Pedestrian detection (PD) is an important application domain in computer vision and pattern recognition. Conventional PD in real life scene is usually based on a fixed camera, which can detect and track the pedestrians in the monitoring region. However, when the pedestrian leaves the visible area of the fixed camera, it is usually difficult, if not impossible, to monitor the pedestrian. In response to the limitations of the conventional pedestrian detection application scenarios, a four-rotor unmanned aerial vehicle (UAV) system equipped with a high-definition (HD) camera is designed and implemented to detect human targets. Considering the size of human body in aerial image is small and easily to be occluded, we draw on the advanced research results in the field of target detection and propose a robust pedestrian detection method based on YOLO (You Only Look Once) network. The flow of the proposed approach is as follows. Firstly, the HD camera, which is installed on the monitoring UAV, is used for capturing images of the designated outdoor area. Secondly, image sequences are collected and processed using the airborne embedded NVIDIA Jason TX1 and Ubuntu as the core and operating system, respectively. Finally, YOLO is used to train the pedestrian classifier and perform the pedestrian detection. Experimental results show that our method has good detection results under the complicated conditions of detecting small-scale pedestrians and pedestrian occlusion.
Outdoor target tracking UAV (Unmanned Aerial Vehicle), which is a research hotspot in the field of computer vision and unmanned aerial system, needs robust target-tracking algorithms with good real-time performance, accurate position estimator of UAV and the corresponding control strategy of the system. In this paper, we designed an outdoor drone tracking system using PCA (Principal Component Analysis) face recognition algorithm and KCF (Kernel Correlation Filter) target tracking algorithm. Firstly, an image acquisition unit is constructed by using an on-board pan-and-tilt camera to capture an outdoor monitored area. Secondly, the PCA algorithm is used for face matching, then the tracking mode is automatically transferred when the expected face target is recognized. Finally, the target tracking is performed by the KCF algorithm. After that, the position error is calculated and sent to the flight control system through the MavLink protocol, thereby performing posture adjustment and completing the tracking and monitoring task. Experimental results show that the performance of outdoor target tracking flight robot is stable and reliable, which meets the requirements of outdoor target tracking and has a good application prospect.
Pedestrian detection (PD) is an important application domain in computer vision and pattern recognition. Unmanned Aerial Vehicles (UAVs) have become a major field of research in recent years. In this paper, an algorithm for a robust pedestrian detection method based on the combination of the infrared HOG (IR-HOG) feature and SVM is proposed for highly complex outdoor scenarios on the basis of airborne IR image sequences from UAV. The basic flow of our application operation is as follows. Firstly, the thermal infrared imager (TAU2-336), which was installed on our Outdoor Autonomous Searching (OAS) UAV, is used for taking pictures of the designated outdoor area. Secondly, image sequences collecting and processing were accomplished by using high-performance embedded system with Samsung ODROID-XU4 and Ubuntu as the core and operating system respectively, and IR-HOG features were extracted. Finally, the SVM is used to train the pedestrian classifier. Experiment show that, our method shows promising results under complex conditions including strong noise corruption, partial occlusion etc.
Access to the requested content is limited to institutions that have purchased or subscribe to SPIE eBooks.
You are receiving this notice because your organization may not have SPIE eBooks access.*
*Shibboleth/Open Athens users─please
sign in
to access your institution's subscriptions.
To obtain this item, you may purchase the complete book in print or electronic format on
SPIE.org.
INSTITUTIONAL Select your institution to access the SPIE Digital Library.
PERSONAL Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.