67,482 research outputs found
Analysis of artificial neural network and viola-jones algorithm based moving object detection
In recent years, the worrying rate of street crime has demanded more reliable and efficient public surveillance system. Analysis of moving object detection methods is presented in this paper, includes Artificial Neural Network (ANN) and Viola-Jones algorithm. Both methods are compared based on their precision of correctly classify the moving objects. The emphasis is on two major issues involve in the analysis of moving object detection, and object classification to two groups, pedestrian and motorcycle. Experiments are conducted to quantitatively evaluate the performance of the algorithms by using two types of dataset, which are different in term of complexity of the background. The utilization of cascade architecture to the extracted features, benefits the algorithm. The algorithms have been tested on simulated events, and the more suitable algorithm with high detection rate is expected to be presented in this paper
Detection of different classes moving object in public surveillance using artificial neural network (ANN)
Public surveillance monitoring is rapidly finding its way into Intelligent Surveillance Systems. Street crimes such as snatch theft is increasing drastically in recent years, cause a serious threat to human life worldwide. In this paper, a moving object detection and classification model was developed using novel Artificial Neural Network (ANN) simulation with the aim to identify its suitability for different classes of moving objects, particularly in public surveillance conditions. The result demonstrated that the proposed method consistently performs well with different classes of moving objects such as, motorcyclist, and pedestrian. Thus, it is reliable to detect different classes of moving object in public surveillance camera. It is also computationally fast and applicable for detecting moving objects in real-time
Human behavioural analysis with self-organizing map for ambient assisted living
This paper presents a system for automatically classifying the resting location of a moving object in an indoor environment. The system uses an unsupervised neural network (Self Organising Feature Map) fully implemented on a low-cost, low-power automated home-based surveillance system, capable of monitoring activity level of elders living alone independently. The proposed system runs on an embedded platform with a specialised ceiling-mounted video sensor for intelligent activity monitoring. The system has the ability to learn resting locations, to measure overall activity levels and to detect specific events such as potential falls. First order motion information, including first order moving average smoothing, is generated from the 2D image coordinates (trajectories). A novel edge-based object detection algorithm capable of running at a reasonable speed on the embedded platform has been developed. The classification is dynamic and achieved in real-time. The dynamic classifier is achieved using a SOFM and a probabilistic model. Experimental results show less than 20% classification error, showing the robustness of our approach over others in literature with minimal power consumption. The head location of the subject is also estimated by a novel approach capable of running on any resource limited platform with power constraints
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Neurocomputing for internet of things: object recognition and detection strategy
Modern and new integrated technologies have changed the traditional systems by using more advanced machine learning, artificial intelligence methods, new generation standards, and smart and intelligent devices. The new integrated networks like the Internet of Things (IoT) and 5G standards offer various benefits and services. However, these networks have suffered from multiple object detection, localization, and classification issues. Conventional Neural Networks (CNN) and their variants have been adopted for object detection, classification, and localization in IoT networks to create autonomous devices to make decisions and perform tasks without human intervention and helpful to learn in-depth features. Motivated by these facts, this paper investigates existing object detection and recognition techniques by using CNN models used in IoT networks. This paper presents a Conventional Neural Networks for 5G-Enabled Internet of Things Network (CNN-5GIoT) model for moving and static objects in IoT networks after a detailed comparison. The proposed model is evaluated with existing models to check the accuracy of real-time tracking. The proposed model is more efficient for real-time object detection and recognition than conventional methods
Object detection in videos using principal component pursuit and convolutional neural networks
Object recognition in videos is one of the main challenges in computer vision. Several methods have been proposed to achieve this task, such as background subtraction, temporal differencing, optical
flow, particle filtering among others. Since the introduction of Convolutonal Neural Networks (CNN)
for object detection in the Imagenet Large Scale Visual Recognition Competition (ILSVRC), its use
for image detection and classification has increased, becoming the state-of-the-art for such task, being
Faster R-CNN the preferred model in the latest ILSVRC challenges. Moreover, the Faster R-CNN
model, with minimum modifications, has been succesfully used to detect and classify objects (either
static or dynamic) in video sequences; in such setup, the frames of the video are input “as is” i.e.
