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A new laser scan matching algorithm is proposed in this paper. By constructing multiplex histograms, the new algorithm offers a simple way for importing geometrical features into the histogram method, obtaining more geometrical information from the laser scan data, and carrying out more accurate matching results. Also, an optimal maximum selection mechanism is employed to filter out the incorrect...
A new laser scan matching method based on clustering is advanced. It takes the advantages of both non-iterative matching method and iterative matching method as well as increases the speed and the precision of matching. A method of map building based on laser scans using the matching method above is presented for mobile robots. The map building method matches two consecutive scans by using the feature...
Intelligent rehabilitation system has become a hot topic. In home rehabilitation system, the real-time tracking of human motion is very important. In this paper, it presents a modified CamShift (continuously adaptive mean shift) algorithm, which can track human limb motion in real time. Considering the limb motion and selected color probability distribution all together, we put forwards the modified...
In this paper, we propose a stochastic method for human tracking with heterogeneous cameras. Our tracking system employs two kinds of cameras, a foveated wide-angle lens and three network cameras. The tracking algorithm is based on cascade particle filter (CPF) involving two different weightings of particles. At the first stage of CPF, each particle is weighted by ground plane occupancy. At the second...
This paper presents a novel approach for face detection, which is based on the discriminative MspLBP features selected by a boosting technique called the Ada-LDA method. By scanning the face image with a scalable sub-window, many sub-regions are obtained from which the MspLBP features are extracted to describe the local structures of a face image. From a large pool of the MspLBP features within the...
Capsule endoscopy (CE) has gradually seen its wide application since it can directly view the small bowel in human body for the first time. However, a challenging problem is that too many images produced in each examination pose a tough workload to physicians. In this paper, we propose a new scheme aiming for intestinal polyp detection for CE images in order to partially solve this problem. This new...
This paper proposes that a vision based robust person following method under varying illumination. The person following method is using a color stereo camera and a laser range sensor. The person detected method is based on disparity images and HSV color spaces from a color stereo camera and distance information from the laser range sensor. The developed person following method applies for an inverted...
Video surveillance in crowded areas is becoming more and more significant for public security. This paper presents a method for the detection of abnormality in crowded scenes based on the crowd motion characteristics. These characteristics includes the crowd kinetic energy and the motion directions. This approach estimates the crowd kinetic energy and the motion directions based on the optical flow...
Image segmentation is an important and difficult task in computer vision applications. Various methods have been introduced in the past to use gray-level histogram in deciding the segmentation threshold for monochrome images. With the reducing price of color cameras, different color spaces have also been considered in color image based segmentations. In this paper, a study of the effect of color spaces...
Color is one of the most important descriptor in image processing. Color histogram is the most commonly used color feature and has proved to be stable representation of an image, but it might be similar in different kinds of images because it describe the global intensity distribution of images. Inspired by human image classification behavior, in this paper, a new color feature representation method...
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