March 27, 2007 14:53 WSPC/157-IJCIA 00192

International Journal of Computational Intelligence and Applications

Vol. 6, No. 2 (2006) 149160
c Imperial College Press
THE DETECTION OF PERSONS IN CLUTTERED BEACH
SCENES USING DIGITAL VIDEO IMAGERY AND NEURAL
NETWORK-BASED CLASSIFICATION
STEVE GREEN and MICHAEL BLUMENSTEIN
School of Information and Communication Technology
Grith University, Gold Coast
Queensland 9726, Australia
MATTHEW BROWNE
CSIRO Mathematical and Information Sciences
Cleveland, Queensland 4163, Australia
RODGER TOMLINSON
Grith Centre for Coastal Management, Grith University
Gold Coast, Queensland 9726, Australia
Received 31 January 2006
Revised 8 June 2006
This paper presents an investigation into the detection and quantication of persons
in real-world beach scenes for the automated monitoring of public recreation areas.
Aside from the obvious use of video and digital imagery for surveillance applications,
this research focuses on the analysis of images for the purpose of predicting trends in
the intensity of public usage at beach sites in Australia. The proposed system uses
image enhancement and segmentation techniques to detect objects in cluttered scenes.
Following these steps, a newly proposed feature extraction technique is used to represent
salient information in the extracted objects for training of a neural network. The neural
classier is used to distinguish the extracted objects between person and non-person
categories to facilitate analysis of tourist activity. Encouraging results are presented for
person classication on a database of real-word beach scene images.
Keywords: People detection; image segmentation; modied direction feature; video image
analysis; beach imagery.
1. Introduction
This paper describes a novel person detection system for analyzing beach scene
imagery. Quantifying people on beaches can provide valuable information for local
authorities to estimate the number of persons using a beach on a particular day.
People use beaches for exercise, relaxation, and social activities. The monitoring of
local beach behavior can provide valuable information regarding whether current
amenities at a particular site are sucient to meet changing levels of demand. Most
major beaches around Australia, and the world, have World Wide Web cameras
149
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March 27, 2007 14:53 WSPC/157-IJCIA 00192
150 S. Green et al.
(sometimes also called web cams) that provide local beach information accessible
through the Internet. Coastalwatch
a
Pty. Ltd. provides this service in Australia via
a national network of remote cameras.
The remote video feeds that Coastalwatch provide oer up-to-date information
on surf and current weather conditions at many beach locations around Australia.
The streamed images from Coastalwatch web cams are of a low resolution. There-
fore, aside from the inherent diculties in dealing with variable outdoor imagery,
processing low quality images provides quite a challenge for any automated human
quantication system. The low quality beach imagery is one of the main constraints
upon this research. People (and other objects) within these images can, in some
cases, only be 10 or 15 pixels in height.
Another important aspect of detecting people on beaches is that of safety.
Beaches can provide a dangerous environment for people of all ages.
1
Currently, life-
guards provide assistance for swimmers who encounter trouble between the ags,
which are designated as patrolled areas. This requires human surveillance of the
beach to notify a lifeguard when a swimmer is distressed or in trouble. If a sys-
tem could be developed to monitor and detect erratic or uncharacteristic swimmer
behavior and notify the lifeguard, this would provide extra safety measures for
swimmers.
The remainder of this paper is organized into four main sections. Section 2 gives
an overview of existing techniques in the literature relating to object and person
detection, Sec. 3 provides a detailed description of the proposed person detection
system, in Sec. 4, the results attained using the proposed system are presented and
nally conclusions and future work are provided in Sec. 5.
2. Overview of Existing Techniques for Person and Object
Detection
The automated detection of persons and their behavior in beach scenes is a novel
application in the eld of video surveillance. However, a number of techniques and
systems have been proposed for automated analysis of humans in other indoor and
outdoor situations. Some of these are reviewed and detailed in the paragraphs that
follow.
Schoeld et al.
2
proposed a system for analyzing video imagery to count persons
on the oors of buildings for improving the eciency of elevator systems. They have
used intelligent techniques for identifying the background of a scene.
3
The limitation
of this system was that it was based indoors. However, a number of systems have
been proposed for dealing with outdoor conditions, which have proved to be far
more variable. Iketani et al.
4
propose a system for real-time detection of intruders
(persons) in dicult, outdoor and cluttered scenes using information from video
imagery over space and time. Sacchi et al.
