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The paper explains about tracking a dynamically changing arbitrary shaped structure, important for determining their boundary and position estimation for advanced warning. The proposed algorithm uses active contour detection algorithm to construct the effective contour in each frame. Then Hungarian based Kalman filter is used to achieve best accuracy in estimation of future positions using multi-point...
We tackle the challenging problem of hand gesture tracking with 2D webcams, which is a promising enabler for human computer interaction. Recent studies have proposed many methods for object tracking. However, unlike the other ob-jects, the particularities of hand make it difficult to be represented by common-used feature descriptors. In this paper, we analyze the key points in hand tracking and take...
This paper addresses the problem of localizing and tracking one intermittent, moving sound source using a microphone array on a mobile robot. Robot motion provides a solution for estimating the distance to the source and avoiding front-back ambiguity. We propose a mixture Kalman filter (MKF) framework in order to fuse the robot motion information and the measurements taken at different poses of the...
Visual tracking and estimation of the 3D posture of a micro/nano-object is a key issue in the development of automated manipulation tasks using the visual feedback. The 3D posture of the micro-object is estimated based on a template matching algorithm. Nevertheless, a key challenge for visual tracking in a scanning electron microscope (SEM) is the difficulty to observe the motion along the depth direction...
Despite an intensive research on flapping flight and flapping wing MAVs in recent years, there are still no accurate models of flapping flight dynamics. This is partly due to lack of free flight data, in particular during manoeuvres. In this work, we present, for the first time, a comparison of free flight forces estimated using solely an on-board IMU with wind tunnel measurements. The IMU based estimation...
This paper presents a robust motion planning methodology for autonomous tracked vehicles navigating in a rough and unknown environment. Two fields of study are dealt with in this paper: motion planning and slip estimation. For the motion planner, the CC-RRT* algorithm is combined with LQG-MP. The motion planner uses a chance-constrained approach and considers the role of compensator in the planning...
In the field of indoor navigation, inertial measurement units (IMUs) are commonly used to track pedestrians. Unfortunately, in conjunction with dead reckoning localization approaches, the position accuracy is degraded by the accumulation of sensor errors. Most pedestrian dead reckoning systems are therefore adapted to human gait patterns to constraint this error growth. These interventions however...
Tracking the position of people or vehicles in large indoor settings with high accuracy is still a challenge despite the significant progress observed in indoor positioning technology in the last decade. To date, there is not a clearly dominant indoor positioning solution for general use, and challenges related to seamless indoor-outdoor positioning, reliable floor estimation and indoor maps are still...
Autonomous surface vehicle (ASV) is developed to fulfill requirement of many offshore applications. One of the examples is tracking an underwater target of interests. Tracking underwater target involves two general steps, target position estimation and target following. In this paper, a control strategy for ASV performing underwater acoustic source tracking is presented. Firstly, method of acoustic...
Binocular eye-gaze tracking can be used to estimate gaze of a subject in space using the vergence of the eyes. We analyze eye movement and head movement. As for the eye movement, we used the TalkEye which is eye tracking device. The head angle determined by template matching using a camera attached to TalkEye. A purpose of this study is to compare the proposal method using TalkEye with the conventional...
There is a need to standardize the performance of eye gaze estimation (EGE) methods in various platforms for human computer interaction (HCI). Because of lack of consistent schemes or protocols for summative evaluation of EGE systems, performance results in this field can neither be compared nor reproduced with any consistency. In contemporary literature, gaze tracking accuracy is measured under non-identical...
If the motion model is inconsistent with the observable state change when tracking the maneuvering target, it can lead to divergence and even failure of the estimation algorithm. Hence the development of adaptive filters is actual problem. One of the traditional variant for the filter adaptation is to use a set of identical models with different parameters. This allows taking into account the uncertainty...
This paper proposes an algorithm to correct the gyroscope drift problem in Inertial Measurement Units used in human hand motion tracking. The algorithm will predict the bias offset error only when the sensor is static using a linear regression model. A quaternion orientation estimate was calculated using unbiased gyroscope data. The angular difference between the measured gravity vector from the accelerometer...
This paper presents a tracking algorithm of an Autonomous Underwater Vehicle (AUV) using an Autonomous Surface Vehicle (ASV) equipped with a ranger interrogator system. Worldwide, there has been increasing interest in the use of ASVs to execute missions of increasing complexity without direct supervision by human operators. A key-enabling element for the execution of such missions is the availability...
In this paper the system for tracking of a moving speaker is reported. The system utilizes audio visual information acquired from a camera and microphones. Using the camera a face of a speaker is detected. Two pairs of microphones allow for estimation of direction of sound arrival using general cross-correlation method. The preliminary results of experiments are described.
Spectral broadening in pulsed wave Doppler caused by the transit time effect deteriorates the frequency resolution and may cause overestimation when tracing the maximum velocities in high velocity blood flow regions. Data adaptive spectral estimators have been shown to provide improved frequency resolution, especially for small window sizes, but offer little or no improvement when the transit time...
Handing rotation-only camera motion is challenge work for current direct (featureless) monocular SLAM with six degrees of freedom. In rotation-only camera motion, existing systems can't estimate and update depth map and will get tracking failure. In this paper, a probabilistic depth map model is proposed based on Bayesian estimation in a per-pixel level. Both rotation-only and general camera motion...
Indoor positioning technique has been attracting more and more attention in recent years. In this paper, we propose a multi-path profile fingerprinting localization system based on software defined radio (SDR) platform. The system initially calibrates the multi-path profile (MP) and received signal strength (RSS) information to construct a fingerprint database. In the online positioning phase, the...
In this article, a method for kinematic configuration estimation of a structure similar to a human finger, is presented. The method is based on the EKF and a model reflecting kinematic constraints of a finger-like structure (2-DOF metacarpophalangeal joint, and one 1-DOF proximal interphalangeal rotational joint), using 3 low cost IMUs. During tests, the IMUs were attached to a 3D-printed setup equipped...
We presented a systematic study of how subject head motion affects pulse rate estimation using photoplethysmography from the subject's face. We evaluated the performance at various steps in the process, including object tracking, skin blob detection, pulse signal extraction and pulse rate estimation. We demonstrated that the signal-to-noise ratio of the power spectrum is a good indicator of signal...
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