Chao Liu

Mufeng Yao, Jinlong Peng, Qingdong He et al.

Multiple object tracking (MOT) from unmanned aerial vehicle (UAV) platforms requires efficient motion modeling. This is because UAV-MOT faces both local object motion and global camera motion. Motion blur also increases the difficulty of detecting large moving objects. Previous UAV motion modeling approaches either focus only on local motion or ignore motion blurring effects, thus limiting their tracking performance and speed. To address these issues, we propose the Motion Mamba Module, which explores both local and global motion features through cross-correlation and bi-directional Mamba Modules for better motion modeling. To address the detection difficulties caused by motion blur, we also design motion margin loss to effectively improve the detection accuracy of motion blurred objects. Based on the Motion Mamba module and motion margin loss, our proposed MM-Tracker surpasses the state-of-the-art in two widely open-source UAV-MOT datasets. Code will be available.

Mufeng Yao, Jiaqi Wang, Jinlong Peng et al.

Multiple object tracking (MOT) has been successfully investigated in computer vision. However, MOT for the videos captured by unmanned aerial vehicles (UAV) is still challenging due to small object size, blurred object appearance, and very large and/or irregular motion in both ground objects and UAV platforms. In this paper, we propose FOLT to mitigate these problems and reach fast and accurate MOT in UAV view. Aiming at speed-accuracy trade-off, FOLT adopts a modern detector and light-weight optical flow extractor to extract object detection features and motion features at a minimum cost. Given the extracted flow, the flow-guided feature augmentation is designed to augment the object detection feature based on its optical flow, which improves the detection of small objects. Then the flow-guided motion prediction is also proposed to predict the object's position in the next frame, which improves the tracking performance of objects with very large displacements between adjacent frames. Finally, the tracker matches the detected objects and predicted objects using a spatially matching scheme to generate tracks for every object. Experiments on Visdrone and UAVDT datasets show that our proposed model can successfully track small objects with large and irregular motion and outperform existing state-of-the-art methods in UAV-MOT tasks.

Chao Liu, Tarik Tosun, Mark Yim

Accurate position sensing is important for state estimation and control in robotics. Reliable and accurate position sensors are usually expensive and difficult to customize. Incorporating them into systems that have very tight volume constraints such as modular robots are particularly difficult. PaintPots are low-cost, reliable, and highly customizable position sensors, but their performance is highly dependent on the manufacturing and calibration process. This paper presents a Kalman filter with a simplified observation model developed to deal with the non-linearity issues that result in the use of low-cost microcontrollers. In addition, a complete solution for the use of PaintPots in a variety of sensing modalities including manufacturing, characterization, and estimation is presented for an example modular robot, SMORES-EP. This solution can be easily adapted to a wide range of applications.

Chao Liu, Heming Sun, Jiro Katto et al.

Convolutional Neural Network (CNN)-based filters have achieved significant performance in video artifacts reduction. However, the high complexity of existing methods makes it difficult to be applied in real usage. In this paper, a CNN-based low complexity filter is proposed. We utilize depth separable convolution (DSC) merged with the batch normalization (BN) as the backbone of our proposed CNN-based network. Besides, a weight initialization method is proposed to enhance the training performance. To solve the well known over smoothing problem for the inter frames, a frame-level residual mapping (RM) is presented. We analyze some of the mainstream methods like frame-level and block-level based filters quantitatively and build our CNN-based filter with frame-level control to avoid the extra complexity and artificial boundaries caused by block-level control. In addition, a novel module called RM is designed to restore the distortion from the learned residuals. As a result, we can effectively improve the generalization ability of the learning-based filter and reach an adaptive filtering effect. Moreover, this module is flexible and can be combined with other learning-based filters. The experimental results show that our proposed method achieves significant BD-rate reduction than H.265/HEVC. It achieves about 1.2% BD-rate reduction and 79.1% decrease in FLOPs than VR-CNN. Finally, the measurement on H.266/VVC and ablation studies are also conducted to ensure the effectiveness of the proposed method.