Online real-time crowd behavior detection in video sequences

Automatically detecting events in crowded scenes is a challenging task in Computer Vision. A number of offline approaches have been proposed for solving the problem of crowd behavior detection, however the offline assumption limits their application in real-world video surveillance systems. In this paper, we propose an online and real-time method for detecting events in crowded video sequences. The proposed approach is based on the combination of visual feature extraction and image segmentation and it works without the need of a training phase. A quantitative experimental evaluation has been carried out on multiple publicly available video sequences, containing data from various crowd scenarios and different types of events, to demonstrate the effectiveness of the approach

Visual Place Recognition for Autonomous Robots

Autonomous robotics has been the subject of great interest within the research community over the past few decades. Its applications are wide-spread, ranging from health-care to manufacturing, goods transportation to home deliveries, site-maintenance to construction, planetary explorations to rescue operations and many others, including but not limited to agriculture, defence, commerce, leisure and extreme environments. At the core of robot autonomy lies the problem of localisation, i.e, knowing where it is and within the robotics community, this problem is termed as place recognition. Place recognition using only visual input is termed as Visual Place Recognition (VPR) and refers to the ability of an autonomous system to recall a previously visited place using only visual input, under changing viewpoint, illumination and seasonal conditions, and given computational and storage constraints. This thesis is a collection of 4 inter-linked, mutually-relevant but branching-out topics within VPR: 1) What makes a place/image worthy for VPR?, 2) How to define a state-of-the-art in VPR?, 3) Do VPR techniques designed for ground-based platforms extend to aerial platforms? and 4) Can a handcrafted VPR technique outperform deep-learning-based VPR techniques? Each of these questions is a dedicated, peer-reviewed chapter in this thesis and the author attempts to answer these questions to the best of his abilities. The worthiness of a place essentially refers to the salience and distinctiveness of the content in the image of this place. This salience is modelled as a framework, namely memorable-maps, comprising of 3 conjoint criteria: a) Human-memorability of an image, 2) Staticity and 3) Information content. Because a large number of VPR techniques have been proposed over the past 10-15 years, and due to the variation of employed VPR datasets and metrics for evaluation, the correct state-of-the-art remains ambiguous. The author levels this playing field by deploying 10 contemporary techniques on a common platform and use the most challenging VPR datasets to provide a holistic performance comparison. This platform is then extended to aerial place recognition datasets to answer the 3rd question above. Finally, the author designs a novel, handcrafted, compute-efficient and training-free VPR technique that outperforms state-of-the-art VPR techniques on 5 different VPR datasets

Advances in Image Processing, Analysis and Recognition Technology

For many decades, researchers have been trying to make computers’ analysis of images as effective as the system of human vision is. For this purpose, many algorithms and systems have previously been created. The whole process covers various stages, including image processing, representation and recognition. The results of this work can be applied to many computer-assisted areas of everyday life. They improve particular activities and provide handy tools, which are sometimes only for entertainment, but quite often, they significantly increase our safety. In fact, the practical implementation of image processing algorithms is particularly wide. Moreover, the rapid growth of computational complexity and computer efficiency has allowed for the development of more sophisticated and effective algorithms and tools. Although significant progress has been made so far, many issues still remain, resulting in the need for the development of novel approaches

Manifold Learning Approaches to Compressing Latent Spaces of Unsupervised Feature Hierarchies

