Browsing by Author "Bodor, Robert"

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    Analysis of a Differential Global Positioning System as a Sensor for Vehicle Guidance
    (Minnesota Department of Transportation, 1996-09) Bodor, Robert; Alexander, Lee; Liao, Chen-fu; Bajikar, Sundeep; Morellas, Vassilios; Donath, Max
    An ongoing research project examines guidance systems, which can take over control of a vehicle if the driver becomes incapacitated. Part of this project includes an evaluation of a Differential Global Positioning System (DGPS) for vehicle-based lane sensing. This report documents the results of tests of the 5 Hz NovAtel RT20 DGPS receiver. A series of 32 static tests found the overall mean and standard deviation for the offset errors within specifications. In a series of dynamic tests, in which the vehicle was driven around the track at speeds of 20-35 miles per hour, after removing the effect of the GPS receiver's latency, the DGPS determined position exhibited a mean offset error of -17.3 cm (-6.82 in) and a mean standard deviation of 25.5 cm (10.1 in) in the direction of vehicle motion. In the direction perpendicular to vehicle motion, the mean offset was 4.57 cm (1.8 in) with a mean standard deviation of 39.6 cm (15.6 in). With no overhead obstructions in these tests, continuous satellite lock was possible. Tests at higher speeds based on a more accurate methodology are planned for the future.
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    Freeway Network Traffic Detection and Monitoring Incidents
    (Minnesota Department of Transportation, 2007-10) Joshi, Ajay J.; Atev, Stefan; Fehr, Duc; Drenner, Andrew; Bodor, Robert; Masoud, Osama; Papanikolopoulos, Nikolaos P.
    We propose methods to distinguish between moving cast shadows and moving foreground objects in video sequences. Shadow detection is an important part of any surveillance system as it makes object shape recovery possible, as well as improves accuracy of other statistics collection systems. As most such systems assume video frames without shadows, shadows must be dealt with beforehand. We propose a multi-level shadow identification scheme that is generally applicable without restrictions on the number of light sources, illumination conditions, surface orientations, and object sizes. In the first level, we use a background segmentation technique to identify foreground regions that include moving shadows. In the second step, pixel-based decisions are made by comparing the current frame with the background model to distinguish between shadows and actual foreground. In the third step, this result is improved using blob-level reasoning that works on geometric constraints of identified shadow and foreground blobs. Results on various sequences under different illumination conditions show the success of the proposed approach. Second, we propose methods for physical placement of cameras in a site so as to make the most of the number of cameras available.
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    Image-Based Reconstruction for View-Independent Human Motion Recognition
    (2003-07-23) Bodor, Robert; Jackson, Bennett; Masoud, Osama
    In this paper, we introduce a novel method for employingimage-based rendering to extend the range of use of human motion recognition systems. We demonstrate the use of image-based rendering to generate additional training sets for view-dependent human motion recognition systems. Input views orthogonal to the direction of motion are created automatically to construct the proper view from a combination of non-orthogonal views taken from several cameras. To extend motion recognition systems, image-based rendering can be utilized in two ways: i) to generate additional training sets for these systems containing a large number of non-orthogonal views, and ii) to generate orthogonal views (the views those systems are trained to recognize) from a combination of non-orthogonal views taken from several cameras. In this case, image-based rendering is used to generate views orthogonal to the mean direction of motion. We tested the method using an existing view-dependent human motion recognition system on two different sequences of motion, and promising initial results were obtained.