FlockSeer:A portable stereo vision observer for bird flocking  

作　　者：Yuhui Ai Haozhou Zhai Zijie Sun Weiming Yan Tianjiang Hu 

机构地区：[1]School of Artificial Intelligence,Sun Yat‐sen University,Zhuhai,China [2]School of Aeronautics and Astronautics,Sun Yatsen University,Shenzhen,China

出　　处：《IET Cyber-Systems and Robotics》2024年第3期74-86,共13页智能系统与机器人（英文）

基　　金：National Natural Science Foundation of China,Grant/Award Number:62103451。

摘　　要：Bird flocking is a paradigmatic case of self‐organised collective behaviours in biology.Stereo camera systems are employed to observe flocks of starlings,jackdaws,and chimney swifts,mainly on a spot‐fixed basis.A portable non‐fixed stereo vision‐based flocking observation system,namely FlockSeer,is developed by the authors for observing more species of bird flocks within field scenarios.The portable flocking observer,FlockSeer,responds to the challenges in extrinsic calibration,camera synchronisation and field movability compared to existing spot‐fixed observing systems.A measurement and sensor fusion approach is utilised for rapid calibration,and a light‐based synchronisation approach is used to simplify hardware configuration.FlockSeer has been implemented and tested across six cities in three provinces and has accomplished diverse flock‐tracking tasks,accumulating behavioural data of four species,including egrets,with up to 300 resolvable trajectories.The authors reconstructed the trajectories of a flock of egrets under disturbed conditions to verify the practicality and reliability.In addition,we analysed the accuracy of identifying nearest neighbours,and then examined the similarity between the trajectories and the Couzin model.Experimental results demonstrate that the developed flocking observing system is highly portable,more convenient and swift to deploy in wetland‐like or coast‐like fields.Its observation process is reliable and practical and can effectively support the study of understanding and modelling of bird flocking behaviours.

关 键 词：avian flight camera calibration camera system collective behaviour stereo vision 

分 类 号：TP391.41[自动化与计算机技术—计算机应用技术]