Under vehicle perception for high level safety measures using a catadioptric camera system

In recent years, under vehicle surveillance and the classification of the vehicles become an indispensable task that must be achieved for security measures in certain areas such as shopping centers, government buildings, army camps etc. The main challenge to achieve this task is to monitor the under frames of the means of transportations. In this paper, we present a novel solution to achieve this aim. Our solution consists of three main parts: monitoring, detection and classification. In the first part we design a new catadioptric camera system in which the perspective camera points downwards to the catadioptric mirror mounted to the body of a mobile robot. Thanks to the catadioptric mirror the scenes against the camera optical axis direction can be viewed. In the second part we use speeded up robust features (SURF) in an object recognition algorithm. Fast appearance based mapping algorithm (FAB-MAP) is exploited for the classification of the means of transportations in the third part. Proposed technique is implemented in a laboratory environment

Past, Present, and Future of Simultaneous Localization And Mapping: Towards the Robust-Perception Age

Simultaneous Localization and Mapping (SLAM)consists in the concurrent construction of a model of the environment (the map), and the estimation of the state of the robot moving within it. The SLAM community has made astonishing progress over the last 30 years, enabling large-scale real-world applications, and witnessing a steady transition of this technology to industry. We survey the current state of SLAM. We start by presenting what is now the de-facto standard formulation for SLAM. We then review related work, covering a broad set of topics including robustness and scalability in long-term mapping, metric and semantic representations for mapping, theoretical performance guarantees, active SLAM and exploration, and other new frontiers. This paper simultaneously serves as a position paper and tutorial to those who are users of SLAM. By looking at the published research with a critical eye, we delineate open challenges and new research issues, that still deserve careful scientific investigation. The paper also contains the authors' take on two questions that often animate discussions during robotics conferences: Do robots need SLAM? and Is SLAM solved

Weakly-Supervised Alignment of Video With Text

Suppose that we are given a set of videos, along with natural language descriptions in the form of multiple sentences (e.g., manual annotations, movie scripts, sport summaries etc.), and that these sentences appear in the same temporal order as their visual counterparts. We propose in this paper a method for aligning the two modalities, i.e., automatically providing a time stamp for every sentence. Given vectorial features for both video and text, we propose to cast this task as a temporal assignment problem, with an implicit linear mapping between the two feature modalities. We formulate this problem as an integer quadratic program, and solve its continuous convex relaxation using an efficient conditional gradient algorithm. Several rounding procedures are proposed to construct the final integer solution. After demonstrating significant improvements over the state of the art on the related task of aligning video with symbolic labels [7], we evaluate our method on a challenging dataset of videos with associated textual descriptions [36], using both bag-of-words and continuous representations for text.Comment: ICCV 2015 - IEEE International Conference on Computer Vision, Dec 2015, Santiago, Chil

Learning to Use Illumination Gradients as an Unambiguous Cue to Three Dimensional Shape

The luminance and colour gradients across an image are the result of complex interactions between object shape, material and illumination. Using such variations to infer object shape or surface colour is therefore a difficult problem for the visual system. We know that changes to the shape of an object can affect its perceived colour, and that shading gradients confer a sense of shape. Here we investigate if the visual system is able to effectively utilise these gradients as a cue to shape perception, even when additional cues are not available. We tested shape perception of a folded card object that contained illumination gradients in the form of shading and more subtle effects such as inter-reflections. Our results suggest that observers are able to use the gradients to make consistent shape judgements. In order to do this, observers must be given the opportunity to learn suitable assumptions about the lighting and scene. Using a variety of different training conditions, we demonstrate that learning can occur quickly and requires only coarse information. We also establish that learning does not deliver a trivial mapping between gradient and shape; rather learning leads to the acquisition of assumptions about lighting and scene parameters that subsequently allow for gradients to be used as a shape cue. The perceived shape is shown to be consistent for convex and concave versions of the object that exhibit very different shading, and also similar to that delivered by outline, a largely unrelated cue to shape. Overall our results indicate that, although gradients are less reliable than some other cues, the relationship between gradients and shape can be quickly assessed and the gradients therefore used effectively as a visual shape cue

Learning to Transform Time Series with a Few Examples

We describe a semi-supervised regression algorithm that learns to transform one time series into another time series given examples of the transformation. This algorithm is applied to tracking, where a time series of observations from sensors is transformed to a time series describing the pose of a target. Instead of defining and implementing such transformations for each tracking task separately, our algorithm learns a memoryless transformation of time series from a few example input-output mappings. The algorithm searches for a smooth function that fits the training examples and, when applied to the input time series, produces a time series that evolves according to assumed dynamics. The learning procedure is fast and lends itself to a closed-form solution. It is closely related to nonlinear system identification and manifold learning techniques. We demonstrate our algorithm on the tasks of tracking RFID tags from signal strength measurements, recovering the pose of rigid objects, deformable bodies, and articulated bodies from video sequences. For these tasks, this algorithm requires significantly fewer examples compared to fully-supervised regression algorithms or semi-supervised learning algorithms that do not take the dynamics of the output time series into account