Older driver perception-reaction time for intersection sight distance and object detection. Final report. Volume II: appendixes.

Federal Highway Administration, Office of Safety and Traffic Operations Research and Development, McLean, Va.

Older driver perception-reaction time for intersection sight distance and object detection.

"January 1995."

Frequency band selection of radars for buried object detection

Choice of the operational frequency is one of the most responsible parts of any radar design process. Parameters of radars for buried object detection (BOD) are very sensitive to both carrier frequency and ranging signal bandwidth. Such radars have a specific propagation environment with a strong frequency-dependent attenuation and, as a result, short operational range. This fact dictates some features of the radar's parameters: wideband signal-to provide a high range resolution (fractions of a meter) and a low carrier frequency (tens or hundreds megahertz) for deeper penetration. The requirement to have a wideband ranging signal and low carrier frequency are partly in contradiction. As a result, low-frequency (LF) ultrawide-band (UWB) signals are used. The major goal of this paper is to examine the influence of the frequency band choice on the radar performance and develop relevant methodologies for BOD radar design and optimization. In this article, high-efficient continuous wave (CW) signals with most advanced stepped frequency (SF) modulation are considered; however, the main conclusions can be applied to any kind of ranging signals.

Object detection and recognition in complex scenes

Dissertação de Mestrado, Engenharia Informática, Faculdade de Ciências e Tecnologia, Universidade do Algarve, 2014

Sviluppo di un algoritmo di Object Detection per la privacy in ambito industriale

In questa tesi è descritto il lavoro svolto presso un'azienda informatica locale, allo scopo di ricerca ed implementazione di un algoritmo per individuare ed offuscare i volti presenti all'interno di video di e-learning in ambito industriale, al fine di garantire la privacy degli operai presenti. Tale algoritmo sarebbe stato poi da includere in un modulo software da inserire all'interno di un applicazione web già esistente per la gestione di questi video. Si è ricercata una soluzione ad hoc considerando le caratteristiche particolare del problema in questione, studiando le principali tecniche della Computer Vision per comprendere meglio quale strada percorrere. Si è deciso quindi di implementare un algoritmo di Blob Tracking basato sul colore.

Learning and Example Selection for Object and Pattern Detection

This thesis presents a learning based approach for detecting classes of objects and patterns with variable image appearance but highly predictable image boundaries. It consists of two parts. In part one, we introduce our object and pattern detection approach using a concrete human face detection example. The approach first builds a distribution-based model of the target pattern class in an appropriate feature space to describe the target's variable image appearance. It then learns from examples a similarity measure for matching new patterns against the distribution-based target model. The approach makes few assumptions about the target pattern class and should therefore be fairly general, as long as the target class has predictable image boundaries. Because our object and pattern detection approach is very much learning-based, how well a system eventually performs depends heavily on the quality of training examples it receives. The second part of this thesis looks at how one can select high quality examples for function approximation learning tasks. We propose an {em active learning} formulation for function approximation, and show for three specific approximation function classes, that the active example selection strategy learns its target with fewer data samples than random sampling. We then simplify the original active learning formulation, and show how it leads to a tractable example selection paradigm, suitable for use in many object and pattern detection problems.

Object tracking using multiple motion modalities

This paper presents an object tracking system that utilises a hybrid multi-layer motion segmentation and optical flow algorithm. While many tracking systems seek to combine multiple modalities such as motion and depth or multiple inputs within a fusion system to improve tracking robustness, current systems have avoided the combination of motion and optical flow. This combination allows the use of multiple modes within the object detection stage. Consequently, different categories of objects, within motion or stationary, can be effectively detected utilising either optical flow, static foreground or active foreground information. The proposed system is evaluated using the ETISEO database and evaluation metrics and compared to a baseline system utilising a single mode foreground segmentation technique. Results demonstrate a significant improvement in tracking results can be made through the incorporation of the additional motion information.

Dynamic Performance Measures for Object Tracking Systems

Performance evaluation of object tracking systems is typically performed after the data has been processed, by comparing tracking results to ground truth. Whilst this approach is fine when performing offline testing, it does not allow for real-time analysis of the systems performance, which may be of use for live systems to either automatically tune the system or report reliability. In this paper, we propose three metrics that can be used to dynamically asses the performance of an object tracking system. Outputs and results from various stages in the tracking system are used to obtain measures that indicate the performance of motion segmentation, object detection and object matching. The proposed dynamic metrics are shown to accurately indicate tracking errors when visually comparing metric results to tracking output, and are shown to display similar trends to the ETISEO metrics when comparing different tracking configurations.

