A comprehensive review of vehicle detection using computer vision

A crucial step in designing intelligent transport systems (ITS) is vehicle detection. The challenges of vehicle detection in urban roads arise because of camera position, background variations, occlusion, multiple foreground objects as well as vehicle pose. The current study provides a synopsis of state-of-the-art vehicle detection techniques, which are categorized according to motion and appearance-based techniques starting with frame differencing and background subtraction until feature extraction, a more complicated model in comparison. The advantages and disadvantages among the techniques are also highlighted with a conclusion as to the most accurate one for vehicle detection

Video based vehicle detection for advance warning Intelligent Transportation System

Video based vehicle detection and surveillance technologies are an integral part of Intelligent Transportation System (ITS), due to its non-intrusiveness and capability or capturing global and specific vehicle behavior data. The initial goal of this thesis is to develop an efficient advance warning ITS system for detection of congestion at work zones and special events based on video detection. The goals accomplished by this thesis are: (1) successfully developed the advance warning ITS system using off-the-shelf components and, (2) Develop and evaluate an improved vehicle detection and tracking algorithm. The advance warning ITS system developed includes many off-the-shelf equipments like Autoscope (video based vehicle detector), Digital Video Recorders, RF transceivers, high gain Yagi antennas, variable message signs and interface processors. The video based detection system used requires calibration and fine tuning of configuration parameters for accurate results. Therefore, an in-house video based vehicle detection system was developed using the Corner Harris algorithm to eliminate the need of complex calibration and contrasts modifications. The algorithm was implemented using OpenCV library on a Arcom\u27s Olympus Windows XP Embedded development kit running WinXPE operating system. The algorithm performance is for accuracy in vehicle speed and count is evaluated. The performance of the proposed algorithm is equivalent or better to the Autoscope system without any modifications to calibration and lamination adjustments

Virtual image sensors to track human activity in a smart house

With the advancement of computer technology, demand for more accurate and intelligent monitoring systems has also risen. The use of computer vision and video analysis range from industrial inspection to surveillance. Object detection and segmentation are the first and fundamental task in the analysis of dynamic scenes. Traditionally, this detection and segmentation are typically done through temporal differencing or statistical modelling methods. One of the most widely used background modeling and segmentation algorithms is the Mixture of Gaussians method developed by Stauffer and Grimson (1999). During the past decade many such algorithms have been developed ranging from parametric to non-parametric algorithms. Many of them utilise pixel intensities to model the background, but some use texture properties such as Local Binary Patterns. These algorithms function quite well under normal environmental conditions and each has its own set of advantages and short comings. However, there are two drawbacks in common. The first is that of the stationary object problem; when moving objects become stationary, they get merged into the background. The second problem is that of light changes; when rapid illumination changes occur in the environment, these background modelling algorithms produce large areas of false positives.These algorithms are capable of adapting to the change, however, the quality of the segmentation is very poor during the adaptation phase. In this thesis, a framework to suppress these false positives is introduced. Image properties such as edges and textures are utilised to reduce the amount of false positives during adaptation phase. The framework is built on the idea of sequential pattern recognition. In any background modelling algorithm, the importance of multiple image features as well as different spatial scales cannot be overlooked. Failure to focus attention on these two factors will result in difficulty to detect and reduce false alarms caused by rapid light change and other conditions. The use of edge features in false alarm suppression is also explored. Edges are somewhat more resistant to environmental changes in video scenes. The assumption here is that regardless of environmental changes, such as that of illumination change, the edges of the objects should remain the same. The edge based approach is tested on several videos containing rapid light changes and shows promising results. Texture is then used to analyse video images and remove false alarm regions. Texture gradient approach and Laws Texture Energy Measures are used to find and remove false positives. It is found that Laws Texture Energy Measure performs better than the gradient approach. The results of using edges, texture and different combination of the two in false positive suppression are also presented in this work. This false positive suppression framework is applied to a smart house senario that uses cameras to model ”virtual sensors” to detect interactions of occupants with devices. Results show the accuracy of virtual sensors compared with the ground truth is improved

Study of segmentation and identification techniques applied to environments with natural illumination and moving objects

