Thermo-visual feature fusion for object tracking using multiple spatiogram trackers

In this paper, we propose a framework that can efficiently combine features for robust tracking based on fusing the outputs of multiple spatiogram trackers. This is achieved without the exponential increase in storage and processing that other multimodal tracking approaches suffer from. The framework allows the features to be split arbitrarily between the trackers, as well as providing the flexibility to add, remove or dynamically weight features. We derive a mean-shift type algorithm for the framework that allows efficient object tracking with very low computational overhead. We especially target the fusion of thermal infrared and visible spectrum features as the most useful features for automated surveillance applications. Results are shown on multimodal video sequences clearly illustrating the benefits of combining multiple features using our framework

Robust automatic target tracking based on a Bayesian ego-motion compensation framework for airborne FLIR imagery

Automatic target tracking in airborne FLIR imagery is currently a challenge due to the camera ego-motion. This phenomenon distorts the spatio-temporal correlation of the video sequence, which dramatically reduces the tracking performance. Several works address this problem using ego-motion compensation strategies. They use a deterministic approach to compensate the camera motion assuming a specific model of geometric transformation. However, in real sequences a specific geometric transformation can not accurately describe the camera ego-motion for the whole sequence, and as consequence of this, the performance of the tracking stage can significantly decrease, even completely fail. The optimum transformation for each pair of consecutive frames depends on the relative depth of the elements that compose the scene, and their degree of texturization. In this work, a novel Particle Filter framework is proposed to efficiently manage several hypothesis of geometric transformations: Euclidean, affine, and projective. Each type of transformation is used to compute candidate locations of the object in the current frame. Then, each candidate is evaluated by the measurement model of the Particle Filter using the appearance information. This approach is able to adapt to different camera ego-motion conditions, and thus to satisfactorily perform the tracking. The proposed strategy has been tested on the AMCOM FLIR dataset, showing a high efficiency in the tracking of different types of targets in real working conditions

The PRIMA fringe sensor unit

The Fringe Sensor Unit (FSU) is the central element of the Phase Referenced Imaging and Micro-arcsecond Astrometry (PRIMA) dual-feed facility and provides fringe sensing for all observation modes, comprising off-axis fringe tracking, phase referenced imaging, and high-accuracy narrow-angle astrometry. It is installed at the Very Large Telescope Interferometer (VLTI) and successfully servoed the fringe tracking loop during the initial commissioning phase. Unique among interferometric beam combiners, the FSU uses spatial phase modulation in bulk optics to retrieve real-time estimates of fringe phase after spatial filtering. A R=20 spectrometer across the K-band makes the retrieval of the group delay signal possible. The FSU was integrated and aligned at the VLTI in summer 2008. It yields phase and group delay measurements at sampling rates up to 2 kHz, which are used to drive the fringe tracking control loop. During the first commissioning runs, the FSU was used to track the fringes of stars with K-band magnitudes as faint as m_K=9.0, using two VLTI Auxiliary Telescopes (AT) and baselines of up to 96 m. Fringe tracking using two Very Large Telescope (VLT) Unit Telescopes (UT) was demonstrated. During initial commissioning and combining stellar light with two ATs, the FSU showed its ability to improve the VLTI sensitivity in K-band by more than one magnitude towards fainter objects, which is of fundamental importance to achieve the scientific objectives of PRIMA.Comment: 19 pages, 23 figures. minor changes and language editing. this version equals the published articl

An improved spatiogram similarity measure for robust object localisation

Spatiograms were introduced as a generalisation of the commonly used histogram, providing the flexibility of adding spatial context information to the feature distribution information of a histogram. The originally proposed spatiogram comparison measure has significant disadvantages that we detail here. We propose an improved measure based on deriving the Bhattacharyya coefficient for an infinite number of spatial-feature bins. Its advantages over the previous measure and over histogram-based matching are demonstrated in object tracking scenarios

HD 85567: A Herbig B[e] star or an interacting B[e] binary

Context. HD 85567 is an enigmatic object exhibiting the B[e] phenomenon, i.e. an infrared excess and forbidden emission lines in the optical. The object's evolutionary status is uncertain and there are conflicting claims that it is either a young stellar object or an evolved, interacting binary. Aims. To elucidate the reason for the B[e] behaviour of HD 85567, we have observed it with the VLTI and AMBER. Methods. Our observations were conducted in the K-band with moderate spectral resolution (R~1500, i.e. 200 km/s). The spectrum of HD 85567 exhibits Br gamma and CO overtone bandhead emission. The interferometric data obtained consist of spectrally dispersed visibilities, closure phases and differential phases across these spectral features and the K-band continuum. Results. The closure phase observations do not reveal evidence of asymmetry. The apparent size of HD 85567 in the K-band was determined by fitting the visibilities with a ring model. The best fitting radius, 0.8 +/- 0.3 AU, is relatively small making HD 85567 undersized in comparison to the size-luminosity relationship based on YSOs of low and intermediate luminosity. This has previously been found to be the case for luminous YSOs, and it has been proposed that this is due to the presence of an optically thick gaseous disc. We demonstrate that the differential phase observations over the CO bandhead emission are indeed consistent with the presence of a compact (~1 AU) gaseous disc interior to the dust sublimation radius. Conclusions. The observations reveal no sign of binarity. However, the data do indicate the presence of a gaseous disc interior to the dust sublimation radius. We conclude that the data are consistent with the hypothesis that HD 85567 is a YSO with an optically thick gaseous disc within a larger dust disc that is being photo-evaporated from the outer edge.Comment: Accepted for publication in A &