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Algorithms for detection of objects in image sequences captured from an airborne imaging systemThis research was initiated as a part of the effort at the NASA Ames Research Center to design a computer vision based system that can enhance the safety of navigation by aiding the pilots in detecting various obstacles on the runway during critical section of the flight such as a landing maneuver. The primary goal is the development of algorithms for detection of moving objects from a sequence of images obtained from an on-board video camera. Image regions corresponding to the independently moving objects are segmented from the background by applying constraint filtering on the optical flow computed from the initial few frames of the sequence. These detected regions are tracked over subsequent frames using a model based tracking algorithm. Position and velocity of the moving objects in the world coordinate is estimated using an extended Kalman filter. The algorithms are tested using the NASA line image sequence with six static trucks and a simulated moving truck and experimental results are described. Various limitations of the currently implemented version of the above algorithm are identified and possible solutions to build a practical working system are investigated.
Document ID
19960002008
Acquisition Source
Legacy CDMS
Document Type
Contractor Report (CR)
Authors
Kasturi, Rangachar (Pennsylvania State Univ. University Park, PA, United States)
Camps, Octavia (Pennsylvania State Univ. University Park, PA, United States)
Tang, Yuan-Liang (Pennsylvania State Univ. University Park, PA, United States)
Devadiga, Sadashiva (Pennsylvania State Univ. University Park, PA, United States)
Gandhi, Tarak (Pennsylvania State Univ. University Park, PA, United States)
Date Acquired
September 6, 2013
Publication Date
October 10, 1995
Subject Category
Computer Programming And Software
Report/Patent Number
CSE-95-026
NASA-CR-199579
NAS 1.26:199579
Accession Number
96N12016
Funding Number(s)
CONTRACT_GRANT: NCC2-853
Distribution Limits
Public
Copyright
Work of the US Gov. Public Use Permitted.

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