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Marco Munderloh - Detection of Moving Objects for Aerial Surveillance of Arbitrary Terrain

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Marco Munderloh

Detection of Moving Objects for Aerial Surveillance of Arbitrary Terrain

Reihe: Informatik/ Kommunikation

Band 847 2016

Treffer in den folgenden Teilen:

Summary and Conclusions S. 93-96

„… detections a lot, as objects moving against the motion parallax displacement direction or which are fast …” „… moving objects in the scene but the high number of false positive detections due to the huge central …” „… objects and 100% of correctly classified background pixels. For the fully automatic detection of moving …”

Experiments S. 73-92

„… 73 5 Experiments In this chapter, different techniques and methods of moving object detection in …” „… containing moving objects. 5.1 Motion Vector Classification In this section, well known outlier detection …” „… due to missing feature points or newly occurring background. 5.3 Moving Object Detection Performance …”

Titelei/Inhaltsverzeichnis S. I-XII

„… Reihe 10 Detection of Moving Objects for Aerial Surveillance of Arbitrary Terrain Institut für …” „… Seite 1 Detection of Moving Objects for Aerial Surveillance of Arbitrary Terrain Der Fakultät für …” „… Promotion: 24.03.2015 Fortschritt-Berichte VDI Detection of Moving Objects for Aerial Surveillance of …”

Introduction S. 1-9

„… 1 1 Introduction The detection and segmentation of moving objects in video sequences is a common …” „… detection of moving ground objects, this accuracy is not high enough. Therefore it is appropriate to use the …” „… ways: the first one is to improve the detection of moving objects, independent of the image content …”

Planar Landscape Error Model S. 34-57

„… objects. However, in aerial ground moving object detection systems, moving objects are detected by a …” „… detection system of moving ground objects, this might lead to mis-detections. The equivalent speed of a …” „… displacement of individual moving ground objects. 3.1 Aerial Surveillance Scene Model First we take the general …”

Basic Principles S. 10-33

„… Equation 2.32. 2.6 Moving Object Detection by Background Subtraction The detection of motion in a scene is …” „… current frame which are not caused by moving objects and therefore lead to false positive detections. In …” „… Object Detection by Background Subtraction 23 is just a scaling factor and has no further influence. H is …”

Multi-Planar Landscape Model based on Triangle Meshes S. 58-72

„… moving object detection systems. In contrast to the planar landscape model, multiple affine projections …” „… 4.3a). Two possible solutions to this problem are to limit the moving object detection to the …” „… Detection 61 4.2 Outlier Removal and Moving Object Detection As the mesh-based global motion compensation …”

Bibliography S. 97-106

„… Detection of Moving Objects in Aerial Surveillance. In IEEE CVPR 2011, 1st Workshop of Aerial Video …” „… [60] M. Teutsch. Moving Object Detection and Segmentation for Remote Aerial Video Surveillance. PhD …” „… library. URL: http://xfig.org. [13] Y.-C. Chung and Z. He. Low-Complexity and Reliable Moving Objects …”

doi.org/10.51202/9783186847102

Sascha Steyer - Grid-Based Object Tracking

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Sascha Steyer

Grid-Based Object Tracking

Reihe: Mess-, Steuerungs- und Regelungstechnik

Band 1272 2021

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Introduction S. 1-12

„… , in particular the detection and tracking of moving objects in the context of automated driving. This …” „… , 137]. Hence, this enables a moving object detection by clustering measurement data classified as …” „… classification. Chapter 4 presents novel approaches for the moving object detection and data association, both …”

Conclusion S. 165-168

„… environment model is required that properly represents moving objects, static obstacles, and passable …” „… additional low-level dynamic grid estimation further enables a generic detection of arbitrary-shaped moving …” „… Association: Moving objects are robustly detected based on the dynamic grid estimation with the low-level …”

