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In this paper, a robust visual tracking system with occlusion handling is proposed to track the target with real-time performance. The thermal camera, which can observe the heat originated from the target such as the human body or vehicle, can collaborate with the color camera to track the target in the cluttered environment or under occlusion. Unlike the general tracking by using the color camera...
In this paper, we present an integrated approach of multiple algorithms for visual localization and object tracking. First, a spatial point monocular vision range model is established. Combined with vision technology, we can deduce a precise position of the target in the world frame, and the region of recognized object is regarded as the real tracking region. Second, The Camshift/Kalman/Particle algorithm...
The paper proposes an intelligent robotic system which is able to be (re)configured, at demand, for two deployment scenarios. a) The first task is to move the platform after a trajectory determined by the direction to a fixed point and avoid any obstacles occurring in the route. a) The second task is to identify and track a spherical object. The robot is equipped with a navigation system designed...
The ability to perceive humans is an essential requirement for safe and efficient human-robot interaction. In real-world applications, the need for a robot to interact in real time with multiple humans in a dynamic, 3-D environment presents a significant challenge. The recent availability of commercial color-depth cameras allow for the creation of a system that makes use of the depth dimension, thus...
This paper presents a method for optimally combining pixel information from an infra-red thermal imaging camera, and a conventional visible spectrum colour camera, for tracking a moving target. The tracking algorithm rapidly re-learns its background models for each camera modality from scratch at every frame. This enables, firstly, automatic adjustment of the relative importance of thermal and visible...
This work presents a simple marker-based person detection method for a mobile robot that can follow a person in indoor environments. Expensive laser range finders or RFID which can provide very accurate range measurements have been used by several researchers for person detection. Recently, vision based approaches have been popular for person detection within a group of multiple people using stereo...
This paper presents recent developments in the area of visual tracking methodologies for an applied real-time person localization system, which primary aims to robust and failure-safe robotic camera control. We applied the described methods to virtual-reality TV broadcasting studio environments in Germany in order to close a gap in TV studio automation. The presented approach uses robot camera systems...
The omni-directional cameras providing 360 degrees field of view (FOV) are widely used in video surveillance and robot vision applications. However, the omni-directional cameras have an obvious drawback; that is, only low-resolution images captured. Therefore, the objects are not able to be correctly identified if they are far from the omni-directional cameras. To overcome this problem, we propose...
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...
With the background of visual servomechanism for robotic arm and with the aim of features required by stereo vision, a method for real-time feature extraction on the base of block of color is presented. The localization of feature includes coarse location and fine location. The coarse location aim is to track the object. The fine location is on the base of coarse location, cuts a small image from...
A framework for the deployment of multiple autonomous robotic fish to achieve leader-following formations with Bezier trajectory is presented. Each follower robot estimates the position and orientation angle of its leader with a fast color-tracking vision system, and establishes a Bezier trajectory between its current position and the position of its leader robot. Considering the nonholonomic properties...
In this paper, a distributed and scalable person tracking system for visual servoing using Industrial Robot Arms for virtual reality television studios (VR-TV) is presented. The system robustly tracks the moderator while freely moving, sitting or walking around the studio, and the estimation result can be used to drive the main broadcasting camera mounted on a large robotic arm connected with a pan...
In many societies, the aged people are often living alone. For the aging population, surveillance in household environments has become more and more important. In this paper, we present a household surveillance robot that can detect abnormal events by utilizing video and audio information. In our approach, moving targets can be detected by the robot with a passive acoustic location device. Then the...
In this work, we create a large planar camera array in our intelligent environment. It extremely extends the scope of surveillance area, and more precisely localizes robots with high response speed for AGV system. In this camera array system, color based particle filter tracking algorithm efficiently performs the task of localizing and identifying robots. The tracking algorithm intelligently controls...
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