Sensor fusion in driving assistance systems

Mención Internacional en el título de doctorLa vida diaria en los países desarrollados y en vías de desarrollo depende en gran medida del transporte urbano y en carretera. Esta actividad supone un coste importante para sus usuarios activos y pasivos en términos de polución y accidentes, muy habitualmente debidos al factor humano. Los nuevos desarrollos en seguridad y asistencia a la conducción, llamados Advanced Driving Assistance Systems (ADAS), buscan mejorar la seguridad en el transporte, y a medio plazo, llegar a la conducción autónoma. Los ADAS, al igual que la conducción humana, están basados en sensores que proporcionan información acerca del entorno, y la fiabilidad de los sensores es crucial para las aplicaciones ADAS al igual que las capacidades sensoriales lo son para la conducción humana. Una de las formas de aumentar la fiabilidad de los sensores es el uso de la Fusión Sensorial, desarrollando nuevas estrategias para el modelado del entorno de conducción gracias al uso de diversos sensores, y obteniendo una información mejorada a partid de los datos disponibles. La presente tesis pretende ofrecer una solución novedosa para la detección y clasificación de obstáculos en aplicaciones de automoción, usando fusión vii sensorial con dos sensores ampliamente disponibles en el mercado: la cámara de espectro visible y el escáner láser. Cámaras y láseres son sensores comúnmente usados en la literatura científica, cada vez más accesibles y listos para ser empleados en aplicaciones reales. La solución propuesta permite la detección y clasificación de algunos de los obstáculos comúnmente presentes en la vía, como son ciclistas y peatones. En esta tesis se han explorado novedosos enfoques para la detección y clasificación, desde la clasificación empleando clusters de nubes de puntos obtenidas desde el escáner láser, hasta las técnicas de domain adaptation para la creación de bases de datos de imágenes sintéticas, pasando por la extracción inteligente de clusters y la detección y eliminación del suelo en nubes de puntos.Life in developed and developing countries is highly dependent on road and urban motor transport. This activity involves a high cost for its active and passive users in terms of pollution and accidents, which are largely attributable to the human factor. New developments in safety and driving assistance, called Advanced Driving Assistance Systems (ADAS), are intended to improve security in transportation, and, in the mid-term, lead to autonomous driving. ADAS, like the human driving, are based on sensors, which provide information about the environment, and sensors’ reliability is crucial for ADAS applications in the same way the sensing abilities are crucial for human driving. One of the ways to improve reliability for sensors is the use of Sensor Fusion, developing novel strategies for environment modeling with the help of several sensors and obtaining an enhanced information from the combination of the available data. The present thesis is intended to offer a novel solution for obstacle detection and classification in automotive applications using sensor fusion with two highly available sensors in the market: visible spectrum camera and laser scanner. Cameras and lasers are commonly used sensors in the scientific literature, increasingly affordable and ready to be deployed in real world applications. The solution proposed provides obstacle detection and classification for some obstacles commonly present in the road, such as pedestrians and bicycles. Novel approaches for detection and classification have been explored in this thesis, from point cloud clustering classification for laser scanner, to domain adaptation techniques for synthetic dataset creation, and including intelligent clustering extraction and ground detection and removal from point clouds.Programa Oficial de Doctorado en Ingeniería Eléctrica, Electrónica y AutomáticaPresidente: Cristina Olaverri Monreal.- Secretario: Arturo de la Escalera Hueso.- Vocal: José Eugenio Naranjo Hernánde

Local and deep texture features for classification of natural and biomedical images

Developing efficient feature descriptors is very important in many computer vision applications including biomedical image analysis. In the past two decades and before the popularity of deep learning approaches in image classification, texture features proved to be very effective to capture the gradient variation in the image. Following the success of the Local Binary Pattern (LBP) descriptor, many variations of this descriptor were introduced to further improve the ability of obtaining good classification results. However, the problem of image classification gets more complicated when the number of images increases as well as the number of classes. In this case, more robust approaches must be used to address this problem. In this thesis, we address the problem of analyzing biomedical images by using a combination of local and deep features. First, we propose a novel descriptor that is based on the motif Peano scan concept called Joint Motif Labels (JML). After that, we combine the features extracted from the JML descriptor with two other descriptors called Rotation Invariant Co-occurrence among Local Binary Patterns (RIC-LBP) and Joint Adaptive Medina Binary Patterns (JAMBP). In addition, we construct another descriptor called Motif Patterns encoded by RIC-LBP and use it in our classification framework. We enrich the performance of our framework by combining these local descriptors with features extracted from a pre-trained deep network called VGG-19. Hence, the 4096 features of the Fully Connected 'fc7' layer are extracted and combined with the proposed local descriptors. Finally, we show that Random Forests (RF) classifier can be used to obtain superior performance in the field of biomedical image analysis. Testing was performed on two standard biomedical datasets and another three standard texture datasets. Results show that our framework can beat state-of-the-art accuracy on the biomedical image analysis and the combination of local features produce promising results on the standard texture datasets.Includes bibliographical reference

