Boosting-Based On-Road Obstacle Sensing Using Discriminative Weak Classifiers

This paper proposes an extension of the weak classifiers derived from the Haar-like features for their use in the Viola-Jones object detection system. These weak classifiers differ from the traditional single threshold ones, in that no specific threshold is needed and these classifiers give a more general solution to the non-trivial task of finding thresholds for the Haar-like features. The proposed quadratic discriminant analysis based extension prominently improves the ability of the weak classifiers to discriminate objects and non-objects. The proposed weak classifiers were evaluated by boosting a single stage classifier to detect rear of car. The experiments demonstrate that the object detector based on the proposed weak classifiers yields higher classification performance with less number of weak classifiers than the detector built with traditional single threshold weak classifiers

Real-Time Face Detection Using Boosting Learning in Hierarchical Feature Spaces

Boosting-based methods have recently led to the state-of-the-art face detection systems. In these systems, weak classifiers to be boosted are based on simple, local, Haar-like features. However, it can be empirically observed that in later stages of the boosting process, the non-face examples collected by bootstrapping become very similar to the face examples, and the classification error of Haar-like feature-based weak classifiers is thus very close to 50\%. As a result, the performance of a face detector cannot be further improved. This paper proposed a solution to this problem, introducing a face detection method based on boosting in hierarchical feature spaces (both local and global). We argue that global features, like those derived from Principal Component Analysis, can be advantageously used in the later stages of boosting, when local features do not provide any further benefit, without affecting computational complexity. We show, based on statistics of face and non-face examples, that weak classifiers learned in hierarchical feature spaces are better boosted. Our methodology leads to a face detection system that achieves higher performance than the current state-of-the-art system, at a comparable speed

Pattern Recognition Using AdaBoost

V této práci se zaobírá algoritmem AdaBoost, který slouží k vytvoření silné klasifikační funkce pomocí několika slabých klasifikátorů. Seznámíme se taktéž s modifikacemi AdaBoostu, a to Real AdaBoostem, WaldBoostem, FloatBoostem a TCAcu. Tyto modifikace zlepšují některé z vlastností algoritmu AdaBoost. Probereme některé vlastnosti příznaků a slabých klasifikátorů. Ukážeme si třídu úloh, pro které je algoritmus AdaBoost použitelný. Popíšeme implementaci knihovny obsahující zmíněné metody a uvedeme některé testy provedené na implementované knihovně.This paper deals about AdaBoost algorithm, which is used to create a strong classification function using a number of weak classifiers. We familiarize ourselves with modifications of AdaBoost, namely Real AdaBoost, WaldBoost, FloatBoost and TCAcu. These modifications improve some of the properties of algorithm AdaBoost. We discuss some properties of feature and weak classifiers. We show a class of tasks for which AdaBoost algorithm is applicable. We indicate implementation of the library containing that method and we present some tests performed on the implemented library.

Scene Monitoring With A Forest Of Cooperative Sensors

In this dissertation, we present vision based scene interpretation methods for monitoring of people and vehicles, in real-time, within a busy environment using a forest of co-operative electro-optical (EO) sensors. We have developed novel video understanding algorithms with learning capability, to detect and categorize people and vehicles, track them with in a camera and hand-off this information across multiple networked cameras for multi-camera tracking. The ability to learn prevents the need for extensive manual intervention, site models and camera calibration, and provides adaptability to changing environmental conditions. For object detection and categorization in the video stream, a two step detection procedure is used. First, regions of interest are determined using a novel hierarchical background subtraction algorithm that uses color and gradient information for interest region detection. Second, objects are located and classified from within these regions using a weakly supervised learning mechanism based on co-training that employs motion and appearance features. The main contribution of this approach is that it is an online procedure in which separate views (features) of the data are used for co-training, while the combined view (all features) is used to make classification decisions in a single boosted framework. The advantage of this approach is that it requires only a few initial training samples and can automatically adjust its parameters online to improve the detection and classification performance. Once objects are detected and classified they are tracked in individual cameras. Single camera tracking is performed using a voting based approach that utilizes color and shape cues to establish correspondence in individual cameras. The tracker has the capability to handle multiple occluded objects. Next, the objects are tracked across a forest of cameras with non-overlapping views. This is a hard problem because of two reasons. First, the observations of an object are often widely separated in time and space when viewed from non-overlapping cameras. Secondly, the appearance of an object in one camera view might be very different from its appearance in another camera view due to the differences in illumination, pose and camera properties. To deal with the first problem, the system learns the inter-camera relationships to constrain track correspondences. These relationships are learned in the form of multivariate probability density of space-time variables (object entry and exit locations, velocities, and inter-camera transition times) using Parzen windows. To handle the appearance change of an object as it moves from one camera to another, we show that all color transfer functions from a given camera to another camera lie in a low dimensional subspace. The tracking algorithm learns this subspace by using probabilistic principal component analysis and uses it for appearance matching. The proposed system learns the camera topology and subspace of inter-camera color transfer functions during a training phase. Once the training is complete, correspondences are assigned using the maximum a posteriori (MAP) estimation framework using both the location and appearance cues. Extensive experiments and deployment of this system in realistic scenarios has demonstrated the robustness of the proposed methods. The proposed system was able to detect and classify targets, and seamlessly tracked them across multiple cameras. It also generated a summary in terms of key frames and textual description of trajectories to a monitoring officer for final analysis and response decision. This level of interpretation was the goal of our research effort, and we believe that it is a significant step forward in the development of intelligent systems that can deal with the complexities of real world scenarios

A new method for generic three dimensional human face modelling for emotional bio-robots

Existing 3D human face modelling methods are confronted with difficulties in applying flexible control over all facial features and generating a great number of different face models. The gap between the existing methods and the requirements of emotional bio-robots applications urges the creation of a generic 3D human face model. This thesis focuses on proposing and developing two new methods involved in the research of emotional bio-robots: face detection in complex background images based on skin colour model and establishment of a generic 3D human face model based on NURBS. The contributions of this thesis are: A new skin colour based face detection method has been proposed and developed. The new method consists of skin colour model for skin regions detection and geometric rules for distinguishing faces from detected regions. By comparing to other previous methods, the new method achieved better results of detection rate of 86.15% and detection speed of 0.4-1.2 seconds without any training datasets. A generic 3D human face modelling method is proposed and developed. This generic parametric face model has the abilities of flexible control over all facial features and generating various face models for different applications. It includes: The segmentation of a human face of 21 surface features. These surfaces have 34 boundary curves. This feature-based segmentation enables the independent manipulation of different geometrical regions of human face. The NURBS curve face model and NURBS surface face model. These two models are built up based on cubic NURBS reverse computation. The elements of the curve model and surface model can be manipulated to change the appearances of the models by their parameters which are obtained by NURBS reverse computation. A new 3D human face modelling method has been proposed and implemented based on bi-cubic NURBS through analysing the characteristic features and boundary conditions of NURBS techniques. This model can be manipulated through control points on the NURBS facial features to build any specific face models for any kind of appearances and to simulate dynamic facial expressions for various applications such as emotional bio-robots, aesthetic surgery, films and games, and crime investigation and prevention, etc