Vehicle Detection in Aerial
Surveillance Using
Dynamic Bayesian Networks
Hsu-Yung Cheng, Member, IEEE, Chih-Chia
Weng, and Yi-Ying Chen
IEEE TRANSACTIONS ON IMAGE
PROCESSING, VOL. 21, NO. 4, APRIL 2012
Goal
Introduction
• These technologies have a variety of
applications, such as military,police, and traffic
management.
• Aerial surveillance is more suitable for
monitoring fast-moving targets and covers a
much larger spatial area.
Introduction
• Cheng and Butler [8] performed color
segmentation via mean-shift algorithm and
motion analysis via change detection.
• In [11], the authors proposed a movingvehicle detection method based on cascade
classifiers.
• Choi and Yang [12] proposed a vehicle
detection algorithm using the symmetric
property of car shapes.
Introduction
Background Color Removal
• quantize the color histogram bins as 16*16*16.
• Colors corresponding to the first eight highest
bins are regarded as background colors and
removed from the scene.
Feature Extraction:
Local Feature Analysis
Feature Extraction:
Local Feature Analysis
Feature Extraction:
Local Feature Analysis
• After evaluation,
is known.
• Use the gradient magnitude G(x,y) of each
pixel of moment-preserving.
• Tmax =T ,Tmin=0.1*(Gmax-Gmin) for Canny
edge detector.
• Harris detector is for the corners.
Feature Extraction:
Color Transform and Color Classification
• In [16],they proposed a color domain (u,v)
instead of (R,G,B) to separate vehicle and nonvehicle pixels clearily.
• Use n*m as a block to train SVM model to
classify color.
Feature Extraction:
Color Transform and Color Classification
Feature Extraction
• We extract five types of features, S,C,E,A and Z
for the pixel.
•
•
A=L/W
Z=blue counts at left
Dynamic Bayesian Network
• Use some videos to train the probabilities with
people marked ground truth.
• Vt indicates if a pixel belongs to a vehicle.
• P(Vt|St) is defined as the probability that a
pixel belongs to a vehicle pixel at time slice
given observation St at time Instance t.
Experimental results
Experimental results
Experimental results
Experimental results
Experimental results
Experimental results
Experimental results