La presente tesis está enmarcada en el área de visión por computador y en ella se realizan aportaciones encaminados a resolver el problema de segmentar automáticamente objetos en imágenes de escenas adquiridas en entornos donde se está realizando actividad, es decir, aparece movimiento de los elementos que la componen, y con iluminación variable o no controlada. Para llevar a cabo los desarrollos y poder evaluar prestaciones se ha abordado la resolución de dos problemas distintos desde el punto de vista de requerimientos y condiciones de entorno. En primer lugar se aborda el problema de segmentar e identificar, los códigos de los contenedores de camiones con imágenes tomadas en la entrada de un puerto comercial que se encuentra ubicada a la intemperie. En este caso se trata de proponer técnicas de segmentación que permitan extraer objetos concretos, en nuestro caso caracteres en contenedores, procesando imágenes individuales. No sólo supone un reto el trabajar con iluminación natural, sino además el trabajar con elementos deteriorados, con contrastes muy diferentes, etc. Dentro de este contexto, en la tesis se evalúan técnicas presentes en la literatura como LAT, Watershed, algoritmo de Otsu, variación local o umbralizado para segmentar imágenes en niveles de gris. A partir de este estudio, se propone una solución que combina varias de las técnicas anteriores, en un intento de abordar con éxito la extracción de caracteres de contenedores en todas las situaciones ambientales de movimiento e iluminación. El conocimiento a priori del tipo de objetos a segmentar nos permitió diseñar filtros con capacidad discriminante entre el ruido y los caracteres. El sistema propuesto tiene el valor añadido de que no necesita el ajuste de parámetros, por parte del usuario, para adaptarse a las variaciones de iluminación ambientales y consigue un nivel alto en la segmentación e identificación de caracteres.Rosell Ortega, JA. (2011). Study of segmentation and identification techniques applied to environments with natural illumination and moving objects [Tesis doctoral no publicada]. Universitat Politècnica de València. https://doi.org/10.4995/Thesis/10251/10863Palanci

Tracking moving objects in surveillance video

The thesis looks at approaches to the detection and tracking of potential objects of interest in surveillance video. The aim was to investigate and develop methods that might be suitable for eventual application through embedded software, running on a fixed-point processor, in analytics capable cameras. The work considers common approaches to object detection and representation, seeking out those that offer the necessary computational economy and the potential to be able to cope with constraints such as low frame rate due to possible limited processor time, or weak chromatic content that can occur in some typical surveillance contexts. The aim is for probabilistic tracking of objects rather than simple concatenation of frame by frame detections. This involves using recursive Bayesian estimation. The particle filter is a technique for implementing such a recursion and so it is examined in the context of both single target and combined multi-target tracking. A detailed examination of the operation of the single target tracking particle filter shows that objects can be tracked successfully using a relatively simple structured grey-scale histogram representation. It is shown that basic components of the particle filter can be simplified without loss in tracking quality. An analysis brings out the relationships between commonly used target representation distance measures and shows that in the context of the particle filter there is little to choose between them. With the correct choice of parameters, the simplest and computationally economic distance measure performs well. The work shows how to make that correct choice. Similarly, it is shown that a simple measurement likelihood function can be used in place of the more ubiquitous Gaussian. The important step of target state estimation is examined. The standard weighted mean approach is rejected, a recently proposed maximum a posteriori approach is shown to be not suitable in the context of the work, and a practical alternative is developed. Two methods are presented for tracker initialization. One of them is a simplification of an existing published method, the other is a novel approach. The aim is to detect trackable objects as they enter the scene, extract trackable features, then actively follow those features through subsequent frames. The multi-target tracking problem is then posed as one of management of multiple independent trackers

Enhancing the Potential of the Conventional Gaussian Mixture Model for Segmentation: from Images to Videos

Segmentation in images and videos has continuously played an important role in image processing, pattern recognition and machine vision. Despite having been studied for over three decades, the problem of segmentation remains challenging yet appealing due to its ill-posed nature. Maintaining spatial coherence, particularly at object boundaries, remains difficult for image segmentation. Extending to videos, maintaining spatial and temporal coherence, even partially, proves computationally burdensome for recent methods. Finally, connecting these two, foreground segmentation, also known as background suppression, suffers from noisy or dynamic backgrounds, slow foregrounds and illumination variations, to name a few. This dissertation focuses more on probabilistic model based segmentation, primarily due to its applicability in images as well as videos, its past success and mainly because it can be enhanced by incorporating spatial and temporal cues. The first part of the dissertation focuses on enhancing conventional GMM for image segmentation using Bilateral filter due to its power of spatial smoothing while preserving object boundaries. Quantitative and qualitative evaluations are done to show the improvements over a number of recent approaches. The later part of the dissertation concentrates on enhancing GMM towards foreground segmentation as a connection between image and video segmentation. First, we propose an efficient way to include multiresolution features in GMM. This novel procedure implicitly incorporates spatial information to improve foreground segmentation by suppressing noisy backgrounds. The procedure is shown with Wavelets, and gradually extended to propose a generic framework to include other multiresolution decompositions. Second, we propose a more accurate foreground segmentation method by enhancing GMM with the use of Adaptive Support Weights and Histogram of Gradients. Extensive analyses, quantitative and qualitative experiments are presented to demonstrate their performances as comparable to other state-of-the-art methods. The final part of the dissertation proposes the novel application of GMM towards spatio-temporal video segmentation connecting spatial segmentation for images and temporal segmentation to extract foreground. The proposed approach has a simple architecture and requires a low amount of memory for processing. The analysis section demonstrates the architectural efficiency over other methods while quantitative and qualitative experiments are carried out to show the competitive performance of the proposed method

Real-Time, Multiple Pan/Tilt/Zoom Computer Vision Tracking and 3D Positioning System for Unmanned Aerial System Metrology

