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Manifold learning is a hot topic in the field of computer science, particularly since nonlinear dimensionality reduction based on manifold learning was proposed in Science in 2000. The work has achieved great success. The main purpose of current manifold-learning approaches is to search for independent intrinsic variables underlying high dimensional inputs which lie on a low dimensional manifold....
Tracking multiple people in crowded and cluttered dynamic scenes is a very difficult task in robotic vision due to the highly frequent occlusion and lack of visibility of objects. In this paper, we present a manifold learning based multiple people tracking approach with occlusion reasoning to solve this problem. In our previous work, a new intrinsic variable preserving manifold learning (IVPML) method...
Many vision-based 3D grasping methods detect the stable grasping points based on several images. In their works, the full or partial 3D shape models are usually built for guiding the manipulations of the multi-DOF grippers. However, the uncertainties of detection and reconstruction of the contact points could lead to an unstable grasp. In this paper, the problem of vision-based 3D grasping from a...
To deal with the problem of tracking person with a mobile robot in dynamic scene with occlusion, a tracking system is presented in this paper. We focus on the individual person tracking system, which is applied on our two-wheel mobile robot with a single PTZ (pan-tilt-zoom) camera. The tracking system works reliably in the dynamic environment with partial/complete occlusion. For the sake of complete...
Mean shift, for its simplicity and efficiency, has achieved a considerable success in robot tracking. For the mean shift based tracking algorithm, the scale of the mean-shift kernel bandwidth is a crucial parameter which reflects the size of tracking window. However, in literature how to properly update or select the bandwidth remains a tough task as the size of the object under consideration changes...
Gilbert algorithm is a very popular algorithm in collision detection in robotics and also in classification in pattern recognition. However, the major drawback of Gilbert algorithm is that in many cases it becomes very slow as it approaches the final solution and the vertices selection vibrates in these cases. In this paper: a) It is proven theoretically that when the selection of vertices vibrates...
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