Multi-modal object tracking using dynamic performance metrics

Intelligent surveillance systems typically use a single visual spectrum modality for their input. These systems work well in controlled conditions, but often fail when lighting is poor, or environmental effects such as shadows, dust or smoke are present. Thermal spectrum imagery is not as susceptible to environmental effects, however thermal imaging sensors are more sensitive to noise and they are only gray scale, making distinguishing between objects difficult. Several approaches to combining the visual and thermal modalities have been proposed, however they are limited by assuming that both modalities are perfuming equally well. When one modality fails, existing approaches are unable to detect the drop in performance and disregard the under performing modality. In this paper, a novel middle fusion approach for combining visual and thermal spectrum images for object tracking is proposed. Motion and object detection is performed on each modality and the object detection results for each modality are fused base on the current performance of each modality. Modality performance is determined by comparing the number of objects tracked by the system with the number detected by each mode, with a small allowance made for objects entering and exiting the scene. The tracking performance of the proposed fusion scheme is compared with performance of the visual and thermal modes individually, and a baseline middle fusion scheme. Improvement in tracking performance using the proposed fusion approach is demonstrated. The proposed approach is also shown to be able to detect the failure of an individual modality and disregard its results, ensuring performance is not degraded in such situations.

Towards automatic object segmentation with sequential multiple views

Object segmentation is one of the fundamental steps for a number of robotic applications such as manipulation, object detection, and obstacle avoidance. This paper proposes a visual method for incorporating colour and depth information from sequential multiview stereo images to segment objects of interest from complex and cluttered environments. Rather than segmenting objects using information from a single frame in the sequence, we incorporate information from neighbouring views to increase the reliability of the information and improve the overall segmentation result. Specifically, dense depth information of a scene is computed using multiple view stereo. Depths from neighbouring views are reprojected into the reference frame to be segmented compensating for imperfect depth computations for individual frames. The multiple depth layers are then combined with color information from the reference frame to create a Markov random field to model the segmentation problem. Finally, graphcut optimisation is employed to infer pixels belonging to the object to be segmented. The segmentation accuracy is evaluated over images from an outdoor video sequence demonstrating the viability for automatic object segmentation for mobile robots using monocular cameras as a primary sensor.

Enhancement of Construction Equipment Detection in Video Frames by Combining with Tracking

Vision-based object detection has been introduced in construction for recognizing and locating construction entities in on-site camera views. It can provide spatial locations of a large number of entities, which is beneficial in large-scale, congested construction sites. However, even a few false detections prevent its practical applications. In resolving this issue, this paper presents a novel hybrid method for locating construction equipment that fuses the function of detection and tracking algorithms. This method detects construction equipment in the video view by taking advantage of entities' motion, shape, and color distribution. Background subtraction, Haar-like features, and eigen-images are used for motion, shape, and color information, respectively. A tracking algorithm steps in the process to make up for the false detections. False detections are identified by catching drastic changes in object size and appearance. The identified false detections are replaced with tracking results. Preliminary experiments show that the combination with tracking has the potential to enhance the detection performance.

Visual-Context Boosting for Eye Detection

Eye detection plays an important role in many practical applications. This paper presents a novel two-step scheme for eye detection. The first step models an eye by a newly defined visual-context pattern (VCP), and the second step applies semisupervised boosting for precise detection. VCP describes both the space and appearance relations between an eye region (region of eye) and a reference region (region of reference). The context feature of a VCP is extracted by using the integral image. Aiming to reduce the human labeling efforts, we apply semisupervised boosting, which integrates the context feature and the Haar-like features for precise eye detection. Experimental results on several standard face data sets demonstrate that the proposed approach is effective, robust, and efficient. We finally show that this approach is ready for practical applications.

Foreground Object Segmentation from Binocular Stereo Video

Moving cameras are needed for a wide range of applications in robotics, vehicle systems, surveillance, etc. However, many foreground object segmentation methods reported in the literature are unsuitable for such settings; these methods assume that the camera is fixed and the background changes slowly, and are inadequate for segmenting objects in video if there is significant motion of the camera or background. To address this shortcoming, a new method for segmenting foreground objects is proposed that utilizes binocular video. The method is demonstrated in the application of tracking and segmenting people in video who are approximately facing the binocular camera rig. Given a stereo image pair, the system first tries to find faces. Starting at each face, the region containing the person is grown by merging regions from an over-segmented color image. The disparity map is used to guide this merging process. The system has been implemented on a consumer-grade PC, and tested on video sequences of people indoors obtained from a moving camera rig. As can be expected, the proposed method works well in situations where other foreground-background segmentation methods typically fail. We believe that this superior performance is partly due to the use of object detection to guide region merging in disparity/color foreground segmentation, and partly due to the use of disparity information available with a binocular rig, in contrast with most previous methods that assumed monocular sequences.

Interferometer for Co-operating Target Motion Detection

A correlation interferometer working with a cooperation target operating at 2.2GHz center frequency is presented. This simplified interferometer presented here uses a
lock-in amplifier to significantly increase system sensitivity when used in conjunction with a co-operating target signaling using amplitude modulation. The system is verified by detecting the angular velocity of passing tagged target. Experimental results show detectable range up over 110 meters in a multipath environment using a 10dBm EIRP tag.