Autonomous vehicles require intelligent systems to perceive and navigate unstructured envi- ronments. The scope of this project is to improve and develop algorithms and methods to support autonomy in the off-road problem space. This work explores computer vision architectures to support real-time object detection. Furthermore, this project explores multimodal deep fusion and sensor processing for off-road object detection. The networks are compared to and based off of the SqueezeSeg architecture. The MAVS simulator was utilized for data collection and semantic ground truth. The results indicate improvements from the SqueezeSeg performance metrics.

<p> Body Posture provides enough information regarding the current state of mind of a person. This idea is used to implement a system that provides feedback to lecturers on how engaging the class has been by identifying the attentive levels of students. This is carried out using the posture information extracted with the help of Mediapipe. A novel method of extracting features are from the key points returned by Mediapipe is proposed. Geometric moments aided features classification performs better than the general distances and angles features classification. In order to extend the single person pose classification to multi person pose classification object detection is implemented. Feedback is generated regarding the entire lecture and provided as the output of the system. </p>

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This project aims to create a robot system that can accurately figure out if the throws are successful. This can help make various industrial tasks more efficient. The system uses implemented methods to process data from fisheye camera data and depth sensor data, to check the quality of the throws. The main goal is to find out if the thrown object reaches its target or not, with more advanced tasks including predicting its path when frames are lost or not tracked properly.To put the system together the Robot Operating System (ROS) was used for handling data and processing, as well as different tools and techniques, like bag files and OpenCV. A variety of methods and algorithms were used to apply background subtraction, clustering, curve fitting, marking objects and drawing the path they take in the air. The depth sensor data processing is included to make up for the limitations of 2D camera data, providing more accurate and reliable tracking of thrown objects.

京都大学 / 新制・課程博士 / 博士(農学) / 甲第24913号 / 農博第2576号 / 新制||農||1103(附属図書館) / 京都大学大学院農学研究科地域環境科学専攻 / (主査)教授 飯田 訓久, 教授 近藤 直, 教授 野口 良造 / 学位規則第4条第1項該当 / Doctor of Agricultural Science / Kyoto University / DFAM

Real-time people counting is a beneficial system that covers many levels of use cases. It can help keep track of the number of people entering buildings, buses, stores, and other facilities. Knowing such information can be helpful in case of fire emergencies, preventing overcrowding in public transportation and facilities, helping people with social anxiety, and more. The use cases of such a device are endless and can significantly help society’s development. This thesis will provide research and a solution for accurate real-time people counting using two devices. Having multiple devices count the number of people passing through with good accuracy would benefit facilities with multiple exits. Two Coral Dev Boards will be used, each with its web camera. With the help of machine learning, the device will recognize the top of the head of people passing through and count them, which will later be sent to a server that counts the total amount from each device. The results varied between66.7 % and 100 % accuracy, depending on the walking speed. A fast-paced walking speed, almost running, resulted in 66.7 % accuracy. Meanwhile, a regular walking speed resulted in 80-100 % accuracy.

Stereopsis or Stereo vision is a technique that has been extensively used in computer vision these days helps to percept the 3D structure and distance of a scene from two images taken at different viewpoints, precisely the same way a human being visualizes anything using both eyes. The research involves object matching by extracting features from images and includes some preliminary tasks like camera calibration, correspondence and reconstruction of images taken by a stereo vision unit and 3D construction of an object. The main goal of this research work is to estimate the position and the orientation of a front loader bucket of an autonomous mobile robot configured in a work machine name 'Avant', which consists a stereo vision unit and several other sensors and is designed for outdoor operations like excavation. Several image features finding algorithms, including the most prominent two, SIFT and SURF has been considered for the image matching and object recognition. Both algorithms find interest points in an image in different ways which apparently accelerates the feature extraction procedure, but still the time requires for matching in both cases is left as an important issue to be resolved. As the machine requires to do some loading and unloading tasks, dust and other particles could be a major obstacle for recognizing the bucket at workspace, also it has been observed that the hydraulic arm and other equipment comes inside the FOV of the cameras which also makes the task much challenging. The concept of using markers has been considered as a solution to these problems. Moreover, the outdoor environment is very different from indoor environment and object matching is far more challenging due to some factors like light, shadows, environment, etc. that change the features inside a scene very rapidly. Although the work focuses on position and orientation estimation, optimum utilization of stereo vision like environment perception or ground modeling can be an interesting avenue of future research / <p>Validerat; 20101230 (ysko)</p>