Sistema visual para Ground Truth de sistemas autónomos

Este trabalho visa contribuir para o desenvolvimento de um sistema de visão multi-câmara para determinação da localização, atitude e seguimento de múltiplos objectos, para ser utilizado na unidade de robótica do INESCTEC, e resulta da necessidade de ter informação externa exacta que sirva de referência no estudo, caracterização e desenvolvimento de algoritmos de localização, navegação e controlo de vários sistemas autónomos. Com base na caracterização dos veículos autónomos existentes na unidade de robótica do INESCTEC e na análise dos seus cenários de operação, foi efectuado o levantamento de requisitos para o sistema a desenvolver. Foram estudados os fundamentos teóricos, necessários ao desenvolvimento do sistema, em temas relacionados com visão computacional, métodos de estimação e associação de dados para problemas de seguimento de múltiplos objectos . Foi proposta uma arquitectura para o sistema global que endereça os vários requisitos identi cados, permitindo a utilização de múltiplas câmaras e suportando o seguimento de múltiplos objectos, com ou sem marcadores. Foram implementados e validados componentes da arquitectura proposta e integrados num sistema para validação, focando na localização e seguimento de múltiplos objectos com marcadores luminosos à base de Light-Emitting Diodes (LEDs). Nomeadamente, os módulos para a identi cação dos pontos de interesse na imagem, técnicas para agrupar os vários pontos de interesse de cada objecto e efectuar a correspondência das medidas obtidas pelas várias câmaras, método para a determinação da posição e atitude dos objectos, ltro para seguimento de múltiplos objectos. Foram realizados testes para validação e a nação do sistema implementado que demonstram que a solução encontrada vai de encontro aos requisitos, e foram identi cadas as linhas de trabalho para a continuação do desenvolvimento do sistema global.

Real-Time Visual Ground-Truth System for Indoor Robotic Applications

The robotics community is concerned with the ability to infer and compare the results from researchers in areas such as vision perception and multi-robot cooperative behavior. To accomplish that task, this paper proposes a real-time indoor visual ground truth system capable of providing accuracy with at least more magnitude than the precision of the algorithm to be evaluated. A multi-camera architecture is proposed under the ROS (Robot Operating System) framework to estimate the 3D position of objects and the implementation and results were contextualized to the Robocup Middle Size League scenario.

Calibration Method for Underwater Visual Ground-Truth System

This work presents an automatic calibration method for a vision based external underwater ground-truth positioning system. These systems are a relevant tool in benchmarking and assessing the quality of research in underwater robotics applications. A stereo vision system can in suitable environments such as test tanks or in clear water conditions provide accurate position with low cost and flexible operation. In this work we present a two step extrinsic camera parameter calibration procedure in order to reduce the setup time and provide accurate results. The proposed method uses a planar homography decomposition in order to determine the relative camera poses and the determination of vanishing points of detected lines in the image to obtain the global pose of the stereo rig in the reference frame. This method was applied to our external vision based ground-truth at the INESC TEC/Robotics test tank. Results are presented in comparison with an precise calibration performed using points obtained from an accurate 3D LIDAR modelling of the environment.

Ground truth determination for segmentation of tomographic volumes using interpolation

Dissertação para obtenção do Grau de Mestre em Engenharia Biomédica

Analysis of the Atmosphere Aerosol and Ozone Condition Over Tbilisi Using Satellite Data and Ground Truth Measurements

Ground-based measurements of the parameters of atmosphere in Tbilisi during the same period, which are provided by the Mikheil Nodia Institute of geophysics, were used as calibration data. Satellite data monthly averaging, preprocessing, analysis and visualization was performed using Giovanni web-based application. Maps of trends and periodic components of the atmosphere aerosol optical thickness and ozone concentration over the study area were calculated.

Development of a tool for the construction of "ground truth" for complex color images with text

Aquesta memoria resumeix el treball de final de carrera d’Enginyeria Superior d’Informàtica. Explicarà les principals raons que han motivat el projecte així com exemples que il·lustren l’aplicació resultant. En aquest cas el software intentarà resoldre la actual necessitat que hi ha de tenir dades de Ground Truth per als algoritmes de segmentació de text per imatges de color complexes. Tots els procesos seran explicats en els diferents capítols partint de la definició del problema, la planificació, els requeriments i el disseny fins a completar la il·lustració dels resultats del programa i les dades de Ground Truth resultants.

From Craton to Rift: Empirically Based Ground-Truth Criteria for Local Events Recorded on Regional Networks

Region-specific empirically based ground-truth (EBGT) criteria used to estimate the epicentral-location accuracy of seismic events have been developed for the Main Ethiopian Rift and the Tibetan plateau. Explosions recorded during the Ethiopia-Afar Geoscientific Lithospheric Experiment (EAGLE), the International Deep Profiling of Tibet, and the Himalaya (INDEPTH III) experiment provided the necessary GT0 reference events. In each case, the local crustal structure is well known and handpicked arrival times were available, facilitating the establishment of the location accuracy criteria through the stochastic forward modeling of arrival times for epicentral locations. In the vicinity of the Main Ethiopian Rift, a seismic event is required to be recorded on at least 8 stations within the local Pg/Pn crossover distance and to yield a network-quality metric of less than 0.43 in order to be classified as EBGT5(95%) (GT5 with 95% confidence). These criteria were subsequently used to identify 10 new GT5 events with magnitudes greater than 2.1 recorded on the Ethiopian Broadband Seismic Experiment (EBSE) network and 24 events with magnitudes greater than 2.4 recorded on the EAGLE broadband network. The criteria for the Tibetan plateau are similar to the Ethiopia criteria, yet slightly less restrictive as the network-quality metric needs to be less than 0.45. Twenty-seven seismic events with magnitudes greater than 2.5 recorded on the INDEPTH III network were identified as GT5 based on the derived criteria. When considered in conjunction with criteria developed previously for the Kaapvaal craton in southern Africa, it is apparent that increasing restrictions on the network-quality metric mirror increases in the complexity of geologic structure from craton to plateau to rift. Accession Number: WOS:000322569200012