Evaluation S. 127-164

„… ) Fig. 6.13: Moving object with an unstructured shape; the detection pattern of the low-mounted lidar …” „… object instances. The measurement detections of each individual sensor are represented as a measurement …” „… object instances are extracted and tracked, where for moving objects only dynamic occupied cells have to …”

Object Extraction and Association S. 79-100

„… the moving object detection of the environment, since only occupied areas classified as dynamic have …” „… occupancy classification simplifies the moving object detection and which strategies arise for the data …” „… environment, i.e., moving objects. Overall, this significantly simplifies the object detection and tracking …”

Bibliography S. 170-186

„… . Asvadi, P. Peixoto, and U. Nunes. Detection and Tracking of Moving Objects Using 2.5D Motion Grids. In …” „… . Chavez-Garcia and O. Aycard. Multiple Sensor Fusion and Classification for Moving Object Detection and Tracking …” „… . Urmson, N. Vandapel, M. Hebert, C. Thorpe, D. Duggins, and J. Gowdy. Moving object detection with laser …”

Measurement Grid Representation and Fusion S. 13-38

„… grid mapping and thus also for the detection and the pose and shape estimation of moving objects of …” „… and camera information, which partly enable a direct detection of moving objects and a classification …” „… the fixed world has a static state that does not change, i.e., no moving objects occur in the local …”

Titelei/Inhaltsverzeichnis S. I-XII

„… – Moving Object Detection – Object State Estimation – Object Tracking – Occupancy Grid Mapping – Sensor …” „… strategy that enables a generic detection of arbitrary-shaped moving objects primarily by identifying their …” „… combines tracking moving objects and mapping the static environment. The basic idea is to fuse and …”

Dynamic Grid Mapping and Particle Tracking S. 39-78

„… , detections of moving objects with large Doppler velocities are robustly classified as dynamic, whereas a …” „… performing any prediction, since moving objects would cause contradicting occupancy artifacts along their …” „… inconsistency has to be the result of a moving object that currently passes over that cell, i.e., a dynamically …”

Object State Estimation S. 101-126

„… association, in scenarios with different viewing angles of a moving object, temporal occlusions, or densely …” „… , a fast-moving object with vt−1 ≫ 0 that performs a full braking with a ≪ 0 would otherwise, due to a …” „… Radar-Based Dynamic Estimation radar Doppler detections {vrz,i} predicted dynamic object state ŝτ,t = [ x̂xt …”

doi.org/10.51202/9783186272089

Holger Meuel - Analysis of Affine Motion Compensated Prediction and its Application in Aerial Video Coding

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Holger Meuel

Analysis of Affine Motion Compensated Prediction and its Application in Aerial Video Coding

Reihe: Informatik/ Kommunikation

Band 865 2019

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ROI-based System for Low Bit Rate Coding of Aerial Videos S. 65-86

„… ective background subtractingand di erence image-based moving object detector, the detection and …” „… more computationally complex— moving object detection. ¿e additional blocks are summarized in the …” „… object detection Di erence image-based moving object detectors lack accuracy when it comes to …”

Bibliography S. 133-152

„… M. MasnadiShirazi. A Block Matching Based Method for Moving Object Detection in Active Camera. In …” „… , andW.Czajewski.Moving Objects Detection and Tracking Framework for UAV-based Surveillance. In Proceedings of the 4th …” „… . Yuan. Detection and Tracking of Moving Objects from a Moving Platform in Presence of Strong Parallax …”

Basics S. 11-36

„… objects. However, since the focus of this work is not on highly optimized moving object detection, a …” „… simple moving object detector is used. Consequently, in the next subsection the moving object detection …” „… by background subtraction is introduced (based on [90]). 34 2 Basics 2.8.1.1 Moving object detection …”

Introduction S. 1-10

„… . 1.2.1.1 Moving object detection Although, theoretically, ROIs can be arbitrarily de ned, e. g. in the …” „… publications in the eld of aerial surveillance with a moving camera and appropriate moving object detection …” „… ., which could be later-on de ned as ROIs. For aerial surveillance scenarios,moving objects (MO) are o en …”

