tecfor 2010, seminario sicurezza
TRANSCRIPT
© 2010 SELEX Sistemi Integrati - Confidential, All rights reserved
TecFOr 2010, Seminario Sicurezza
TechFOrTechFOr 2010, 18 Maggio, Fiera di Roma2010, 18 Maggio, Fiera di Roma
Conferenza SELEX Sistemi Integrati & AFCEA Capitolo di RomaConferenza SELEX Sistemi Integrati & AFCEA Capitolo di Roma
"Tecnologie Abilitanti e Sistemi per la Sicurezza: il contributo delle Università e dei Centri di Ricerca"
Sistemi multisensoriali intelligenti per la sicurezza
© 2010 SELEX Sistemi Integrati - Confidential, All rights reserved
COMPONENTIMULTISENSORIALI
multitemporale
multispettrale
…..
Sistemi multisensoriali intelligenti per la sicurezza
© 2010 SELEX Sistemi Integrati - Confidential, All rights reserved
multitemporale
multispettrale
…..
DESCRIZIONE E
RICONOSCIMENTO
COMPONENTISENSORIALI
Sistemi multisensoriali intelligenti per la sicurezza
© 2010 SELEX Sistemi Integrati - Confidential, All rights reserved
DESCRIZIONE E
RICONOSCIMENTO
AGENTIINTELLIGENTI
EntitàFisiche
COMPONENTISENSORIALI
EntitàSoftware
Sistemi multisensoriali intelligenti per la sicurezza
© 2010 SELEX Sistemi Integrati - Confidential, All rights reserved
Visual and Infrared CameraUltrasonic Sensors
ThermocamerasRange Finder - Laser – Sonar
RFID
COMPONENTI SENSORIALI
Sistemi multisensoriali intelligenti per la sicurezza
© 2010 SELEX Sistemi Integrati - Confidential, All rights reserved
Principal Component AnalysisIndependent Component Analysis
Wavelet-Contourlet TransformSingular Value DecompositionEmpirical Mode Decomposition
Scale Invariant Feature TransformSpeeded Up Robust Features
DESCRIZIONE
Sistemi multisensoriali intelligenti per la sicurezza
© 2010 SELEX Sistemi Integrati - Confidential, All rights reserved
S1 S4
S3
S2
Neural NetworkSelf Organized MapFinite State Machine
Hidden Markov ModelDecision TreeFuzzy Logic
RICONOSCIMENTO
Sistemi multisensoriali intelligenti per la sicurezza
© 2010 SELEX Sistemi Integrati - Confidential, All rights reserved
Activity RecognitionEvent Detection
Anomalies DetectionObject Detection
People Detection and RecognitionRemote Environment Fruition
RICONOSCIMENTO
Sistemi multisensoriali intelligenti per la sicurezza
© 2010 SELEX Sistemi Integrati - Confidential, All rights reserved
Activity Monitoring in public environments • Recognize Moving People in the environment
• Estimate their positions in the observed area• Detect People Behaviors• Prevent Illegal Activities
Sistemi multisensoriali intelligenti per la sicurezza
© 2010 SELEX Sistemi Integrati - Confidential, All rights reserved
Activity Monitoring in public environments
• Moving Object Detection • Shadow Removing• People Detection• Activity Modeling
Sistemi multisensoriali intelligenti per la sicurezza
© 2010 SELEX Sistemi Integrati - Confidential, All rights reserved
Sistemi multisensoriali intelligenti per la sicurezza
Activity Monitoring in public environments
• People tracking • Access Violation• Removed Object• Abandoned Object
© 2010 SELEX Sistemi Integrati - Confidential, All rights reserved
Activity Monitoring in public environments
• People Detection• Posture Estimation • Temporal Posture Analysis• Activity Recognition
Sistemi multisensoriali intelligenti per la sicurezza
HMM N
HMM 3
HMM 2
HMM 1
Score N
Score 3
Score 2
Score 1
Activity
© 2010 SELEX Sistemi Integrati - Confidential, All rights reserved
Activity Monitoring in public or private buildings
Sistemi multisensoriali intelligenti per la sicurezza
People detection and trackingHuman Body Component Segmentation
Gesture Modeling Automatic Human Gesture recognition FSM
0 1 2Stati mano destra
