5,812 research outputs found
A Flexible Modeling Approach for Robust Multi-Lane Road Estimation
A robust estimation of road course and traffic lanes is an essential part of
environment perception for next generations of Advanced Driver Assistance
Systems and development of self-driving vehicles. In this paper, a flexible
method for modeling multiple lanes in a vehicle in real time is presented.
Information about traffic lanes, derived by cameras and other environmental
sensors, that is represented as features, serves as input for an iterative
expectation-maximization method to estimate a lane model. The generic and
modular concept of the approach allows to freely choose the mathematical
functions for the geometrical description of lanes. In addition to the current
measurement data, the previously estimated result as well as additional
constraints to reflect parallelism and continuity of traffic lanes, are
considered in the optimization process. As evaluation of the lane estimation
method, its performance is showcased using cubic splines for the geometric
representation of lanes in simulated scenarios and measurements recorded using
a development vehicle. In a comparison to ground truth data, robustness and
precision of the lanes estimated up to a distance of 120 m are demonstrated. As
a part of the environmental modeling, the presented method can be utilized for
longitudinal and lateral control of autonomous vehicles
Gaussian mixture model classifiers for detection and tracking in UAV video streams.
Masters Degree. University of KwaZulu-Natal, Durban.Manual visual surveillance systems are subject to a high degree of human-error and operator fatigue. The automation of such systems often employs detectors, trackers and classifiers as fundamental building blocks. Detection, tracking and classification are especially useful and challenging in Unmanned Aerial Vehicle (UAV) based surveillance systems. Previous solutions have addressed challenges via complex classification methods. This dissertation proposes less complex Gaussian Mixture Model (GMM) based classifiers that can simplify the process; where data is represented as a reduced set of model parameters, and classification is performed in the low dimensionality parameter-space. The specification and adoption of GMM based classifiers on the UAV visual tracking feature space formed the principal contribution of the work. This methodology can be generalised to other feature spaces.
This dissertation presents two main contributions in the form of submissions to ISI accredited journals. In the first paper, objectives are demonstrated with a vehicle detector incorporating a two stage GMM classifier, applied to a single feature space, namely Histogram of Oriented Gradients (HoG). While the second paper demonstrates objectives with a vehicle tracker using colour histograms (in RGB and HSV), with Gaussian Mixture Model (GMM) classifiers and a Kalman filter.
The proposed works are comparable to related works with testing performed on benchmark datasets. In the tracking domain for such platforms, tracking alone is insufficient. Adaptive detection and classification can assist in search space reduction, building of knowledge priors and improved target representations. Results show that the proposed approach improves performance and robustness. Findings also indicate potential further enhancements such as a multi-mode tracker with global and local tracking based on a combination of both papers
Extended Object Tracking: Introduction, Overview and Applications
This article provides an elaborate overview of current research in extended
object tracking. We provide a clear definition of the extended object tracking
problem and discuss its delimitation to other types of object tracking. Next,
different aspects of extended object modelling are extensively discussed.
Subsequently, we give a tutorial introduction to two basic and well used
extended object tracking approaches - the random matrix approach and the Kalman
filter-based approach for star-convex shapes. The next part treats the tracking
of multiple extended objects and elaborates how the large number of feasible
association hypotheses can be tackled using both Random Finite Set (RFS) and
Non-RFS multi-object trackers. The article concludes with a summary of current
applications, where four example applications involving camera, X-band radar,
light detection and ranging (lidar), red-green-blue-depth (RGB-D) sensors are
highlighted.Comment: 30 pages, 19 figure
Event-Based Motion Segmentation by Motion Compensation
In contrast to traditional cameras, whose pixels have a common exposure time,
event-based cameras are novel bio-inspired sensors whose pixels work
independently and asynchronously output intensity changes (called "events"),
with microsecond resolution. Since events are caused by the apparent motion of
objects, event-based cameras sample visual information based on the scene
dynamics and are, therefore, a more natural fit than traditional cameras to
acquire motion, especially at high speeds, where traditional cameras suffer
from motion blur. However, distinguishing between events caused by different
moving objects and by the camera's ego-motion is a challenging task. We present
the first per-event segmentation method for splitting a scene into
independently moving objects. Our method jointly estimates the event-object
associations (i.e., segmentation) and the motion parameters of the objects (or
the background) by maximization of an objective function, which builds upon
recent results on event-based motion-compensation. We provide a thorough
evaluation of our method on a public dataset, outperforming the
state-of-the-art by as much as 10%. We also show the first quantitative
evaluation of a segmentation algorithm for event cameras, yielding around 90%
accuracy at 4 pixels relative displacement.Comment: When viewed in Acrobat Reader, several of the figures animate. Video:
https://youtu.be/0q6ap_OSBA
Iterative graph cuts for image segmentation with a nonlinear statistical shape prior
Shape-based regularization has proven to be a useful method for delineating
objects within noisy images where one has prior knowledge of the shape of the
targeted object. When a collection of possible shapes is available, the
specification of a shape prior using kernel density estimation is a natural
technique. Unfortunately, energy functionals arising from kernel density
estimation are of a form that makes them impossible to directly minimize using
efficient optimization algorithms such as graph cuts. Our main contribution is
to show how one may recast the energy functional into a form that is
minimizable iteratively and efficiently using graph cuts.Comment: Revision submitted to JMIV (02/24/13
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