Multi-Modal Detection Fusion on a Mobile UGV for Wide-Area, Long-Range Surveillance

Abstract

We introduce a self-contained, mobile surveillance system designed to remotely detect and track people in real time, at long ranges, and over a wide field of view in cluttered urban and natural settings. The system is integrated with an unmanned ground vehicle, which hosts an array of four IR and four high-resolution RGB cameras, navigational sensors, and onboard processing computers. High-confidence, low-false-alarm-rate person tracks are produced by fusing motion detections and single-frame CNN person detections between co-registered RGB and IR video streams. Processing speeds are increased by using semantic scene segmentation and a tiered inference scheme to focus processing on the most salient regions of the 43° x 7.8° composite field of view. The system autonomously produces alerts of human presence and movement within the field of view, which are disseminated over a radio network and remotely viewed on a tablet computer. We present an ablation study quantifying the benefits that multi-sensor, multi-detector fusion brings to the problem of detecting people in challenging outdoor environments with shadows, occlusions, clutter, and variable weather conditions.