Cities
The advancement in technology has transformed Cyber Physical Systems and their interface with IoT into a more sophisticated and challenging paradigm. As a result, vulnerabilities and potential attacks manifest themselves considerably more than before, forcing researchers to rethink the conventional strategies that are currently in place to secure such physical systems. This manuscript studies the complex interweaving of sensor networks and physical systems and suggests a foundational innovation in the field. In sharp contrast with the existing IDS and IPS solutions, in this paper, a preventive and proactive method is employed to stay ahead of attacks by constantly monitoring network data patterns and identifying threats that are imminent. Here, by capitalizing on the significant progress in processing power (e.g. petascale computing) and storage capacity of computer systems, we propose a deep learning approach to predict and identify various security breaches that are about to occur. The learning process takes place by collecting a large number of files of different types and running tests on them to classify them as benign or malicious. The prediction model obtained as such can then be used to identify attacks. Our project articulates a new framework for interactions between physical systems and sensor networks, where malicious packets are repeatedly learned over time while the system continually operates with respect to imperfect security mechanisms
Robust automatic target tracking based on a Bayesian ego-motion compensation framework for airborne FLIR imagery
Automatic target tracking in airborne FLIR imagery is currently a challenge due to the camera ego-motion. This phenomenon distorts the spatio-temporal correlation of the video sequence, which dramatically reduces the tracking performance. Several works address this problem using ego-motion compensation strategies. They use a deterministic approach to compensate the camera motion assuming a specific model of geometric transformation. However, in real sequences a specific geometric transformation can not accurately describe the camera ego-motion for the whole sequence, and as consequence of this, the performance of the tracking stage can significantly decrease, even completely fail. The optimum transformation for each pair of consecutive frames depends on the relative depth of the elements that compose the scene, and their degree of texturization. In this work, a novel Particle Filter framework is proposed to efficiently manage several hypothesis of geometric transformations: Euclidean, affine, and projective. Each type of transformation is used to compute candidate locations of the object in the current frame. Then, each candidate is evaluated by the measurement model of the Particle Filter using the appearance information. This approach is able to adapt to different camera ego-motion conditions, and thus to satisfactorily perform the tracking. The proposed strategy has been tested on the AMCOM FLIR dataset, showing a high efficiency in the tracking of different types of targets in real working conditions
Moving object detection and segmentation in urban environments from a moving platform
This paper proposes an effective approach to detect and segment moving objects from two time-consecutive stereo frames, which leverages the uncertainties in camera motion estimation and in disparity computation. First, the relative camera motion and its uncertainty are computed by tracking and matching sparse features in four images. Then, the motion likelihood at each pixel is estimated by taking into account the ego-motion uncertainty and disparity in computation procedure. Finally, the motion likelihood, color and depth cues are combined in the graph-cut framework for moving object segmentation. The efficiency of the proposed method is evaluated on the KITTI benchmarking datasets, and our experiments show that the proposed approach is robust against both global (camera motion) and local (optical flow) noise. Moreover, the approach is dense as it applies to all pixels in an image, and even partially occluded moving objects can be detected successfully. Without dedicated tracking strategy, our approach achieves high recall and comparable precision on the KITTI benchmarking sequences.This work was carried out within the framework of the Equipex ROBOTEX (ANR-10- EQPX-44-01). Dingfu Zhou was sponsored by the China Scholarship Council for 3.5 year’s PhD study at HEUDIASYC laboratory in University of Technology of Compiegne
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