In advanced driver assistance systems, accurate detection of traffic signs plays an important role in extracting information about the road ahead. However, traffic signs are persistently occluded by vehicles, trees, and other structures on road. Performance of a detector decreases drastically when occlusions are encountered especially when it is trained using full object templates. Therefore, we propose a new method called discriminative patches (d-patches), which is a traffic sign detection (TSD) framework with occlusion handling capability. D-patches are those regions of an object that possess the most discriminative features than their surroundings. They are mined during training and are used for classification instead of the full object templates. Furthermore, we observe that the distribution of redundant-detections around a true-positive is different from that around a false-positive. Based on this observation, we propose a novel hypothesis generation scheme that uses a voting and penalisation mechanism to accurately select a true-positive candidate. We also introduce a new Korean TSD (KTSD) dataset with several evaluation settings to facilitate detector's evaluation under different conditions. The proposed method achieves 100% detection accuracy on German TSD benchmark and achieves 4.0% better detection accuracy, when compared with other well-known methods (under partially occluded settings), on KTSD dataset.
In the proposed study, we examined a multimodal biometric system having the utmost capability against spoof attacks. An enhanced anti-spoof capability is successfully demonstrated by choosing hand-related intrinsic modalities. In the proposed system, pulse response, hand geometry, and finger–vein biometrics are the three modalities of focus. The three modalities are combined using a fuzzy rule-based system that provides an accuracy of 92% on near-infrared (NIR) images. Besides that, we propose a new NIR hand images dataset containing a total of 111,000 images. In this research, hand geometry is treated as an intrinsic biometric modality by employing near-infrared imaging for human hands to locate the interphalangeal joints of human fingers. The L2 norm is calculated using the centroid of four pixel clusters obtained from the finger joint locations. This method produced an accuracy of 86% on the new NIR image dataset. We also propose finger–vein biometric identification using convolutional neural networks (CNNs). The CNN provided 90% accuracy on the new NIR image dataset. Moreover, we propose a robust system known as the pulse response biometric against spoof attacks involving fake or artificial human hands. The pulse response system identifies a live human body by applying a specific frequency pulse on the human hand. About 99% of the frequency response samples obtained from the human and non-human subjects were correctly classified by the pulse response biometric. Finally, we propose to combine all three modalities using the fuzzy inference system on the confidence score level, yielding 92% accuracy on the new near-infrared hand images dataset.
This paper presents a method to generate a Georeferenced 3D point cloud of GPS denied built structures using custom made backpack laser scanning system. An orthogonal combination of 2D Hokuyo laser scanners has been used on the backpack system to generate a 3D point cloud of the surveyed environments. The data logging of scanners and simultaneous localization and mapping (SLAM) of the scanning system have been carried out using Robot Operating System (ROS). The developed local SLAM based 3D point cloud solution has been transformed into global Georeferenced 3D point cloud using observed geographic coordinates of nearby GPS visible vicinities. Multiple indoor environments have been scanned and 3D point clouds have been developed which have been found accurate when compared to the ground truth. In comparison to available surveying solutions present in the local market, the developed system has been found more accurate, faster, and user friendly to generate structural results of the surveyed vicinities in detail. The efficacy of the system has been witnessed by local surveying companies by delivering the unique global coordinated solutions on affordable rates.
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