Vehicle recognition and tracking using a generic multi-sensor and multi-algorithm fusion approach

International audienceThis paper tackles the problem of improving the robustness of vehicle detection for Adaptive Cruise Control (ACC) applications. Our approach is based on a multisensor and a multialgorithms data fusion for vehicle detection and recognition. Our architecture combines two sensors: a frontal camera and a laser scanner. The improvement of the robustness stems from two aspects. First, we addressed the vision-based detection by developing an original approach based on fine gradient analysis, enhanced with a genetic AdaBoost-based algorithm for vehicle recognition. Then, we use the theory of evidence as a fusion framework to combine confidence levels delivered by the algorithms in order to improve the classification 'vehicle versus non-vehicle'. The final architecture of the system is very modular, generic and flexible in that it could be used for other detection applications or using other sensors or algorithms providing the same outputs. The system was successfully implemented on a prototype vehicle and was evaluated under real conditions and over various multisensor databases and various test scenarios, illustrating very good performances

Development and implementation of image fusion algorithms based on wavelets

Image fusion is a process of blending the complementary as well as the common features of a set of images, to generate a resultant image with superior information content in terms of subjective as well as objective analysis point of view. The objective of this research work is to develop some novel image fusion algorithms and their applications in various fields such as crack detection, multi spectra sensor image fusion, medical image fusion and edge detection of multi-focus images etc. The first part of this research work deals with a novel crack detection technique based on Non-Destructive Testing (NDT) for cracks in walls suppressing the diversity and complexity of wall images. It follows different edge tracking algorithms such as Hyperbolic Tangent (HBT) filtering and canny edge detection algorithm. The second part of this research work deals with a novel edge detection approach for multi-focused images by means of complex wavelets based image fusion. An illumination invariant hyperbolic tangent filter (HBT) is applied followed by an adaptive thresholding to get the real edges. The shift invariance and directionally selective diagonal filtering as well as the ease of implementation of Dual-Tree Complex Wavelet Transform (DT-CWT) ensure robust sub band fusion. It helps in avoiding the ringing artefacts that are more pronounced in Discrete Wavelet Transform (DWT). The fusion using DT-CWT also solves the problem of low contrast and blocking effects. In the third part, an improved DT-CWT based image fusion technique has been developed to compose a resultant image with better perceptual as well as quantitative image quality indices. A bilateral sharpness based weighting scheme has been implemented for the high frequency coefficients taking both gradient and its phase coherence in accoun

Generation and Recombination for Multifocus Image Fusion with Free Number of Inputs

Multifocus image fusion is an effective way to overcome the limitation of optical lenses. Many existing methods obtain fused results by generating decision maps. However, such methods often assume that the focused areas of the two source images are complementary, making it impossible to achieve simultaneous fusion of multiple images. Additionally, the existing methods ignore the impact of hard pixels on fusion performance, limiting the visual quality improvement of fusion image. To address these issues, a combining generation and recombination model, termed as GRFusion, is proposed. In GRFusion, focus property detection of each source image can be implemented independently, enabling simultaneous fusion of multiple source images and avoiding information loss caused by alternating fusion. This makes GRFusion free from the number of inputs. To distinguish the hard pixels from the source images, we achieve the determination of hard pixels by considering the inconsistency among the detection results of focus areas in source images. Furthermore, a multi-directional gradient embedding method for generating full focus images is proposed. Subsequently, a hard-pixel-guided recombination mechanism for constructing fused result is devised, effectively integrating the complementary advantages of feature reconstruction-based method and focused pixel recombination-based method. Extensive experimental results demonstrate the effectiveness and the superiority of the proposed method.The source code will be released on https://github.com/xxx/xxx

Método para el registro automático de imágenes basado en transformaciones proyectivas planas dependientes de las distancias y orientado a imágenes sin características comunes

