Mechanical Particle Filter-Based Active Vision System for Fast Wide-Area Multiobject Detection
Long XL(龙宪磊)1,2; Ma, Liping1; Jiang, He1,2; Li, Zhikai1,2; Chen, Yunze1,2; Gu, Qingyi1
发表期刊IEEE Transactions on Instrumentation and Measurement
ISSN0018-9456
2022-08
卷号71页码:1-13
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.

关键词High-speed vision , mechanical particle filter (MPF) , object detection , visual feedback , wide-area surveillance
收录类别SCI
语种英语
七大方向——子方向分类机器人感知与决策
国重实验室规划方向分类环境多维感知
文献类型期刊论文
条目标识符http://ir.ia.ac.cn/handle/173211/50597
专题中科院工业视觉智能装备工程实验室_精密感知与控制
通讯作者Gu, Qingyi
作者单位1.中国科学院自动化所研究所
2.中国科学院大学
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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