Development and Analysis of a Real-Time System for Automated Detection of IED indicators from Ground Vehicles

TitleDevelopment and Analysis of a Real-Time System for Automated Detection of IED indicators from Ground Vehicles
Publication TypeJournal Article
Year of PublicationSubmitted
Authorsvan de Wouw, DWJM, Haar, FB ter, Dubbelman, G, de With, PHN
JournalJournal of Electronic Imaging
Abstract

This work proposes a real-time change detection system to be used as a vehicle-mounted early-warning system for indicators of Improvised Explosive Devices. Within the context of military route clearance, the system automatically detects suspicious changes in the environment w.r.t. a previous patrol. For this purpose, historical images of the live scene are retrieved from a database and registered to the live image through 2.5D view synthesis, using the 3D-scene geometry acquired from a stereo camera. Changes are then found using local-area statistics in the CIE-Lab color space. A set of spatio-temporal filters is used to reject irrelevant alarms, resulting in a limited set of confident changes to be presented to the operator through an interactive Graphical User Interface. Next to the algorithmic contributions, we elaborate on the real-time design, featuring GPU processing for the most time-consuming processing tasks, a pipelined architecture to increase the system throughput and we split the system into a live and offline processing chain. This way, real-time change detection at 3.5 FPS is achieved on images of 1920×1440 pixels. Finally, an extensive system validation featuring realistic experiments shows promising detection capabilities and robustness to e.g. lateral displacements of up to 6 m.