12,931 research outputs found
Vision-based Real-Time Aerial Object Localization and Tracking for UAV Sensing System
The paper focuses on the problem of vision-based obstacle detection and
tracking for unmanned aerial vehicle navigation. A real-time object
localization and tracking strategy from monocular image sequences is developed
by effectively integrating the object detection and tracking into a dynamic
Kalman model. At the detection stage, the object of interest is automatically
detected and localized from a saliency map computed via the image background
connectivity cue at each frame; at the tracking stage, a Kalman filter is
employed to provide a coarse prediction of the object state, which is further
refined via a local detector incorporating the saliency map and the temporal
information between two consecutive frames. Compared to existing methods, the
proposed approach does not require any manual initialization for tracking, runs
much faster than the state-of-the-art trackers of its kind, and achieves
competitive tracking performance on a large number of image sequences.
Extensive experiments demonstrate the effectiveness and superior performance of
the proposed approach.Comment: 8 pages, 7 figure
Salient Object Detection via Objectness Proposals
Salient object detection has gradually become a popular topic in robotics and computer vision research. This paper presents a real-time system that detects salient objects by integrating objectness, foreground, and compactness measures. Our algorithm consists of four basic steps. First, our method generates the objectness map via object proposals. Based on the objectness map, we estimate the background margin and compute the corresponding foreground map which prefers the foreground objects. From the objectness map and the foreground map, the compactness map is formed to favor the compact objects. We then integrate those cues to form a pixel-accurate saliency map which covers the salient objects and consistently separates foreground and background
Real-time object detection using monocular vision for low-cost automotive sensing systems
This work addresses the problem of real-time object detection in automotive environments
using monocular vision. The focus is on real-time feature detection,
tracking, depth estimation using monocular vision and finally, object detection by
fusing visual saliency and depth information.
Firstly, a novel feature detection approach is proposed for extracting stable and
dense features even in images with very low signal-to-noise ratio. This methodology
is based on image gradients, which are redefined to take account of noise as
part of their mathematical model. Each gradient is based on a vector connecting a
negative to a positive intensity centroid, where both centroids are symmetric about
the centre of the area for which the gradient is calculated. Multiple gradient vectors
define a feature with its strength being proportional to the underlying gradient
vector magnitude. The evaluation of the Dense Gradient Features (DeGraF) shows
superior performance over other contemporary detectors in terms of keypoint density,
tracking accuracy, illumination invariance, rotation invariance, noise resistance
and detection time.
The DeGraF features form the basis for two new approaches that perform dense
3D reconstruction from a single vehicle-mounted camera. The first approach tracks
DeGraF features in real-time while performing image stabilisation with minimal
computational cost. This means that despite camera vibration the algorithm can
accurately predict the real-world coordinates of each image pixel in real-time by comparing
each motion-vector to the ego-motion vector of the vehicle. The performance
of this approach has been compared to different 3D reconstruction methods in order
to determine their accuracy, depth-map density, noise-resistance and computational
complexity. The second approach proposes the use of local frequency analysis of
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gradient features for estimating relative depth. This novel method is based on the
fact that DeGraF gradients can accurately measure local image variance with subpixel
accuracy. It is shown that the local frequency by which the centroid oscillates
around the gradient window centre is proportional to the depth of each gradient
centroid in the real world. The lower computational complexity of this methodology
comes at the expense of depth map accuracy as the camera velocity increases, but
it is at least five times faster than the other evaluated approaches.
This work also proposes a novel technique for deriving visual saliency maps by
using Division of Gaussians (DIVoG). In this context, saliency maps express the
difference of each image pixel is to its surrounding pixels across multiple pyramid
levels. This approach is shown to be both fast and accurate when evaluated against
other state-of-the-art approaches. Subsequently, the saliency information is combined
with depth information to identify salient regions close to the host vehicle.
The fused map allows faster detection of high-risk areas where obstacles are likely
to exist. As a result, existing object detection algorithms, such as the Histogram of
Oriented Gradients (HOG) can execute at least five times faster.
In conclusion, through a step-wise approach computationally-expensive algorithms
have been optimised or replaced by novel methodologies to produce a fast object
detection system that is aligned to the requirements of the automotive domain
Towards the Success Rate of One: Real-time Unconstrained Salient Object Detection
In this work, we propose an efficient and effective approach for
unconstrained salient object detection in images using deep convolutional
neural networks. Instead of generating thousands of candidate bounding boxes
and refining them, our network directly learns to generate the saliency map
containing the exact number of salient objects. During training, we convert the
ground-truth rectangular boxes to Gaussian distributions that better capture
the ROI regarding individual salient objects. During inference, the network
predicts Gaussian distributions centered at salient objects with an appropriate
covariance, from which bounding boxes are easily inferred. Notably, our network
performs saliency map prediction without pixel-level annotations, salient
object detection without object proposals, and salient object subitizing
simultaneously, all in a single pass within a unified framework. Extensive
experiments show that our approach outperforms existing methods on various
datasets by a large margin, and achieves more than 100 fps with VGG16 network
on a single GPU during inference
Salient Object Detection via Augmented Hypotheses
In this paper, we propose using \textit{augmented hypotheses} which consider
objectness, foreground and compactness for salient object detection. Our
algorithm consists of four basic steps. First, our method generates the
objectness map via objectness hypotheses. Based on the objectness map, we
estimate the foreground margin and compute the corresponding foreground map
which prefers the foreground objects. From the objectness map and the
foreground map, the compactness map is formed to favor the compact objects. We
then derive a saliency measure that produces a pixel-accurate saliency map
which uniformly covers the objects of interest and consistently separates fore-
and background. We finally evaluate the proposed framework on two challenging
datasets, MSRA-1000 and iCoSeg. Our extensive experimental results show that
our method outperforms state-of-the-art approaches.Comment: IJCAI 2015 pape
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