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We present a markerless human motion capture system that estimates the 3D positions of the body joints over time. The system uses a dynamic bayesian network and a factored particle filtering algorithm. In this paper we evaluate the impact of using different observation functions for the bayesian state estimation: chamfer distance, a pixel intersection and finally a pseudo-observation of the subject...
This paper presents alternative strategy for vehicles localization in urban areas when GPS data are unavailable or have a poor quality due to multi-paths, satellites bad visibility or masks. The presented methods rely on approaches that take profit of a new source of information, which is a virtual 3D city model. The virtual 3D model is used to simulate sensors data such as data from a camera or a...
We are interested in addressing the problem of coordinating a large number of simple agents in order to achieve a given task. Stated in this way, the question leads naturally to the Swarm Intelligence field. In this paper we use a new type of model, directly inspired by Kaneko's coupled map gas model which we have adapted to the multi-agent system paradigm, so as to tackle this generic objective....
We consider here multi-agent patrolling as the task for a group of agents to repeatedly visit all the cells of a discrete environment. Wagner et al. have introduced patrolling ant algorithms, where each agent can only mark and move according to its local perception of the environment. Among various results, it has been experimentally observed that for some algorithms the agents often self-organize...
This paper deals with the platooning problem that can be defined as the automatic following of a manned driven vehicle by a convoy of automatic ones. Different approaches have been proposed so far. Some require the localisation of each vehicle and a communication infrastructure, others called near-to-near approach only needs vehicle on-board sensors. However, to our knowledge, they do not provide...
This paper tackles the problem of vehicle's geo-localisation in urban areas. For this purpose, global positioning system (GPS) receiver is the main sensor. But the use of GPS alone is not sufficient in many urban environments. GPS has so to be helped with dead-reckoned sensors, map data, cameras, range finder ... In this paper, we propose a novel approach to compute observation of the absolute pose...
This paper presents a method for the detection and the geo-localization of obstacle in outdoor environment. The proposed approach exploits a geographical 3D model managed by a 3D geographical information system (3D-GIS) and a video camera. An image processing module is developed to match synchronized real image and virtual image. The real image is provided by an on-board camera and gives the real...
This paper presents an outdoor geo-localisation method, which integrates several information sources: measurements from GPS, incremental encoders and gyroscope, 2D images provided by an on-board camera and a virtual 3D city model. A 3D cartographical observation of the vehicle pose is constructed. This observation is based on the matching between the acquired 2D images and the virtual 3D city model...
This paper presents a multi-sensor fusion strategy for a novel road-matching method designed to support real-time navigational features within advanced driving-assistance systems. Managing multi- hypotheses is a useful strategy for the road-matching problem. The multi-sensor fusion and multi-modal estimation are realized using Dynamical Bayesian Network. Experimental results, using data from Anti-...
This paper deals with the multi-agent patrolling problem in unknown environment using two collective approaches exploiting environmental dynamics. After specifying criteria of performances, we define a first algorithm based only on the evaporation of a pheromone dropped by reactive agents (EVAP). Then we present the model CLInG [10] proposed in 2003 which introduces the diffusion of the idleness of...
In this paper, an obstacle detection approach for downtown environments is developed. This approach exploits a 3D geographical database managed by a 3D-GIS and a monovision-based system. The pose estimated by a LRK GPS is used to geo-localise the vehicle. After coordinates system conversion, the vehicle is localised in the 3D geographical database. An image processing module is developed to match...
Pharmaceutic studies require to analyze thousands of ECGs in order to evaluate the side effects of a new drug. In this paper we present a new support system based on the use of probabilistic models for automatic ECG segmentation. We used a bayesian HMM clustering algorithm to partition the training base, and we improved the method by using a multichannel segmentation. We present a statistical analysis...
Commercial gait analysis systems rely on wearable sensors. The goal of this study is to develop a low cost marker less human motion capture tool. Our method is based on the estimation of 3d movements using video streams and the projection of a 3d human body model. Dynamic parameters only depend on human body movement constraints. No trained gait model is used which makes this approach generic. The...
Ant algorithms and flocking algorithms are the two main programming paradigms in swarm intelligence. They are built on stochastic models, widely used in optimization problems. However, though this modeling leads to high- performance algorithms, some mechanisms, like the symmetry break in ant decision, are still not well understood at the local ant level. Moreover, there is currently no modeling approach...
In this paper, a geo-localisation method was proposed, using GPS, INS, monovision camera and a new geo-information source, which is the 3D cartographical model. A 3D-GIS (Geographical Information System) has been developed to manipulate and navigate in a precise 3D cartographical model database. To have a continuous pose estimation, an EKF has been implemented to fuse GPS and INS. To integrate the...
In this paper we present a new approach for marker less human motion capture from conventional camera feeds. The aim of our study is to recover 3D positions of key points of the body that can serve for gait analysis. Our approach is based on foreground segmentation, an articulated body model and particle filters. In order to be generic and simple no restrictive dynamic modelling was used. A new modified...
Telemedicine is a mean of facilitating the distribution of human resources and professional competences. It can speed up diagnosis and therapeutic care delivery and allow peripheral healthcare providers to receive continuous assistance from specialized centers. The need of specialized human resources becomes critical with the aging of the population. The treatment of renal failure is an example where...
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