Abstract
This paper describes a non-linear IR (infra-red) scene prediction method for range video surveillance and navigation. A Gabor-filter bank is selected as a primary detector for any changes in a given IR range image sequence. The detected ROI (region of interest) involving arbitrary motion is fed to a non-linear Kalman filter for predicting the next scene in time-varying 3D IR video. Potential applications of this research are mainly in indoor/outdoor heat-change based range measurement, synthetic IR scene generation, rescue missions, and autonomous navigation. Experimental results reported herein show that non-linear Kalman filtering-based scene prediction can perform more accurately than linear estimation of future frames in range and intensity driven sensing. The low least mean square error (LMSE), on the average of about 2% using a bank of 8 Gabor filters, also proves the reliability of the IR scene estimator (or predictor) developed in this work.
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