Transcript Infrared Thermal Camera-Based Real-Time Identification and Tracking of Large Animals to Prevent Animal-Vehicle Crashes(AVCs) On Roadways Debao Zhou Department of MIE, UMD November 6, 2015

Infrared Thermal Camera-Based Real-Time
Identification and Tracking of Large Animals
to Prevent Animal-Vehicle Crashes(AVCs) On
Roadways
Debao Zhou
Department of MIE, UMD
November 6, 2015
Objective
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To build a system on roadside to automatically
detect the presence of large animals, such as
deer, and track their motions for the safe
driving on roadways
This system can also be installed on cars
The Problem – Where Are Animals
Animals off road
Cars at low/high speed
Heated objects
Animals off road
Animals on road
Heated objects
The Problem – Road Conditions
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Tree and/or grass,
Straight or curved
Hill or ditch
Road
Road
Tree
Tree
Grass
Road
Tree
Tree
Case 3
Road
Grass
Hills or ditches
Case 1
Case 2
Case 4
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Thermal Camera Capability
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Temperature sensitivity: up to 14 mK
Optical resolution up to 640 by 480 TV Lines
Activity detection of adult human size objects
up to 8 Km with motorized focal length
adjustment
Active IR thermal camera and passive IR
thermal camera
Example:
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Thermal-Eye 3620AS camera core:
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FOV 17
Range to detect human activity: 1000ft (305m)
Real-time 30fps
-20°C to 85°C
$3500
Technical Approach
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Through the processing of infrared thermal images to
detect and track big animals
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Speed method will be used to distinguish big animals from
their environment and high speed cars
Pattern matching method will be used to identify big animals
from low speed cars
Centroid method will be used to track the motion of big
animals
A mechatronic system with two degrees of freedom will
be developed to realize the scanning and tracking by
making the camera point to a specific animal
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Advantages
Advantages
• Automatic detection and tracking
• All-time – day and night
• Coverage area much bigger than break-the-beam
method
Usage:
• On-vehicle
• Roadside for infrastructure
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Accomplishments To Date
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Infrared thermal images have been acquired and
analyzed. The results shows that these images can be
used to identify the presence of big animals and cars.
Pattern matching method has been applied to
identify the presence of cars and deer. The algorithm
is capable to tell the object is a deer or a car.
Tracking has been realized using two degrees of
freedom system.
A prototype has been built and the scanning and
tracking have been realized.
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System Prototype
• Camera and
image grabbing
• Stepper motors
• Enclosure:
Contain power
supply and
motion controller
• Computer
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Identification and Tracking Realization
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Three main phases:
 Image acquisition
 Image processing
 Motion control
Image acquisition
Image processing
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Pixel to step adjustment
Image
center
Motion control
Motion generation
Position measurement
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Motion Control and Realization
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Motion realization
Object Identification and Tracking
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Through Centroid and its changing locations:
Pattern Matching: Car and Big-animals
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Original Patterns
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Original Images
Object Identification
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Processed Images
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Matched pattern
Object Identification and Tracking in Light
In light
Three cameras are used:
#1: Thermal camera to take the thermal image and put on computer screen
#2: Normal digital camera to take video of the whole scenario (video on left)
#3: Normal digital camera to take video of the computer screen (video on right)
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Object Identification and Tracking in Dark
In dark, no lights
Three cameras are used:
#1: Thermal camera to take the thermal image and put on computer screen
#2: Normal digital camera to take video of the whole scenario (video on left)
#3: Normal digital camera to take video of the computer screen (video on right)
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Proposed System Setup
Two IR cameras
Animals off road
Cars at low/high speed
Heated objects
Animals off road
Animals on road
Heated objects
Proposed Study
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Speed measurement:
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Development of pattern matching algorithms
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3D distance measurement and distance change with time
Off-road big-animal identification from stand-still objects
On-road high-speed vehicles identification
On-road low speed vehicles identification - tell cars from
any big animals when car moves in slow speed
Multiple objects tracking
Building robust system: electrical, mechanical, suitable
for roadside application, low-high temperature, etc.
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Thanks!
