A temporal-spatial background modeling of dynamic scenes

Moving object detection in dynamic scenes is a basic task in a surveillance system for sensor data collection. In this paper, we present a powerful back- ground subtraction algorithm called Gaussian-kernel density estimator （G-KDE） that improves the accuracy and reduces the computational load. The main innovation is that we divide the changes of background into continuous and stable changes to deal with dynamic scenes and moving objects that first merge into the background, and separately model background using both KDE model and Gaussian models. To get a temporal- spatial background model, the sample selection is based on the concept of region average at the update stage. In the detection stage, neighborhood information content （NIC） is implemented which suppresses the false detection due to small and un-modeled movements in the scene. The experimental results which are generated on three separate sequences indicate that this method is well suited for precise detection of moving objects in complex scenes and it can be efficiently used in various detection systems.

Fast speedometer identification in dynamic scene based on phase correlation

Speedometer identification has been researched for many years.The common approaches to that problem are usually based on image subtraction,which does not adapt to image offsets caused by camera vibration.To cope with the rapidity,robust and accurate requirements of this kind of work in dynamic scene,a fast speedometer identification algorithm is proposed,it utilizes phase correlation method based on regional entire template translation to estimate the offset between images.In order to effectively reduce unnecessary computation and false detection rate,an improved linear Hough transform method with two optimization strategies is presented for pointer line detection.Based on VC＋＋ 6.0 software platform with OpenCV library,the algorithm performance under experiments has shown that it celerity and precision.

Multi-exposure fusion for high dynamic range scene

Due to the existing limited dynamic range a camera cannot reveal all the details in a high-dynamic range scene. In order to solve this problem,this paper presents a multi-exposure fusion method for getting high quality images in high dynamic range scene. First,a set of multi-exposure images is obtained by multiple exposures in a same scene and their brightness condition is analyzed. Then,multi-exposure images under the same scene are decomposed using dual-tree complex wavelet transform( DT-CWT),and their low and high frequency components are obtained. Weight maps according to the brightness condition are assigned to the low components for fusion. Maximizing the region Sum Modified-Laplacian( SML) is adopted for high-frequency components fusing. Finally,the fused image is acquired by subjecting the low and high frequency coefficients to inverse DT-CWT.Experimental results show that the proposed approach generates high quality results with uniform distributed brightness and rich details. The proposed method is efficient and robust in varies scenes.

A robust RGB-D visual odometry with moving object detection in dynamic indoor scenes

Simultaneous localisation and mapping(SLAM)are the basis for many robotic applications.As the front end of SLAM,visual odometry is mainly used to estimate camera pose.In dynamic scenes,classical methods are deteriorated by dynamic objects and cannot achieve satisfactory results.In order to improve the robustness of visual odometry in dynamic scenes,this paper proposed a dynamic region detection method based on RGBD images.Firstly,all feature points on the RGB image are classified as dynamic and static using a triangle constraint and the epipolar geometric constraint successively.Meanwhile,the depth image is clustered using the K-Means method.The classified feature points are mapped to the clustered depth image,and a dynamic or static label is assigned to each cluster according to the number of dynamic feature points.Subsequently,a dynamic region mask for the RGB image is generated based on the dynamic clusters in the depth image,and the feature points covered by the mask are all removed.The remaining static feature points are applied to estimate the camera pose.Finally,some experimental results are provided to demonstrate the feasibility and performance.

Dynamic background modeling using tensor representation and ant colony optimization

Background modeling and subtraction is a fundamental problem in video analysis. Many algorithms have been developed to date, but there are still some challenges in complex environments, especially dynamic scenes in which backgrounds are themselves moving, such as rippling water and swaying trees. In this paper, a novel background modeling method is proposed for dynamic scenes by combining both tensor representation and swarm intelligence. We maintain several video patches, which are naturally represented as higher order tensors,to represent the patterns of background, and utilize tensor low-rank approximation to capture the dynamic nature. Furthermore, we introduce an ant colony algorithm to improve the performance. Experimental results show that the proposed method is robust and adaptive in dynamic environments, and moving objects can be perfectly separated from the complex dynamic background.

Progressive edge-sensing dynamic scene deblurring

Deblurring images of dynamic scenes is a challenging task because blurring occurs due to a combination of many factors.In recent years,the use of multi-scale pyramid methods to recover high-resolution sharp images has been extensively studied.We have made improvements to the lack of detail recovery in the cascade structure through a network using progressive integration of data streams.Our new multi-scale structure and edge feature perception design deals with changes in blurring at different spatial scales and enhances the sensitivity of the network to blurred edges.The coarse-to-fine architecture restores the image structure,first performing global adjustments,and then performing local refinement.In this way,not only is global correlation considered,but also residual information is used to significantly improve image restoration and enhance texture details.Experimental results show quantitative and qualitative improvements over existing methods.

DFPC-SLAM:A Dynamic Feature Point Constraints-Based SLAM Using Stereo Vision for Dynamic Environment

Visual SLAM methods usually presuppose that the scene is static, so the SLAM algorithm formobile robots in dynamic scenes often results in a signicant decrease in accuracy due to thein°uence of dynamic objects. In this paper, feature points are divided into dynamic and staticfrom semantic information and multi-view geometry information, and then static region featurepoints are added to the pose-optimization, and static scene maps are established for dynamicscenes. Finally, experiments are conducted in dynamic scenes using the KITTI dataset, and theresults show that the proposed algorithm has higher accuracy in highly dynamic scenes comparedto the visual SLAM baseline.

HDR-Net-Fusion:Real-time 3D dynamic scene reconstruction with a hierarchical deep reinforcement network

Reconstructing dynamic scenes with commodity depth cameras has many applications in computer graphics,computer vision,and robotics.However,due to the presence of noise and erroneous observations from data capturing devices and the inherently ill-posed nature of non-rigid registration with insufficient information,traditional approaches often produce low-quality geometry with holes,bumps,and misalignments.We propose a novel 3D dynamic reconstruction system,named HDR-Net-Fusion,which learns to simultaneously reconstruct and refine the geometry on the fly with a sparse embedded deformation graph of surfels,using a hierarchical deep reinforcement(HDR)network.The latter comprises two parts:a global HDR-Net which rapidly detects local regions with large geometric errors,and a local HDR-Net serving as a local patch refinement operator to promptly complete and enhance such regions.Training the global HDR-Net is formulated as a novel reinforcement learning problem to implicitly learn the region selection strategy with the goal of improving the overall reconstruction quality.The applicability and efficiency of our approach are demonstrated using a large-scale dynamic reconstruction dataset.Our method can reconstruct geometry with higher quality than traditional methods.