Understanding High Resolution Aerial Imagery Using Computer Vision Techniques

Computer vision can make important contributions to the analysis of remote sensing satellite or aerial imagery. However, the resolution of early satellite imagery was not sufficient to provide useful spatial features. The situation is changing with the advent of very-high-spatial-resolution (VHR) imaging sensors. This change makes it possible to use computer vision techniques to perform analysis of man-made structures. Meanwhile, the development of multi-view imaging techniques allows the generation of accurate point clouds as ancillary knowledge. This dissertation aims at developing computer vision and machine learning algorithms for high resolution aerial imagery analysis in the context of application problems including debris detection, building detection and roof condition assessment. High resolution aerial imagery and point clouds were provided by Pictometry International for this study. Debris detection after natural disasters such as tornadoes, hurricanes or tsunamis, is needed for effective debris removal and allocation of limited resources. Significant advances in aerial image acquisition have greatly enabled the possibilities for rapid and automated detection of debris. In this dissertation, a robust debris detection algorithm is proposed. Large scale aerial images are partitioned into homogeneous regions by interactive segmentation. Debris areas are identified based on extracted texture features. Robust building detection is another important part of high resolution aerial imagery understanding. This dissertation develops a 3D scene classification algorithm for building detection using point clouds derived from multi-view imagery. Point clouds are divided into point clusters using Euclidean clustering. Individual point clusters are identified based on extracted spectral and 3D structural features. The inspection of roof condition is an important step in damage claim processing in the insurance industry. Automated roof condition assessment from remotely sensed images is proposed in this dissertation. Initially, texture classification and a bag-of-words model were applied to assess the roof condition using features derived from the whole rooftop. However, considering the complexity of residential rooftop, a more sophisticated method is proposed to divide the task into two stages: 1) roof segmentation, followed by 2) classification of segmented roof regions. Deep learning techniques are investigated for both segmentation and classification. A deep learned feature is proposed and applied in a region merging segmentation algorithm. A fine-tuned deep network is adopted for roof segment classification and found to achieve higher accuracy than traditional methods using hand-crafted features. Contributions of this study include the development of algorithms for debris detection using 2D images and building detection using 3D point clouds. For roof condition assessment, the solutions to this problem are explored in two directions: features derived from the whole rooftop and features extracted from each roof segments. Through our research, roof segmentation followed by segments classification was found to be a more promising method and the workflow processing developed and tested. Deep learning techniques are also investigated for both roof segmentation and segments classification. More unsupervised feature extraction techniques using deep learning can be explored in future work

Object detection, recognition and classification using computer vision and artificial intelligence approaches

Object detection and recognition has been used extensively in recent years to solve numerus challenges in different fields. Due to the vital roles they play, object detection and recognition has enabled quantum leaps in many industry fields by helping to overcome some serious challenges and obstacles. For example, worldwide security concerns have drawn the attention and stimulated the use of highly intelligent computer vision technology to provide security in different environments and in diverse terrains. In addition, some wildlife is at present exposed to danger and extinction worldwide. Therefore, early detection and recognition of potential threats to wildlife have become essential and timely. The extent of using computer vision and artificial intelligence to convert the seemingly insecure world to a more secure one has been widely accepted. Such technologies are used in monitoring, tracking, organising, analysing objects in a scene and for a number of other countless purposes. [Continues.