Field robots encounter dynamic unstructured environments containing a vast array of unique objects. In order to make sense of the world in which they are placed, they collect large quantities of unlabelled data with a variety of sensors. Producing robust and reliable applications depends entirely on the ability of the robot to understand the unlabelled data it obtains. Deep Learning techniques have had a high level of success in learning powerful unsupervised representations for a variety of discriminative and generative models. Applying these techniques to problems encountered in field robotics remains a challenging endeavour. Modern Deep Learning methods are typically trained with a substantial labelled dataset, while datasets produced in a field robotics context contain limited labelled training data. The primary motivation for this thesis stems from the problem of applying large scale Deep Learning models to field robotics datasets that are label poor. While the lack of labelled ground truth data drives the desire for unsupervised methods, the need for improving the model scaling is driven by two factors, performance and computational requirements. When utilising unsupervised layer outputs as representations for classification, the classification performance increases with layer size. Scaling up models with multiple large layers of features is problematic, as the sizes of subsequent hidden layers scales with the size of the previous layer. This quadratic scaling, and the associated time required to train such networks has prevented adoption of large Deep Learning models beyond cluster computing. The contributions in this thesis are developed from the observation that parameters or filter el- ements learnt in Deep Learning systems are typically highly structured, and contain related ele- ments. Firstly, the structure of unsupervised filters is utilised to construct a mapping from the high dimensional filter space to a low dimensional manifold. This creates a significantly smaller repre- sentation for subsequent feature learning. This mapping, and its effect on the resulting encodings, highlights the need for the ability to learn highly overcomplete sets of convolutional features. Driven by this need, the unsupervised pretraining of Deep Convolutional Networks is developed to include a number of modern training and regularisation methods. These pretrained models are then used to provide initialisations for supervised convolutional models trained on low quantities of labelled data. By utilising pretraining, a significant increase in classification performance on a number of publicly available datasets is achieved. In order to apply these techniques to outdoor 3D Laser Illuminated Detection And Ranging data, we develop a set of resampling techniques to provide uniform input to Deep Learning models. The features learnt in these systems outperform the high effort hand engineered features developed specifically for 3D data. The representation of a given signal is then reinterpreted as a combination of modes that exist on the learnt low dimensional filter manifold. From this, we develop an encoding technique that allows the high dimensional layer output to be represented as a combination of low dimensional components. This allows the growth of subsequent layers to only be dependent on the intrinsic dimensionality of the filter manifold and not the number of elements contained in the previous layer. Finally, the resulting unsupervised convolutional model, the encoding frameworks and the em- bedding methodology are used to produce a new unsupervised learning stratergy that is able to encode images in terms of overcomplete filter spaces, without producing an explosion in the size of the intermediate parameter spaces. This model produces classification results on par with state of the art models, yet requires significantly less computational resources and is suitable for use in the constrained computation environment of a field robot

Performance Analysis of Low-Cost Tracking System for Mobile Robots

This paper proposes a reliable and straightforward approach to mobile robots (or moving objects in general) indoor tracking, in order to perform a preliminary study on their dynamics. The main features of this approach are its minimal and low-cost setup and a user-friendly interpretation of the data generated by the ArUco library. By using a commonly available camera, such as a smartphone one or a webcam, and at least one marker for each object that has to be tracked, it is possible to estimate the pose of these markers, with respect to a reference conveniently placed in the environment, in order to produce results that are easily interpretable by a user. This paper presents a simple extension to the ArUco library to generate such user-friendly data, and it provides a performance analysis of this application with static and moving objects, using a smartphone camera to highlight the most notable feature of this solution, but also its limitations

Unsupervised quantification of entity consistency between photos and text in real-world news