Summary and Conclusions S. 117-132

„… moving object boundaries. To avoid mis-detections, e. g. due to non-planar ground structures like trees …” „… incorporated into the system. ¿e latter moving object detector provides highly increased pel-wise detection …” „… retain local motion on the ground, moving objects are detected and additionally encoded. As a third …”

Titelei/Inhaltsverzeichnis S. I-XVIII

„… video coding – global motion compensation (GMC) – moving object detection – long-term mosaicking …” „… performant di erence image-based moving object detection . . . . . . 75 4.3 ROI Coding of Aerial Video …” „… of interest- (ROI-) based aerial video coding, moving object detection, long-term mosaicking, radial …”

Experiments S. 87-116

„… objects like cars (moving objects, ROI-MO) not conforming with the global motion are encoded. To …” „… of areas containing moving objects. Table 5.2 shows the coding gains (negative numbers) relative to …” „… quality of a general ROI encoded sequence (proposed; only new areas (ROI-NA) and moving objects (ROI-MO …”

doi.org/10.51202/9783186865106

Matthias Schreiner - Bayesian Environment Representation, Prediction, and Criticality Assessment for Driver Assistance Systems

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Matthias Schreiner

Bayesian Environment Representation, Prediction, and Criticality Assessment for Driver Assistance Systems

Reihe: Verkehrstechnik/Fahrzeugtechnik

Band 797 2016

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Grid Mapping in Dynamic Environments S. 67-102

„… Localization and Mapping (SLAM) and Detection And Tracking of Moving Objects (DATMO) concurrently.3 This …” „… recognition tasks, which do not have to deal with moving object corruptions any more, extend available static …” „… probability of moving objects, and one of static objects. These grids are mapped with different inverse sensor …”

Bibliography S. 221-254

„… Localization and Mapping with Detection and Tracking of Moving Objects. In Proc. of the IEEE International …” „… . Schindler, B. Leibe, and L. Van Gool. Object Detection and Tracking for Autonomous Navigation in Dynamic …” „… of Process Models on Short-term Prediction of Moving Objects for Unmanned Ground Vehicles . In Proc …”

Environment Representations for ADAS S. 6-17

„… road environments because obsolete moving object information is never deleted. Moreover, unknown areas …” „… intermediate step for stereo vision-based obstacle detection and in [123] for the detection of dynamic objects …” „… describing moving objects (M), sensor independence (I), and represented dimension (D). The properties of the …”

Titelei/Inhaltsverzeichnis S. I-XXII

„… Constant Velocity DATMO Detection and Tracking of Moving Objects DBF Discrete Bayes Filter DBN Dynamic …” „… work. It consists of a combination of dynamic object maps for moving objects and so-called Parametric …” „… Time-To-Critical-Collision-Probability (TTCCP) metric for uncertain, multi-object driving situations. Finally, the Advanced Driver …”

Parametric Free Space Maps S. 103-131

„… maps. Since this process can also be interpreted as a novel method of free space detection and …” „… detection and a tracking part, which are both presented subsequently. Implementation and performance aspects …” „… Fig. 5.1. PFS mapping is therefore also a method of free space detection. Knowledge about drivable …”

PRORETA 3: An Integrated Driver Assistance System S. 192-206

„… braking with respect to vehicles moving in the same direction, PRORETA 2 concentrates on dangerous …” „… accident. This safe trajectory considers available static free space, predicted dynamic objects, and …” „… selection Driver monitoring System feedback Trajectory PFS map Dynamic object map Lane information Object …”

Prediction and Criticality Assessment S. 132-191

„… the object-oriented static BNs employed in [122] for the early detection of lane changes (Fig. 6.4c …” „… criticality assessment is discussed. The system itself is composed of a maneuver detection part, a …” „… approaches of maneuver detection, the latter covers the topic by explicitly separating long-term prediction …”

