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The addition of contextual sensors to mobile radiation sensors provides valuable information about radiological source encounters that can assist in adjudication of alarms. This study explores how computer-vision based object detection and…
Pedestrian detection is a critical task in robot perception. Multispectral modalities (visible light and thermal) can boost pedestrian detection performance by providing complementary visual information. Several gaps remain with…
Pedestrian tracking has long been considered an important problem, especially in security applications. Previously,many approaches have been proposed with various types of sensors. One popular method is Pedestrian Dead Reckoning(PDR) [1]…
Tracking-by-detection has become the de facto standard approach to people tracking. To increase robustness, some approaches incorporate re-identification using appearance models and regressing motion offset, which requires costly identity…
Current approaches in Multiple Object Tracking (MOT) rely on the spatio-temporal coherence between detections combined with object appearance to match objects from consecutive frames. In this work, we explore MOT using object appearances as…
In general, background subtraction-based methods are used to detect moving objects in visual tracking applications. In this paper, we employed a background subtraction-based scheme to detect the temporarily stationary objects. We proposed…
Scattering can rapidly degrade our ability to form an optical image, to the point where only speckle-like patterns can be measured. Truly non-invasive imaging through a strongly scattering obstacle is difficult, and usually reliant on a…
This paper presents a preliminary study of an efficient object tracking approach, comparing the performance of two different 3D point cloud sensory sources: LiDAR and stereo cameras, which have significant price differences. In this…
Active Search and Tracking for search and rescue missions or collaborative mobile robotics relies on the actuation of a sensing platform to detect and localize a target. In this paper we focus on visually detecting a radio-emitting target…
Augmented Reality (AR) brings immersive experiences to users. With recent advances in computer vision and mobile computing, AR has scaled across platforms, and has increased adoption in major products. One of the key challenges in enabling…
This paper presents a novel approach to visual tracking: Similarity Matching Ratio (SMR). The traditional approach of tracking is minimizing some measures of the difference between the template and a patch from the frame. This approach is…
Surveillance cameras are widely applied for indoor occupancy measurement and human movement perception, which benefit for building energy management and social security. To address the challenges of limited view angle of single camera as…
Visual localization and mapping is a crucial capability to address many challenges in mobile robotics. It constitutes a robust, accurate and cost-effective approach for local and global pose estimation within prior maps. Yet, in highly…
Simultaneous localization and mapping (SLAM) is critical to the implementation of autonomous driving. Most LiDAR-inertial SLAM algorithms assume a static environment, leading to unreliable localization in dynamic environments. Moreover, the…
A complete overview of the surrounding vehicle environment is important for driver assistance systems and highly autonomous driving. Fusing results of multiple sensor types like camera, radar and lidar is crucial for increasing the…
Sometimes a simple and fast algorithm is required to detect human presence and movement with a low error rate in a controlled environment for security purposes. Here a light weight algorithm has been presented that generates alert on…
In this paper, we aim at improving the tracking of road users in urban scenes. We present a constraint programming (CP) approach for the data association phase found in the tracking-by-detection paradigm of the multiple object tracking…
Consider the goal of visiting every part of a room that is not blocked by obstacles. Doing so efficiently requires both sensors and planning. Our findings suggest a method of inexpensive optical range finding for robotic room traversal. Our…
Object tracking becomes critical especially when similar objects are present in the same area. Recent state-of-the-art (SOTA) approaches are proposed based on taking a matching network with a heavy structure to distinguish the target from…
Objects moving at high speed along complex trajectories often appear in videos, especially videos of sports. Such objects elapse non-negligible distance during exposure time of a single frame and therefore their position in the frame is not…