Tesis inédita de la Universidad Complutense de Madrid, Facultad de Ciencias Físicas, Departamento de Arquitectura de Computadores y Automática, leída el 18-12-2015Multisensory data fusion oriented to image-based application improves the accuracy, quality and availability of the data, and consequently, the performance of robotic systems, by means of combining the information of a scene acquired from multiple and different sources into a unified representation of the 3D world scene, which is more enlightening and enriching for the subsequent image processing, improving either the reliability by using the redundant information, or the capability by taking advantage of complementary information. Image registration is one of the most relevant steps in image fusion techniques. This procedure aims the geometrical alignment of two or more images. Normally, this process relies on feature-matching techniques, which is a drawback for combining sensors that are not able to deliver common features. For instance, in the combination of ToF and RGB cameras, the robust feature-matching is not reliable. Typically, the fusion of these two sensors has been addressed from the computation of the cameras calibration parameters for coordinate transformation between them. As a result, a low resolution colour depth map is provided. For improving the resolution of these maps and reducing the loss of colour information, extrapolation techniques are adopted. A crucial issue for computing high quality and accurate dense maps is the presence of noise in the depth measurement from the ToF camera, which is normally reduced by means of sensor calibration and filtering techniques. However, the filtering methods, implemented for the data extrapolation and denoising, usually over-smooth the data, reducing consequently the accuracy of the registration procedure...La fusión multisensorial orientada a aplicaciones de procesamiento de imágenes, conocida como fusión de imágenes, es una técnica que permite mejorar la exactitud, la calidad y la disponibilidad de datos de un entorno tridimensional, que a su vez permite mejorar el rendimiento y la operatividad de sistemas robóticos. Dicha fusión, se consigue mediante la combinación de la información adquirida por múltiples y diversas fuentes de captura de datos, la cual se agrupa del tal forma que se obtiene una mejor representación del entorno 3D, que es mucho más ilustrativa y enriquecedora para la implementación de métodos de procesamiento de imágenes. Con ello se consigue una mejora en la fiabilidad y capacidad del sistema, empleando la información redundante que ha sido adquirida por múltiples sensores. El registro de imágenes es uno de los procedimientos más importantes que componen la fusión de imágenes. El objetivo principal del registro de imágenes es la consecución de la alineación geométrica entre dos o más imágenes. Normalmente, este proceso depende de técnicas de búsqueda de patrones comunes entre imágenes, lo cual puede ser un inconveniente cuando se combinan sensores que no proporcionan datos con características similares. Un ejemplo de ello, es la fusión de cámaras de color de alta resolución (RGB) con cámaras de Tiempo de Vuelo de baja resolución (Time-of-Flight (ToF)), con las cuales no es posible conseguir una detección robusta de patrones comunes entre las imágenes capturadas por ambos sensores. Por lo general, la fusión entre estas cámaras se realiza mediante el cálculo de los parámetros de calibración de las mismas, que permiten realizar la trasformación homogénea entre ellas. Y como resultado de este xii Abstract procedimiento, se obtienen mapas de profundad y de color de baja resolución. Con el objetivo de mejorar la resolución de estos mapas y de evitar la pérdida de información de color, se utilizan diversas técnicas de extrapolación de datos. Un factor crucial a tomar en cuenta para la obtención de mapas de alta calidad y alta exactitud, es la presencia de ruido en las medidas de profundidad obtenidas por las cámaras ToF. Este problema, normalmente se reduce mediante la calibración de estos sensores y con técnicas de filtrado de datos. Sin embargo, las técnicas de filtrado utilizadas, tanto para la interpolación de datos, como para la reducción del ruido, suelen producir el sobre-alisamiento de los datos originales, lo cual reduce la exactitud del registro de imágenes...Sección Deptal. de Arquitectura de Computadores y Automática (Físicas)Fac. de Ciencias FísicasTRUEunpu

Cognitively-Engineered Multisensor Data Fusion Systems for Military Applications

The fusion of imagery from multiple sensors is a field of research that has been gaining prominence in the scientific community in recent years. The technical aspects of combining multisensory information have been and are currently being studied extensively. However, the cognitive aspects of multisensor data fusion have not received so much attention. Prior research in the field of cognitive engineering has shown that the cognitive aspects of any human-machine system should be taken into consideration in order to achieve systems that are both safe and useful. The goal of this research was to model how humans interpret multisensory data, and to evaluate the value of a cognitively-engineered multisensory data fusion system as an effective, time-saving means of presenting information in high- stress situations. Specifically, this research used principles from cognitive engineering to design, implement, and evaluate a multisensor data fusion system for pilots in high-stress situations. Two preliminary studies were performed, and concurrent protocol analysis was conducted to determine how humans interpret and mentally fuse information from multiple sensors in both low- and high-stress environments. This information was used to develop a model for human processing of information from multiple data sources. This model was then implemented in the development of algorithms for fusing imagery from several disparate sensors (visible and infrared). The model and the system as a whole were empirically evaluated in an experiment with fighter pilots in a simulated combat environment. The results show that the model is an accurate depiction of how humans interpret information from multiple disparate sensors, and that the algorithms show promise for assisting fighter pilots in quicker and more accurate target identification

Image Fusion with Contrast Improving and Feature Preserving

The goal of image fusion is to obtain a fused image that contains most significant information in all input images which were captured by different sensors from the same scene. In particular, the fusion process should improve the contrast and keep the integrity of significant features from input images. In this paper, we propose a region-based image fusion method to fuse spatially registered visible and infrared images while improving the contrast and preserving the significant features of input images. At first, the proposed method decomposes input images into base layers and detail layers using a bilateral filter. Then the base layers of the input images are segmented into regions. Third, a region-based decision map is proposed to represent the importance of every region. The decision map is obtained by calculating the weights of regions according to the gray-level difference between each region and its neighboring regions in the base layers. At last, the detail layers and the base layers are separately fused by different fusion rules based on the same decision map to generate a final fused image. Experimental results qualitatively and quantitatively demonstrate that the proposed method can improve the contrast of fused images and preserve more features of input images than several previous image fusion methods