Motion Tracking and Potentially Dangerous Situations Recognition in Complex Environment

In recent years, video surveillance systems have been playing a significantly important role in the human safety and security field by monitoring public or private areas. In this chapter, we have discussed the development of an intelligent surveillance system to detect, track and identify potentially hazardous events that may occur at level crossings (LC). This system starts by detecting and tracking objects on the level crossing. Then, a danger evaluation method is built using hidden Markov model in order to predict trajectories of the detected objects. The trajectories are analyzed with a credibility model to evaluate dangerous situations at level crossings. Synthetics and real data are used to test the effectiveness and the robustness of the proposed algorithms and the whole approach by considering various scenarios within several situations

Video retrieval with CNN features

International audienceConvolutional neural network features are becoming the norm in instance retrieval. This work investigate the relevance of using an of the shelf object detection network like Faster R-CNN as a feature extractor. We build an Image-to-video face retrieval pipeline composed of filtering and re-ranking that uses the objects proposals learned by a Region Proposal Network (RPN) and their associated representations taken from a CNN. Moreover we study the relevance of features from a finetuned network. The results obtained are very promisin

Street crossing pedestrian detection system A comparative study of descriptor and classification methods

International audiencein recent years, the number of people killed on roads has increased enormously, several pedestrian detection techniques in monocular images have been proposed to address this problem. We present our pedestrian protection system from moving vehicles using video cameras installed on the vehicle, this system combines pedestrian detection, trajectory estimation, risk evaluation, and driver alert. First, we focus on the pedestrian recognition task. Different combinations of image descriptors and classification methods have been evaluated on this task. Experiments are performed on a dataset captured on-board a vehicle driving through urban environments. Results show that the best model is HOG&RbfSVM

Local feature extraction based facial emotion recognition: a survey

Notwithstanding the recent technological advancement, the identification of facial and emotional expressions is still one of the greatest challenges scientists have ever faced. Generally, the human face is identified as a composition made up of textures arranged in micro-patterns. Currently, there has been a tremendous increase in the use of local binary pattern based texture algorithms which have invariably been identified to being essential in the completion of a variety of tasks and in the extraction of essential attributes from an image. Over the years, lots of LBP variants have been literally reviewed. However, what is left is a thorough and comprehensive analysis of their independent performance. This research work aims at filling this gap by performing a large-scale performance evaluation of 46 recent state-of-the-art LBP variants for facial expression recognition. Extensive experimental results on the well-known challenging and benchmark KDEF, JAFFE, CK and MUG databases taken under different facial expression conditions, indicate that a number of evaluated state-of-the-art LBP-like methods achieve promising results, which are better or competitive than several recent state-of-the-art facial recognition systems. Recognition rates of 100%, 98.57%, 95.92% and 100% have been reached for CK, JAFFE, KDEF and MUG databases, respectively

Segmentation d'images par combinaison adaptative couleur-texture et classification de pixels. (Applications à la caractérisation de l'environnement de réception de signaux GNSS)

En segmentation d images, les informations de couleur et de texture sont très utilisées. Le premier apport de cette thèse se situe au niveau de l utilisation conjointe de ces deux sources d informations. Nous proposons alors une méthode de combinaison couleur/texture, adaptative et non paramétrique, qui consiste à combiner un (ou plus) gradient couleur et un (ou plus) gradient texture pour ensuite générer un gradient structurel utilisé comme image de potentiel dans l algorithme de croissance de régions par LPE. L originalité de notre méthode réside dans l étude de la dispersion d un nuage de point 3D dans l espace, en utilisant une étude comparative des valeurs propres obtenues par une analyse des composantes principales de la matrice de covariance de ce nuage de points. L approche de combinaison couleur/texture proposée est d abord testée sur deux bases d images, à savoir la base générique d images couleur de BERKELEY et la base d images de texture VISTEX. Cette thèse s inscrivant dans le cadre des projets ViLoc (RFC) et CAPLOC (PREDIT), le deuxième apport de celle-ci se situe au niveau de la caractérisation de l environnement de réception des signaux GNSS pour améliorer le calcul de la position d un mobile en milieu urbain. Dans ce cadre, nous proposons d exclure certains satellites (NLOS dont les signaux sont reçus par réflexion voir totalement bloqués par les obstacles environnants) dans le calcul de la position d un mobile. Deux approches de caractérisation, basées sur le traitement d images, sont alors proposées. La première approche consiste à appliquer la méthode de combinaison couleur/texture proposée sur deux bases d images réelles acquises en mobilité, à l aide d une caméra fisheye installée sur le toit du véhicule de laboratoire, suivie d une classification binaire permettant d obtenir les deux classes d intérêt ciel (signaux LOS) et non ciel (signaux NLOS). Afin de satisfaire la contrainte temps réel exigée par le projet CAPLOC, nous avons proposé une deuxième approche basée sur une simplification de l image couplée à une classification pixellaire adaptée. Le principe d exclusion des satellites NLOS permet d améliorer la précision de la position estimée, mais uniquement lorsque les satellites LOS (dont les signaux sont reçus de manière direct) sont géométriquement bien distribués dans l espace. Dans le but de prendre en compte cette connaissance relative à la distribution des satellites, et par conséquent, améliorer la précision de localisation, nous avons proposé une nouvelle stratégie pour l estimation de position, basée sur l exclusion des satellites NLOS (identifiés par le traitement d images), conditionnée par l information DOP, contenue dans les trames GPS.Color and texture are two main information used in image segmentation. The first contribution of this thesis focuses on the joint use of color and texture information by developing a robust and non parametric method combining color and texture gradients. The proposed color/texture combination allows defining a structural gradient that is used as potential image in watershed algorithm. The originality of the proposed method consists in studying a 3D points cloud generated by color and texture descriptors, followed by an eigenvalue analysis. The color/texture combination method is firstly tested and compared with well known methods in the literature, using two databases (generic BERKELEY database of color images and the VISTEX database of texture images). The applied part of the thesis is within ViLoc project (funded by RFC regional council) and CAPLOC project (funded by PREDIT). In this framework, the second contribution of the thesis concerns the characterization of the environment of GNSS signals reception. In this part, we aim to improve estimated position of a mobile in urban environment by excluding NLOS satellites (for which the signal is masked or received after reflections on obstacles surrounding the antenna environment). For that, we propose two approaches to characterize the environment of GNSS signals reception using image processing. The first one consists in applying the proposed color/texture combination on images acquired in mobility with a fisheye camera located on the roof of a vehicle and oriented toward the sky. The segmentation step is followed by a binary classification to extract two classes sky (LOS signals) and not sky (NLOS signals). The second approach is proposed in order to satisfy the real-time constraint required by the application. This approach is based on image simplification and adaptive pixel classification. The NLOS satellites exclusion principle is interesting, in terms of improving precision of position, when the LOS satellites (for which the signals are received directly) are well geometrically distributed in space. To take into account the knowledge of satellite distribution and then increase the precision of position, we propose a new strategy of position estimation, based on the exclusion of NLOS satellites (identified by the image processing step), conditioned by DOP information, which is provided by GPS data.BELFORT-UTBM-SEVENANS (900942101) / SudocSudocFranceF