Diabetic retinopathy detection with texture features

Diabetic retinopathy is one of the leading causes of visual impairment and blindness in the world and the prevalence keeps increasing. It is a vascular disorder of the retina and a symptom of diabetes mellitus. The health of the retina is studied with non-invasive retinal imaging. However, the analysis of the retinal images is laborious, subjective and the number of images to be reviewed is increasing. In this master’s thesis, a computer-aided detection system for diabetic retinopathy, microaneurysms and small hemorrhages was designed and implemented. The purpose of this study was to find out, are texture features able to produce descriptive and efficient information for the retinal image classification and is the implemented system accurate. The process included image preprocessing, extraction of 21 texture features, feature selection and classification with a support vector machine. The retinal image datasets that were used for the testing were Messidor, DIARETDB1 and e-ophta. The texture features were not successful when classifying the retinal images into diabetic retinopathy or normal. The best average accuracy was 69 % with 72 % average sensitivity and 66 % average specificity. The texture features are not that descriptive as global features with a whole retinal image. Additionally, the varying size of the images and variation within a class affected the classification. The second experiment studied the classification of images into microaneurysm or normal by dividing the retinal images into blocks. The texture features were successful when the images were divided into small blocks of size 50*50. The best average accuracy was 96 % with 96 % average sensitivity and 96 % average specificity. The texture features are more descriptive in the local setting since then they can extract finer details. To ease the clinical workflow of ophthalmologists and other experts, the computer-aided detection system can lower the manual labor and make retinal image analysis more efficient, accurate and precise. To develop the systems further, an optic disc and image quality detectors are needed

3D face recognition using photometric stereo

Automatic face recognition has been an active research area for the last four decades. This thesis explores innovative bio-inspired concepts aimed at improved face recognition using surface normals. New directions in salient data representation are explored using data captured via a photometric stereo method from the University of the West of England’s “Photoface” device. Accuracy assessments demonstrate the advantage of the capture format and the synergy offered by near infrared light sources in achieving more accurate results than under conventional visible light. Two 3D face databases have been created as part of the thesis – the publicly available Photoface database which contains 3187 images of 453 subjects and the 3DE-VISIR dataset which contains 363 images of 115 people with different expressions captured simultaneously under near infrared and visible light. The Photoface database is believed to be the ?rst to capture naturalistic 3D face models. Subsets of these databases are then used to show the results of experiments inspired by the human visual system. Experimental results show that optimal recognition rates are achieved using surprisingly low resolution of only 10x10 pixels on surface normal data, which corresponds to the spatial frequency range of optimal human performance. Motivated by the observed increase in recognition speed and accuracy that occurs in humans when faces are caricatured, novel interpretations of caricaturing using outlying data and pixel locations with high variance show that performance remains disproportionately high when up to 90% of the data has been discarded. These direct methods of dimensionality reduction have useful implications for the storage and processing requirements for commercial face recognition systems. The novel variance approach is extended to recognise positive expressions with 90% accuracy which has useful implications for human-computer interaction as well as ensuring that a subject has the correct expression prior to recognition. Furthermore, the subject recognition rate is improved by removing those pixels which encode expression. Finally, preliminary work into feature detection on surface normals by extending Haar-like features is presented which is also shown to be useful for correcting the pose of the head as part of a fully operational device. The system operates with an accuracy of 98.65% at a false acceptance rate of only 0.01 on front facing heads with neutral expressions. The work has shown how new avenues of enquiry inspired by our observation of the human visual system can offer useful advantages towards achieving more robust autonomous computer-based facial recognition

Burned area detection and mapping using Sentinel-1 backscatter coefficient and thermal anomalies

This paper presents a burned area mapping algorithm based on change detection of Sentinel-1 backscatter data guided by thermal anomalies. The algorithm self-adapts to the local scattering conditions and it is robust to variations of input data availability. The algorithm applies the Reed-Xiaoli detector (RXD) to distinguish anomalous changes of the backscatter coefficient. Such changes are linked to fire events, which are derived from thermal anomalies (hotspots) acquired during the detection period by the Moderate Resolution Imaging Spectroradiometer (MODIS) and the Visible Infrared Imaging Radiometer Suite (VIIRS) sensors. Land cover maps were used to account for changing backscatter behaviour as the RXD is class dependent. A machine learning classifier (random forests) was used to detect burned areas where hotspots were not available. Burned area perimeters derived from optical images (Landsat-8 and Sentinel-2) were used to validate the algorithm results. The validation dataset covers 21 million hectares in 18 locations that represent the main biomes affected by fires, from boreal forests to tropical and sub-tropical forests and savannas. A mean Dice coefficient (DC) over all studied locations of 0.59±0.06 (±confidence interval, 95%) was obtained. Mean omission (OE) and commission errors (CE) were 0.43±0.08 and 0.37±0.06, respectively. Comparing results with the MODIS based MCD64A1 Version 6, our detections are quite promising, improving on average DC by 0.13 and reducing OE and CE by 0.12 and 0.06, respectively.European Space AgencyMinisterio de Educación, Cultura y Deport

