Traffic scene awareness for intelligent vehicles using ConvNets and stereo vision

In this paper, we propose an efficient approach to perform recognition and 3D localization of dynamic objects on images from a stereo camera, with the goal of gaining insight into traffic scenes in urban and road environments. We rely on a deep learning framework able to simultaneously identify a broad range of entities, such as vehicles, pedestrians or cyclists, with a frame rate compatible with the strict requirements of onboard automotive applications. Stereo information is later introduced to enrich the knowledge about the objects with geometrical information. The results demonstrate the capabilities of the perception system for a wide variety of situations, thus providing valuable information for a higher-level understanding of the traffic situation

A New Wave in Robotics: Survey on Recent mmWave Radar Applications in Robotics

We survey the current state of millimeterwave (mmWave) radar applications in robotics with a focus on unique capabilities, and discuss future opportunities based on the state of the art. Frequency Modulated Continuous Wave (FMCW) mmWave radars operating in the 76--81GHz range are an appealing alternative to lidars, cameras and other sensors operating in the near visual spectrum. Radar has been made more widely available in new packaging classes, more convenient for robotics and its longer wavelengths have the ability to bypass visual clutter such as fog, dust, and smoke. We begin by covering radar principles as they relate to robotics. We then review the relevant new research across a broad spectrum of robotics applications beginning with motion estimation, localization, and mapping. We then cover object detection and classification, and then close with an analysis of current datasets and calibration techniques that provide entry points into radar research.Comment: 19 Pages, 11 Figures, 2 Tables, TRO Submission pendin

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

Face pose estimation with automatic 3D model creation for a driver inattention monitoring application

Texto en inglés y resumen en inglés y españolRecent studies have identified inattention (including distraction and drowsiness) as the main cause of accidents, being responsible of at least 25% of them. Driving distraction has been less studied, since it is more diverse and exhibits a higher risk factor than fatigue. In addition, it is present over half of the inattention involved crashes. The increased presence of In Vehicle Information Systems (IVIS) adds to the potential distraction risk and modifies driving behaviour, and thus research on this issue is of vital importance. Many researchers have been working on different approaches to deal with distraction during driving. Among them, Computer Vision is one of the most common, because it allows for a cost effective and non-invasive driver monitoring and sensing. Using Computer Vision techniques it is possible to evaluate some facial movements that characterise the state of attention of a driver. This thesis presents methods to estimate the face pose and gaze direction of a person in real-time, using a stereo camera as a basic for assessing driver distractions. The methods are completely automatic and user-independent. A set of features in the face are identified at initialisation, and used to create a sparse 3D model of the face. These features are tracked from frame to frame, and the model is augmented to cover parts of the face that may have been occluded before. The algorithm is designed to work in a naturalistic driving simulator, which presents challenging low light conditions. We evaluate several techniques to detect features on the face that can be matched between cameras and tracked with success. Well-known methods such as SURF do not return good results, due to the lack of salient points in the face, as well as the low illumination of the images. We introduce a novel multisize technique, based on Harris corner detector and patch correlation. This technique benefits from the better performance of small patches under rotations and illumination changes, and the more robust correlation of the bigger patches under motion blur. The head rotates in a range of ±90º in the yaw angle, and the appearance of the features change noticeably. To deal with these changes, we implement a new re-registering technique that captures new textures of the features as the face rotates. These new textures are incorporated to the model, which mixes the views of both cameras. The captures are taken at regular angle intervals for rotations in yaw, so that each texture is only used in a range of ±7.5º around the capture angle. Rotations in pitch and roll are handled using affine patch warping. The 3D model created at initialisation can only take features in the frontal part of the face, and some of these may occlude during rotations. The accuracy and robustness of the face tracking depends on the number of visible points, so new points are added to the 3D model when new parts of the face are visible from both cameras. Bundle adjustment is used to reduce the accumulated drift of the 3D reconstruction. We estimate the pose from the position of the features in the images and the 3D model using POSIT or Levenberg-Marquardt. A RANSAC process detects incorrectly tracked points, which are not considered for pose estimation. POSIT is faster, while LM obtains more accurate results. Using the model extension and the re-registering technique, we can accurately estimate the pose in the full head rotation range, with error levels that improve the state of the art. A coarse eye direction is composed with the face pose estimation to obtain the gaze and driver's fixation area, parameter which gives much information about the distraction pattern of the driver. The resulting gaze estimation algorithm proposed in this thesis has been tested on a set of driving experiments directed by a team of psychologists in a naturalistic driving simulator. This simulator mimics conditions present in real driving, including weather changes, manoeuvring and distractions due to IVIS. Professional drivers participated in the tests. The driver?s fixation statistics obtained with the proposed system show how the utilisation of IVIS influences the distraction pattern of the drivers, increasing reaction times and affecting the fixation of attention on the road and the surroundings

Face pose estimation with automatic 3D model creation for a driver inattention monitoring application

