Reproducible Evaluation of Pan-Tilt-Zoom Tracking

Tracking with a Pan-Tilt-Zoom (PTZ) camera has been a research topic in computer vision for many years. However, it is very difficult to assess the progress that has been made on this topic because there is no standard evaluation methodology. The difficulty in evaluating PTZ tracking algorithms arises from their dynamic nature. In contrast to other forms of tracking, PTZ tracking involves both locating the target in the image and controlling the motors of the camera to aim it so that the target stays in its field of view. This type of tracking can only be performed online. In this paper, we propose a new evaluation framework based on a virtual PTZ camera. With this framework, tracking scenarios do not change for each experiment and we are able to replicate online PTZ camera control and behavior including camera positioning delays, tracker processing delays, and numerical zoom. We tested our evaluation framework with the Camshift tracker to show its viability and to establish baseline results.Comment: This is an extended version of the 2015 ICIP paper "Reproducible Evaluation of Pan-Tilt-Zoom Tracking

At Sea Test 2 deployment cruise : cruise 475 on board R/V Oceanus September 22 – 26, 2011 Woods Hole –Woods Hole, MA

The R/V Oceanus, on Cruise 475, carried out the deployment of three moorings for the Coastal and Global Scale Nodes (CGSN) Implementing Organization of the NSF Ocean Observatories Initiative. These three moorings are prototypes of the moorings to be used by CGSN at the Pioneer, Endurance, and Global Arrays. Oceanus departed from Woods Hole, Massachusetts on September 22, 2011 and steamed south to the location of the mooring deployments on the shelf break. Over three days, September 23-25, Oceanus surveyed the bottom at the planned mooring sites, deployed the moorings, and carried out on site verification of the functioning of the moorings and moored hardware. Oceanus returned to Woods Hole on September 26, 2011.Funding was provided by the National Science Foundation through the Consortium for Ocean Leadershi

Coopération de réseaux de caméras ambiantes et de vision embarquée sur robot mobile pour la surveillance de lieux publics

Actuellement, il y a une demande croissante pour le déploiement de robots mobile dans des lieux publics. Pour alimenter cette demande, plusieurs chercheurs ont déployé des systèmes robotiques de prototypes dans des lieux publics comme les hôpitaux, les supermarchés, les musées, et les environnements de bureau. Une principale préoccupation qui ne doit pas être négligé, comme des robots sortent de leur milieu industriel isolé et commencent à interagir avec les humains dans un espace de travail partagé, est une interaction sécuritaire. Pour un robot mobile à avoir un comportement interactif sécuritaire et acceptable - il a besoin de connaître la présence, la localisation et les mouvements de population à mieux comprendre et anticiper leurs intentions et leurs actions. Cette thèse vise à apporter une contribution dans ce sens en mettant l'accent sur les modalités de perception pour détecter et suivre les personnes à proximité d'un robot mobile. Comme une première contribution, cette thèse présente un système automatisé de détection des personnes visuel optimisé qui prend explicitement la demande de calcul prévue sur le robot en considération. Différentes expériences comparatives sont menées pour mettre clairement en évidence les améliorations de ce détecteur apporte à la table, y compris ses effets sur la réactivité du robot lors de missions en ligne. Dans un deuxiè contribution, la thèse propose et valide un cadre de coopération pour fusionner des informations depuis des caméras ambiant affixé au mur et de capteurs montés sur le robot mobile afin de mieux suivre les personnes dans le voisinage. La même structure est également validée par des données de fusion à partir des différents capteurs sur le robot mobile au cours de l'absence de perception externe. Enfin, nous démontrons les améliorations apportées par les modalités perceptives développés en les déployant sur notre plate-forme robotique et illustrant la capacité du robot à percevoir les gens dans les lieux publics supposés et respecter leur espace personnel pendant la navigation.This thesis deals with detection and tracking of people in a surveilled public place. It proposes to include a mobile robot in classical surveillance systems that are based on environment fixed sensors. The mobile robot brings about two important benefits: (1) it acts as a mobile sensor with perception capabilities, and (2) it can be used as means of action for service provision. In this context, as a first contribution, it presents an optimized visual people detector based on Binary Integer Programming that explicitly takes the computational demand stipulated into consideration. A set of homogeneous and heterogeneous pool of features are investigated under this framework, thoroughly tested and compared with the state-of-the-art detectors. The experimental results clearly highlight the improvements the different detectors learned with this framework bring to the table including its effect on the robot's reactivity during on-line missions. As a second contribution, the thesis proposes and validates a cooperative framework to fuse information from wall mounted cameras and sensors on the mobile robot to better track people in the vicinity. Finally, we demonstrate the improvements brought by the developed perceptual modalities by deploying them on our robotic platform and illustrating the robot's ability to perceive people in supposed public areas and respect their personal space during navigation

