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Detecting Rails and Obstacles Using a Train-Mounted Thermal Camera
Linköping University, Department of Electrical Engineering, Computer Vision. Linköping University, Faculty of Science & Engineering. Termisk Systemteknik AB, Linköping, Sweden.ORCID iD: 0000-0002-6591-9400
Linköping University, Department of Electrical Engineering, Computer Vision. Linköping University, Faculty of Science & Engineering.
Linköping University, Department of Electrical Engineering, Computer Vision. Linköping University, Faculty of Science & Engineering. Termisk Systemteknik AB, Linköping, Sweden.ORCID iD: 0000-0002-6763-5487
Linköping University, Department of Electrical Engineering, Computer Vision. Linköping University, Faculty of Science & Engineering.ORCID iD: 0000-0002-6096-3648
2015 (English)In: Image Analysis: 19th Scandinavian Conference, SCIA 2015, Copenhagen, Denmark, June 15-17, 2015. Proceedings / [ed] Rasmus R. Paulsen; Kim S. Pedersen, Springer, 2015, p. 492-503Conference paper, Published paper (Refereed)
Abstract [en]

We propose a method for detecting obstacles on the railway in front of a moving train using a monocular thermal camera. The problem is motivated by the large number of collisions between trains and various obstacles, resulting in reduced safety and high costs. The proposed method includes a novel way of detecting the rails in the imagery, as well as a way to detect anomalies on the railway. While the problem at a first glance looks similar to road and lane detection, which in the past has been a popular research topic, a closer look reveals that the problem at hand is previously unaddressed. As a consequence, relevant datasets are missing as well, and thus our contribution is two-fold: We propose an approach to the novel problem of obstacle detection on railways and we describe the acquisition of a novel data set.

Place, publisher, year, edition, pages
Springer, 2015. p. 492-503
Series
Lecture Notes in Computer Science, ISSN 0302-9743, E-ISSN 1611-3349 ; 9127
Keywords [en]
Thermal imaging; Computer vision; Train safety; Railway detection; Anomaly detection; Obstacle detection
National Category
Signal Processing
Identifiers
URN: urn:nbn:se:liu:diva-119507DOI: 10.1007/978-3-319-19665-7_42ISBN: 978-3-319-19664-0 (print)ISBN: 978-3-319-19665-7 (print)OAI: oai:DiVA.org:liu-119507DiVA, id: diva2:824491
Conference
19th Scandinavian Conference, SCIA 2015, Copenhagen, Denmark, June 15-17, 2015
Available from: 2015-06-22 Created: 2015-06-18 Last updated: 2019-10-23Bibliographically approved
In thesis
1. Detection and Tracking in Thermal Infrared Imagery
Open this publication in new window or tab >>Detection and Tracking in Thermal Infrared Imagery
2016 (English)Licentiate thesis, comprehensive summary (Other academic)
Abstract [en]

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 oftheir 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 template-based tracking methods, and provides an overview of the first challenge on short-term,single-object tracking in thermal infrared video. Finally, two applications employing detection and tracking methods are presented.

Place, publisher, year, edition, pages
Linköping: Linköping University Electronic Press, 2016. p. 66
Series
Linköping Studies in Science and Technology. Thesis, ISSN 0280-7971 ; 1744
Keywords
thermal, infrared, detection, tracking
National Category
Computer Vision and Robotics (Autonomous Systems)
Identifiers
urn:nbn:se:liu:diva-126955 (URN)10.3384/lic.diva-126955 (DOI)978-91-7685-789-2 (ISBN)
Presentation
2016-05-10, Visionen, Hus B, Campus Valla, Linköpings universitet, Linköping, 16:16 (English)
Opponent
Supervisors
Funder
Swedish Research Council, D0570301EU, FP7, Seventh Framework Programme, 312784EU, FP7, Seventh Framework Programme, 607567
Available from: 2016-04-11 Created: 2016-04-08 Last updated: 2019-10-29Bibliographically approved
2. Learning to Analyze what is Beyond the Visible Spectrum
Open this publication in new window or tab >>Learning to Analyze what is Beyond the Visible Spectrum
2019 (English)Doctoral thesis, comprehensive summary (Other academic)
Abstract [en]

Thermal cameras have historically been of interest mainly for military applications. Increasing image quality and resolution combined with decreasing camera 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 there exists a measurable 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 automatic image analysis in thermal infrared images with a focus on machine learning methods. The main purpose of this thesis is to study the variations of processing required due to the thermal infrared data modality. In particular, three different problems are addressed: visual object tracking, anomaly detection, and modality transfer. All these are research areas that have been and currently are subject to extensive research. Furthermore, they are all highly relevant for a number of different real-world applications.

The first addressed problem is visual object tracking, a problem for which no prior information other than the initial location of the object is given. The main contribution concerns benchmarking of short-term single-object (STSO) visual object tracking methods in thermal infrared images. The proposed dataset, LTIR (Linköping Thermal Infrared), was integrated in the VOT-TIR2015 challenge, introducing the first ever organized challenge on STSO tracking in thermal infrared video. Another contribution also related to benchmarking is a novel, recursive, method for semi-automatic annotation of multi-modal video sequences. Based on only a few initial annotations, a video object segmentation (VOS) method proposes segmentations for all remaining frames and difficult parts in need for additional manual annotation are automatically detected. The third contribution to the problem of visual object tracking is a template tracking method based on a non-parametric probability density model of the object's thermal radiation using channel representations.

The second addressed problem is anomaly detection, i.e., detection of rare objects or events. The main contribution is a method for truly unsupervised anomaly detection based on Generative Adversarial Networks (GANs). The method employs joint training of the generator and an observation to latent space encoder, enabling stratification of the latent space and, thus, also separation of normal and anomalous samples. The second contribution is the previously unaddressed problem of obstacle detection in front of moving trains using a train-mounted thermal camera. Adaptive correlation filters are updated continuously and missed detections of background are treated as detections of anomalies, or obstacles. The third contribution to the problem of anomaly detection is a method for characterization and classification of automatically detected district heat leakages for the purpose of false alarm reduction.

Finally, the thesis addresses the problem of modality transfer between thermal infrared and visual spectrum images, a previously unaddressed problem. The contribution is a method based on Convolutional Neural Networks (CNNs), enabling perceptually realistic transformations of thermal infrared to visual images. By careful design of the loss function the method becomes robust to image pair misalignments. The method exploits the lower acuity for color differences than for luminance possessed by the human visual system, separating the loss into a luminance and a chrominance part.

Place, publisher, year, edition, pages
Linköping: Linköping University Electronic Press, 2019. p. 94
Series
Linköping Studies in Science and Technology. Dissertations, ISSN 0345-7524 ; 2024
National Category
Computer Vision and Robotics (Autonomous Systems)
Identifiers
urn:nbn:se:liu:diva-161077 (URN)10.3384/diss.diva-161077 (DOI)9789179299811 (ISBN)
Public defence
2019-12-18, Ada Lovelace, B-huset, Campus Valla, Linköping, 13:15 (English)
Opponent
Supervisors
Funder
Swedish Research Council, D0570301
Available from: 2019-11-13 Created: 2019-10-23 Last updated: 2019-12-12Bibliographically approved

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Berg, AmandaÖfjäll, KristofferAhlberg, JörgenFelsberg, Michael

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