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Review: On-vehicle / Roadside
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The Driver
Whistles
TH-HID Lighting System
Forward-collision Sensors
Ultrasonic Sensors
Radar
Camera
Auto-identification of humans
in the environment,
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Natural habitat prevention
Roadside vegetation control
Electronic mats
Population reduction
Fencing
Deer guards and crosswalks
Underpasses and overpasses
Roadside reflectors
Animal reflectors
Flash light sensing
IR LASER
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Animal Detection System Installed Worldwide:
Area-cover systems and Break-the-beam systems
Location
7 locations Switzerland
Box Uusimaa Finland
Mikkeli Finland
2 locations in Germany
2 locations Netherlands
Distance
50-200m
220 m
90 m
Unknown
200-250 m /
Cost
$11,500
$100,000
$70,000
$20,000
$50,000
Date(s)
1993
1996
1999
1998
1999
Rosvik Sweden
Colville WA USA
Nugget Canyon WY USA
Sequim WA USA
100 m /
402 m
92 m
400 m /
$30,000
$ 12,000
$200,000
$73,000
1999
2000-2002
Dec 2000 - May 2001
Apr 2000 - present
Marshall MN USA
Kootenay NP BC CAN
Indiana Toll Road IN USA
Wenatchee WA USA
Yellowstone NP MT USA
200 m /
1000 m
1609 m
213 m
1609 m
$57,000
Unknown
$1,300,000
$40,000
$409,000
Los Alamos NM USA
Thompson-town PA USA
Herbertville Quebec CAN
30 m
91 m /
10 m /
$2,500
$220,000
$8,200
Jun 2001- Nov 2001
Jun 2002- Oct 2003
Apr 2002
Oct 2002- spring 2004
Oct/Nov 2002
Nov 2002 - Feb 2003
May 2004 - Jan 2005
Fall 2004
IR System and Warning Signs in
Netherlands
System in Calville, WA, USA –
Break-the-beam System
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20 June 2000
Hwy 395 north of Spokane,
south of Colville
Two lasers, one placed on
each side of the road
Two standard deer warning
signs, two smaller rectangular
signs that read “When
Flashing”, and two solar
powered red flashing beacons
Lasers operated on batteries
Problems:
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Clear line-of-sight in the
right-of-way
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Heat in the box
FLASH System in Nugget Canyon
WY USA, IR Sensor (17m-19m)
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Flashing Light Animal
Sensing Host (FLASH)
Series of infrared sensors
placed at 17-19 m (18.5-20.7
yd) intervals, HW 30;
spanned 92m
Body heat of large animals
Signs were placed 300 m (327
yd) before the crossing area
Sing read:
System in Yellowstone National Park,
Montana USA (Break-the-beam)
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Oct./Nov. 2002;
Along a 1,609 m (1 mi) long road section of
US Hwy 191
Transmitter: microwave RF signal (35.5
GHz) to its intended Receiver
Once actived, master station then sends the
beacon-on command to the nearest beacons
System in Yellowstone National Park,
Montana USA (Break-the-beam)
• Cannot detect the distance/speed of a moving object
• Cannot distinguish moving animals from moving
cars
• Cannot distinguish sun-heated objects from biganimals
• Cannot be able to tell that a fast running animal will
enter the road.
• Intrusion detection rate is not acceptable
• Camrix A.L.E.R.T and Xtralis ADPRO
Infrared Cameras for Monitoring
Animal Activity
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Thermacam B1; FLIR (forward-looking infrared) Systems
Inc; Boston, Massachusetts
Trailmaster 1500 Active Infrared Trail Monitors; By Goodson
and Associates, Inc.; Lenexa, Kansas
FLIR Nightsight Palm IR 250 Digital Camera; Raytheon,
Waltham, MA
TM-2500 Trailmonitor; Grypon Engineering, Inc.; Richmond,
Michigan
Su320ktx-1.7rt; Goodrich Corporation; Princeton, New
Jersey
Hunting Electronics / Military Usage
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Capability of Infrared Cameras
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Distance, from up to 8 Km for the identification of adult
human size objects
Temperature: -40F to 100F
Resolution: 0.1F
Component Integration
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Object Identification
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Original image
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Processed image