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Robot warehouse automation has attracted significant interest in recent years, perhaps most visibly in the Amazon Picking Challenge (APC) [1]. A fully autonomous warehouse pick-and-place system requires robust vision that reliably recognizes and locates objects amid cluttered environments, self-occlusions, sensor noise, and a large variety of objects. In this paper we present an approach that leverages...
Good deployment of sensors empowers the network with effective monitoring ability. Different from omnidirectional sensors, the coverage region of a directional sensor is determined by not only the sensing radius (distance), but also its sensing orientation and spread angle. Heterogeneous sensing distances and spread angles are likely to exist among directional sensors, to which we refer as heterogeneous...
Iterative closest point (ICP) algorithm is a common localization method used to estimate camera poses by aligning two depth frames. Since the input depth map is easily distorted when the camera is in large motion, it might result in incorrect pose estimation and produce apparent drift for ICP-based applications. To alleviate this problem, instead of using the time-consuming graph-based optimization...
In this paper, we segment RGB-D sensor (e.g. Microsoft Kinect camera) images into 3D planar surfaces. We initialize a set of plane equations based solely from the depth (point cloud) information. We then iteratively refine the pixel-to-plane assignment and plane equations. During this process, the number of planes are also reduced by merging adjacent local planes with similar orientations. For the...
In this paper, we demonstrated an application of video tracking to radiation detection, where a vision-based tracking system enables a traditional CZT (cadmium zinc telluride)-based radiation imaging device to detect radioactive targets that are in motion. An integrated real-time system consisting of multiple fixed cameras and radiation detectors was implemented and tested. The multi-camera tracking...
Effective perimeter protection mechanisms for industrial sites and critical infrastructure must contend with a large variety of potential threats as well as with the fact that normal site activity can be both complex and diverse. This paper documents the development of a system level approach capable of functioning under such challenging conditions. A multi-view tracking system is used to provide...
In this paper, we address the problem of online learning to recognize people from visual appearances, a prerequisite step towards building a fully intelligent and context-aware smart environment. While the trajectories of tracked individuals are responsible for producing samples to the appearance signature learning process, it is highly risky to directly label these appearance samples with tracker...
Environments such as schools, public parks and prisons and others that contain a large number of people are typically characterized by frequent and complex social interactions. In order to identify activities and behaviors in such environments, it is necessary to understand the interactions that take place at a group level. To this end, this paper addresses the problem of detecting and predicting...
This work addresses the important problem of the discovery and analysis of social networks from surveillance video. A computer vision approach to this problem is made possible by the proliferation of video data obtained from camera networks, particularly state-of-the-art Pan-Tilt-Zoom (PTZ) and tracking camera systems that have the capability to acquire high-resolution face images as well as tracks...
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