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Infrared Thermal Camera-Based Real-Time Identification and Tracking of Large Animals to Prevent Animal-Vehicle Crashes(A

Infrared Thermal Camera-Based Real-Time Identification and Tracking of Large Animals to Prevent Animal-Vehicle Crashes(AVCs) On Roadways. Debao Zhou Department of MIE, UMD June 6, 2014. Objective.

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Infrared Thermal Camera-Based Real-Time Identification and Tracking of Large Animals to Prevent Animal-Vehicle Crashes(A

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  1. Infrared Thermal Camera-Based Real-Time Identification and Tracking of Large Animals to Prevent Animal-Vehicle Crashes(AVCs) On Roadways Debao Zhou Department of MIE, UMD June 6, 2014

  2. Objective • To build a system on roadside to automatically detect the presence of large animals, such as deer, and track their motions for the safe driving on roadways • This system can also be installed on cars

  3. The Problem – Where Are Animals Animals off road Cars at low/high speed Heated objects Animals off road Animals on road Heated objects

  4. The Problem – Road Conditions • Tree and/or grass, • Straight or curved • Hill or ditch Road Road Road Tree Case 3 Tree Tree Tree Road Grass Grass Hills or ditches Case 2 Case 1 Case 4

  5. Thermal Camera Capability • Temperature sensitivity: up to 14 mK • Optical resolution up to 640 by 480 TV Lines • Activity detection of adult human size objects up to 8 Km with motorized focal length adjustment • Active IR thermal camera and passive IR thermal camera

  6. Example: • Thermal-Eye 3620AS camera core: • FOV 17 • Range to detect human activity: 1000ft (305m) • Real-time 30fps • -20°C to 85°C • $3500

  7. Technical Approach • Through the processing of infrared thermal images to detect and track big animals • Speed method will be used to distinguish big animals from their environment and high speed cars • Pattern matching method will be used to identify big animals from low speed cars • Centroid method will be used to track the motion of big animals • A mechatronic system with two degrees of freedom will be developed to realize the scanning and tracking by making the camera point to a specific animal

  8. Advantages • Advantages • Automatic detection and tracking • All-time – day and night • Coverage area much bigger than break-the-beam method • Usage: • On-vehicle • Roadside for infrastructure

  9. Accomplishments To Date • Infrared thermal images have been acquired and analyzed. The results shows that these images can be used to identify the presence of big animals and cars. • Pattern matching method has been applied to identify the presence of cars and deer. The algorithm is capable to tell the object is a deer or a car. • Tracking has been realized using two degrees of freedom system. • A prototype has been built and the scanning and tracking have been realized.

  10. System Prototype • Camera and image grabbing • Stepper motors • Enclosure: Contain power supply and motion controller • Computer

  11. Identification and Tracking Realization • Three main phases: • Image acquisition • Image processing • Motion control Image acquisition Image processing  Image center + Pixel to step adjustment Motion control Motion generation Position measurement

  12. Motion Control and Realization Motion realization

  13. Object Identification and Tracking Through Centroid and its changing locations:

  14. Pattern Matching: Car and Big-animals Original Patterns • Original Images

  15. Object Identification • Processed Images • Matched pattern

  16. Object Identification and Tracking in Light In light Three cameras are used: #1: Thermal camera to take the thermal image and put on computer screen #2: Normal digital camera to take video of the whole scenario (video on left) #3: Normal digital camera to take video of the computer screen (video on right)

  17. Object Identification and Tracking in Dark In dark, no lights Three cameras are used: #1: Thermal camera to take the thermal image and put on computer screen #2: Normal digital camera to take video of the whole scenario (video on left) #3: Normal digital camera to take video of the computer screen (video on right)

  18. Proposed System Setup Two IR cameras Animals off road Cars at low/high speed Heated objects Animals off road Animals on road Heated objects

  19. Proposed Study • Speed measurement: • 3D distance measurement and distance change with time • Off-road big-animal identification from stand-still objects • On-road high-speed vehicles identification • Development of pattern matching algorithms • On-road low speed vehicles identification - tell cars from any big animals when car moves in slow speed • Multiple objects tracking • Building robust system: electrical, mechanical, suitable for roadside application, low-high temperature, etc.

  20. Thanks!

  21. Review: On-vehicle / Roadside • The Driver • Whistles • TH-HID Lighting System • Forward-collision Sensors • Ultrasonic Sensors • Radar • Camera • Auto-identification of humans in the environment, Natural habitat prevention Roadside vegetation control Electronic mats Population reduction Fencing Deer guards and crosswalks Underpasses and overpasses Roadside reflectors Animal reflectors Flash light sensing IR LASER

  22. Animal Detection System Installed Worldwide: Area-cover systems and Break-the-beam systems

  23. IR System and Warning Signs in Netherlands

  24. System in Calville, WA, USA – Break-the-beam System • 20 June 2000 • Hwy 395 north of Spokane, south of Colville • Two lasers, one placed on each side of the road • Two standard deer warning signs, two smaller rectangular signs that read “When Flashing”, and two solar powered red flashing beacons • Lasers operated on batteries • Problems: • Clear line-of-sight in the right-of-way • Heat in the box

  25. FLASH System in Nugget Canyon WY USA, IR Sensor (17m-19m) • Signs were placed 300 m (327 yd) before the crossing area • Sing read: • Flashing Light Animal Sensing Host (FLASH) • Series of infrared sensors placed at 17-19 m (18.5-20.7 yd) intervals, HW 30; spanned 92m • Body heat of large animals

  26. System in Yellowstone National Park, Montana USA (Break-the-beam) • Oct./Nov. 2002; • Along a 1,609 m (1 mi) long road section of US Hwy 191 • Transmitter: microwave RF signal (35.5 GHz) to its intended Receiver • Once actived, master station then sends the beacon-on command to the nearest beacons

  27. System in Yellowstone National Park, Montana USA (Break-the-beam)

  28. Cannot detect the distance/speed of a moving object • Cannot distinguish moving animals from moving cars • Cannot distinguish sun-heated objects from big-animals • Cannot be able to tell that a fast running animal will enter the road. • Intrusion detection rate is not acceptable • Camrix A.L.E.R.T and Xtralis ADPRO

  29. Infrared Cameras for Monitoring Animal Activity Thermacam B1; FLIR (forward-looking infrared) Systems Inc; Boston, Massachusetts Trailmaster 1500 Active Infrared Trail Monitors; By Goodson and Associates, Inc.; Lenexa, Kansas FLIR Nightsight Palm IR 250 Digital Camera; Raytheon, Waltham, MA TM-2500 Trailmonitor; Grypon Engineering, Inc.; Richmond, Michigan Su320ktx-1.7rt; Goodrich Corporation; Princeton, New Jersey Hunting Electronics / Military Usage

  30. Capability of Infrared Cameras • Distance, from up to 8 Km for the identification of adult human size objects • Temperature: -40F to 100F • Resolution: 0.1F

  31. Component Integration

  32. Object Identification • Original image • Processed image

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