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This paper describes an approach for tracking the objective planetary landing point based on reference points matching and homography. Once the initial objective landing point is specified, the proposed method will predict the objective landing points in descending image sequence during planetary landing. Only the acquired images of the terrain are utilized as input information. The landing point...
Tracking single or multiple maneuvering targets is an urgent need for defense. In order to meet the military requirement, we propose a modified clustering-based Rao-Blackwellized particle filter (CBRBPF) to track single or multiple maneuvering targets with observations received by single or multiple sensors. The modified RBPF is basing on the clustering-based data association method. We partition...
In this paper we present the design, modeling and control of a high-precision, two-axis servo gantry by using a novel parallel kinematics XY stage. The parallel mechanism is based on a set of linear guideways for the motion decoupling. The advantages of the proposed design lie in low inertia and symmetric dynamics. Moreover the design of the stage makes the overall actuation system well suited for...
In the previous work, we proposed a generic method to analyze and reduce the bias in localization algorithms. The proposed method combines the Taylor series and Jacobian matrices to determine the bias and leads to an easily calculated analytical bias expression. However all the previous works focus on the terrestrial localization applications. In this paper we extend the method to underwater localization...
The endocardium tracking in ultrasound images is challenging due to large shape variations and the signal dropout. In this paper, we present a method to fuse multiple information sources to robustly track the endocardium. The first novelty of the method is to perform tracking in a straightened shape space, to minimize the image pattern changes caused by cardiac motions. Straightened images are used...
The purpose of the research proposed in this paper is to develop a Low-Power Tracking System, which can meet the special needs of the security of a mobile device. The system contains two parts: the GPS terminal in the module receives the locating information of the tracked device, and the control center. This paper discusses both hardware and software design of the tracking system. In the end, the...
Visual tracking has been widely used in robot systems, and numerous approaches for visual tracking have been proposed. However, developing a robust and real-time visual tracking algorithm which can adaptively track the varying appearance of target under challenging conditions for mobile robot is still an open problem. This paper presents an adaptive probabilistic tracking algorithm with multiple cues...
In this paper, we present a method of using the needle detection and tracking to compensate breathing motion in 2D fluoroscopic videos. The method can robustly detect and tracking needles, even with the presence of image noises and large needle movements. The method first introduces an offline learned needle segment detector that detects needle segments at individual frames. Based on detected needle...
A guidewire is a medical device inserted into vessels during image guided interventions for balloon inflation. During interventions, the guidewire undergoes non-rigid deformation due to patients' breathing and cardiac motions, and such 3D motions are complicated when being projected onto the 2D fluoroscopy. Furthermore, in fluoroscopy there exist severe image artifacts and other wire-like structures...
A new appearance model is presented for object tracking. The object model is built upon the color features and the distribution of object sub-regions into which the object is partitioned using k-means clustering. Thereby the updating of the object model is simplified as the updating of the object sub-regions. A similarity measure is introduced to evaluate similarity between the reference model and...
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