Survey of Object Detection Approaches in Embedded Platforms: Ii. Literature Review

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International Journal of Recent Advances in Engineering & Technology (IJRAET)

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Survey of Object Detection Approaches in Embedded Platforms


1
M. S. Chelva, 2V. S. Halse
1
Research Scholar, SRTM University, Nanded, Maharashtra, India
2
Karnataka States Women’s University, Vijaypur, Karnataka, India

systems are up to 100 times slower than a modern


Abstract— Computer vision has undergone a lot of
research for standalone embedded systems. The desktop computer.
implementation of image processing algorithms on real The major challenges in embedded system are memory
time systems poses new challenges in interfacing the optical limitations, power constrains, ability to execute
sensors and handling memory constraints. Many of the
algorithm in real time and efficient implementation of
work are focused on development of algorithm to detect
object in real time which mainly deal with the separation of complex mathematical operation.
foreground and background object. A major challenge is to The paper discusses various techniques for image
detect the object irrespective of its size, position, and the segmentation and object detection from the earlier
illumination. In this paper, we review the various
techniques for object detection proposed by several
research work in section II. Section III presents the
authors and suggest a method for object detection in real popular method to detect object and its analysis. Section
time embedded system. IV, the discussion & conclusion of the paper review.
Key Words—Object Detection, Embedded Processor, II. LITERATURE REVIEW
Template Matching, Blob Analysis
Detection of small/point targets in infra-red imagery is
I. INTRODUCTION an important research area for defence applications. This
requires high sensitivity with low false alarms and high
Since the past decade, object detection/tracking is
detection probability. Pre-processing is the necessary
playing an important role in the area of computer vision.
step to detect the target in such scenario. To extract the
Object detection/tracking finds its applications in
complex background pre-processing algorithms are used
various areas such as Traffic Surveillance, Medical
[4]. Then the background is subtracted from original
Diagnosis, Military Surveillance, Financial transactions,
image to get difference image which is then passed to
and Defect detection in Industry etc. This has lead the
the detection algorithm. Detection algorithm detects
computer vision community, object detection as an
target and separates background and/or noise from it.
active research area [4]. For some application extraction
The important aim is to fit the background as closely as
of moving objects from the video sequence is the
possible in the original image without diminishing the
important task. For complicated background, long range
target signal. There are several pre-processing
detection and processing of the small moving objects is
algorithms exist like spatial, temporal and
an important subject in the area of signal/image
spatiotemporal. For detection of small/point targets an
processing [5]. The ultimate aim behind every work is to
improved hybrid morphological filter, which provides
develop efficient algorithm/techniques for object
high gain in signal-to-noise plus clutter ratio (SCNR) is
tracking/detection which is one of the major activities in
used.
vision analysis. The detection results are usually very
poor when the detected objects are small and with low The use of median approximation technique to track
contrast by employing traditional image differencing single object in a sequence of frames either from a live
methods. Efficiency can be increased in terms of time camera or a previously saved video. Kalman Filter is
and quality using powerful hardware and efficient used to detect the object in the image frame [6]. Once
algorithm. Any modern computing system can suit well, the presence of object is confirmed, the template
providing sufficient performance. Object detection matching algorithm is used to track the same. The
problem needs to be solved in the harsh environment templates are dynamically generated for this purpose.
with lack of space [3]. To solve such real life The experiment and results shows that the system is
applications industrial computer system has to be extremely fast, has robust performance and also
computationally efficient [4]. The system should also be provides a very cost effective solution for tracking
capable to work in the harsh environment. This need applications.
necessitates a small, energy-efficient, and inexpensive
An image processing based object detection and tracking
system rather than the expensive systems. Usually such
technique on embedded platform such as a robot capable