Object Detection and Classification in the Visible and Infrared Spectrums

The over-arching theme of this dissertation is the development of automated detection and/or classification systems for challenging infrared scenarios. The six works presented herein can be categorized into four problem scenarios. In the first scenario, long-distance detection and classification of vehicles in thermal imagery, a custom convolutional network architecture is proposed for small thermal target detection. For the second scenario, thermal face landmark detection and thermal cross-spectral face verification, a publicly-available visible and thermal face dataset is introduced, along with benchmark results for several landmark detection and face verification algorithms. Furthermore, a novel visible-to-thermal transfer learning algorithm for face landmark detection is presented. The third scenario addresses near-infrared cross-spectral periocular recognition with a coupled conditional generative adversarial network guided by auxiliary synthetic loss functions. Finally, a deep sparse feature selection and fusion is proposed to detect the presence of textured contact lenses prior to near-infrared iris recognition

Investigation of new feature descriptors for image search and classification

Content-based image search, classification and retrieval is an active and important research area due to its broad applications as well as the complexity of the problem. Understanding the semantics and contents of images for recognition remains one of the most difficult and prevailing problems in the machine intelligence and computer vision community. With large variations in size, pose, illumination and occlusions, image classification is a very challenging task. A good classification framework should address the key issues of discriminatory feature extraction as well as efficient and accurate classification. Towards that end, this dissertation focuses on exploring new image descriptors by incorporating cues from the human visual system, and integrating local, texture, shape as well as color information to construct robust and effective feature representations for advancing content-based image search and classification. Based on the Gabor wavelet transformation, whose kernels are similar to the 2D receptive field profiles of the mammalian cortical simple cells, a series of new image descriptors is developed. Specifically, first, a new color Gabor-HOG (GHOG) descriptor is introduced by concatenating the Histograms of Oriented Gradients (HOG) of the component images produced by applying Gabor filters in multiple scales and orientations to encode shape information. Second, the GHOG descriptor is analyzed in six different color spaces and grayscale to propose different color GHOG descriptors, which are further combined to present a new Fused Color GHOG (FC-GHOG) descriptor. Third, a novel GaborPHOG (GPHOG) descriptor is proposed which improves upon the Pyramid Histograms of Oriented Gradients (PHOG) descriptor, and subsequently a new FC-GPHOG descriptor is constructed by combining the multiple color GPHOG descriptors and employing the Principal Component Analysis (PCA). Next, the Gabor-LBP (GLBP) is derived by accumulating the Local Binary Patterns (LBP) histograms of the local Gabor filtered images to encode texture and local information of an image. Furthermore, a novel Gabor-LBPPHOG (GLP) image descriptor is proposed which integrates the GLBP and the GPHOG descriptors as a feature set and an innovative Fused Color Gabor-LBP-PHOG (FC-GLP) is constructed by fusing the GLP from multiple color spaces. Subsequently, The GLBP and the GHOG descriptors are then combined to produce the Gabor-LBP-HOG (GLH) feature vector which performs well on different object and scene image categories. The six color GLH vectors are further concatenated to form the Fused Color GLH (FC-GLH) descriptor. Finally, the Wigner based Local Binary Patterns (WLBP) descriptor is proposed that combines multi-neighborhood LBP, Pseudo-Wigner distribution of images and the popular bag of words model to effectively classify scene images. To assess the feasibility of the proposed new image descriptors, two classification methods are used: one method applies the PCA and the Enhanced Fisher Model (EFM) for feature extraction and the nearest neighbor rule for classification, while the other method employs the Support Vector Machine (SVM). The classification performance of the proposed descriptors is tested on several publicly available popular image datasets. The experimental results show that the proposed new image descriptors achieve image search and classification results better than or at par with other popular image descriptors, such as the Scale Invariant Feature Transform (SIFT), the Pyramid Histograms of visual Words (PHOW), the Pyramid Histograms of Oriented Gradients (PHOG), the Spatial Envelope (SE), the Color SIFT four Concentric Circles (C4CC), the Object Bank (OB), the Context Aware Topic Model (CA-TM), the Hierarchical Matching Pursuit (HMP), the Kernel Spatial Pyramid Matching (KSPM), the SIFT Sparse-coded Spatial Pyramid Matching (Sc-SPM), the Kernel Codebook (KC) and the LBP

A model for inebriation recognition in humans using computer vision

Abstract: Inebriation is a situational impairment caused by the consumption of alcohol affecting the consumer's interaction with the environment around them...M.Sc. (Information Technology