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This paper presents a cooperative, dynamic and complete information game scheme for socially multi-robot tracking. The concept of ‘variable order’ is introduced to specify the order of trackers' movement. A free competition model for multi-robot system is proposed to compute member robot's trajectory. A set of cost function are derived to evaluate the performance of tracking strategies optimally....
Detecting and tracking humans are key problems for human-robot interaction. In this paper we present an algorithm for mobile robots to detect and track people reliably, even when humans go through different illumination conditions, often change in a wide variety of poses, and are frequently occluded. We have improved the performance of face and upper body detection to quickly find people in each frame...
This paper presents a novel approach to path planning for the formation of a swarm of autonomous robots to track a moving target in an unknown environment. This approach is based on the traditional potential fields combined with the rotational vector field. The potential field is used to repel the robots away from obstacles while the rotational vector field is added to drive robots to avoid obstacles...
This paper presents a novel real-time scale adaptive visual tracking framework and its use in smart traffic monitoring where the framework robustly detects and tracks vehicles from a stationary camera. Existing visual tracking methods often employ semi-supervised appearance models where a set of samples are continuously extracted around the object to train a discriminant classifier between the vehicle...
It is a significant problem to learn the scene correlation of uncalibrated static cameras, which can be applied for intelligent surveillance systems with a large scale camera network. Some existing approaches learn the scene correlation among camera views by tracking targets across cameras. They seldom analyze the scene correlation among cameras with appearance modeling for moving targets. In this...
In traffic video surveillance system, target-level tracking and feature-level tracking are two important areas for research. Therefore, the combination between them is an interesting question. Mean-shift is a traditional target-level tracking algorithm with no adaptation to vehicle scale and orientation change. In order to solve the problem, algorithm combine SURF (speed-up robust feature) feature...
We examined the human subject's head/eye characteristics when they tracked targets made up of periodic oscillating signals moving along horizontal direction. Our analyses focus on the effect of two different sinusoidal components of target motion on pursuit performance. This study revealed that the gaze tracking gains were modulated by the ratio of the two signals of difference oscillation frequency...
With the availability of low-cost micro aerial vehicles (MAVs), unmanned aerial vehicles (UAVs) quickly gain popularity and application potential. This requires techniques that can be understood by non-experts and flexibly applied for rapid prototyping. Visual tracking is an essential task with many applications, such as autonomous navigation and scene acquisition. While marker-less methods emerge,...
This paper presents a penalized Gaussian mixture probability hypothesis density tracker with multi-feature fusion to track close moving targets in video. A weight matrix that contains all updated weights between the predicted target states and the measurements is first constructed. The ambiguous weights in the constructed weight matrix is then determined according to the total weight and the predicted...
In this paper, in order to track a moving target, we propose a new control law for an integrated mobile robot- pan tilt-camera system. Our controller consists of two control loops, i.e., a kinematic and dynamic control loop, respectively. The kinematic control loop performs three tasks, i.e., allowing an image feature of the target to converge to the center of the image plane asymptotically, designing...
In this paper, we present a simple yet effective visual tracking algorithm with an appearance model based on 2D discrete cosine transform (2D-DCT) representations. The DCT has the properties of decorrelation and energy compaction, and is robust against geometry and illumination changes. Hence, it is suitable for appearance modeling and the features of our appearance model are extracted from an optimized...
An Image-based visual servo system is presented for a bionic spherical parallel mechanism to minimize a tracking error function to analog smooth pursuit of human eye, which is also called eye-in-hand visual servoing, capable of tracking moving target. More specially, we propose a real-time moving target tracking algorithms which utilizes perceptive image hash based on Discrete Cousin Transform, collaborative...
Central catadioptric omnidirectional vision (CCOV) exhibits serious nonlinear distortion with a quadratic mirror involved. Conventional pinhole model based features perform poorly when directly applied over deformed CCOV. To construct an efficient, distortion involved neighborhood model, a complete catadioptric geometry system which consists of the object and the omnidirectional sensor is analyzed...
In this paper, a new method to detect wheeled mobile robot's position and orientation is proposed. First, we paste a black rectangle board on the head of the robot as a mark, whose long side is parallel to the robot's orientation. And then on the image plane, we use CAMShift to track the robot after some pre-processing. We will get a search window which includes the target robot only by the use of...
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