Adaptive Airborne Separation to Enable UAM Autonomy in Mixed Airspace

The excitement and promise generated by Urban Air Mobility (UAM) concepts have inspired both new entrants and large aerospace companies throughout the world to invest hundreds of millions in research and development of air vehicles, both piloted and unpiloted, to fulfill these dreams. The management and separation of all these new aircraft have received much less attention, however, and even though NASAs lead is advancing some promising concepts for Unmanned Aircraft Systems (UAS) Traffic Management (UTM), most operations today are limited to line of sight with the vehicle, airspace reservation and geofencing of individual flights. Various schemes have been proposed to control this new traffic, some modeled after conventional air traffic control and some proposing fully automatic management, either from a ground-based entity or carried out on board among the vehicles themselves. Previous work has examined vehicle-based traffic management in the very low altitude airspace within a metroplex called UTM airspace in which piloted traffic is rare. A management scheme was proposed in that work that takes advantage of the homogeneous nature of the traffic operating in UTM airspace. This paper expands that concept to include a traffic management plan usable at all altitudes desired for electric Vertical Takeoff and Landing urban and short-distance, inter-city transportation. The interactions with piloted aircraft operating under both visual and instrument flight rules are analyzed, and the role of Air Traffic Control services in the postulated mixed traffic environment is covered. Separation values that adapt to each type of traffic encounter are proposed, and the relationship between required airborne surveillance range and closure speed is given. Finally, realistic scenarios are presented illustrating how this concept can reliably handle the density and traffic mix that fully implemented and successful UAM operations would entail

Processing multiple image streams for real-time monitoring of parking lots

We present a system to detect parked vehicles in a typical parking complex using multiple streams of images captured through IP connected devices. Compared to traditional object detection techniques and machine learning methods, our approach is significantly faster in detection speed in the presence of multiple image streams. It is also capable of comparable accuracy when put to test against existing methods. And this is achieved without the need to train the system that machine learning methods require. Our approach uses a combination of psychological insights obtained from human detection and an algorithm replicating the outcomes of a SVM learner but without the noise that compromises accuracy in the normal learning process. Performance enhancements are made on the algorithm so that it operates well in the context of multiple image streams. The result is faster detection with comparable accuracy. Our experiments on images captured from a local test site shows very promising results for an implementation that is not only effective and low cost but also opens doors to new parking applications when combined with other technologies.<br /

Watch and Learn: Semi-Supervised Learning of Object Detectors from Videos

We present a semi-supervised approach that localizes multiple unknown object instances in long videos. We start with a handful of labeled boxes and iteratively learn and label hundreds of thousands of object instances. We propose criteria for reliable object detection and tracking for constraining the semi-supervised learning process and minimizing semantic drift. Our approach does not assume exhaustive labeling of each object instance in any single frame, or any explicit annotation of negative data. Working in such a generic setting allow us to tackle multiple object instances in video, many of which are static. In contrast, existing approaches either do not consider multiple object instances per video, or rely heavily on the motion of the objects present. The experiments demonstrate the effectiveness of our approach by evaluating the automatically labeled data on a variety of metrics like quality, coverage (recall), diversity, and relevance to training an object detector.Comment: To appear in CVPR 201

A review on intelligent monitoring and activity interpretation

This survey paper provides a tour of the various monitoring and activity interpretation frameworks found in the literature. The needs of monitoring and interpretation systems are presented in relation to the area where they have been developed or applied. Their evolution is studied to better understand the characteristics of current systems. After this, the main features of monitoring and activity interpretation systems are defined.Este trabajo presenta una revisión de los marcos de trabajo para monitorización e interpretación de actividades presentes en la literatura. Dependiendo del área donde dichos marcos se han desarrollado o aplicado, se han identificado diferentes necesidades. Además, para comprender mejor las particularidades de los marcos de trabajo, esta revisión realiza un recorrido por su evolución histórica. Posteriormente, se definirían las principales características de los sistemas de monitorización e interpretación de actividades.This work was partially supported by Spanish Ministerio de Economía y Competitividad / FEDER under DPI2016-80894-R grant

