Autonomous UAV for Suspicious Action Detection using Pictorial Human Pose Estimation and Classification


  • Surya Penmetsa
  • Fatima Minhuj
  • Amarjot Singh Simon Fraser University
  • SN Omkar


Visual autonomous systems capable of monitoring crowded areas and alerting the authorities in occurrence of a suspicious action can play a vital role in controlling crime rate. Previous atte mpts have been made to monitor crime using posture recognition but nothing exclusive to investigating actions of people in large populated area has been cited. In order resolve this shortcoming, we propose an autonomous unmanned aerial vehicle (UAV) visual surveillance system that locates humans in image frames followed by pose estimation using weak constraints on position, appearance of body parts and image parsing. The estimated pose, represented as a pictorial structure, is flagged using the proposed Hough Orientation Calculator (HOC) on close resemblance with any pose in the suspicious action dataset. The robustness of the system is demonstrated on videos recorded using a UAV with no prior knowledge of background, lighting or location and scale of the human in the image. The system produces an accuracy of 71% and can also be applied on various other video sources such as CCTV camera.


Unmanned Aerial Vehicle (UAV), Pose Estimation and classification, Pictorial structures, Image parsing, Human detection, Hough Transform

Author Biography

Amarjot Singh, Simon Fraser University

Dept of Applied Science




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