Das World Wide Web und die sozialen Medien übernehmen im heutigen Informationszeitalter eine wichtige Rolle für die Vermittlung von Nachrichten und Informationen. In der Regel werden verschiedene Modalitäten im Sinne der Informationskodierung wie beispielsweise Fotos und Text verwendet, um Nachrichten effektiver zu vermitteln oder Aufmerksamkeit zu erregen. Kommunikations- und Sprachwissenschaftler erforschen das komplexe Zusammenspiel zwischen Modalitäten seit Jahrzehnten und haben unter Anderem untersucht, wie durch die Kombination der Modalitäten zusätzliche Informationen oder eine neue Bedeutungsebene entstehen können. Die Anzahl gemeinsamer Konzepte oder Entitäten (beispielsweise Personen, Orte und Ereignisse) zwischen Fotos und Text stellen einen wichtigen Aspekt für die Bewertung der Gesamtaussage und Bedeutung eines multimodalen Artikels dar. Automatisierte Ansätze zur Quantifizierung von Bild-Text-Beziehungen können für zahlreiche Anwendungen eingesetzt werden. Sie ermöglichen beispielsweise eine effiziente Exploration von Nachrichten, erleichtern die semantische Suche von Multimedia-Inhalten in (Web)-Archiven oder unterstützen menschliche Analysten bei der Evaluierung der Glaubwürdigkeit von Nachrichten. Allerdings gibt es bislang nur wenige Ansätze, die sich mit der Quantifizierung von Beziehungen zwischen Fotos und Text beschäftigen. Diese Ansätze berücksichtigen jedoch nicht explizit die intermodalen Beziehungen von Entitäten, welche eine wichtige Rolle in Nachrichten darstellen, oder basieren auf überwachten multimodalen Deep-Learning-Techniken. Diese überwachten Lernverfahren können ausschließlich die intermodalen Beziehungen von Entitäten detektieren, die in annotierten Trainingsdaten enthalten sind. Um diese Forschungslücke zu schließen, wird in dieser Arbeit ein unüberwachter Ansatz zur Quantifizierung der intermodalen Konsistenz von Entitäten zwischen Fotos und Text in realen multimodalen Nachrichtenartikeln vorgestellt. Im ersten Teil dieser Arbeit werden neuartige Verfahren auf Basis von Deep Learning zur Extrahierung von Informationen aus Fotos vorgestellt, um Ereignisse (Events), Orte, Zeitangaben und Personen automatisch zu erkennen. Diese Verfahren bilden eine wichtige Voraussetzung, um die Beziehungen von Entitäten zwischen Bild und Text zu bewerten. Zunächst wird ein Ansatz zur Ereignisklassifizierung präsentiert, der neuartige Optimierungsfunktionen und Gewichtungsschemata nutzt um Ontologie-Informationen aus einer Wissensdatenbank in ein Deep-Learning-Verfahren zu integrieren. Das Training erfolgt anhand eines neu vorgestellten Datensatzes, der 570.540 Fotos und eine Ontologie mit 148 Ereignistypen enthält. Der Ansatz übertrifft die Ergebnisse von Referenzsystemen die keine strukturierten Ontologie-Informationen verwenden. Weiterhin wird ein DeepLearning-Ansatz zur Schätzung des Aufnahmeortes von Fotos vorgeschlagen, der Kontextinformationen über die Umgebung (Innen-, Stadt-, oder Naturaufnahme) und von Erdpartitionen unterschiedlicher Granularität verwendet. Die vorgeschlagene Lösung übertrifft die bisher besten Ergebnisse von aktuellen Forschungsarbeiten, obwohl diese deutlich mehr Fotos zum Training verwenden. Darüber hinaus stellen wir den ersten Datensatz zur Schätzung des Aufnahmejahres von Fotos vor, der mehr als eine Million Bilder aus den Jahren 1930 bis 1999 umfasst. Dieser Datensatz wird für das Training von zwei Deep-Learning-Ansätzen zur Schätzung des Aufnahmejahres verwendet, welche die Aufgabe als Klassifizierungs- und Regressionsproblem behandeln. Beide Ansätze erzielen sehr gute Ergebnisse und übertreffen Annotationen von menschlichen Probanden. Schließlich wird ein neuartiger Ansatz zur Identifizierung von Personen des öffentlichen Lebens und ihres gemeinsamen Auftretens in Nachrichtenfotos aus der digitalen Bibliothek Internet Archiv präsentiert. Der Ansatz ermöglicht es unstrukturierte Webdaten aus dem Internet Archiv mit Metadaten, beispielsweise zur semantischen Suche, zu erweitern. Experimentelle Ergebnisse haben die Effektivität des zugrundeliegenden Deep-Learning-Ansatzes zur Personenerkennung bestätigt. Im zweiten Teil dieser Arbeit wird ein unüberwachtes System zur Quantifizierung von BildText-Beziehungen in realen Nachrichten vorgestellt. Im Gegensatz zu bisherigen Verfahren liefert es automatisch neuartige Maße der intermodalen Konsistenz für verschiedene Entitätstypen (Personen, Orte und Ereignisse) sowie den Gesamtkontext. Das System ist nicht auf vordefinierte Datensätze angewiesen, und kann daher mit der Vielzahl und Diversität von Entitäten und Themen in Nachrichten umgehen. Zur Extrahierung von Entitäten aus dem Text werden geeignete Methoden der natürlichen Sprachverarbeitung eingesetzt. Examplarbilder für diese Entitäten werden automatisch aus dem Internet beschafft. Die vorgeschlagenen Methoden zur Informationsextraktion aus Fotos werden auf die Nachrichten- und heruntergeladenen Exemplarbilder angewendet, um die intermodale Konsistenz von Entitäten zu quantifizieren. Es werden zwei Aufgaben untersucht um die Qualität des vorgeschlagenen Ansatzes in realen Anwendungen zu bewerten. Experimentelle Ergebnisse für die Dokumentverifikation und die Beschaffung von Nachrichten mit geringer (potenzielle Fehlinformation) oder hoher multimodalen Konsistenz zeigen den Nutzen und das Potenzial des Ansatzes zur Unterstützung menschlicher Analysten bei der Untersuchung von Nachrichten.In today’s information age, the World Wide Web and social media are important sources for news and information. Different modalities (in the sense of information encoding) such as photos and text are typically used to communicate news more effectively or to attract attention. Communication scientists, linguists, and semioticians have studied the complex interplay between modalities for decades and investigated, e.g., how their combination can carry additional information or add a new level of meaning. The number of shared concepts or entities (e.g., persons, locations, and events) between photos and text is an important aspect to evaluate the overall message and meaning of an article. Computational models for the quantification of image-text relations can enable many applications. For example, they allow for more efficient exploration of news, facilitate semantic search and multimedia retrieval in large (web) archives, or assist human assessors in evaluating news for credibility. To date, only a few approaches have been suggested that quantify relations between photos and text. However, they either do not explicitly consider the cross-modal relations of entities – which are important in the news – or rely on supervised deep learning approaches that can only detect the cross-modal presence of entities covered in the labeled training data. To address this research gap, this thesis proposes an unsupervised approach that can quantify entity consistency between photos and text in multimodal real-world news articles. The first part of this thesis presents novel approaches based on deep learning for information extraction from photos to recognize events, locations, dates, and persons. These approaches are an important prerequisite to measure the cross-modal presence of entities in text and photos. First, an ontology-driven event classification approach that leverages new loss functions and weighting schemes is presented. It is trained on a novel dataset of 570,540 photos and an ontology with 148 event types. The proposed system outperforms approaches that do not use structured ontology information. Second, a novel deep learning approach for geolocation estimation is proposed that uses additional contextual information on the environmental setting (indoor, urban, natural) and from earth partitions of different granularity. The proposed solution outperforms state-of-the-art approaches, which are trained with significantly more photos. Third, we introduce the first large-scale dataset for date estimation with more than one million photos taken between 1930 and 1999, along with two deep learning approaches that treat date estimation as a classification and regression problem. Both approaches achieve very good results that are superior to human annotations. Finally, a novel approach is presented that identifies public persons and their co-occurrences in news photos extracted from the Internet Archive, which collects time-versioned snapshots of web pages that are rarely enriched with metadata relevant to multimedia retrieval. Experimental results confirm the effectiveness of the deep learning approach for person identification. The second part of this thesis introduces an unsupervised approach capable of quantifying image-text relations in real-world news. Unlike related work, the proposed solution automatically provides novel measures of cross-modal consistency for different entity types (persons, locations, and events) as well as the overall context. The approach does not rely on any predefined datasets to cope with the large amount and diversity of entities and topics covered in the news. State-of-the-art tools for natural language processing are applied to extract named entities from the text. Example photos for these entities are automatically crawled from the Web. The proposed methods for information extraction from photos are applied to both news images and example photos to quantify the cross-modal consistency of entities. Two tasks are introduced to assess the quality of the proposed approach in real-world applications. Experimental results for document verification and retrieval of news with either low (potential misinformation) or high cross-modal similarities demonstrate the feasibility of the approach and its potential to support human assessors to study news

