ALBERT

Description: In this research we addressed the problem of obstacle detection for low altitude rotorcraft flight. In particular, the problem of detecting thin wires in the presence of image clutter and noise was studied. Wires present a serious hazard to rotorcrafts. Since they are very thin, their detection early enough so that the pilot has enough time to take evasive action is difficult, as their images can be less than one or two pixels wide. Two approaches were explored for this purpose. The first approach involved a technique for sub-pixel edge detection and subsequent post processing, in order to reduce the false alarms. After reviewing the line detection literature, an algorithm for sub-pixel edge detection proposed by Steger was identified as having good potential to solve the considered task. The algorithm was tested using a set of images synthetically generated by combining real outdoor images with computer generated wire images. The performance of the algorithm was evaluated both, at the pixel and the wire levels. It was observed that the algorithm performs well, provided that the wires are not too thin (or distant) and that some post processing is performed to remove false alarms due to clutter. The second approach involved the use of an example-based learning scheme namely, Support Vector Machines. The purpose of this approach was to explore the feasibility of an example-based learning based approach for the task of detecting wires from their images. Support Vector Machines (SVMs) have emerged as a promising pattern classification tool and have been used in various applications. It was found that this approach is not suitable for very thin wires and of course, not suitable at all for sub-pixel thick wires. High dimensionality of the data as such does not present a major problem for SVMs. However it is desirable to have a large number of training examples especially for high dimensional data. The main difficulty in using SVMs (or any other example-based learning method) is the need for a very good set of positive and negative examples since the performance depends on the quality of the training set.

Description: This research was initiated as a part of the Advanced Sensor and Imaging System Technology (ASSIST) program at NASA Langley Research Center. The primary goal of this research is the development of image analysis algorithms for the detection of runways and other objects using an on-board camera. Initial effort was concentrated on images acquired using a passive millimeter wave (PMMW) sensor. The images obtained using PMMW sensors under poor visibility conditions due to atmospheric fog are characterized by very low spatial resolution but good image contrast compared to those images obtained using sensors operating in the visible spectrum. Algorithms developed for analyzing these images using a model of the runway and other objects are described in Part 1 of this report. Experimental verification of these algorithms was limited to a sequence of images simulated from a single frame of PMMW image. Subsequent development and evaluation of algorithms was done using video image sequences. These images have better spatial and temporal resolution compared to PMMW images. Algorithms for reliable recognition of runways and accurate estimation of spatial position of stationary objects on the ground have been developed and evaluated using several image sequences. These algorithms are described in Part 2 of this report. A list of all publications resulting from this work is also included.