Vision-based Real-Time Aerial Object Localization and Tracking for UAV Sensing System

The paper focuses on the problem of vision-based obstacle detection and tracking for unmanned aerial vehicle navigation. A real-time object localization and tracking strategy from monocular image sequences is developed by effectively integrating the object detection and tracking into a dynamic Kalman model. At the detection stage, the object of interest is automatically detected and localized from a saliency map computed via the image background connectivity cue at each frame; at the tracking stage, a Kalman filter is employed to provide a coarse prediction of the object state, which is further refined via a local detector incorporating the saliency map and the temporal information between two consecutive frames. Compared to existing methods, the proposed approach does not require any manual initialization for tracking, runs much faster than the state-of-the-art trackers of its kind, and achieves competitive tracking performance on a large number of image sequences. Extensive experiments demonstrate the effectiveness and superior performance of the proposed approach.Comment: 8 pages, 7 figure

Unsupervised image saliency detection with Gestalt-laws guided optimization and visual attention based refinement.

Visual attention is a kind of fundamental cognitive capability that allows human beings to focus on the region of interests (ROIs) under complex natural environments. What kind of ROIs that we pay attention to mainly depends on two distinct types of attentional mechanisms. The bottom-up mechanism can guide our detection of the salient objects and regions by externally driven factors, i.e. color and location, whilst the top-down mechanism controls our biasing attention based on prior knowledge and cognitive strategies being provided by visual cortex. However, how to practically use and fuse both attentional mechanisms for salient object detection has not been sufficiently explored. To the end, we propose in this paper an integrated framework consisting of bottom-up and top-down attention mechanisms that enable attention to be computed at the level of salient objects and/or regions. Within our framework, the model of a bottom-up mechanism is guided by the gestalt-laws of perception. We interpreted gestalt-laws of homogeneity, similarity, proximity and figure and ground in link with color, spatial contrast at the level of regions and objects to produce feature contrast map. The model of top-down mechanism aims to use a formal computational model to describe the background connectivity of the attention and produce the priority map. Integrating both mechanisms and applying to salient object detection, our results have demonstrated that the proposed method consistently outperforms a number of existing unsupervised approaches on five challenging and complicated datasets in terms of higher precision and recall rates, AP (average precision) and AUC (area under curve) values

Salient Object Detection Techniques in Computer Vision-A Survey.

Detection and localization of regions of images that attract immediate human visual attention is currently an intensive area of research in computer vision. The capability of automatic identification and segmentation of such salient image regions has immediate consequences for applications in the field of computer vision, computer graphics, and multimedia. A large number of salient object detection (SOD) methods have been devised to effectively mimic the capability of the human visual system to detect the salient regions in images. These methods can be broadly categorized into two categories based on their feature engineering mechanism: conventional or deep learning-based. In this survey, most of the influential advances in image-based SOD from both conventional as well as deep learning-based categories have been reviewed in detail. Relevant saliency modeling trends with key issues, core techniques, and the scope for future research work have been discussed in the context of difficulties often faced in salient object detection. Results are presented for various challenging cases for some large-scale public datasets. Different metrics considered for assessment of the performance of state-of-the-art salient object detection models are also covered. Some future directions for SOD are presented towards end

ROBUST OBJECT TRACKING AND ADAPTIVE DETECTION FOR AUTO NAVIGATION OF UNMANNED AERIAL VEHICLE

Abstract Object detection and tracking is an important research topic in the computer vision field with numerous practical applications. Although great progress has been made, both in object detection and tracking over the past decade, it is still a big challenge in real-time applications like automated navigation of an unmanned aerial vehicle and collision avoidance with a forward looking camera. An automated and robust object tracking approach is proposed by integrating a kernelized correlation filter framework with an adaptive object detection technique based on minimum barrier distance transform. The proposed tracker is automatically initialized with salient object detection and the detected object is localized in the image frame with a rectangular bounding box. An adaptive object redetection strategy is proposed to refine the location and boundary of the object, when the tracking correlation response drops below a certain threshold. In addition, reliable pre-processing and post-processing methods are applied on the image frames to accurately localize the object. Extensive quantitative and qualitative experimentation on challenging datasets have been performed to verify the proposed approach. Furthermore, the proposed approach is comprehensively examined with six other recent state-of-the-art¬ trackers, demonstrating that the proposed approach greatly outperforms these trackers, both in terms of tracking speed and accuracy

Shape Representations Using Nested Descriptors

The problem of shape representation is a core problem in computer vision. It can be argued that shape representation is the most central representational problem for computer vision, since unlike texture or color, shape alone can be used for perceptual tasks such as image matching, object detection and object categorization. This dissertation introduces a new shape representation called the nested descriptor. A nested descriptor represents shape both globally and locally by pooling salient scaled and oriented complex gradients in a large nested support set. We show that this nesting property introduces a nested correlation structure that enables a new local distance function called the nesting distance, which provides a provably robust similarity function for image matching. Furthermore, the nesting property suggests an elegant flower like normalization strategy called a log-spiral difference. We show that this normalization enables a compact binary representation and is equivalent to a form a bottom up saliency. This suggests that the nested descriptor representational power is due to representing salient edges, which makes a fundamental connection between the saliency and local feature descriptor literature. In this dissertation, we introduce three examples of shape representation using nested descriptors: nested shape descriptors for imagery, nested motion descriptors for video and nested pooling for activities. We show evaluation results for these representations that demonstrate state-of-the-art performance for image matching, wide baseline stereo and activity recognition tasks

Change blindness: eradication of gestalt strategies

Arrays of eight, texture-defined rectangles were used as stimuli in a one-shot change blindness (CB) task where there was a 50% chance that one rectangle would change orientation between two successive presentations separated by an interval. CB was eliminated by cueing the target rectangle in the first stimulus, reduced by cueing in the interval and unaffected by cueing in the second presentation. This supports the idea that a representation was formed that persisted through the interval before being 'overwritten' by the second presentation (Landman et al, 2003 Vision Research 43149–164]. Another possibility is that participants used some kind of grouping or Gestalt strategy. To test this we changed the spatial position of the rectangles in the second presentation by shifting them along imaginary spokes (by ±1 degree) emanating from the central fixation point. There was no significant difference seen in performance between this and the standard task [F(1,4)=2.565, p=0.185]. This may suggest two things: (i) Gestalt grouping is not used as a strategy in these tasks, and (ii) it gives further weight to the argument that objects may be stored and retrieved from a pre-attentional store during this task