Robust motion filtering as an enabler to video stabilization for a tele-operated mobile robot

Chereau, Romain; Breckon, Toby P.

doi:10.1117/12.2028360

Cited by 14 publications

(5 citation statements)

References 42 publications

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“…Future work will look to investigate the extension of this work to visible-band imagery, using recent advances in real-time salient object detection [46] and use within the context of mobile platform navigation [47,48] and for multi-platform, multi-modal wide-area search and surveillance tasks [4,49].…”

Section: Discussionmentioning

confidence: 99%

A photogrammetric approach for real-time 3D localization and tracking of pedestrians in monocular infrared imagery

Kundegorski

Breckon

2014

SPIE Proceedings

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Copyright c 2014 Society of Photo-Optical Instrumentation Engineers. One print or electronic copy may be made for personal use only. Systematic electronic or print reproduction and distribution, duplication of any material in this paper for a fee or for commercial purposes, or modication of the content of the paper are prohibited. Additional information:Use policyThe full-text may be used and/or reproduced, and given to third parties in any format or medium, without prior permission or charge, for personal research or study, educational, or not-for-prot purposes provided that:• a full bibliographic reference is made to the original source • a link is made to the metadata record in DRO • the full-text is not changed in any way The full-text must not be sold in any format or medium without the formal permission of the copyright holders.Please consult the full DRO policy for further details. ABSTRACTTarget tracking within conventional video imagery poses a significant challenge that is increasingly being addressed via complex algorithmic solutions. The complexity of this problem can be fundamentally attributed to the ambiguity associated with actual 3D scene position of a given tracked object in relation to its observed position in 2D image space. We propose an approach that challenges the current trend in complex tracking solutions by addressing this fundamental ambiguity head-on. In contrast to prior work in the field, we leverage the key advantages of thermal-band infrared (IR) imagery for the pedestrian localization to show that robust localization and foreground target separation, afforded via such imagery, facilities accurate 3D position estimation to within the error bounds of conventional Global Position System (GPS) positioning. This work investigates the accuracy of classical photogrammetry, within the context of current target detection and classification techniques, as a means of recovering the true 3D position of pedestrian targets within the scene. Based on photogrammetric estimation of target position, we then illustrate the efficiency of regular Kalman filter based tracking operating on actual 3D pedestrian scene trajectories. We present both a statistical and experimental analysis of the associated errors of this approach in addition to real-time 3D pedestrian tracking using monocular infrared (IR) imagery from a thermal-band camera.

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Section: Discussionmentioning

confidence: 99%

A photogrammetric approach for real-time 3D localization and tracking of pedestrians in monocular infrared imagery

Kundegorski

Breckon

2014

SPIE Proceedings

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“…Future development of the autonomous ground vehicle navigation capabilities may include both integration of terrain understanding [51], stereo vision based vehicle guidance [52,53] and drive camera stabilization [54].…”

Section: Discussionmentioning

confidence: 99%

Multi-modal target detection for autonomous wide area search and surveillance

et al. 2013

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Generalised wide are search and surveillance is a common-place tasking for multi-sensory equipped autonomous systems. Here we present on a key supporting topic to this task -the automatic interpretation, fusion and detected target reporting from multi-modal sensor information received from multiple autonomous platforms deployed for wide-area environment search. We detail the realization of a real-time methodology for the automated detection of people and vehicles using combined visible-band (EO), thermal-band (IR) and radar sensing from a deployed network of multiple autonomous platforms (ground and aerial). This facilities real-time target detection, reported with varying levels of confidence, using information from both multiple sensors and multiple sensor platforms to provide environment-wide situational awareness. A range of automatic classification approaches are proposed, driven by underlying machine learning techniques, that facilitate the automatic detection of either target type with cross-modal target confirmation. Extended results are presented that show both the detection of people and vehicles under varying conditions in both isolated rural and cluttered urban environments with minimal false positive detection. Performance evaluation is presented at an episodic level with individual classifiers optimized for maximal each object of interest (vehicle/person) detection over a given search path/pattern of the environment, across all sensors and modalities, rather than on a per sensor sample basis. Episodic target detection, evaluated over a number of wide-area environment search and reporting tasks, generally exceeds 90%+ for the targets considered here.

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“…It is widely used in videography to compensate for the motion of the video camera. The method essentially involves the detection of the motion of the camera from the image frames and shifting of the images to counteract the motion 33 . This decreases the undesirable result of camera vibrations in the video by smoothening the transition from one frame to another.…”

Section: Experimental Methodsmentioning

confidence: 99%

High‐resolution optical microscopy for characterising microstructural deformation in microtensile testing

Wanni

Michopoulos

Bagchi

et al. 2020

Journal of Microscopy

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Summary Imaging surface deformation of a coupon specimen in microtensile testing with an optical microscope presents challenges due to the narrow depth of field (DoF) of optical microscopes. Materials being heterogeneous at microscopic length scale, the sample surface deforms into a complex 3D surface texture, evolving continuously as the loading increases. Because of the narrow DoF, the region that is in focus within the field of view (FoV) decreases substantially in size with the increasing out‐of‐plane heterogeneous deformation. To address this challenge, a method based on image blending and stabilisation of the captured image frames is proposed. Image blending combines the partial regions that are in focus from a set of successive image frames captured at different working distances from the object surface plane to construct a single image that has a large part of the FoV in focus. The blended images are then obtained at different levels of macroscopic strains, that is the global homogeneous strain, in order to characterise the evolution of the heterogeneous deformation. The image stabilisation removes any misalignments of the blended images by spatially realigning them choosing a common feature as a reference point. The validation of the proposed method with conventionally and additively manufactured stainless steel 316L (SS 316L) specimens demonstrates excellent improvement in image quality. Almost 100% of the FoV is maintained in focus regardless of the amount of out‐of‐plane heterogeneous deformation caused during tensile testing, which is quite remarkable for optical microscopy imaging. Consequently, the blended and stabilised images enhanced the accuracy of digital image correlation (DIC). Time‐lapse videos of the deformation generated using these images captured the evolution of the slip bands and their transmission through twinning boundaries in the stainless steel microstructure. Overall, this study demonstrates the feasibility of using image‐processing techniques to advance optical microscopy to image complex 3D surfaces evolving with time.

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Robust motion filtering as an enabler to video stabilization for a tele-operated mobile robot

Cited by 14 publications

References 42 publications

A photogrammetric approach for real-time 3D localization and tracking of pedestrians in monocular infrared imagery

A photogrammetric approach for real-time 3D localization and tracking of pedestrians in monocular infrared imagery

Multi-modal target detection for autonomous wide area search and surveillance

High‐resolution optical microscopy for characterising microstructural deformation in microtensile testing

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