Track-Before-Detect Framework-Based Vehicle Monocular Vision Sensors

Abstract

This paper proposes a Track-before-Detect framework for a multibody motion segmentation (named TbD-SfM). Our contribution relies on a tightly coupled tracking before detection strategy intended to reduce the complexity of existing Multibody Structure from Motion approaches. Efforts were done towards an algorithm variant closer and aimed to a further embedded implementation for dynamic scene analysis while enhancing processing time performances. This generic motion segmentation approach can be transposed to several transportation sensor systems since no constraints are considered on segmented motions (6-DOF model). The tracking scheme is analyzed and its performance is evaluated under thorough experimental conditions including full-scale driving scenarios from known and available datasets. Results on challenging scenarios including the presence of multiple and simultaneous moving objects observed from a moving camera are reported and discussed.

Direct Imaging of Stabilized Optical Flow and Possible Anomalies From Moving Vehicle

“…The visual odometry or simultaneous localization and mapping (SLAM) [33] provide a reliable framework for visual navigation. Applications to vehicles include the estimation of ego-motion using the road surface [34], the detection of position/velocity of other vehicles [35] and the inference of road layout for autonomous driving [36]. Additional considerations include tight coupling with multiperson detection [37], the use of vehicle kinematics constraint [38], robust circular matching in tracking and stereo [39], context-aware motion descriptor using oriented histograms of OF [40] etc.…”

Enhanced Initialization for Track-before-Detection based Multibody Motion Segmentation from a Moving Camera

“…The method relies on epipolar geometry, RANSAC formulation and motion estimation for segmenting ego-motion and eoru-motions. The proposed strategy is intended to enhance the initialization procedure employed in [1] obtaining a 50 times speed-up factor. This result is used as input for the Track before Detection (TbD) methodology which efficiently simplifies the existing multibody Structure from Motion implementation approaches.…”

“…This work presents an enhanced variant of the Trackbefore-Detect-SfM (TbD-SfM) method introduced in [1]. It is worth noting that the approach introduced in [14] was employed in [1] for initializing motion segmentation. This paper outlines a closed-form approach to segment six degree of freedom (6DoF) simultaneous motion based on geometric constraints and RANSAC formulation.…”

Dual-Polarized Multi-Channel 24 GHz Radar Sensor Antenna for High Channel-to-Channel Isolation

“…Sensors have become the key enabling technologies of the Internet-of-Things (IoT) applications such as manufacturing and industrial support [ 1 , 2 , 3 , 4 , 5 ], transportation and mobility [ 1 , 2 , 3 , 4 , 5 , 6 ], energy [ 7 , 8 ], retail [ 9 , 10 , 11 ], smart cities [ 12 , 13 ], health care [ 14 , 15 ], supply chain [ 16 , 17 , 18 ], agriculture [ 19 , 20 ], and buildings [ 21 , 22 , 23 ]. With these growing demand for contactless and wireless data acquisition and services, the demand for optimized sensors in various fields is also growing.…”