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ISSN (Online): 2347 - 2812, Volume-2, Issue -11, 2014
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International Journal of Recent Advances in Engineering & Technology (IJRAET)
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of tracking an object in real world reported in [18]. The services such as dynamic load distribution and task
RTOS is installed on embedded processor that executes reconfiguration[11].
the object detection algorithm. The template matching
Embedded platforms often provide limited resources so
approach is used to detect the object in image frame
the deployment of advanced computer vision method on
captured by CMOS camera sensor. ARM processor
it is very challenging [12]. Smart cameras combine
helps to meet the real time constraints but the
video sensing, processing, and communication on a
implementation is limited by the difference in size of
single embedded device which is equipped with a
foreground and background object.
multiprocessor computation and communication
One of the work focused on detection and counting of infrastructure. Multicamera tracking method focuses on
objects of a predefined type in an image frame using a fully decentralized handover procedure between
colour based segmentation and circular Hough transform adjacent cameras. The basic idea is to initiate a single
[20]. The problem of illumination poses limitation to tracking instance in the multicamera system for each
this algorithm as the colour of the objects in image object of interest. The tracker follows the supervised
frame is affected. The thresholding based algorithm is a object over the camera network, migrating to the camera
very basic technique for image segmentation and which observes the object. Thus, no central coordination
separate the foreground [28]. Now, the segmentation is required resulting in an autonomous and scalable
techniques based on colour property of an object [25], tracking approach. The CamShift algorithm is
Watershed methodology [26], graph based segmentation implemented to track the object in real world; the
[24][30] and region growing [27][29] are popularly used handover procedure is realized using a mobile agent
to improve the reliability in segmentation process. A system available on the smart camera network. The
watershed segmentation scheme based on the markers to system is successfully tested to track persons at college
provide better segmentation results proposed in [15]. campus. The algorithm is described to detect the small
However, there is over-segmentation and poor objects in FLIR (Forward Looking Infrared) image
efficiency. A rain-falling watershed algorithm to control sequences [9]. They used the wavelet-based filter to
the number of catchment basins by setting the drowning increase the robustness of their algorithm.
level criteria proposed in[16]. An efficient watershed
A 2-D adaptive lattice algorithm to improve the image
segmentation algorithm using the properties of Local
quality by removing clutter noise is mentioned in a
Intensity Minima (LIM) and Morphological Gradient
paper [14], which is computational expensive and hence
Direction (MGD) proposed [17]. The watershed
not suitable to be used for real-time applications.
methodology is an efficient technique to perform image
Moreover, the detected objects are too small here to find
segmentation where the grid lines divide individual
the complete contour information. Only the rough
catchment basins in a gradient image. A closed contour
regions of targets (called region of interest, ROI) can be
can be generated for each region in image frame [21]. A
obtained by using the thresholding operation. Hence, it
classifier based on morphology is used to detect the
is necessary to further extract the more exact contour
object in the area of interest [22]. The expected colour
information from the ROI by using an efficient
clusters are correctly identified by this method and
segmentation algorithm. The watershed transformation
segmentation of colour images is efficiently done by a
is a powerful tool for image segmentation where the
Markovian labelling but this complete implementation
watershed lines divide individual catchment basins in a
requires a lot of memory and time to execute [22]. Some
gradient image.
of the work have presented statistical model based
colour image segmentation algorithm. III. METHODOLOGIES
Smart cameras are equipped with a high-performance Viola-Jones algorithm is based on four stages, which
on-board computing and communication infrastructure, includes Haar Feature Selection, Creating an Integral
combining video sensing, processing, and Image, Adaboost Training, Cascading Classifier. Viola-
communications in a single embedded device. Jones has a very high detection rates which makes it
Establishing synchronization among many cameras very robust. Also for practical applications it processes
provide access to multiple views of an object and thus a at least 2 frames per second. It always gives very low
network of embedded cameras can potentially support false-positive rate. Viola-Jones is mainly used for face
more complex and challenging applications - including detection [1]. Table I gives more detailed discussion
smart rooms, surveillance, tracking, and motion analysis about the results.
than a single camera. A smart camera is a fully
embedded system, focusing on power consumption, QoS Feature Based: Method Feature points are used for
management, and limited resources is used. The camera object detection by detecting a set of features in a
is a scalable, embedded, high-performance, reference image, extracting feature descriptors, and
multiprocessor platform consisting of a network matching features between the reference image and an
processor and a variable number of digital signal input. This method of object detection can detect
processors (DSPs). Using the implemented software reference objects despite scale and orientation changes
framework, the embedded cameras offer system-level and is robust to partial conclusions [2].