Bayesian Inference for Nonlinear Filtering Tasks S. 18-66

„… 1:k−1). (3.3c) As measurements at time k − 1 do not depend on object states at later times, the …” „… maneuvering targets, which change their motion behavior over time, e.g. from moving straight with nearly …” „… behavior pattern of an object has to be estimated together with its states simultaneously.23 Various …”

doi.org/10.51202/9783186797124

Georg Tanzmeister - Grid-based Environment Estimation for Local Autonomous Vehicle Navigation

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Georg Tanzmeister

Grid-based Environment Estimation for Local Autonomous Vehicle Navigation

Reihe: Mess-, Steuerungs- und Regelungstechnik

Band 1246 2016

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Conclusion S. 123-126

„… Bayesian occupancy grid. An obvious way to remove moving objects and their artifacts in occupancy grids is …” „… shapes; and with GTAM also the dynamic world. 123 7 Conclusion Detection of Principal Moving Directions …” „… motion planning is used for the detection of the principal moving directions, constraints due to the …”

Detection of Principal Moving Directions S. 40-63

„… 3 Detection of Principal Moving Directions The principal moving directions through the local …” „… lattices [128, 129] 41 3 Detection of Principal Moving Directions the motion primitives are carefully …” „… distance-based clustering described above. Principal Moving Directions There are also methods for the detection …”

Introduction S. 1-9

„… recognition, lane marking recognition, curb stone detection, detection of the principal moving directions …” „… objects (blue boxes), 2 1.1 Prior Knowledge for Autonomous Navigation in Road Scenarios Figure 1.1: Highly …” „… . Object tracking, for example, is facilitated, since the structure of the road is known, or traffic lights …”

Bibliography S. 137-154

„… , “Simultaneous localization and mapping with detection and tracking of moving objects,” in Proc. of the IEEE …” „… . 400–406. [19] Q. Baig and O. Aycard, “Improving moving objects tracking using road model for laser data …” „… . Appenrodt, “Online localization and mapping with moving object tracking in dynamic outdoor environments,” in …”

Grid-based Tracking and Mapping S. 10-39

„… that tries to detect the specific shape of the artifacts in the grid caused by the moving objects [168 …” „… an object moving perpendicular to the sensor axis. Note, the measurement of a perpendicular moving …” „… environment and a list of objects the dynamic environment. This chapter presents a combined estimation of the …”

Titelei/Inhaltsverzeichnis S. I-XIV

„… for local mapping, tracking, the detection of principal moving directions, cost evaluations in motion …” „… . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34 2.6 Summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39 3 Detection …” „… of Principal Moving Directions 40 3.1 Introduction …”

Evaluation S. 102-122

„… longitudinal shape parallel to the moving direction of the robot. Such objects, unfortunately, occur often in …” „… to the current measurement, then wrand is low or even zero. Dynamic cells from real moving objects …” „… previous scenario, with a radar sensor and with objects moving in radial direction, a static map can also …”

Road Course and Road Boundary Estimation S. 87-101

„… moving objects, which typically do not constitute to the road boundaries. Although standard occupancy …” „… . The estimated principal moving directions, presented in Chapter 3, yield a first estimate of the …” „… detection are established areas of research [33, 87], and there exists a considerable amount of proposed …”

Appendix S. 127-135

„… operating mode at 25Hz and a constant 0.25 degree resolution. The maximum detection range is at around 200m …” „… . In practice, however, the maximum detection range, especially for continuous road boundaries parallel …” „… robot is moving, the map grid from the previous time step and the current scan grid must be transformed …”

Configuration Space Costs: Cost Evaluation on Workspace Cost Maps S. 64-86

„… against the dynamic world, such as moving objects, both of which are quite different. In collision …” „… compact representation of the objects in the local environment of the robot exists. Since computing a good …” „… avoidance with dynamic objects, such as other vehicles, prediction is a key problem. Since for most cases a …”

doi.org/10.51202/9783186246080

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