Vision based surveillance system

Due to the numerous amounts of surveillance cameras available, security guards seem to be ubiquitously watching over. However, the number of existing cameras exceeds the number of humans to monitor them and the supervision of all the sensors' output is costly. Thus, video footage from cameras is most often only used as a forensic tool. This suggests the need of an intelligent video surveillance system providing continuous 24-hour monitoring, replacing the traditional ineffective systems. This paper presents an automated vision based surveillance system which is capable to detect and track humans and vehicles from a video footage. Simulation results have shown that the Object Classification module manages to achieve an accuracy of 97.31% and 97.14% for the person and vehicle classification respectively. Furthermore, the system manages to successfully track the objects 97% of the time under no occlusion and 94.14% in presence of occlusion.peer-reviewe

Automatic vacant parking places management system using multicamera vehicle detection

This paper presents a multicamera system for vehicles detection and their corresponding mapping into the parking spots of a parking lot. Approaches from the state-of-the-art, which work properly in controlled scenarios, have been validated using small amount of sequences and without more challenging realistic conditions (illumniation changes, different weather). On the other hand, most of them are not complete systems, but provide only parts of them, usually detectors. The proposed system has been designed for realistic scenarios considering different cases of occlussion, ilumination changes and different climatic conditions; a real scenario (the International Pittsburgh Airport parking lot) has been targeted with the condition that existing parking security cameras can be used, avoiding the deployment of new cameras or other sensors infrastructures. For design and validation, a new multicamera dataset has been recorded. The system is based on existing object detectors (the results of two of them are shown) and different proposed postprocessing stages. The results clearly show that the proposed system works correctly in challenging scenarios including almost total occlusions, illumination changes and different weather conditionsThis work has been partially supported by the Spanish Government FPU grant programme (Ministerio de Educación, Cultura y Deporte) and by the Spanish government under the project TEC2014-53176-R (HAVideo

A system for learning statistical motion patterns

Analysis of motion patterns is an effective approach for anomaly detection and behavior prediction. Current approaches for the analysis of motion patterns depend on known scenes, where objects move in predefined ways. It is highly desirable to automatically construct object motion patterns which reflect the knowledge of the scene. In this paper, we present a system for automatically learning motion patterns for anomaly detection and behavior prediction based on a proposed algorithm for robustly tracking multiple objects. In the tracking algorithm, foreground pixels are clustered using a fast accurate fuzzy k-means algorithm. Growing and prediction of the cluster centroids of foreground pixels ensure that each cluster centroid is associated with a moving object in the scene. In the algorithm for learning motion patterns, trajectories are clustered hierarchically using spatial and temporal information and then each motion pattern is represented with a chain of Gaussian distributions. Based on the learned statistical motion patterns, statistical methods are used to detect anomalies and predict behaviors. Our system is tested using image sequences acquired, respectively, from a crowded real traffic scene and a model traffic scene. Experimental results show the robustness of the tracking algorithm, the efficiency of the algorithm for learning motion patterns, and the encouraging performance of algorithms for anomaly detection and behavior prediction

A system for learning statistical motion patterns

Analysis of motion patterns is an effective approach for anomaly detection and behavior prediction. Current approaches for the analysis of motion patterns depend on known scenes, where objects move in predefined ways. It is highly desirable to automatically construct object motion patterns which reflect the knowledge of the scene. In this paper, we present a system for automatically learning motion patterns for anomaly detection and behavior prediction based on a proposed algorithm for robustly tracking multiple objects. In the tracking algorithm, foreground pixels are clustered using a fast accurate fuzzy k-means algorithm. Growing and prediction of the cluster centroids of foreground pixels ensure that each cluster centroid is associated with a moving object in the scene. In the algorithm for learning motion patterns, trajectories are clustered hierarchically using spatial and temporal information and then each motion pattern is represented with a chain of Gaussian distributions. Based on the learned statistical motion patterns, statistical methods are used to detect anomalies and predict behaviors. Our system is tested using image sequences acquired, respectively, from a crowded real traffic scene and a model traffic scene. Experimental results show the robustness of the tracking algorithm, the efficiency of the algorithm for learning motion patterns, and the encouraging performance of algorithms for anomaly detection and behavior prediction