5
present advanced image processing tools
a
http://www.coastalwatch.com
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March 27, 2007 14:53 WSPC/157-IJCIA 00192
Detection of Persons in Cluttered Beach Scenes 151
for remote monitoring of a tourist site involving the counting of persons in outdoor
scenes. Bartolini et al.
6
propose a system for automatically counting persons getting
in and o a bus using image sequence analysis for allocating appropriate resources
on bus lines. Pai et al.
7
present a system for pedestrian tracking using vision-based
techniques to prevent trac accidents. Finally, person tracking in complex scenes
has emerged as a challenging problem in the area of video surveillance. A number
of systems have recently been proposed in the literature, which address this eld of
research.
810
Aside from the quantication of persons, some studies have also been performed
for the purpose of quantifying and tracking the behavior of motor vehicles. These
studies (mainly dealing with outdoor imagery) are of relevance to the present study
as the techniques that are detailed for detection, monitoring and classication are
transferable to tracking human objects in outdoor scenes.
Tai et al.
11
present an image tracking system, which locates motorcycles and
other vehicles for trac monitoring and accident detection at road intersections.
Another system recently proposed by Ha et al.
12
has employed a neural network-
based edge detector for vehicle detection and trac parameter estimation (vehicle
count, class and speed) in an image-based trac monitoring system. Other systems
such as that of W ohler and Anlauf,
13
have been used to assist drivers in automobiles
through the detection of overtaking vehicles. They employed an adaptable time-
delay articial neural network (ANN) to analyze complete image sequences. Finally,
some researchers have utilized additional indicatory information for the purpose
of vehicle detection. For example, Altmann et al.
14
have developed a system to
detect military vehicles using acoustic and seismic information for application in
disarmament and peacekeeping.
A number of current object detection systems, operating within static imagery,
employ an exhaustive search technique to locate regions of interest.
1517
The
exhaustive search technique is computationally expensive, and therefore eliminat-
ing regions of non-interest is important to reduce not only the false positive rate,
but also to reduce the computation time of the search. Our proposed system cur-
rently reduces this search time by removing background information, and then only
searches foreground regions that seem promising. Further details pertaining to the
proposed system are discussed in the next section.
3. System Overview
This research describes a model for the automatic detection of people on beaches.
The proposed system uses a classication-based strategy, which searches gray-
scale images of beach scenes for potential objects of interest. The sub-images
extracted are then processed to determine whether a person object has been found.
Each sub-image is processed by using an edge detector, feature extractors and
nally a neural-based classier. An overview of the entire system is presented in
Fig. 1.
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152 S. Green et al.
Fig. 1. System overview.
3.1. Object detection and segmentation
The rst important stage for segmenting objects out of a complex scene is to detect
the object boundaries in the image. Boundaries encompass an object and are regions
where there is a high change in luminance values. Beach scenes mainly contain large
areas of sand and sea. From one point of view, this is of great benet when detecting
people, as people in beach scenes contrast quite signicantly with the sand and
therefore are easier to detect, than say, in a forested scene. However, conversely,
the presence of the ocean, constant wave motion and shadowing eects can make
the process a challenging one.
Two dierent approaches to object segmentation were carried out; the rst
approach used a background extraction technique to segment foreground objects,
and the second approach utilized the benets of the rst technique but subsequently
applied an exhaustive search to regions of interest (ROI).
3.1.1. Background extraction
Background extraction is a common method for separating foreground objects from
background detail in an image scene.
1820
To detect people in beach imagery,
background information was extracted using a moving average algorithm (see
Fig. 2). The moving average algorithm was originally proposed for highlighting
text in images
21
but can also be applied to beach image analysis. The moving
average algorithm detects the mean gray level of the last n pixels processed, when
considering the image as a one-dimensional stream of pixel values [see Eq. (1)].
M
i+1
= M
i

M
i
n
+ g
i+1
. (1)
In Eq. (1), M
i+1
is the estimated moving average for pixel i + 1 having a gray-
scale value of g
i+1
and M
i
is the previous moving average value. If a pixel is less
than the moving average, it is set to black, otherwise it is set to white. As may
be seen in Fig. 2, the black and white image obtained from the moving average
algorithm provides an encouraging result. The next stage is to segment the objects
out of the now binary scene.
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March 27, 2007 14:53 WSPC/157-IJCIA 00192
Detection of Persons in Cluttered Beach Scenes 153
Fig. 2. Object detection and segmentation process shown from left to right. The original image,
the image after applying the moving average algorithm, segmented images, image segment con-
taining the gray-scale image, and the edge detected image (not to scale).