IMM-based tracking and latency control with off-the-shelf IP PTZ camera

Conference of 15th International Conference on Advanced Concepts for Intelligent Vision Systems, ACIVS 2013 ; Conference Date: 28 October 2013 Through 31 October 2013; Conference Code:101481International audienceNetworked Pan-Tilt-Zoom cameras (PTZ) seem to replace static ones in videosurveillance areas as they are easier to deploy, with a larger field of view and can take high resolution pictures of targets thanks to their zoom. However, current algorithms combining tracking and camera control do not take into account order executing latency and motion delays caused by off-the-shelf cameras. In this paper, we suggest a new motion control strategy that manages inherent delays by an Interacting Multiple Models prediction of the target motion and an online evaluation of this prediction

Antioxidant and DPPH-Scavenging Activities of Compounds and Ethanolic Extract of the Leaf and Twigs of Caesalpinia bonduc L. Roxb.

Antioxidant effects of ethanolic extract of Caesalpinia bonduc and its isolated bioactive compounds were evaluated in vitro. The compounds included two new cassanediterpenes, 1α,7α-diacetoxy-5α,6β-dihydroxyl-cass-14(15)-epoxy-16,12-olide (1)and 12α-ethoxyl-1α,14β-diacetoxy-2α,5α-dihydroxyl cass-13(15)-en-16,12-olide(2); and others, bonducellin (3), 7,4’-dihydroxy-3,11-dehydrohomoisoflavanone (4), daucosterol (5), luteolin (6), quercetin-3-methyl ether (7) and kaempferol-3-O-α-L-rhamnopyranosyl-(1Ç2)-β-D-xylopyranoside (8). The antioxidant properties of the extract and compounds were assessed by the measurement of the total phenolic content, ascorbic acid content, total antioxidant capacity and 1-1-diphenyl-2-picryl hydrazyl (DPPH) and hydrogen peroxide radicals scavenging activities.Compounds 3, 6, 7 and ethanolic extract had DPPH scavenging activities with IC50 values of 186, 75, 17 and 102 μg/ml respectively when compared to vitamin C with 15 μg/ml. On the other hand, no significant results were obtained for hydrogen peroxide radical. In addition, compound 7 has the highest phenolic content of 0.81±0.01 mg/ml of gallic acid equivalent while compound 8 showed the highest total antioxidant capacity with 254.31±3.54 and 199.82±2.78 μg/ml gallic and ascorbic acid equivalent respectively. Compound 4 and ethanolic extract showed a high ascorbic acid content of 2.26±0.01 and 6.78±0.03 mg/ml respectively.The results obtained showed the antioxidant activity of the ethanolic extract of C. bonduc and deduced that this activity was mediated by its isolated bioactive compounds

Smoking and Second Hand Smoking in Adolescents with Chronic Kidney Disease: A Report from the Chronic Kidney Disease in Children (CKiD) Cohort Study

The goal of this study was to determine the prevalence of smoking and second hand smoking [SHS] in adolescents with CKD and their relationship to baseline parameters at enrollment in the CKiD, observational cohort study of 600 children (aged 1-16 yrs) with Schwartz estimated GFR of 30-90 ml/min/1.73m2. 239 adolescents had self-report survey data on smoking and SHS exposure: 21 [9%] subjects had “ever” smoked a cigarette. Among them, 4 were current and 17 were former smokers. Hypertension was more prevalent in those that had “ever” smoked a cigarette (42%) compared to non-smokers (9%), p\u3c0.01. Among 218 non-smokers, 130 (59%) were male, 142 (65%) were Caucasian; 60 (28%) reported SHS exposure compared to 158 (72%) with no exposure. Non-smoker adolescents with SHS exposure were compared to those without SHS exposure. There was no racial, age, or gender differences between both groups. Baseline creatinine, diastolic hypertension, C reactive protein, lipid profile, GFR and hemoglobin were not statistically different. Significantly higher protein to creatinine ratio (0.90 vs. 0.53, p\u3c0.01) was observed in those exposed to SHS compared to those not exposed. Exposed adolescents were heavier than non-exposed adolescents (85th percentile vs. 55th percentile for BMI, p\u3c 0.01). Uncontrolled casual systolic hypertension was twice as prevalent among those exposed to SHS (16%) compared to those not exposed to SHS (7%), though the difference was not statistically significant (p= 0.07). Adjusted multivariate regression analysis [OR (95% CI)] showed that increased protein to creatinine ratio [1.34 (1.03, 1.75)] and higher BMI [1.14 (1.02, 1.29)] were independently associated with exposure to SHS among non-smoker adolescents. These results reveal that among adolescents with CKD, cigarette use is low and SHS is highly prevalent. The association of smoking with hypertension and SHS with increased proteinuria suggests a possible role of these factors in CKD progression and cardiovascular outcomes