Multi-Modal Detection Fusion on a Mobile UGV for Wide-Area, Long-Range Surveillance

Matt Brown, Keith Fieldhouse, Eran Swears, Paul Tunison, Adam Romlein, Anthony Hoogs

WACV 2019 pp. 1905-1913

doi:10.1109/WACV.2019.00207 /wacv/2019/brown2019wacv-multi/

Abstract

We introduce a self-contained, mobile surveillance system designed to remotely detect and track people in real time, at long ranges, and over a wide field of view in cluttered urban and natural settings. The system is integrated with an unmanned ground vehicle, which hosts an array of four IR and four high-resolution RGB cameras, navigational sensors, and onboard processing computers. High-confidence, low-false-alarm-rate person tracks are produced by fusing motion detections and single-frame CNN person detections between co-registered RGB and IR video streams. Processing speeds are increased by using semantic scene segmentation and a tiered inference scheme to focus processing on the most salient regions of the 43° x 7.8° composite field of view. The system autonomously produces alerts of human presence and movement within the field of view, which are disseminated over a radio network and remotely viewed on a tablet computer. We present an ablation study quantifying the benefits that multi-sensor, multi-detector fusion brings to the problem of detecting people in challenging outdoor environments with shadows, occlusions, clutter, and variable weather conditions.

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Cite

Text

Brown et al. "Multi-Modal Detection Fusion on a Mobile UGV for Wide-Area, Long-Range Surveillance." IEEE/CVF Winter Conference on Applications of Computer Vision, 2019. doi:10.1109/WACV.2019.00207

Markdown

[Brown et al. "Multi-Modal Detection Fusion on a Mobile UGV for Wide-Area, Long-Range Surveillance." IEEE/CVF Winter Conference on Applications of Computer Vision, 2019.](https://mlanthology.org/wacv/2019/brown2019wacv-multi/) doi:10.1109/WACV.2019.00207

BibTeX

@inproceedings{brown2019wacv-multi,
  title     = {{Multi-Modal Detection Fusion on a Mobile UGV for Wide-Area, Long-Range Surveillance}},
  author    = {Brown, Matt and Fieldhouse, Keith and Swears, Eran and Tunison, Paul and Romlein, Adam and Hoogs, Anthony},
  booktitle = {IEEE/CVF Winter Conference on Applications of Computer Vision},
  year      = {2019},
  pages     = {1905-1913},
  doi       = {10.1109/WACV.2019.00207},
  url       = {https://mlanthology.org/wacv/2019/brown2019wacv-multi/}
}