Nouvelle approche neuronale Faster R-CNN pour la recherche d’instances d’images

Les caractéristiques d'images dérivées des réseaux neuronaux convolutifs (CNN) pré-entrénés sont devenues la norme dans les tâches de vision par ordinateur telle que la récupération d'instances. Ce travail explore la pertinence de la récupération de caractéristiques d'images et de régions à partir d'un CNN de détection d'objets tel que Faster R-CNN. Nous profitons des propositions d'objets appris par un RPN (Region Proposal Network) et de leurs caractéristiques associées prises d’un CNN pour construire un pipeline de recherche d'instances composées d’un filtrage puis d’un reclassement. Plus encore, nous étudions la pertinence des caractéristiques de Faster R-CNN lorsque le réseau est affiné pour les mêmes objets que ceux qu’on veut récupérer. Nous évaluons la performance du système avec les deux datasets: Oxford Buildings 5k et Paris Buildings 6k. Les résultats obtenus par notre algorithme comparé avec d’autres techniques sont encourageants

Software-hardware Integration and Human-centered Benchmarking for Socially-compliant Robot Navigation

The social compatibility (SC) is one of the most important parameters for service robots. It characterises the interaction quality between a robot and a human. In this paper, we first introduce an open-source software-hardware integration scheme for socially-compliant robot navigation and then propose a human-centered benchmarking framework. For the former, we integrate one 3D lidar, one 2D lidar, and four RGB-D cameras for robot exterior perception. The software system is entirely based on the Robot Operating System (ROS) with high modularity and fully deployed to the embedded hardware-based edge while running at a rate that exceeds the release frequency of sensor data. For the latter, we propose a new human-centered performance evaluation metric that can be used to measure SC quickly and efficiently. The values of this metric correlate with the results of the Godspeed questionnaire, which is believed to be a golden standard approach for SC measurements. Together with other commonly used metrics, we benchmark two open-source socially-compliant robot navigation methods, in an end-to-end manner. We clarify all aspects of the benchmarking to ensure the reproducibility of the experiments. We also show that the proposed new metric can provide further justification for the selection of numerical metrics (objective) from a human perspective (subjective).Comment: 8 pages, 8 figure

A Multiple-Objects Recognition Method Based on Region Similarity Measures: Application to Roof Extraction from Orthophotoplans

In this paper, an efficient method for automatic and accurate detection of multiple objects from images using a region similarity measure is presented. This method involves the construction of two knowledge databases: The first one contains several distinctive textures of objects to be extracted. The second one is composed with textures representing background. Both databases are provided by some examples (training set) of images from which one wants to recognize objects. The proposed procedure starts by an initialization step during which the studied image is segmented into homogeneous regions. In order to separate the objects of interest from the image background, an evaluation of the similarity between the regions of the segmented image and those of the constructed knowledge databases is then performed. The proposed approach presents several advantages in terms of applicability, suitability and simplicity. Experimental results obtained from the method applied to extract building roofs from orthophotoplans prove its robustness and performance over popular methods like K Nearest Neighbours (KNN) and Support Vector Machine (SVM)