Fig. 3. Object segmentation. The original image is shown on the left, and the segmented objects
on the right. The segmentation settings were r = 2 and n = 4.
Objects were segmented out of the binary image using a breadth rst search,
starting at the top left of the image. Pixels were grouped to form objects based on
their radius r from other pixels. In Fig. 3, the image contains seven distinct groups
of pixels, with some groups having only one pixel. If the above process is applied
with a radius r = 2 and a minimum number of pixels n = 4, then only the three
objects displayed on the right in Fig. 3 will be extracted.
The segmented components are now used to locate the objects in the original
(gray-scale) image scene. These objects are subsequently processed by the Canny
edge detection algorithm
22
and a feature vector for each object (created using the
modied direction feature (MDF) extractor) is presented to a multi-layer perceptron
(MLP) for classication.
3.1.2. Exhaustive search
The background extraction technique described above provides a fast method
for removing background information such as sand, sea and sky. Unfortunately,
foreground objects (blobs) detected using this technique can be joined to other
objects by shadows, the proximity to other objects, and occlusion. An exhaustive
search method is subsequently put forward to try and overcome the aforementioned
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154 S. Green et al.
Fig. 4. Exhaustive search window increasing in size to locate person objects.
Fig. 5. Exhaustive search technique locating persons based on foreground objects revealed by
applying background extraction.
problems. The exhaustive search technique described in this research applies a
search window of increasing size over ROIs to detect person and non-person objects
(see Figs. 4 and 5).
As the name implies, the exhaustive search method is highly computationally
intensive. To reduce the search time, regions that were not of interest needed to
be excluded quickly. One method to exclude these regions quickly is to provide
a hierarchy of classiers, with the simplest and most ecient classier utilized
rst to remove non-objects. The proposed object detection system incorporates a
single classier (MLP). Regions containing non-objects are removed from the search
space by applying background extraction, and then building a summed-area table
(SAT)
23
of the binarized image. The SAT can then be used to quickly look at an
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March 27, 2007 14:53 WSPC/157-IJCIA 00192
Detection of Persons in Cluttered Beach Scenes 155
ROI to see if it contains foreground pixels.
24
In order to provoke a response, an
ROI was required to contain between 20% and 80% of foreground pixels compared
with the maximum possible number of foreground pixels. This was an empirical
measurement based on observation. If an ROI is classied as containing a person
object, the region is removed from the search space by setting the foreground pixels
to white, and then rebuilding the SAT.
3.2. Modied direction feature
Modied direction feature (MDF) has been detailed elsewhere
25
and will only be
briey described here. MDF feature vector creation is based on the location of
transitions from background to foreground pixels in the vertical and horizontal
directions of an image represented by edges. When a transition is located, two
values are stored: the location of the transition (LT) and the direction transition
(DT) (see Fig. 6). An LT is calculated by taking the ratio between the position
where a transition occurs and the distance across the entire image in a particular
direction. The DT value at a particular location is also stored. The DT is calcu-
lated by examining the stroke direction of an objects boundary at the position
where a transition occurs (as dened in Blumenstein et al.
25
) Finally, a vector
comprising the [LT, DT] values in each of the four possible traversal directions
is created.
Fig. 6. In the gure, the MDF extraction technique examines the person object in the left-to-right
direction to determine the LT and DT values.
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156 S. Green et al.
3.3. Neural-based classication
In this research, an interconnected, feed-forward MLP was adopted for the process
of classifying objects into person and non-person categories. The MLP was trained
using the backpropagation (BP) algorithm. In the experiments conducted, the BP-
MLP was trained with images processed by the MDF extraction technique.
4. Results
4.1. Image database
To test the person detection system on beach scenes using the MDF feature extrac-
tion technique, a database was created including people and non-people objects.
The image database consisted of 450 images of varying size. These images were
extracted from DVD recordings taken from a Coastalwatch web camera at Surfers
Paradise. Frames from the beach recordings were extracted, and image regions were
classied by a human operator into two categories; person and non-person.
The image database was then broken into three sets to facilitate three-fold cross-
validation, whereby each set was composed of 350 training images and 100 test
images. Cross-validation was performed to verify the results obtained for the vari-
ous neural network experiments.
