People detection and tracking from aerial thermal views

Portmann, Jan; Lynen, Simon; Chli, Margarita; Siegwart, Roland

doi:10.1109/icra.2014.6907094

Cited by 125 publications

(82 citation statements)

References 17 publications

(26 reference statements)

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“…9 depicts the reconstructed point cloud using a combination of the geo-tagged nadir-facing RGB camera of the sensor pod with the, likewise, geo-tagged oblique-view grayscale images, while Fig. 10 shows false-colored thermal images that our team is currently aiming to employ for victim detection, extending previous work [22] at ASL. An open dataset containing 1 hour of raw data and post-processed results is released to accompany this paper and may be found at [5].…”

Section: Area Coverage Application Demonstrationmentioning

confidence: 95%

Long-Endurance Sensing and Mapping Using a Hand-Launchable Solar-Powered UAV

Oettershagen

Stastny

Mantel

et al. 2016

Springer Tracts in Advanced Robotics

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This paper investigates and demonstrates the potential for very long endurance autonomous aerial sensing and mapping applications with AtlantikSolar, a small-sized, hand-launchable, solar-powered fixed-wing unmanned aerial vehicle. The platform design as well as the on-board state estimation, control and pathplanning algorithms are overviewed. A versatile sensor payload integrating a multicamera sensing system, extended on-board processing and high-bandwidth communication with the ground is developed. Extensive field experiments are provided including publicly demonstrated field-trials for search-and-rescue applications and long-term mapping applications. An endurance analysis shows that AtlantikSolar can provide full-daylight operation and a minimum flight endurance of 8 hours throughout the whole year with its full multi-camera mapping payload. An open dataset with both raw and processed data is released and accompanies this paper contribution.

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Section: Area Coverage Application Demonstrationmentioning

confidence: 95%

Long-Endurance Sensing and Mapping Using a Hand-Launchable Solar-Powered UAV

Oettershagen

Stastny

Mantel

et al. 2016

Springer Tracts in Advanced Robotics

Self Cite

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“…The ASL-TID [15] dataset provides sequences simulating a thermal camera mounted on a UAV. This is the only publicly available dataset including sequences with a moving camera.…”

Section: Related Workmentioning

confidence: 99%

A thermal Object Tracking benchmark

Berg

Ahlberg

Felsberg

2015

2015 12th IEEE International Conference on Advanced Video and Signal Based Surveillance (AVSS)

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Short-term single-object (STSO) tracking in thermal images is a challenging problem relevant in a growing number of applications. In order to evaluate STSO tracking algorithms on visual imagery, there are de facto standard benchmarks. However, we argue that tracking in thermal imagery is different than in visual imagery, and that a separate benchmark is needed. The available thermal infrared datasets are few and the existing ones are not challenging for modern tracking algorithms. Therefore, we hereby propose a thermal infrared benchmark according to the Visual Visual Object Tracking (VOT) protocol for evaluation of STSO tracking methods. The benchmark includes the new LTIR dataset containing 20 thermal image sequences which have been collected from multiple sources and annotated in the format used in the VOT Challenge. In addition, we show that the ranking of different tracking principles differ between the visual and thermal benchmarks, confirming the need for the new benchmark.

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“…The ASL-TID (Portmann et al (2014)) dataset provides sequences simulating a thermal camera mounted on a UAV, thus including sequences recorded with a moving camera. The included sequences are of varying difficulty, high/low object resolution, cluttered backgrounds, and occlusions.…”

Section: Datasetsmentioning

confidence: 99%

Detection and Tracking in Thermal Infrared Imagery

Berg

2016

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Thermal cameras have historically been of interest mainly for military applications. Increasing image quality and resolution combined with decreasing price and size during recent years have, however, opened up new application areas. They are now widely used for civilian applications, e.g., within industry, to search for missing persons, in automotive safety, as well as for medical applications. Thermal cameras are useful as soon as it is possible to measure a temperature difference. Compared to cameras operating in the visual spectrum, they are advantageous due to their ability to see in total darkness, robustness to illumination variations, and less intrusion on privacy.This thesis addresses the problem of detection and tracking in thermal infrared imagery. Visual detection and tracking of objects in video are research areas that have been and currently are subject to extensive research. Indications of their popularity are recent benchmarks such as the annual Visual Object Tracking (VOT) challenges, the Object Tracking Benchmarks, the series of workshops on Performance Evaluation of Tracking and Surveillance (PETS), and the workshops on Change Detection. Benchmark results indicate that detection and tracking are still challenging problems.A common belief is that detection and tracking in thermal infrared imagery is identical to detection and tracking in grayscale visual imagery. This thesis argues that the preceding allegation is not true. The characteristics of thermal infrared radiation and imagery pose certain challenges to image analysis algorithms. The thesis describes these characteristics and challenges as well as presents evaluation results confirming the hypothesis.Detection and tracking are often treated as two separate problems. However, some tracking methods, e.g. template-based tracking methods, base their tracking on repeated specific detections. They learn a model of the object that is adaptively updated. That is, detection and tracking are performed jointly. The thesis includes a template-based tracking method designed specifically for thermal infrared imagery, describes a thermal infrared dataset for evaluation of templatebased tracking methods, and provides an overview of the first challenge on shortterm, single-object tracking in thermal infrared video. Finally, two applications employing detection and tracking methods are presented.v Populärvetenskaplig sammanfattningSensorer som kan mäta termisk infraröd strålning över ett större område och producera en visuell bild, så kallade värmekameror, har länge använts inom militären. Däremot har värmekameror inte varit lika vanliga för civila tillämpningar, främst på grund av att de har varit dyra och utrymmeskrävande. På senare år har utvecklingen gått framåt och allteftersom kamerorna blivit mindre och billigare har även bildkvalitén förbättrats avsevärt. Nu finns det till och med en liten vär-mekamera som man kan fästa på sin mobiltelefon. I takt med att värmekameror-na har blivit mindre och billigare så har fler civila tillämpningar vuxi...

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People detection and tracking from aerial thermal views

Cited by 125 publications

References 17 publications

Long-Endurance Sensing and Mapping Using a Hand-Launchable Solar-Powered UAV

Long-Endurance Sensing and Mapping Using a Hand-Launchable Solar-Powered UAV

A thermal Object Tracking benchmark

Detection and Tracking in Thermal Infrared Imagery

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