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Estimation of absolute distance and height of people based on monocular view and deep neural networks for edge devices operating in the visible and thermal spectra

Gąsienica-Józkowy Jan, Cyganek Bogusław, Knapik Mateusz, Głogowski Szymon, Przebinda Łukasz

Annals of Computer Science and Information Systems

2023

Vol. 35

503--511

Accurate estimation of absolute distance and height of objects in open area conditions is a significant challenge. In this paper, we address these problems and we propose a novel approach that combines classical computer vision algorithms with modern neural network-based solutions. Our method integrates object detection, monocular depth estimation, and homography- based mapping to achieve precise and efficient estimations of absolute height and distance. The solution is implemented on the edge device, which enables real-time data processing using both visual and thermography data sources. Experimental evaluation on a height estimation dataset prepared by us demonstrates an accuracy of 97.06\% and validates the effectiveness of our approach.

New thermal automotive dataset for object detection

Balon Tomasz, Knapik Mateusz, Cyganek Bogusław

Annals of Computer Science and Information Systems

2022

Vol. 31

43--48

Although there are many efficient deep learningmethods, object detection and classification in visible spectrum have many limitations especially in case of poor light conditions. To fill this gap, we created a novel thermal video database containing few thousands of frames with annotated objects acquired in far infrared thermal spectrum. Thanks to this we were able to show its usability in the traffic object recognition based on the YOLOv5 network, properly trained to gain maximal performance on thermal images, which contain many small objects and are characteristic of different properties than the visible spectrum counterparts. The proposed thermal database, as well as the fully trained model are main contributions of this paper. These are made available free for other researchers. Additionally, based on the highly efficient car detector we show its application in the car speed measurement based exclusively on thermal images. The proposed system can be also used in the Advanced DriverAssistance Systems (ADAS), and help autonomous driving.