Towards Collaborative Robotics in Top View Surveillance:A Framework for Multiple Object Tracking by Detection Using Deep Learning

Collaborative Robotics is one of the high-interest research topics in the area of academia and industry.It has been progressively utilized in numerous applications,particularly in intelligent surveillance systems.It allows the deployment of smart cameras or optical sensors with computer vision techniques,which may serve in several object detection and tracking tasks.These tasks have been considered challenging and high-level perceptual problems,frequently dominated by relative information about the environment,where main concerns such as occlusion,illumination,background,object deformation,and object class variations are commonplace.In order to show the importance of top view surveillance,a collaborative robotics framework has been presented.It can assist in the detection and tracking of multiple objects in top view surveillance.The framework consists of a smart robotic camera embedded with the visual processing unit.The existing pre-trained deep learning models named SSD and YOLO has been adopted for object detection and localization.The detection models are further combined with different tracking algorithms,including GOTURN,MEDIANFLOW,TLD,KCF,MIL,and BOOSTING.These algorithms,along with detection models,help to track and predict the trajectories of detected objects.The pre-trained models are employed;therefore,the generalization performance is also investigated through testing the models on various sequences of top view data set.The detection models achieved maximum True Detection Rate 93%to 90%with a maximum 0.6%False Detection Rate.The tracking results of different algorithms are nearly identical,with tracking accuracy ranging from 90%to 94%.Furthermore,a discussion has been carried out on output results along with future guidelines.

Architectural Building Detection and Tracking in Video Sequences Taken by Unmanned Aircraft System （UAS）

An Unmanned Aircraft System （UAS） is an aircraft or ground station that can be either remote controlled manually or is capable of flying autonomously under the guidance of pre-programmed Global Positioning System （GPS） waypoint flight plans or more complex onboard intelligent systems. The UAS aircrafts have recently found extensive applications in military reconnaissance and surveillance, homeland security, precision agriculture, fire monitoring and analysis, and other different kinds of aids needed in disasters. Through surveillance videos captured by a UAS digital imaging payload over the interest areas, the corresponding UAS missions can be conducted. In this paper, the authors present an effective method to detect and extract architectural buildings under rural environment from UAS video sequences. The SIFT points are chosen as image features. The planar homography is adopted as the motion model between different image frames. The proposed algorithm is tested on real UAS video data.

A Climatology of Extratropical Cyclones over East Asia During 1958-2001

A climatology of extratropical cyclones （ECs） over East Asia （20~ 75~N, 60^-160~E） is analyzed by applying an improved objective detection and tracking algorithm to the 4-time daily sea level pressure fields from the European Centre for Medium-range Weather Forecasts （ECMWF） reanalysis data. A total of 12914 EC processes for the period of 1958-2001 are identified, with an EC database integrated and EC activities reanalyzed using the objective algorithm. The results reveal that there are three major cyclogenesis regions： West Siberian Plain, Mongolia （to the south of Lake Baikal）, and the coastal region of East China; whereas significant cyclolysis regions are observed in Siberia north of 60~N, Northeast China, and Okhotsk Se^Northwest Pacific. It is found that the EC lifetime is largely 1 7 days while winter ECs have the shortest lifespan. The ECs are the weakest in summer among the four seasons. Strong ECs often appear in West Siberia, Northeast China, and Okhotsk Sea-Northwest Pacific. Statistical analysis based on k-means clustering has identified 6 dominating trajectories in the area south of 55~N and east of 80~E, among which 4 tracks have important impacts on weather/climate in China. ECs occurring in spring （summer） tend to travel the longest （shortest）. They move the fastest in winter, and the slowest in summer. In winter, cyclones move fast in Northeast China, some areas of the Yangtze-Huaihe River region, and the south of Japan, with speed greater than 15 m s-1. Explosively-deepening cyclones are found to occur frequently along the east coast of China, Japan, and Northwest Pacific, but very few storms occur over the inland area. Bombs prefer to occur in winter, spring, and autumn. Their annual number and intensity in 1990 and 1992 in East Asia （EA） are smaller and weaker than their counterparts in North America.