Visual Place Recognition under Severe Viewpoint and Appearance Changes

Over the last decade, the eagerness of the robotic and computer vision research communities unfolded extensive advancements in long-term robotic vision. Visual localization is the constituent of this active research domain; an ability of an object to correctly localize itself while mapping the environment simultaneously, technically termed as Simultaneous Localization and Mapping (SLAM). Visual Place Recognition (VPR), a core component of SLAM is a well-known paradigm. In layman terms, at a certain place/location within an environment, a robot needs to decide whether it’s the same place experienced before? Visual Place Recognition utilizing Convolutional Neural Networks (CNNs) has made a major contribution in the last few years. However, the image retrieval-based VPR becomes more challenging when the same places experience strong viewpoint and seasonal transitions. This thesis concentrates on improving the retrieval performance of VPR system, generally targeting the place correspondence. Despite the remarkable performances of state-of-the-art deep CNNs for VPR, the significant computation- and memory-overhead limit their practical deployment for resource constrained mobile robots. This thesis investigates the utility of shallow CNNs for power-efficient VPR applications. The proposed VPR frameworks focus on novel image regions that can contribute in recognizing places under dubious environment and viewpoint variations. Employing challenging place recognition benchmark datasets, this thesis further illustrates and evaluates the robustness of shallow CNN-based regional features against viewpoint and appearance changes coupled with dynamic instances, such as pedestrians, vehicles etc. Finally, the presented computation-efficient and light-weight VPR methodologies have shown boostup in matching performance in terms of Area under Precision-Recall curves (AUC-PR curves) over state-of-the-art deep neural network based place recognition and SLAM algorithms