1 4 7 10 13 16 19 22 25 28 31 34 37 40 43 46 49 52 55 58 61
N° Frame
Stati mano sinistra
1 4 7 10 13 16 19 22 25 28 31 34 37 40 43 46 49 52 55 58 61
N° Frame
[ 0 1 2 ] [ 0 1 2 ]
Finite State Machine
© 2010 SELEX Sistemi Integrati - Confidential, All rights reserved
Environment Patrolling by moving platforms • Mapping• Autonomous Navigation • Object Detection and Localization• People Detection and Following• 3D Reconstruction
Object localizationMulti-sensor System: Visible Cameras
Laser Range Finder Ultrasonic Sensors
RFID System
Object detection
3D Reconstruction
People Following
Sistemi multisensoriali intelligenti per la sicurezza
© 2010 SELEX Sistemi Integrati - Confidential, All rights reserved
Multirobot Cooperation
• Multi-robot task allocation• Distributed Control of Heterogeneous Robotic Networks• Decentralized Consensus-based Target Tracking• Multi-Robot Distributed Perception and Decision Making• Fault tolerance and Communication reliability
Sistemi multisensoriali intelligenti per la sicurezza
Application domains:
Multi-Target ObservationArea CoverageMultirobot mappingExploration
Expecially in hostile or complex environments
© 2010 SELEX Sistemi Integrati - Confidential, All rights reserved
Environment Modeling • 2D Mapping• 3D Environment Reconstruction • 3D Scene Reconstruction
Sistemi multisensoriali intelligenti per la sicurezza
© 2010 SELEX Sistemi Integrati - Confidential, All rights reserved
Environment Modeling• 2D Mapping• 3D Environment Reconstruction • 3D Scene Reconstruction
Sistemi multisensoriali intelligenti per la sicurezza
Contesti applicativi
Prevenzione ed analisi del rischio di eventi naturali (frane,…) o accertamento di mutamenti nella morfologia della scena dovuti all’uomo.
© 2010 SELEX Sistemi Integrati - Confidential, All rights reserved
Autonomous Robot Navigation • Control Architecture• Self-Localization • Scan Matching• Map Building• Obstacle Avoidance• Visual Odometry• Path Planning• Goal Reaching
Sistemi multisensoriali intelligenti per la sicurezza
© 2010 SELEX Sistemi Integrati - Confidential, All rights reserved
Environment Patrollingby moving platforms
• Mission Control• Laser-based people detection and tracking • Visual-based Scene Change Detector• Laser-based Scene Change Detector• RFID for object localization
New object detected
Detection of new or removed objects
Scan Matching
Sistemi multisensoriali intelligenti per la sicurezza
© 2010 SELEX Sistemi Integrati - Confidential, All rights reserved
Goal Line Monitoring
Multi-camera System: 4 synchronized cameras
with high temporal resolution (200 fps
640x480)
• Ball Detection and Tracking• Data Synchronization• Goal Event Decision Making
Sistemi multisensoriali intelligenti per la sicurezza
© 2010 SELEX Sistemi Integrati - Confidential, All rights reserved
Goal Line Monitoring
Sistemi multisensoriali intelligenti per la sicurezza
© 2010 SELEX Sistemi Integrati - Confidential, All rights reserved
Offside Detection
Multi-camera System: 6 synchronized color
Cameras (30 fps 1920x1080)
• Player Detection and Tracking• Ball Detection and Tracking• Data Synchronization• Offside Event Decision Making
Sistemi multisensoriali intelligenti per la sicurezza
© 2010 SELEX Sistemi Integrati - Confidential, All rights reserved
Offside Detection
Sistemi multisensoriali intelligenti per la sicurezza
© 2010 SELEX Sistemi Integrati - Confidential, All rights reserved
Penalty area Monitoring
Sistemi multisensoriali intelligenti per la sicurezza
© 2010 SELEX Sistemi Integrati - Confidential, All rights reserved
Sistemi multisensoriali intelligenti per la sicurezza
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