Mechanical Particle Filter-Based Active Vision System for Fast Wide-Area Multiobject Detection | |
Long XL(龙宪磊)1,2; Ma, Liping2; Jiang, He1,2; Li, Zhikai1,2; Chen, Yunze1,2; Gu, Qingyi2 | |
刊名 | IEEE Transactions on Instrumentation and Measurement |
2022-08 | |
卷号 | 71页码:1-13 |
关键词 | High-speed vision , mechanical particle filter (MPF) , object detection , visual feedback , wide-area surveillance |
ISSN号 | 0018-9456 |
英文摘要 | Sliding window searching is a common paradigm used for large field-of-view (FOV) multiobject detection. However, low target resolution and irregular distribution of objects make the traditional method inefficient and hard to meet the demands of fast object detection in a wide area. To address the above issues, in this article we design an ultrafast switching galvano-mirror-based active vision system that can simultaneously search and detect multiobject at 300 frames per second (fps) in a large FOV, without the guidance of a high-resolution (HR) panoramic camera. Specifically, a novel mechanical particle filter (MPF) framework is proposed to improve the efficiency of searching potential objects by constructing the probability distribution model and then iteratively locating target objects, where each particle is represented by an image of a single small FOV that is controlled and captured by a switching galvano-mirror. The object detector is used to determine whether the particle image contains target objects. Then, to reduce the total scanning cost for capturing all the particles, we introduce a center partitioned scanning algorithm that significantly speeds up the scanning process by 10× or more. Moreover, we optimize the processing pipeline for low latency sensing using a high-parallelism visual feedback scheme to improve efficiency. Finally, an efficient and fast active vision system is implemented, which is based on a two-axis galvano-mirror and a high-speed camera without multicamera fusion for active object searching. Abundant experimental results demonstrate the effectiveness of our proposed system in indoor environments and real-world scenarios. We also verify the performance in terms of scanning speed and detection accuracy. |
语种 | 英语 |
内容类型 | 期刊论文 |
源URL | [http://ir.ia.ac.cn/handle/173211/50597] |
专题 | 精密感知与控制研究中心_精密感知与控制 |
通讯作者 | Gu, Qingyi |
作者单位 | 1.中国科学院大学 2.中国科学院自动化所研究所 |
推荐引用方式 GB/T 7714 | Long XL,Ma, Liping,Jiang, He,et al. Mechanical Particle Filter-Based Active Vision System for Fast Wide-Area Multiobject Detection[J]. IEEE Transactions on Instrumentation and Measurement,2022,71:1-13. |
APA | Long XL,Ma, Liping,Jiang, He,Li, Zhikai,Chen, Yunze,&Gu, Qingyi.(2022).Mechanical Particle Filter-Based Active Vision System for Fast Wide-Area Multiobject Detection.IEEE Transactions on Instrumentation and Measurement,71,1-13. |
MLA | Long XL,et al."Mechanical Particle Filter-Based Active Vision System for Fast Wide-Area Multiobject Detection".IEEE Transactions on Instrumentation and Measurement 71(2022):1-13. |
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