Texto en inglés y resumen en inglés y españolRecent studies have identified inattention (including distraction and drowsiness) as the main cause of accidents, being responsible of at least 25% of them. Driving distraction has been less studied, since it is more diverse and exhibits a higher risk factor than fatigue. In addition, it is present over half of the inattention involved crashes. The increased presence of In Vehicle Information Systems (IVIS) adds to the potential distraction risk and modifies driving behaviour, and thus research on this issue is of vital importance. Many researchers have been working on different approaches to deal with distraction during driving. Among them, Computer Vision is one of the most common, because it allows for a cost effective and non-invasive driver monitoring and sensing. Using Computer Vision techniques it is possible to evaluate some facial movements that characterise the state of attention of a driver. This thesis presents methods to estimate the face pose and gaze direction of a person in real-time, using a stereo camera as a basic for assessing driver distractions. The methods are completely automatic and user-independent. A set of features in the face are identified at initialisation, and used to create a sparse 3D model of the face. These features are tracked from frame to frame, and the model is augmented to cover parts of the face that may have been occluded before. The algorithm is designed to work in a naturalistic driving simulator, which presents challenging low light conditions. We evaluate several techniques to detect features on the face that can be matched between cameras and tracked with success. Well-known methods such as SURF do not return good results, due to the lack of salient points in the face, as well as the low illumination of the images. We introduce a novel multisize technique, based on Harris corner detector and patch correlation. This technique benefits from the better performance of small patches under rotations and illumination changes, and the more robust correlation of the bigger patches under motion blur. The head rotates in a range of ±90º in the yaw angle, and the appearance of the features change noticeably. To deal with these changes, we implement a new re-registering technique that captures new textures of the features as the face rotates. These new textures are incorporated to the model, which mixes the views of both cameras. The captures are taken at regular angle intervals for rotations in yaw, so that each texture is only used in a range of ±7.5º around the capture angle. Rotations in pitch and roll are handled using affine patch warping. The 3D model created at initialisation can only take features in the frontal part of the face, and some of these may occlude during rotations. The accuracy and robustness of the face tracking depends on the number of visible points, so new points are added to the 3D model when new parts of the face are visible from both cameras. Bundle adjustment is used to reduce the accumulated drift of the 3D reconstruction. We estimate the pose from the position of the features in the images and the 3D model using POSIT or Levenberg-Marquardt. A RANSAC process detects incorrectly tracked points, which are not considered for pose estimation. POSIT is faster, while LM obtains more accurate results. Using the model extension and the re-registering technique, we can accurately estimate the pose in the full head rotation range, with error levels that improve the state of the art. A coarse eye direction is composed with the face pose estimation to obtain the gaze and driver's fixation area, parameter which gives much information about the distraction pattern of the driver. The resulting gaze estimation algorithm proposed in this thesis has been tested on a set of driving experiments directed by a team of psychologists in a naturalistic driving simulator. This simulator mimics conditions present in real driving, including weather changes, manoeuvring and distractions due to IVIS. Professional drivers participated in the tests. The driver?s fixation statistics obtained with the proposed system show how the utilisation of IVIS influences the distraction pattern of the drivers, increasing reaction times and affecting the fixation of attention on the road and the surroundings

Visual and Camera Sensors

This book includes 13 papers published in Special Issue ("Visual and Camera Sensors") of the journal Sensors. The goal of this Special Issue was to invite high-quality, state-of-the-art research papers dealing with challenging issues in visual and camera sensors

Model-Based Estimation of Meteorological Visibility in the Context of Automotive Camera Systems

Highly integrated and increasingly complex video-based driver assistance systems are rapidly developing nowadays. Following the trend towards autonomous driving, they have to operate not only under advantageous but also under adverse conditions. This includes sight impairments caused by atmospheric aerosols such as fog or smog. It is an important part of environmental understanding to thoroughly analyze the optical properties of these aerosols. The aim of this thesis is to develop models and algorithms in order to estimate meteorological visibility in homogeneous daytime fog. The models for light transport through fog are carefully derived from the theory of radiative transfer. In addition to Koschmieder's well-established model for horizontal vision, a recursively-defined sequence of higher-order models is introduced which yields arbitrarily good approximations to the solutions of the radiative boundary problem. Based on the radiative transfer models, visibility estimation algorithms are proposed which are applicable to data captured by a driver assistance front camera. For any one of these algorithms, the recording of luminances from objects observed at distinct distances is required. This data can be acquired from moving objects being tracked as well as from depth-extended homogeneous objects such as the road. The resulting algorithms supplement each other with respect to different road traffic scenarios and environmental conditions. All given algorithms are extensively discussed and optimized regarding their run-time performance in order to make them applicable for real-time purposes. The analysis shows that the proposed algorithms are a useful addition to modern driver assistance cameras

Investigating the build-up of precedence effect using reflection masking

The auditory processing level involved in the build‐up of precedence [Freyman et al., J. Acoust. Soc. Am. 90, 874–884 (1991)] has been investigated here by employing reflection masked threshold (RMT) techniques. Given that RMT techniques are generally assumed to address lower levels of the auditory signal processing, such an approach represents a bottom‐up approach to the buildup of precedence. Three conditioner configurations measuring a possible buildup of reflection suppression were compared to the baseline RMT for four reflection delays ranging from 2.5–15 ms. No buildup of reflection suppression was observed for any of the conditioner configurations. Buildup of template (decrease in RMT for two of the conditioners), on the other hand, was found to be delay dependent. For five of six listeners, with reflection delay=2.5 and 15 ms, RMT decreased relative to the baseline. For 5‐ and 10‐ms delay, no change in threshold was observed. It is concluded that the low‐level auditory processing involved in RMT is not sufficient to realize a buildup of reflection suppression. This confirms suggestions that higher level processing is involved in PE buildup. The observed enhancement of reflection detection (RMT) may contribute to active suppression at higher processing levels

Low cost network camera sensors for traffic monitoring

Report on a study investigating the ways new video and wireless technology can be implemented into Texas Department of Transportation video monitoring systems to increase efficiency and reduce costs