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ISSN (Online): 2347 - 2812, Volume-2, Issue -11, 2014
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International Journal of Recent Advances in Engineering & Technology (IJRAET)
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The template Matching: Median approximation 1. Noise: Additive Noise 10% and 1% of the pixels have
technique is used to track single object in a sequence of either the maximum or minimum value
frames either from a live camera or a previously saved
2. Small Rotation: Counter-clockwise rotation of 10
video. After object is detected Kalman filter with
degrees
template matching algorithm is used to track the same.
The templates are dynamically generated for this 3. Translation: Translation is done with 2 pixels left and
purpose. According to experiment and results it shows 2 pixels up
that the system is extremely fast, has robust performance
and in a very cost effective system [6]. 4. Small Rotation + Translation: Is combination of Small
Rotation and Translation
Blob Analysis Approach, the Blob detection detects
5. Rotation: Clockwise rotation of 20 degrees
regions in digital image which differ in properties such
as brightness, colour than surrounding. Blob detection Template Matching is done using normalized cross
can be categorised in two different ways one is correlation and Fourier transform + phase correlation.
differential method and other is local maxima. Laplacian Normalized cross correlation is much liked method.
of Gaussian is most common detector. Watershed based Normalized cross correlation:
analogy is also used in some papers for blob detection h w
[3]. i= −h j= −w X i, j T i, j
C u, v =
h w 2 h w 2
Table II, shown results from running three detector. i= −h j= −w X i, j i= −h j= −w T i, j
Detection rates shows that there is improvement in the
detection rate. Also it is seen that false positives rate is X i, j = x u + i, v + i − x
minimum. According to authors suggestions
independent detectors will show more improvement. With

The results shown in table 2 for five different T i, j = t h + i, w + i − t


experiments Noise Small Rotation, Translation, Small Table I. Detection rates for various numbers of false
Rotation + Translation, Rotation. For each experiment positives on the MIT+CMU test set containing 130
there are some changes in figures as, images and 507 [1]

False Detections 10 31 50 65 78 95 167

Detectors
Viola-Jones 76.1% 88.4% 91.4% 92.0% 92.1% 92.9% 93.9%
Viola-Jones(Voting) 81.1% 89.7% 92.1% 93.1% 93.1% 93.2 % 93.7%
Rowley_Baluja-Kanade 83.2% 86.0% - - - 89.2% 90.1%
Schneiderman-Kanade - - - 94.4% - - -
Roth-Yang-Ahuja - - - - 94.8% - -

background noise but if the size of filter is increased, it


Table II. The results of the experiments performed on
becomes impossible to implement the algorithm in real
126 dataset of images using FBR and nearest neighbor
time and hence small size median filter can be used at
classifier[19]
pre-processing stage. The template matching algorithm
Experiments Feature Based Nearest to detect object in image frame has lower time
Recognition Neighbor complexity and also proves to be efficient. It has lower
Correct N.M. Correct N.M. memory requirement and thus is suitable to implement
Noise 100 100 100 100 on embedded system as there are tight memory
Small Rotation 100 100 87 99 constraints. Moreover, the execution time of algorithm is
Translation 100 100 23 52 mainly dependent on resolution of image and hence
Small Rotation choosing a minimum possible image resolution that
100 100 20 43 helps to obtain required result using the chosen
+ Translation
Rotation 74 94 32 70 algorithm is smart strategy for embedded real time
image processing application.
IV. DISCUSION & CONCLUSION
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International Journal of Recent Advances in Engineering & Technology (IJRAET)
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