Homography-based ground plane detection using a single on-board camera

This study presents a robust method for ground plane detection in vision-based systems with a non-stationary camera. The proposed method is based on the reliable estimation of the homography between ground planes in successive images. This homography is computed using a feature matching approach, which in contrast to classical approaches to on-board motion estimation does not require explicit ego-motion calculation. As opposed to it, a novel homography calculation method based on a linear estimation framework is presented. This framework provides predictions of the ground plane transformation matrix that are dynamically updated with new measurements. The method is specially suited for challenging environments, in particular traffic scenarios, in which the information is scarce and the homography computed from the images is usually inaccurate or erroneous. The proposed estimation framework is able to remove erroneous measurements and to correct those that are inaccurate, hence producing a reliable homography estimate at each instant. It is based on the evaluation of the difference between the predicted and the observed transformations, measured according to the spectral norm of the associated matrix of differences. Moreover, an example is provided on how to use the information extracted from ground plane estimation to achieve object detection and tracking. The method has been successfully demonstrated for the detection of moving vehicles in traffic environments

Capturing Hands in Action using Discriminative Salient Points and Physics Simulation

Hand motion capture is a popular research field, recently gaining more attention due to the ubiquity of RGB-D sensors. However, even most recent approaches focus on the case of a single isolated hand. In this work, we focus on hands that interact with other hands or objects and present a framework that successfully captures motion in such interaction scenarios for both rigid and articulated objects. Our framework combines a generative model with discriminatively trained salient points to achieve a low tracking error and with collision detection and physics simulation to achieve physically plausible estimates even in case of occlusions and missing visual data. Since all components are unified in a single objective function which is almost everywhere differentiable, it can be optimized with standard optimization techniques. Our approach works for monocular RGB-D sequences as well as setups with multiple synchronized RGB cameras. For a qualitative and quantitative evaluation, we captured 29 sequences with a large variety of interactions and up to 150 degrees of freedom.Comment: Accepted for publication by the International Journal of Computer Vision (IJCV) on 16.02.2016 (submitted on 17.10.14). A combination into a single framework of an ECCV'12 multicamera-RGB and a monocular-RGBD GCPR'14 hand tracking paper with several extensions, additional experiments and detail

Extraction of moving objects from their background based on multiple adaptive thresholds and boundary evaluation

The extraction of moving objects from their background is a challenging task in visual surveillance. As a single threshold often fails to resolve ambiguities and correctly segment the object, in this paper, we propose a new method that uses three thresholds to accurately classify pixels as foreground or background. These thresholds are adaptively determined by considering the distributions of differences between the input and background images and are used to generate three boundary sets. These boundary sets are then merged to produce a final boundary set that represents the boundaries of the moving objects. The merging step proceeds by first identifying boundary segment pairs that are significantly inconsistent. Then, for each inconsistent boundary segment pair, its associated curvature, edge response, and shadow index are used as criteria to evaluate the probable location of the true boundary. The resulting boundary is finally refined by estimating the width of the halo-like boundary and referring to the foreground edge map. Experimental results show that the proposed method consistently performs well under different illumination conditions, including indoor, outdoor, moderate, sunny, rainy, and dim cases. By comparing with a ground truth in each case, both the classification error rate and the displacement error indicate an accurate detection, which show substantial improvement in comparison with other existing methods. © 2010 IEEE.published_or_final_versio

Quantitative Precipitation Nowcasting: A Lagrangian Pixel-Based Approach

Short-term high-resolution precipitation forecasting has important implications for navigation, flood forecasting, and other hydrological and meteorological concerns. This article introduces a pixel-based algorithm for Short-term Quantitative Precipitation Forecasting (SQPF) using radar-based rainfall data. The proposed algorithm called Pixel- Based Nowcasting (PBN) tracks severe storms with a hierarchical mesh-tracking algorithm to capture storm advection in space and time at high resolution from radar imagers. The extracted advection field is then extended to nowcast the rainfall field in the next 3. hr based on a pixel-based Lagrangian dynamic model. The proposed algorithm is compared with two other nowcasting algorithms (WCN: Watershed-Clustering Nowcasting and PER: PERsistency) for ten thunderstorm events over the conterminous United States. Object-based verification metric and traditional statistics have been used to evaluate the performance of the proposed algorithm. It is shown that the proposed algorithm is superior over comparison algorithms and is effective in tracking and predicting severe storm events for the next few hours. © 2012 Elsevier B.V

Gravity optimised particle filter for hand tracking

This paper presents a gravity optimised particle filter (GOPF) where the magnitude of the gravitational force for every particle is proportional to its weight. GOPF attracts nearby particles and replicates new particles as if moving the particles towards the peak of the likelihood distribution, improving the sampling efficiency. GOPF is incorporated into a technique for hand features tracking. A fast approach to hand features detection and labelling using convexity defects is also presented. Experimental results show that GOPF outperforms the standard particle filter and its variants, as well as state-of-the-art CamShift guided particle filter using a significantly reduced number of particles