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We present an approach for the joint probabilistic estimation of pedestrian head and body orientation in the context of intelligent vehicles. For both, head and body, we convert the output of a set of orientation-specific detectors into a full (continuous) probability density function. The parts are localized with a pictorial structure approach which balances part-based detector output with spatial...
We are concerned with the problem of detecting an overtaking vehicle using a single camera mounted behind the ego-vehicle windscreen. The proposed solution makes use of 1D optical flow evaluated along lines parallel to the motion of the overtaking vehicles. The 1D optical flow is computed by tracking features along these lines. Based on these features, the position of the overtaking vehicle can also...
This paper proposes a new method for tracking with accurate scale estimation using motion vector errors. First we estimate an object displacement vector using the set of inlier motion vectors(VMF) filtered out by Median Flow tracker [2]. Then we calculate each motion vector error, i.e. the distance between each VMF and the estimated object displacement vector. 50 percent of VMF with large motion vector...
In many real-life Bayesian estimation problems, it is appropriate to consider non-Gaussian noise distributions to model the existence of outliers, impulsive behaviors or heavy-tailed physical phenomena in the measurements. Moreover, the complete knowledge of the system dynamics uses to be limited, as well as for the process and measurement noise statistics. In this paper, we propose an adaptive recursive...
Thanks to the fast development of sensors, it is now possible to acquire sequences of hyperspectral images. Those hyperspectral video sequences are particularly suited for the detection and tracking of chemical gas plumes. However, the processing of this new type of video sequences with the additional spectral diversity, is challenging and requires the design of advanced image processing algorithms...
We present a method for real-time bare hand tracking that utilizes natural hand synergies to reduce the complexity and improve the plausibility of the hand posture estimation. The hand pose and posture are estimated by fitting a virtual hand model to the 3D point cloud obtained from a Kinect camera using an inverse kinematics approach. We use real human hand movements captured with a Vicon motion...
Wearable motion tracking systems represent a breakthrough in ecological motion tracking. Their effectiveness has been proved in many fields, from performance assessment to human-robot interaction. Most of the approaches are based on the exploitation of optimal probabilistic filtering of inertial motion units (IMUs) signals, ranging from linear Kalman Filters (KF) to Particle filters (PF). Since most...
Methods to accurately capture the motion of humans in motion capture systems from optical markers are important for a large variety of applications including animation, interaction, orthopedics, and rehabilitation. Major challenges in this context are to associate the observed markers with skeleton segments, to track markers between consecutive frames, and to estimate the underlying skeleton configuration...
We present a robust, real-time 3-D face tracking and modeling system providing accurate 6 degree-of-freedom head pose in the presence of large out-of-plane motion, strong expression changes, and partial occlusions. In this paper, we have extended the previous 3-D face tracking and modeling framework [10] with automatic initialization, reacquisition, and automatic pose correction. Our system first...
Tracking the articulated human body is a challenging computer vision problem because of changes in body poses and their appearance. Pictorial structure (PS) models are widely used in 2D human pose estimation. In this work, we extend the PS models for robust 3D pose estimation, which includes two stages: multi-view human body parts detection by foreground learning and pose states updating by annealed...
Tracking and identification of mobile objects is a challenging task, which is made even more challenging if the task is executed in a distributed manner by a System of Systems (SoS). However, the distributed SoS solution has many advantages when compared to centralized approaches. The computational load can be distributed, the fidelity of the tracking and identification results is potentially increased...
Robotic-assisted beating heart surgery aims to eliminate the relative motion of heart, so that, the surgeon can operate on a stabilized heart without any kind of additional instruments. In this literature, the robot actively cancels heart motion by closely following a point of interest (POI) of heart surface. In this paper, we use biological signal such as ECG or blood pressure, to improvement of...
This paper reviews sensor selection methods for distributed detection, distributed estimation and distributed tracking in wireless sensor networks. Before the discussion of different sensor selection methods, brief introductions of distribution detection, distribution estimation and distributed tracking are presented respectively. Future research directions are also given to facilitate further research...
This study introduces systematic review of literatures on human vision. Both content analysis and network analysis are used to quantitatively analyze recent trends in human vision research. Three terms, ‘visual search’, ‘eye movement’ and ‘eye track’, were selected as the central keywords characterizing the research field. Seven sub-categories of research keywords were selected and analyzed in content...
In this paper, we propose a vision-based robust vehicle distance estimation algorithm that supports motorists to rapidly perceive relative distance of oncoming and passing vehicles thereby minimizing the risk of hazardous circumstances. And, as it is expected, the silhouettes of background stationary objects may appear in the motion scene, which pop-up due to motion of the camera, which is mounted...
Efficient assessment of vascular structures plays a significant role in many medical procedures. We present a practical approach to segmentation of vascular tree in angiography images. It is implemented in an interactive 3D visualization-assisted system and consists of the following main steps. First, angiography image is filtered to enhance vessels and eliminate irrelevant structures. Second, the...
This study addresses a method for real-time estimation for human pose. Firstly, depending upon his feature, image segmentation is performed on a human dynamic image preprocessed. His body composition is secondly sampled and its key points are correspondingly selected. His human skeleton and contours are separately sketched according to such key points' positions and his feature extracted. Finally,...
Ambient Assisted Living (AAL) is a field of research aiming to improve the comfort and the safety of aged or disabled people living in their own house. Several AAL approaches require the location of the inhabitant to be tracked or could be improved by considering the real time location of the inhabitant. In this paper, it is proposed to use finite automata to build a model of dynamic tracking of a...
Mapping and real-time localization are prerequisites for autonomous robot navigation. They also facilitate situation awareness of remote operators in exploration or rescue missions. In this paper, we propose methods for efficient 3D mapping of environments and for tracking in real-time the 6D movement of autonomous robots using a continuously rotating 3D laser scanner. Multi-resolution surfel representations...
Satellite Orbit Determination (OD) is the process to estimate the position and velocity (the state vector, state, or ephemeris) of an orbiting object. Any satellite in its orbit faces many perturbation forces that affect its position in its orbit and therefore affect the tracking system. This leads to search for a method to correct these drifts. The nonlinear problem of tracking and predicting where...
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