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This paper deals with automatic estimation of the horizon in videos from fixed surveillance cameras. The proposed algorithm is fully automatic in the sense that no user input is needed per-camera and it works with various scenes (indoor, outdoor, traffic, pedestrian, livestock, etc.). The algorithm detects moving objects, tracks them in time, assesses some of their geometric properties related to...
Kalman Filters are utilised for filtering and estimation in a large set of application. Here, this methodology is utilised for trajectory estimation of an underwater robot. In this work, three Kalman Filter methods are proposed for trajectory estimation. There are: Extended Kalman Filter (EKF), Unscented Kalman Filter (UKF) and Central Difference Kalman Filter (CDKF). Simulation results are presented...
Lane estimation plays a central role for Driver Assistance Systems, therefore many approaches have been proposed to measure its performance. However, no commonly agreed metric exists. In this work, we first present a detailed survey of the current measures. Most of them apply pixel-level benchmarks on camera images and require a time-consuming and fault-prone labeling process. Moreover, these metrics...
Maximum Torque Per Ampere (MTPA) tracking techniques for the control of Interior Permanent Magnet Synchronous Machines (IPMSMs) and Synchronous Reluctance Machine (SynRMs) drives were introduced in the last decade, with the aim of overcoming the dependence on motor parameter knowledge accuracy. In fact, uncertainty due to identification errors, magnetic saturation or temperature variation results...
This article shows the effects of various parameters like modulation or the radio channel conditions on sea turtles trajectory estimated by terrestrial localization algorithms. This work is part of wireless sensors networks domain in the marine and terrestrial environment in the world of living beings. It allows to identify and understand the parameters that lead to inaccuracies over the sea turtles...
This paper proposes a event-triggered formation control method for a leader-follower multi-agent system. The purpose of the multi-agent system is to add more function to the system by cooperative control of multi-robots. Research of multi-agent system is useful for society. Generally, in conventional research, each agent always need to communicate with neighbor agents. So, communication failure like...
The exponentially increasing use of moving platforms for video capture introduces the urgent need to develop the general background subtraction algorithms with the capability to deal with the moving background. In this paper, we propose a multilayer-based framework for online background subtraction for videos captured by moving cameras. Unlike the previous treatments of the problem, the proposed method...
In the industrial field, how to find the fault and diagnosis the fault have become an urgent requirement. In which the early fault diagnosis is the most challenging, due to the information related to the early fault is almost too weak, that is hard to be found. In this paper, we focus on a classical signal processing method called synchrosqueezing transform (SST) that is re-designed to detect the...
In this paper, we study optimal control problems for linear continuous-time hybrid systems. We adopt an approach to prepare some candidates of mode distributions and minimize value functions at each time for the systems and performance indices to optimize system states and mode distributions simultaneously. We state a class of principles of hybrid optimality, which gives a theoretical base of the...
We focus on assisting mobile robot teleoperation in a task-appropriate way, where we model the user intention as an action primitive to perform a contextual task, e.g. doorway crossing and object inspection, and provide motion assistance according to the task recognition. This paper contributes to formulating motion assistance in a data-driven manner. With the motion clusters obtained in our previous...
Several challenges limit the use of Pulsed Wave (PW) Doppler to assess coronary blood flow: 1) Transit time effect causes spectral broadening in regions with high blood flow such as stenoses, leading to overestimation of maximum velocities. 2) High beam to flow angles (>60°) and out of plane components often occur, making manual positioning of the sample volume and angle correction difficult. 2D...
Post-processing indoor navigation is interesting, for example to develop crowdsourcing analysis. The post-processing framework allows to provide a better estimation than in a real-time framework. The main contribution of this paper is to present a piecewise parametrization using Inertial Measurement Unit (IMU) and Received Signal Strength (RSS) measurements only which lead to an optimization problem...
This work presents a study to determine the improvement of the simultaneous position estimations of several Mobile Robots (MRs) adding the relative distances between them, regarding independent position estimations for each MR. To evaluate the performance of the proposal, it is supposed that the localization scenario is composed of an Ultrasonic Local Positioning System (ULPS) and two MRs with odometry...
Pedestrian inertial navigation systems are nowadays integrated in all kind of location-based services. The orientation, particularly the heading estimation, is one of the most critical parts of the navigation system. The heading angle suffers from drift error. The algorithms proposed in the literature apply position corrections, which do not prevent the drift error to grow. We propose a novel landmark-based...
We present a method to model and classify trajectory data that come from surveillance videos. Observations of the locations of moving entities are used to estimate their expected velocity in the scene. Such estimation is performed by a Gaussian process regression that enables to approximate probabilistically the expected velocity of entities given some observed evidence in the scene. Subsequently,...
We propose a method to both quickly and robustly extract geometric information from trajectory data. While point density may be of interest in some applications, trajectories provide different guarantees about our data such as path densities as opposed to location densities provided by points. We aim to utilize the concise nature of quadtrees in two dimensions to reduce run time complexity of counting...
One of the algorithms implemented in Radar system is Kalman filter. Kalman filter is one of a method to estimate a problem in dynamic systems and model measurement. Kalman filter has the ability to estimate certain condition either in the past, current, future time, or characteristic of the model unknown. The Purpose of this paper is to design ships tracking system using Kalman filter algorithm. According...
Time-frequency analysis is naturally the way of characterization of non-stationary signals. One fundamental parameter of the any-non-stationary is the Instantaneous Frequency Law of its components. The Instantaneous Frequency Law (IFL) estimation is usually subject of tracking in time-frequency domain, especially in the case of complex time-frequency structures. Using the concept of phase diagram...
This paper considers estimating the trajectory of a moving source on Earth using time difference of arrival (TDOA) and frequency difference of arrival (FDOA) measurements obtained over time at multiple satellites. The known satellite locations are subject to random errors. To cope with the source maneuver and/or temporal variations of the satellite location errors, a moving horizon estimation (MHE)-based...
The inertial navigation system (INS) errors are accumulated over time, so the position errors of each sampling point obtained by INS and applied in the geomagnetic matching algorithm are raised with sampling number increased. And the best transformation to describe the real trajectory and indicated trajectory consists of translation, rotation and stretching. Traditional matching algorithms use only...
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