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Combining multiple observation views has proven beneficial for pedestrian tracking. In this paper, we present a methodology for tracking pedestrians in an uncalibrated multi-view camera network. Using a set of color and infrared cameras, we can accurately tracking pedestrians for a general scene configuration. We design an algorithmic framework that can be generalized to an arbitrary number of cameras...
Dictionary learning method based on sparse coding has been widely used in visual tracking, since it has good performance in terms of encoding target appearance. Currently, most of the visual tracking algorithms based on dictionary learning update the dictionary with tracking results in tracking process. Consequently, the total error accumulated over time, and even cause the failure of tracking. In...
This paper addresses a two-degree-of-freedom control system design based on the predictive functional control (PFC). The aim of the paper is to improve the tracking performance of the previously-developed disturbance observer-based predictive functional control (DOB-PFC) system. To this end, we apply the zero phase error tracking controller (ZPETC) as a feedforward preview controller. A few experiments...
Highly dynamic tasks that require large accelerations and precise tracking usually rely on precise models and/or high gain feedback. While movement primitives allow for efficient representation of such tasks from demonstrations, the optimization of the required motor commands for systems with inaccurate dynamic models remains an open problem. To achieve accurate tracking for such tasks, we investigate...
The aim of the SAFESENS (Sensor Technologies for Enhanced Safety and Security of Buildings and its Occupants) project is to obtain earlier and more reliable fire detection, along with accurate occupancy detection and first responders' health condition and indoor location monitoring. In this paper, an analysis of the requirements requested by the tracking system is shown, together with an overview...
Nominal Characteristic Trajectory Following (NCTF) control has been introduced and employed in positioning system since last two decades. It is well known with its practical and easy design procedure, which is independent of friction characteristics. Thus, designer does not need to consider the friction characteristic of a mechanism and it is a valuable controller approach in industry. Besides the...
Heart rate (HR) estimation using wrist-type Photoplethysmography (PPG) sensor can play an important role to monitor the physiological status of human body during physical exercise. However, the PPG signal is vulnerable to motion artifact (MA) which makes HR estimation difficult. In fact, the MA generates a number of false peaks in the frequency spectrum of the PPG signal. In this work, we analyze...
In this paper, we present a multiple human tracking approach that takes the single frame human detection results as input, and associates them hierarchically to form trajectories while improving the original detection results by making use of reliable temporal information. It works by first forming tracklets, from which reliable temporal information can be extracted, and then refining the detection...
In this paper, an intelligent adaptive tracking control system (IATCS) based on the mixed Jf2AC approach for achieving high precision performance of a two-axis motion control system is proposed. The two-axis motion control system is an X-Y table driven by two permanent-magnet linear synchronous motors (PMLSMs) servo drives. The proposed control scheme incorporates a mixed H2/H∞ controller, a self-organizing...
With the advent of the indoor positioning field there has been a plethora of different approaches to locating people and assets in indoor environments, each with their own strengths and weaknesses. Despite this, a lot of the metrics used for optimization may contain hidden biases (unintended or neglected) or end up measuring aspects of the solution which conflict with the intended use case. In this...
In this paper, an iterative learning control (ILC) strategy is proposed to resolve the trajectory tracking problem of wheeled mobile robots (WMR) based on dynamic model. In the previous study of WMR trajectory tracking, ILC was usually applied to the WMR kinematical model with the assumption that desired velocity can be tracked immediately. However, this assumption can not be realized in the real...
Augmented Reality is one of the most fundamental enabling technologies of this era which modifies our perception to such an extent that we are able to see, hear and feel the ordinary everyday objects in a new and enriched way. This technology is an amalgamation of Real and Virtual Worlds which aims to enhance the physical information by exactly super-imposing the computer generated content on it....
Detection and tracking of moving objects in video sequences are essential for many computer vision applications & it is considered as a challenging research issue due to dynamic changes in objects or background appearance, illumination, shape and occlusions. In this article, we proposed a robust algorithm to detect moving objects in a video, based on the combination of discrete cosine transform...
It plays an important role to recognize human actions from realistic videos in multimedia event detection and understanding. To this aim, a novel human tracking approach is proposed in this paper. Firstly, salient key points trajectories are generated to track human actions at multiple spatial scales. Then, camera motion elimination is utilized to further improve the robustness of motion trajectories...
Two important problems in real-time tracking are: 1) how to discriminate an object from clutter environments, and 2) how to meet the real-time requirement in practical applications. In real-time tracking application scenario, neither priori information about targets nor background model is known, which makes many traditional methods fail. In this paper, we propose an object detection and tracking...
This paper proposes a direct monocular SLAM algorithm that estimates a dense reconstruction of a scene in real-time on a CPU. Highly textured image areas are mapped using standard direct mapping techniques [1], that minimize the photometric error across different views. We make the assumption that homogeneous-color regions belong to approximately planar areas. Our contribution is a new algorithm for...
This paper presents a nonlinear control approach for quadrotor Micro Aerial Vehicles (MAVs), which combines a backstepping-like regulator based on the solution of a certain class of global output regulation problems for the rigid body equations on SO(3), a robust controller for the system with bounded disturbances, as well as a trajectory generator using a model predictive control method. The proposed...
The problems of moving object detecting and tracking on UAV (Unmanned Aerial Vehicle) platforms in surveillance operations are addressed, and a robust tracking method for reliably detecting and tracking of foreground moving objects in a dynamically changing environment is proposed. Firstly, using the modified robust local feature detector SURF (Speeded Up Robust Features) which is linear ordering...
Owing to simple structure and strong robustness characteristics, the traditional (proportional-integral-derivative) PID controllers have been widely used in designing control systems of industrial process. However, due to complex nonlinear properties in some dynamics plants, it is difficult to obtain accurate mathematical models, and vulnerable to the object and environment. So, it makes difficult...
We present a robust particle filter based visual tracker based on an earlier approach called mean-transform which can track a window with orientation and scale changes. This work is the first work combining sparse coding, mean transform and particle filtering in visual tracking. We show that particle filter is effective in enhancing the mean-transform tracker. From the result, we see that such architecture...
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