Long Distance Moving Vehicle Tracking with a Multirotor Based on IMM-Directional Track Association

The multirotor has the capability to capture distant objects. Because the computing resources of the multirotor are limited, efficiency is an important factor to consider. In this paper, multiple target tracking with a multirotor at a long distance (~400 m) is addressed; the interacting multiple model (IMM) estimator combined with the directional track-to-track association (abbreviated as track association) is proposed. The previous work of the Kalman estimator with the track association approach is extended to the IMM estimator with the directional track association. The IMM estimator can handle multiple targets with various maneuvers. The track association scheme is modified in consideration of the direction of the target movement. The overall system is composed of moving object detection for measurement generation and multiple target tracking for state estimation. The moving object detection consists of frame-to-frame subtraction of three-color layers and thresholding, morphological operation, and false alarm removing based on the object size and shape properties. The centroid of the detected object is input into the next tracking stage. The track is initialized using the difference between two nearest points measured in consecutive frames. The measurement nearest to the state prediction is used to update the state of the target for measurement-to-track association. The directional track association tests both the hypothesis and the maximum deviation between the displacement and directions of two tracks followed by track selection, fusion, and termination. In the experiment, a multirotor flying at an altitude of 400 m captured 55 moving vehicles around a highway interchange for about 20 s. The tracking performance is evaluated for the IMMs using constant velocity (CV) and constant acceleration (CA) motion models. The IMM-CA with the directional track association scheme outperforms other methods with an average total track life of 91.7% and an average mean track life of 84.2%.

Sifting through the Static: Moving Object Detection in Difference Images

Trans-Neptunian objects provide a window into the history of the solar system, but they can be challenging to observe due to their distance from the Sun and relatively low brightness. Here we report the detection of 75 moving objects that we could not link to any other known objects, the faintest of which has a VR magnitude of 25.02 ± 0.93 using the Kernel-Based Moving Object Detection (KBMOD) platform. We recover an additional 24 sources with previously known orbits. We place constraints on the barycentric distance, inclination, and longitude of ascending node of these objects. The unidentified objects have a median barycentric distance of 41.28 au, placing them in the outer solar system. The observed inclination and magnitude distribution of all detected objects is consistent with previously published KBO distributions. We describe extensions to KBMOD, including a robust percentile-based lightcurve filter, an in-line graphics-processing unit filter, new coadded stamp generation, and a convolutional neural network stamp filter, which allow KBMOD to take advantage of difference images. These enhancements mark a significant improvement in the readiness of KBMOD for deployment on future big data surveys such as LSST.