Proceedings of the 2009 Joint Workshop of Fraunhofer IOSB and Institute for Anthropomatics, Vision and Fusion Laboratory

The joint workshop of the Fraunhofer Institute of Optronics, System Technologies and Image Exploitation IOSB, Karlsruhe, and the Vision and Fusion Laboratory (Institute for Anthropomatics, Karlsruhe Institute of Technology (KIT)), is organized annually since 2005 with the aim to report on the latest research and development findings of the doctoral students of both institutions. This book provides a collection of 16 technical reports on the research results presented on the 2009 workshop

ACCURATE TRACKING OF OBJECTS USING LEVEL SETS

Our current work presents an approach to tackle the challenging task of tracking objects in Internet videos taken from large web repositories such as YouTube. Such videos more often than not, are captured by users using their personal hand-held cameras and cellphones and hence suffer from problems such as poor quality, camera jitter and unconstrained lighting and environmental settings. Also, it has been observed that events being recorded by such videos usually contain objects moving in an unconstrained fashion. Hence, tracking objects in Internet videos is a very challenging task in the field of computer vision since there is no a-priori information about the types of objects we might encounter, their velocities while in motion or intrinsic camera parameters to estimate the location of object in each frame. Hence, in this setting it is clearly not possible to model objects as single homogenous distributions in feature space. The feature space itself cannot be fixed since different objects might be discriminable in different sub-spaces. Keeping these challenges in mind, in the current proposed technique, each object is divided into multiple fragments or regions and each fragment is represented in Gaussian Mixture model (GMM) in a joint feature-spatial space. Each fragment is automatically selected from the image data by adapting to image statistics using a segmentation technique. We introduce the concept of strength map which represents a probability distribution of the image statistics and is used to detecting the object. We extend our goal of tracking object to tracking them with accurate boundaries thereby making the current task more challenging. We solve this problem by modeling the object using a level sets framework, which helps in preserving accurate boundaries of the object and as well in modeling the target object and background. These extracted object boundaries are learned dynamically over time, enabling object tracking even during occlusion. Our proposed algorithm performs significantly better than any of the existing object modeling techniques. Experimental results have been shown in support of this claim. Apart from tracking, the present algorithm can also be applied to different scenarios. One such application is contour-based object detection. Also, the idea of strength map was successfully applied to track objects such as vessels and vehicles on a wide range of videos, as a part of the summer internship program

Fusion of non-visual and visual sensors for human tracking

Human tracking is an extensively researched yet still challenging area in the Computer Vision field, with a wide range of applications such as surveillance and healthcare. People may not be successfully tracked with merely the visual information in challenging cases such as long-term occlusion. Thus, we propose to combine information from other sensors with the surveillance cameras to persistently localize and track humans, which is becoming more promising with the pervasiveness of mobile devices such as cellphones, smart watches and smart glasses embedded with all kinds of sensors including accelerometers, gyroscopes, magnetometers, GPS, WiFi modules and so on. In this thesis, we firstly investigate the application of Inertial Measurement Unit (IMU) from mobile devices to human activity recognition and human tracking, we then develop novel persistent human tracking and indoor localization algorithms by the fusion of non-visual sensors and visual sensors, which not only overcomes the occlusion challenge in visual tracking, but also alleviates the calibration and drift problems in IMU tracking --Abstract, page iii

Decentralized Sensor Fusion for Ubiquitous Networking Robotics in Urban Areas

In this article we explain the architecture for the environment and sensors that has been built for the European project URUS (Ubiquitous Networking Robotics in Urban Sites), a project whose objective is to develop an adaptable network robot architecture for cooperation between network robots and human beings and/or the environment in urban areas. The project goal is to deploy a team of robots in an urban area to give a set of services to a user community. This paper addresses the sensor architecture devised for URUS and the type of robots and sensors used, including environment sensors and sensors onboard the robots. Furthermore, we also explain how sensor fusion takes place to achieve urban outdoor execution of robotic services. Finally some results of the project related to the sensor network are highlighted

Interlacing Self-Localization, Moving Object Tracking and Mapping for 3D Range Sensors

This work presents a solution for autonomous vehicles to detect arbitrary moving traffic participants and to precisely determine the motion of the vehicle. The solution is based on three-dimensional images captured with modern range sensors like e.g. high-resolution laser scanners. As result, objects are tracked and a detailed 3D model is built for each object and for the static environment. The performance is demonstrated in challenging urban environments that contain many different objects