Kalman filtering of pose estimates in applications of the RAPID video rate tracker

RAPID is a video-rate model based tracker which generates refined estimates of an object's position and orientation (pose) given approximate initial estimates. A practical application of this technique requires (1) prediction from-frame-to-frame of the pose of the object being tracked, to accommodate realistic target movement and (2) temporal integration of pose estimates to reduce measurement noise. These needs are both satisfied by a Kalman filter. In order to apply a Kalman filter, however, we first construct statistical models of both the apparent motion of the object between frames and also of the accuracy of pose measurements made at each processed frame. The filtered tracker output provides a robust estimate o

Identification and tracking of marine objects for collision risk estimation.

With the advent of modem high-speed passenger ferries and the general increase in maritime traffic, both commercial and recreational, marine safety is becoming an increasingly important issue. From lightweight catamarans and fishing trawlers to container ships and cruise liners one question remains the same. Is anything in the way? This question is addressed in this thesis. Through the use of image processing techniques applied to video sequences of maritime scenes the images are segmented into two regions, sea and object. This is achieved using statistical measures taken from the histogram data of the images. Each segmented object has a feature vector built containing information including its size and previous centroid positions. The feature vectors are used to track the identified objects across many frames. With information recorded about an object's previous motion its future motion is predicted using a least squares method. Finally a high-level rule-based algorithm is applied in order to estimate the collision risk posed by each object present in the image. The result is an image with the objects identified by the placing of a white box around them. The predicted motion is shown and the estimated collision risk posed by that object is displayed. The algorithms developed in this work have been evaluated using two previously unseen maritime image sequences. These show that the algorithms developed here can be used to estimate the collision risk posed by maritime objects

Segmentation of neuroanatomy in magnetic resonance images

Segmentation in neurological Magnetic Resonance Imaging (MRI) is necessary for volume measurement, feature extraction and for the three-dimensional display of neuroanatomy. This thesis proposes several automated and semi-automated methods which offer considerable advantages over manual methods because of their lack of subjectivity, their data reduction capabilities, and the time savings they give. Work has concentrated on the use of dual echo multi-slice spin-echo data sets in order to take advantage of the intrinsically multi-parametric nature of MRI. Such data is widely acquired clinically and segmentation therefore does not require additional scans. The literature has been reviewed. Factors affecting image non-uniformity for a modem 1.5 Tesla imager have been investigated. These investigations demonstrate that a robust, fast, automatic three-dimensional non-uniformity correction may be applied to data as a pre-processing step. The merit of using an anisotropic smoothing method for noisy data has been demonstrated. Several approaches to neurological MRI segmentation have been developed. Edge-based processing is used to identify the skin (the major outer contour) and the eyes. Edge-focusing, two threshold based techniques and a fast radial CSF identification approach are proposed to identify the intracranial region contour in each slice of the data set. Once isolated, the intracranial region is further processed to identify CSF, and, depending upon the MRI pulse sequence used, the brain itself may be sub-divided into grey matter and white matter using semiautomatic contrast enhancement and clustering methods. The segmentation of Multiple Sclerosis (MS) plaques has also been considered. The utility of the stack, a data driven multi-resolution approach to segmentation, has been investigated, and several improvements to the method suggested. The factors affecting the intrinsic accuracy of neurological volume measurement in MRI have been studied and their magnitudes determined for spin-echo imaging. Geometric distortion - both object dependent and object independent - has been considered, as well as slice warp, slice profile, slice position and the partial volume effect. Finally, the accuracy of the approaches to segmentation developed in this thesis have been evaluated. Intracranial volume measurements are within 5% of expert observers' measurements, white matter volumes within 10%, and CSF volumes consistently lower than the expert observers' measurements due to the observers' inability to take the partial volume effect into account

Identification and tracking of maritime objects for collision risk estimation

With the advent of modem high-speed passenger ferries and the general increase in maritime traffic, both commercial and recreational, marine safety is becoming an increasingly important issue. From lightweight catamarans and fishing trawlers to container ships and cruise liners one question remains the same. Is anything in the way? This question is addressed in this thesis. Through the use of image processing techniques applied to video sequences of maritime scenes the images are segmented into two regions, sea and object. This is achieved using statistical measures taken from the histogram data of the images. Each segmented object has a feature vector built containing information including its size and previous centroid positions. The feature vectors are used to track the identified objects across many frames. With information recorded about an object's previous motion its future motion is predicted using a least squares method. Finally a high-level rule-based algorithm is applied in order to estimate the collision risk posed by each object present in the image. The result is an image with the objects identified by the placing of a white box around them. The predicted motion is shown and the estimated collision risk posed by that object is displayed. The algorithms developed in this work have been evaluated using two previously unseen maritime image sequences. These show that the algorithms developed here can be used to estimate the collision risk posed by maritime objects.EThOS - Electronic Theses Online ServiceGBUnited Kingdo