without any pre-processing. In this thesis work we propose to use Robust PCA (RPCA, a.k.a. Principal Component Pursuit, PCP), as a video background modeling pre-processing step, before using the Faster R-CNN model, in order to improve the overall performance of detection and classification of, specifically, the moving objects. We hypothesize that such pre-processing step, which segments the moving objects from the background, would reduce the amount of regions to be analyzed in a given frame and thus (i) improve the classification time and (ii) reduce the error in classification for the dynamic objects present in the video. In particular, we use a fully incremental RPCA / PCP algorithm that is suitable for real-time or on-line processing. Furthermore, we present extensive computational results that were carried out in three different platforms: A high-end server with a Tesla K40m GPU, a desktop with a Tesla K10m GPU and the embedded system Jetson TK1. Our classification results attain competitive or superior performance in terms of Fmeasure, achieving an improvement ranging from 3.7% to 97.2%, with a mean improvement of 22% when the sparse image was used to detect and classify the object with the neural network, while at the same time, reducing the classification time in all architectures by a factor raging between 2% and 25%.Tesi
Deep Semantic Classification for 3D LiDAR Data
Robots are expected to operate autonomously in dynamic environments.
Understanding the underlying dynamic characteristics of objects is a key
enabler for achieving this goal. In this paper, we propose a method for
pointwise semantic classification of 3D LiDAR data into three classes:
non-movable, movable and dynamic. We concentrate on understanding these
specific semantics because they characterize important information required for
an autonomous system. Non-movable points in the scene belong to unchanging
segments of the environment, whereas the remaining classes corresponds to the
changing parts of the scene. The difference between the movable and dynamic
class is their motion state. The dynamic points can be perceived as moving,
whereas movable objects can move, but are perceived as static. To learn the
distinction between movable and non-movable points in the environment, we
introduce an approach based on deep neural network and for detecting the
dynamic points, we estimate pointwise motion. We propose a Bayes filter
framework for combining the learned semantic cues with the motion cues to infer
the required semantic classification. In extensive experiments, we compare our
approach with other methods on a standard benchmark dataset and report
competitive results in comparison to the existing state-of-the-art.
Furthermore, we show an improvement in the classification of points by
combining the semantic cues retrieved from the neural network with the motion
cues.Comment: 8 pages to be published in IROS 201
End-to-End Tracking and Semantic Segmentation Using Recurrent Neural Networks
In this work we present a novel end-to-end framework for tracking and
classifying a robot's surroundings in complex, dynamic and only partially
observable real-world environments. The approach deploys a recurrent neural
network to filter an input stream of raw laser measurements in order to
directly infer object locations, along with their identity in both visible and
occluded areas. To achieve this we first train the network using unsupervised
Deep Tracking, a recently proposed theoretical framework for end-to-end space
occupancy prediction. We show that by learning to track on a large amount of
unsupervised data, the network creates a rich internal representation of its
environment which we in turn exploit through the principle of inductive
transfer of knowledge to perform the task of it's semantic classification. As a
result, we show that only a small amount of labelled data suffices to steer the
network towards mastering this additional task. Furthermore we propose a novel
recurrent neural network architecture specifically tailored to tracking and
semantic classification in real-world robotics applications. We demonstrate the
tracking and classification performance of the method on real-world data
collected at a busy road junction. Our evaluation shows that the proposed
end-to-end framework compares favourably to a state-of-the-art, model-free
tracking solution and that it outperforms a conventional one-shot training
scheme for semantic classification
Road User Detection in Videos
Successive frames of a video are highly redundant, and the most popular
object detection methods do not take advantage of this fact. Using multiple
consecutive frames can improve detection of small objects or difficult examples
and can improve speed and detection consistency in a video sequence, for
instance by interpolating features between frames. In this work, a novel
approach is introduced to perform online video object detection using two
consecutive frames of video sequences involving road users. Two new models,
RetinaNet-Double and RetinaNet-Flow, are proposed, based respectively on the
concatenation of a target frame with a preceding frame, and the concatenation
of the optical flow with the target frame. The models are trained and evaluated
on three public datasets. Experiments show that using a preceding frame
improves performance over single frame detectors, but using explicit optical
flow usually does not
Road User Detection in Videos
Successive frames of a video are highly redundant, and the most popular
object detection methods do not take advantage of this fact. Using multiple
consecutive frames can improve detection of small objects or difficult examples
and can improve speed and detection consistency in a video sequence, for
instance by interpolating features between frames. In this work, a novel
approach is introduced to perform online video object detection using two
consecutive frames of video sequences involving road users. Two new models,
RetinaNet-Double and RetinaNet-Flow, are proposed, based respectively on the
concatenation of a target frame with a preceding frame, and the concatenation
of the optical flow with the target frame. The models are trained and evaluated
on three public datasets. Experiments show that using a preceding frame
improves performance over single frame detectors, but using explicit optical
flow usually does not
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