Seasonal cycles of monthly means of ground truth wind speed of METAR station GVAC and of area-averaged TMI wind speed at 37 GHz for the Cape Verde Island Sal

In the present paper ground truth and remotely sensed datasets were used for the investigation and quantification of the impact of Saharan dust on microwave propagation, the verification of theoretical results, and the validation of wind speeds determined by satellite microwave sensors. The influence of atmospheric dust was verified in two different study areas by investigations of single dust storms, wind statistics, wind speed scatter plots divided by the strength of Saharan dust storms, and wind speed differences in dependence of microwave frequencies and dust component of aerosol optical depth. An increase of the deviations of satellite wind speeds to ground truth wind speeds with higher microwave frequencies, with stronger dust storms, and with higher amount of coarse dust aerosols in coastal regions was obtained. Strong Saharan dust storms in coastal areas caused mean relative errors in the determination of wind speed by satellite microwave sensors of 16.3% at 10.7 GHz and of 20.3% at 37 GHz. The mean relative errors were smaller in the open sea area with 3.7% at 10.7 GHz and with 11.9% at 37 GHz.

A Ground-Truth Video Dataset for the Development and Evaluation of Vision-based Sense-and-Avoid systems

The importance of vision-based systems for Sense-and-Avoid is increasing nowadays as remotely piloted and autonomous UAVs become part of the non-segregated airspace. The development and evaluation of these systems demand flight scenario images which are expensive and risky to obtain. Currently Augmented Reality techniques allow the compositing of real flight scenario images with 3D aircraft models to produce useful realistic images for system development and benchmarking purposes at a much lower cost and risk. With the techniques presented in this paper, 3D aircraft models are positioned firstly in a simulated 3D scene with controlled illumination and rendering parameters. Realistic simulated images are then obtained using an image processing algorithm which fuses the images obtained from the 3D scene with images from real UAV flights taking into account on board camera vibrations. Since the intruder and camera poses are user-defined, ground truth data is available. These ground truth annotations allow to develop and quantitatively evaluate aircraft detection and tracking algorithms. This paper presents the software developed to create a public dataset of 24 videos together with their annotations and some tracking application results.

Detecting outliers and asserting consistency in agriculture ground truth information by using temporal VI data from modis.

Collecting ground truth data is an important step to be accomplished before performing a supervised classification. However, its quality depends on human, financial and time ressources. It is then important to apply a validation process to assess the reliability of the acquired data. In this study, agricultural infomation was collected in the Brazilian Amazonian State of Mato Grosso in order to map crop expansion based on MODIS EVI temporal profiles. The field work was carried out through interviews for the years 2005-2006 and 2006-2007. This work presents a methodology to validate the training data quality and determine the optimal sample to be used according to the classifier employed. The technique is based on the detection of outlier pixels for each class and is carried out by computing Mahalanobis distances for each pixel. The higher the distance, the further the pixel is from the class centre. Preliminary observations through variation coefficent validate the efficiency of the technique to detect outliers. Then, various subsamples are defined by applying different thresholds to exclude outlier pixels from the classification process. The classification results prove the robustness of the Maximum Likelihood and Spectral Angle Mapper classifiers. Indeed, those classifiers were insensitive to outlier exclusion. On the contrary, the decision tree classifier showed better results when deleting 7.5% of pixels in the training data. The technique managed to detect outliers for all classes. In this study, few outliers were present in the training data, so that the classification quality was not deeply affected by the outliers.

Mappatura degli habitat bentonici dei canali di marea della Laguna di Venezia tramite strumenti acustici e tecniche di ground-truth

The Venice Lagoon is a complex, heterogeneous and highly dynamic system, subject to anthropogenic and natural pressures that deeply affect the functioning of this ecosystem. Thanks to the development of acoustic technologies, it is possible to obtain maps with a high resolution that describe the characteristics of the seabed. With this aim, a high resolution Multibeam Echosounder (MBES) bathymetry and backscatter survey was carried out in 2021 within the project Research Programme Venezia 2021. Ground-truthing samples were collected in 24 sampling sites to characterize the seafloor and validate the maps produced with the MBES acoustic data. Ground-truthing included the collection of sediment samples for particle size analysis and video footage of the seabed to describe the biological component. The backscatter data was analysed using the unsupervised Jenks classification. We created a map of the habitats integrating morphological, granulometric and biological data in a GIS environment. The results obtained in this study were compared to those collected in 2015 as part of the National Flagship Project RITMARE. Through the comparison of the repeated morpho-bathymetric surveys over time we highlighted the changes of the seafloor geomorphology, sediment, and habitat distribution. We observed different type of habitats and the presence of areas characterized by erosive processes and others in which deposition occurred. These effects led to changes in the benthic communities and in the type of sediment. The combination of the MBES surveys, the ground truth data and the GIS methodology, permitted to construct high-resolution maps of the seafloor and proved to be effective implement for monitoring an extremely dynamic area. This work can contribute not only to broaden the knowledge of transitional environments, but also to their monitor and protection.

Desenvolvimento de um método semiautomático para geração de ground truths de vídeos

Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq)