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Objectives
Backhoe
Skid Steer
Trencher
MiniExcavator
ATE Dataset
Excavator
Backhoe
Problem Statement
GTX-680 1532
cores
Purpose:
Low
Illumination
High
Illumination
Cast
Shadows
Motion Blur
Different
Scale
Different
Viewpoint
Different
Orientation
Backhoe Flight 8
Local Phase
Backhoe Flight 6
Local Phase
METHODOLOGY
Overview
Template
Selection
Orientation
Selection and
Cluster Voting
Detection using
Histogram of
Oriented Phase
Training
Generation of Log-Gabor filters for local phase computation.
Computation of local phase of template using the Log-Gabor filters to
create frequency scale-space representation.
Will account for some amount of resolution changes.
Local
Phase
Local
Phase
Select the most optimal match at each orientation using a global histogram
Template
Matching
Test Image
Search Region
Matching at different
Orientation
Compute local phase matching for every scale and frequency band to get a
set of detections for the single selected orientation.
Select
Orientation
Voting
Scheme
Voting
HOP Matching
Final Detection
DATASET ILLUSTRATION
AND RESULTS
Stage1
Stage 2
Stage 3
False positives
1(2)
2(3)
3(4)
4(5)
5(6)
6(7)
7(8)
Backhoe (Flight)
100.00%
85.71%
85.71%
5.88%
Stage1
Stage 2
Stage 3
False positives
ATV
15
100%
88.9%
88.9%
30.61%
Stage1
Stage 2
Stage 3
False positives
1(1)
2(1)
3(1)
4(1)
5(1)
6(2)
7(2)
8(2)
9(3)
10(3)
11(3)
12
0.91%
0.73%
0.64%
0.15%
Flight 1
Backhoe
(Training Set)
Flight 3 Backhoe in successive frames
FUTURE WORK
Gaussian
Filtering(Specific
Parameters)
Previous
Method
New
Method
Thank You
Questions?