Tiny Drone Tracking Framework Using Multiple Trackers and Kalman-based Predictor

Unmanned aerial vehicles like drones are one of the key development technologies with many beneficial applications. As they have made great progress, security and privacy issues are also growing. Drone tacking with a moving camera is one of the important methods to solve these issues. There are various challenges of drone tracking. First, drones move quickly and are usually tiny. Second, images captured by a moving camera have illumination changes. Moreover, the tracking should be performed in real-time for surveillance applications. For fast and accurate drone tracking, this paper proposes a tracking framework utilizing two trackers, a predictor, and a refinement process. One tracker finds a moving target based on motion flow and the other tracker locates the region of interest (ROI) employing histogram features. The predictor estimates the trajectory of the target by using a Kalman filter. The predictor contributes to keeping track of the target even if the trackers fail. Lastly, the refinement process decides the location of the target taking advantage of ROIs from the trackers and the predictor. In experiments on our dataset containing tiny flying drones, the proposed method achieved an average success rate of 1.134 times higher than conventional tracking methods and it performed at an average run-time of 21.08 frames per second.

Remote sensing of atmospheric winds using an infrared all-sky imager

<p>The motion of clouds at a given location can be detected using ground-based all-sky imagers that frequently acquire images of the sky dome. Motion flow is used for minute-scale forecasting of cloud cover and solar irradiance, for example in the case of forecasting photovoltaic power production. While visible-range sky cameras are often applied for this purpose, they neither allow to detect the altitude of clouds, nor accurately detect clouds at night time. However, thermal-infrared all-sky imagers, such as Reuniwatt’s Sky InSight, retrieve brightness temperatures with constant accuracy at day and night time. This allows for the retrieval of diverse cloud parameters such as cloud base height. Atmospheric wind vectors can be derived and geolocalised by combining cloud motion detection and cloud-base height retrieval. In this study, we evaluate the accuracy of atmospheric wind vector retrievals by the means of the Sky InSight. Radiosoundings and wind profiler observations are used as a reference.</p>

Anomalous Event Recognition in Videos Based on Joint Learning of Motion and Appearance with Multiple Ranking Measures

Given the scarcity of annotated datasets, learning the context-dependency of anomalous events as well as mitigating false alarms represent challenges in the task of anomalous activity detection. We propose a framework, Deep-network with Multiple Ranking Measures (DMRMs), which addresses context-dependency using a joint learning technique for motion and appearance features. In DMRMs, the spatial-time-dependent features are extracted from a video using a 3D residual network (ResNet), and deep motion features are extracted by integrating the motion flow maps’ information with the 3D ResNet. Afterward, the extracted features are fused for joint learning. This data fusion is then passed through a deep neural network for deep multiple instance learning (DMIL) to learn the context-dependency in a weakly-supervised manner using the proposed multiple ranking measures (MRMs). These MRMs consider multiple measures of false alarms, and the network is trained with both normal and anomalous events, thus lowering the false alarm rate. Meanwhile, in the inference phase, the network predicts each frame’s abnormality score along with the localization of moving objects using motion flow maps. A higher abnormality score indicates the presence of an anomalous event. Experimental results on two recent and challenging datasets demonstrate that our proposed framework improves the area under the curve (AUC) score by 6.5% compared to the state-of-the-art method on the UCF-Crime dataset and shows AUC of 68.5% on the ShanghaiTech dataset.

Object tracking using motion flow projection for pan-tilt configuration

We propose a new object tracking model for two degrees of freedom mechanism. Our model uses a reverse projection from a camera plane to a world plane. Here, the model takes advantage of optic flow technique by re-projecting the flow vectors from the image space into world space. A pan-tilt (PT) mounting system is used to verify the performance of our model and maintain the tracked object within a region of interest (ROI). This system contains two servo motors to enable a webcam rotating along PT axes. The PT rotation angles are estimated based on a rigid transformation of the the optic flow vectors in which an idealized translation matrix followed by two rotational matrices around PT axes are used. Our model was tested and evaluated using different objects with different motions. The results reveal that our model can keep the target object within a certain region in the camera view.