4.2. Classier settings
As previously mentioned, the image database was divided into separate sets to
perform three-fold cross-validation. On each set, training was conducted using 8,
12, 16, 20, 24, and 28 hidden units, and the RMS error rate was recorded. An RMS
error rate of 0.001 was used as a stopping criterion, but in some cases the MLP did
not train to an RMS of 0.001. The results from all three sets were averaged and
can be seen in Table 1.
4.3. Classication results
In this section, results for the classication of person objects are presented in tabular
form. Table 1 presents the results obtained using MDF for processing the test image
set. The MLP parameters for training were modied to optimize the training result.
The test set classication rate was calculated based upon the number of successfully
recognized person objects (true positives). Also listed below is the number of non-
person items incorrectly labeled as person objects (false positives). The table shows
that, overall, the system provided a good result considering the complexity of the
beach scenes.
4.4. Discussion of classication results
As may be seen from Table 1, the best result was a classication rate of 85% for
people with a false positive rate of 5% using the MDF technique and an MLP
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Detection of Persons in Cluttered Beach Scenes 157
Table 1. BP-MLP classication rates using the MDF extraction technique
Person Object Classication Rate (%)
No. of Hidden Units RMS Error True Positive False Positive
8 0.01375233 87 11
12 0.01390490 88 9
16 0.01404126 85 7
20 0.01414976 85 6
24 0.03212585 86 5
28 0.01438113 85 5
Fig. 7. Person detection results showing false positives (top row) and true positives (bottom
row); both sets of images are not to scale.
with 28 hidden units. Figure 7 shows some results for cases of false positives and
true positives. By observation of the data, people who were not identied correctly
were either lying on the beach, occluded by other objects (both person and non-
person), or were obscured by the surf. In the case of false positives, objects that
were classied as a person when the object was a non-person, tended to have an
outline that was upright, causing the MLP to give an incorrect classication.
4.5. Comparison between background extraction and exhaustive
search results
Experiments were carried out to compare both background extraction and exhaus-
tive search techniques. The experiments were conducted on 10 minutes of beach
footage recorded from a Coastalwatch web camera located at Surfers Paradise beach
in Queensland, Australia. The beach scene in all frames contained approximately
31 people. For both techniques, each frame was recorded with white rectangles rep-
resenting objects classied as a person (true positive), and black rectangles repre-
senting objects classied as non-person (false positive). In the case of the exhaustive
search, black regions were not shown due to the large number of these generated
by the exhaustive search method (see Fig. 8). In Table 2, it can be seen that the
background extraction technique did not deal with occlusion and shadowing eects
very well; however, it did manage to locate most areas containing person objects.
The background extraction technique had a very low false positive rate in that
there were very few non-person objects classied incorrectly. The exhaustive search
method gave a much better result for locating person objects that were occluded
by other objects and were obscured by shadowing eects, with a best result of
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158 S. Green et al.
Fig. 8. Persons located in beach imagery using background extraction and exhaustive search
methods.
Table 2. Results for both background extraction and exhaustive
search methods, showing the number of people detected (true
positive) in each frame (average of 31 people in each frame).
Frame No. True Positive False Positive
Background extraction
10010 5 1
10080 8 1
10110 5 2
Exhaustive Search
10010 19 4
10080 22 4
10110 20 10
22 persons correctly located. The disadvantage of the exhaustive search method
was the substantial increase in false positive classications.
5. Conclusions and Future Research
In this paper, a person detection system for quantifying people in beach scenes has
been described. A human operator segmented actual beach data from a Surfers Par-
adise web camera into person and non-person categories. Tests were then carried out
on images using two techniques: (1) background extraction (2) and the exhaustive
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Detection of Persons in Cluttered Beach Scenes 159
search technique using beach footage. The system incorporated a neural-based
classication technique for the detection of person and non-person objects. Encour-
aging results were presented for automated person detection and quantication,
which can be applied to beach scene analysis for surveillance and coastal manage-
ment applications.
Currently, the features described in this paper are not invariant to object rota-
tion. Future research will be directed to address this point. Further work will also
examine dierent object segmentation techniques, and determine ways to further
deal with images that are not correctly classied. Finally, frames retrieved from
beach media are at present processed individually. Future research will look at gen-
erating a condence value for a person object based on temporal data from past
frames. Also, motion detection may provide a more eective way of detecting person
objects in beach imagery.
Acknowledgments
The authors acknowledge the assistance of Chris Lane of CoastalWatch for assis-
tance in providing video imagery for this research.
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