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<p>The interest in video surveillance has increased in recent years. Cameras are now installed in e.g. stores, arenas and prisons. The video data is analyzed to detect abnormal or undesirable events such as thefts, fights and escapes. At the Informatics Unit at the division of Information Systems, FOI in Linköping, algorithms are developed for automatic detection and tracking of humans in video data. This thesis deals with the target tracking problem when a 3D camera is used. A 3D camera creates images whose pixels represent the ranges to the scene. In recent years, new camera systems have emerged where the range images are delivered at up to video rate (30 Hz). One goal of the thesis is to determine how range data affects the frequency with which the measurement update part of the tracking algorithm must be performed. Performance of the 2D tracker and the 3D tracker are evaluated with both simulated data and measured data from a 3D camera. It is concluded that the errors in the estimated image coordinates are independent of whether range data is available or not. The small angle and the relatively large distance to the target explains the good performance of the 2D tracker. The 3D tracker however shows superior tracking ability (much smaller tracking error) if the comparison is made in the world coordinates.</p>

The interest in video surveillance has increased in recent years. Cameras are now installed in e.g. stores, arenas and prisons. The video data is analyzed to detect abnormal or undesirable events such as thefts, fights and escapes. At the Informatics Unit at the division of Information Systems, FOI in Linköping, algorithms are developed for automatic detection and tracking of humans in video data. This thesis deals with the target tracking problem when a 3D camera is used. A 3D camera creates images whose pixels represent the ranges to the scene. In recent years, new camera systems have emerged where the range images are delivered at up to video rate (30 Hz). One goal of the thesis is to determine how range data affects the frequency with which the measurement update part of the tracking algorithm must be performed. Performance of the 2D tracker and the 3D tracker are evaluated with both simulated data and measured data from a 3D camera. It is concluded that the errors in the estimated image coordinates are independent of whether range data is available or not. The small angle and the relatively large distance to the target explains the good performance of the 2D tracker. The 3D tracker however shows superior tracking ability (much smaller tracking error) if the comparison is made in the world coordinates.

In recent years laser technology has increasingly developed with the use of fiber lasers and this has provided the possibility to implement different techniques in the defense industry. LADAR is at the forefront of these techniques. Fiber lasers constitute a perfect source for LADAR systems due to their excellent robustness, compact size and high-power generation capability. In this study we will explore the development of a pulsed fiber laser source for a LADAR system that can obtain high resolution 3D images in eye-safe region. A high power, all fiber integrated erbium system with strictly single mode operation in eye-safe region based on MOPA (master oscillator power amplifier) configuration with seed source and amplifier part was developed. Both the use of an actively mode locked laser with erbium doped fiber and fiber coupled modulated distributed feedback diode laser were investigated as seed sources for the amplifier part. Both erbium doped single clad fiber and erbium-ytterbium doped double clad gain fiber were used in this amplifier system. After amplification of the actively mode locked laser, 12 W of average optical power was obtained through single mode fiber with 1ns pulse duration at 10 MHz which corresponds to 1.2 kW peak power. For the fiber coupled DFB diode laser, 9.5W average power was obtained with around 8 ns duration pulses at 100 kHz and about 9.2 W average power was also obtained with around 700 ps duration pulses at 1 MHz through strictly single mode fiber at the output of the same amplifier system as was used in the actively mode locked seed source. In both cases calculated peak power was around 10 kW v which is estimated as the highest peak power for an all fiber integrated system with single mode operation. The development of such a fiber system with high power capability, compact size and free of misalignment is expected to be useful for LADAR application as well as other areas such as eye surgery, 3D silicon processing or any other material processing applications.