Performance Evaluation of Vision-Based Algorithms for MAVs

An important focus of current research in the field of Micro Aerial Vehicles (MAVs) is to increase the safety of their operation in general unstructured environments. Especially indoors, where GPS cannot be used for localization, reliable algorithms for localization and mapping of the environment are necessary in order to keep an MAV airborne safely. In this paper, we compare vision-based real-time capable methods for localization and mapping and point out their strengths and weaknesses. Additionally, we describe algorithms for state estimation, control and navigation, which use the localization and mapping results of our vision-based algorithms as input.Comment: Presented at OAGM Workshop, 2015 (arXiv:1505.01065

Visual on-line learning in distributed camera networks

Automatic detection of persons is an important application in visual surveillance. In general, state-of-the-art systems have two main disadvantages: First, usually a general detector has to be learned that is applicable to a wide range of scenes. Thus, the training is time-consuming and requires a huge amount of labeled data. Second, the data is usually processed centralized, which leads to a huge network traffic. Thus, the goal of this paper is to overcome these problems, which is realized by a person detection system, that is based on distributed smart cameras (DSCs). Assuming that we have a large number of cameras with partly overlapping views, the main idea is to reduce the model complexity of the detector by training a specific detector for each camera. These detectors are initialized by a pre-trained classifier, that is then adapted for a specific camera by co-training. In particular, for co-training we apply an on-line learning method (i.e., boosting for feature selection), where the information exchange is realized via mapping the overlapping views onto each other by using a homography. Thus, we have a compact scenedependent representation, which allows to train and to evaluate the classifiers on an embedded device. Moreover, since the information transfer is reduced to exchanging positions the required network-traffic is minimal. The power of the approach is demonstrated in various experiments on different publicly available data sets. In fact, we show that on-line learning and applying DSCs can benefit from each other. Index Terms — visual on-line learning, object detection, multi-camera networks 1

Smartphone app reveals that lynx avoid human recreationists on local scale, but not home range scale

Outdoor recreation is increasing and affects habitat use and selection by wildlife. These effects are challenging to study, especially for elusive species with large spatial requirements, as it is hard to obtain reliable proxies of recreational intensity over extensive areas. Commonly used proxies, such as the density of, or distance to, hiking paths, ignore outdoor recreation occurring on other linear feature types. Here we utilized crowdsourced data from the Strava training app to obtain a large-scale proxy for pedestrian outdoor recreation intensity in southeast Norway. We used the proxy and GPS-tracking data from collared Eurasian lynx (Lynx lynx) to investigate how recreation affects habitat selection at the home range scale and local scale by lynx during summer. We fitted resource selection functions at the two scales using conditional logistic regression. Our analysis revealed that lynx avoided areas of recreational activity at the local scale, but not at home range scale. Nonetheless, lynx frequently used areas associated with recreation, and to a greater degree at night than during the day. Our results suggest that local-scale avoidance of recreation and temporal adjustments of habitat use by lynx mitigate the need for a home range-scale response towards recreation. Scale-dependent responses and temporal adjustments in habitat use may facilitate coexistence between humans and large carnivores