The study of structural characteristics of Unmanned Aerial Systems (UASs) continues to be an important field of research for developing state of the art nano/micro systems. Development of a metrology system using computer vision (CV) tracking and 3D point extraction would provide an avenue for making these theoretical developments. This work provides a portable, scalable system capable of real-time tracking, zooming, and 3D position estimation of a UAS using multiple cameras. Current state-of-the-art photogrammetry systems use retro-reflective markers or single point lasers to obtain object poses and/or positions over time. Using a CV pan/tilt/zoom (PTZ) system has the potential to circumvent their limitations. The system developed in this paper exploits parallel-processing and the GPU for CV-tracking, using optical flow and known camera motion, in order to capture a moving object using two PTU cameras. The parallel-processing technique developed in this work is versatile, allowing the ability to test other CV methods with a PTZ system using known camera motion. Utilizing known camera poses, the object\u27s 3D position is estimated and focal lengths are estimated for filling the image to a desired amount. This system is tested against truth data obtained using an industrial system

Fish4Knowledge: Collecting and Analyzing Massive Coral Reef Fish Video Data

This book gives a start-to-finish overview of the whole Fish4Knowledge project, in 18 short chapters, each describing one aspect of the project. The Fish4Knowledge project explored the possibilities of big video data, in this case from undersea video. Recording and analyzing 90 thousand hours of video from ten camera locations, the project gives a 3 year view of fish abundance in several tropical coral reefs off the coast of Taiwan. The research system built a remote recording network, over 100 Tb of storage, supercomputer processing, video target detection and

BTLD+:A BAYESIAN APPROACH TO TRACKING LEARNING DETECTION BY PARTS

The contribution proposed in this thesis focuses on this particular instance of the visual tracking problem, referred as Adaptive Ap- iv \ufffcpearance Tracking. We proposed different approaches based on the Tracking Learning Detection (TLD) decomposition proposed in [55]. TLD decomposes visual tracking into three components, namely the tracker, the learner and detector. The tracker and the detector are two competitive processes for target localization based on comple- mentary sources of informations. The former searches for local fea- tures between consecutive frames in order to localize the target; the latter exploits an on-line appearance model to detect confident hy- pothesis over the entire image. The learner selects the final solution among the provided hypothesis. It updates the target appearance model, if necessary, reinitialize the tracker and bootstraps the detec- tor\u2019s appearance model. In particular, we investigated different ap- proaches to enforce the TLD stability. First, we replaced the tracker component with a novel one based on mcmc particle filtering; after- wards, we proposed a robust appearance modeling component able to characterize deformable objects in static images; after all, we inte- grated a modeling component able to integrate local visual features learning into the whole approach, lying to a couple layered represen- tation of the target appearance

The Greystar prototype : designing a multidetector for automatic isotope identification

L’utilisation de la spectroscopie nucléaire comme outil de détection est limitée par le ratio du signal sur bruit. Les méthodes traditionnelles qui permettent d’outrepasser cette difficulté sont d’augmenter l’intensité du signal ou de diminuer le bruit. Pour amplifier le signal, il existe deux méthodes : avoir un émetteur plus intense ou avoir un détecteur de meilleur rapport signal sur bruit . Les techniques typiques de réduction de bruit de fond sont : l’application de filtres numériques et l’ajout de systèmes, tels des circuits de coïncidence, pour favoriser l’étude du signal. Dans le cadre de notre recherche, nous cherchons à détecter des traces d’éléments en utilisant l’activation par neutron. Nous sommes donc limités à avoir des émetteurs d’intensité faible. Beaucoup de chercheurs se penchent déjà sur la création et l’amélioration de détecteurs ayant de meilleures résolutions en énergie. L’approche que nous proposons utilise des détecteurs typiques ayant des résolutions standards et aucun système de suppression de bruit de fond. Nous avons développé un montage expérimental astucieux qui se charge de récolter un maximum d’information. Nous le couplons par la suite à un système d’analyse statistique robuste basé sur l’estimation du maximum de vraisemblance d’un modèle de mixture pour extraire les paramètres d’intérêt. Cette méthode mène à une amélioration flagrante du pouvoir de détection d’un tel système. Les résultats de cette recherche sont par la suite très utiles à tous les systèmes de spectroscopie semblables. Les méthodes d’acquisition et d’analyse développées sont en parfaite synergie avec les travaux de recherche qui se font ailleurs sur des systèmes de détecteurs plus exotiques.The use of nuclear spectroscopy as a detection tool is limited by signal to noise ratio. The most common ways of overcoming this difficulty are either boosting the signal or dampening the noise. Boosting the signal can either be done by having a more powerful emitter or by having a better signal to noise ratio. Applying digital filters and having special experimental setups are the typical ways of enhancing the signal. In our case, the detection of trace elements with neutron activation analysis, we are limited by the nature of the problem to having small emitter signals. A good amount of research is already being done to develop new and exotic detectors to improve their energy resolution. The approach we propose uses typical detectors with average resolution and no background suppression. We propose an intelligent experimental design intended to extract a maximum of information from the experiment and an analysis algorithm based on a rigorous statistical model using a maximum likelihood approach to solving a mixture model in order to drastically improve detection efficiency. This method can be combined with more complex setups that use higher resolution detectors. As such the results of this project synergize well with what is being done elsewhere in the fields of spectroscopy and detector physics