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05 June 2002 Vehicle Recognition in Cluttered Environments Masters Thesis Defense By Gerald Dalley Signal Analysis and Machine Perception Laboratory The Ohio State University 05 June 2002 Overview Problem Statement and Motivation Recognition Steps Range Image Generation Local Surface Estimation and Decimation Global Surface Reconstruction Surface Segmentation Graph Matching Conclusions and Future Work Questions Problem Statement and Motivation Problem Recognize vehicles Military and civilian Forested environment Motivation Hostile forces tend to hide Camouflage and occlusion foil the human visual system Range Image Generation:Overview Objects modeled Clutter models Camera flight paths (scenes) Noise generation Range Image Generation: Objects Modeled Range Image Generation: Clutter Models Visually realistic trees Look good, but… Poor occlusion Very long runtimes Range Image Generation: Camera Flight Paths (Scenes) Range Image Generation:  Noise Generation Isotropic additive Gaussian noise Standard deviations of: 0mm 2mm 4mm 8mm 16mm 32mm Local Surface Estimation and Decimation:Overview Assumption: Vehicles are composed primarily of large, low-order, low-curvature surfaces. Constraint: 10 tank views ? more than 220,000 range points (too many) Point Selection (Decimation) Principle Component Analysis Biquadratic Surface Fits Local Surface Estimation and Decimation: Point Selection Local Surface Estimation and Decimation: Point Selection (cont’d.) Method 2: In the region of interest… Collect range image points into cubic voxel bins (128x128x128mm) Discard bins that have: Too few points Points that do not represent biquadratic surfaces well Retain only the centroids of the bins and their surface fits Local Surface Estimation and Decimation: Principle Component Analysis Local Surface Estimation and Decimation: Biquadratic Surface Fits Global Surface Reconstruction:Overview Motivations Post-Processing Global Surface Reconstruction:Motivations