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The highly limited number of observation results in the increase of the prediction errors. In such case the linear Kalman filter (KF) will work within the unsteady state, which can lead to unpredictable results. The paper presents an alternative, simplified methods for the tracked object position prediction with the linearization of the trajectory. The obtained results are compared with the KF predictions...
This paper describes a problem in which a network consisting of a sensor-equipped UAV and multiple beacons, operating in a large geographical space, uses distance measurements to estimate the position of a target and pursue it. The positions of the beacon are also not known to the UAV and needs to be estimated by the UAV, again using distance measurements. Distance measurements are assumed to have...
Because of the complexity of the marine environment, the High Frequency Surface Wave Radar (HFSWR) in dealing with marine information will be accompanied by a lot of interference and noise. To solve this problem, first of all, we use the logic method to measure the trace information of the radar in order to find out the logical starting track. Secondly, the Kalman filter is used to predict and calculate...
Angle-domain structured disturbances refer to disturbances that satisfy a dynamic structure in a generic angle variable which is monotonically increasing with time but not uniformly. A difficulty in designing controllers to compensate for such angle-domain structured disturbances is that the system is invariably either time-varying or angle-varying. This paper uses the affine parameterization control...
Object tracking is an important and classic problem in the computer vision area, which has widespread applications in many fields. Currently, most of state-of-the-art object tracking approaches pay more attention on improving the localization precision by dealing with some complex transformations such as illumination change, occlusion and deformation. However, smoothness of object trajectory doesn't...
Observing the dynamic characteristics of proteins by multi-channel fluorescence microscopy allows studying the interactions between different subcellular structures. We introduce a probabilistic approach for tracking and colocalization analysis of viral proteins in two-channel microscopy image sequences. Our approach is based on particle filters and the Kalman filter, and performs tracking and colocalization...
State space models, such as Kalman filters or Particle filters, have been applied to improve the accuracy of radio-wave-based localization. However, these models can drift radically when assumptions of the models are violated, and they do not have a mechanism to fix errors. Therefore, we propose an approach to apply supervised learning to pedestrian localization, which is based on the Inference Machines...
This paper proposes a probabilistic intent inference approach that is significantly more computationally efficient than other existing bridging-distributions-based predictors. It sequentially determines the probabilities of all possible destinations of a tracked object, whose motion is modelled by a Markov chain with the distribution of its terminal state equal to that of a nominal endpoint. This...
Precise positioning of AUV plays an important role in the efficient and reliable underwater operation. The extended Kalman filter (EKF) is the most commonly used method, because this algorithm is easy to implement. However, EKF is only effective for nonlinear systems with approximate linearity, then truncation error is introduced. When the initial state error is large or the system model has high...
Human machine interaction becomes one of the most research topics in multimedia processing, traditional techniques for communication are developed in order to tackle technology advances and allow disable person to communicate easily with the machine, and to understand their activity using computer computing. In this paper we are focused on human behavior analysis from video scene and it is worth noticed...
Study of behavior changes in model animals is an important part of biologists' research. This requires tracking of each individual in a group of animals moving in an arena. But, manually performing tracking analysis is a laborious work. Though, machine vision is a useful tool for locomotion analysis since it can provide more precise and time efficient measurements. For analysis of a group of Drosophila...
There is a big challenge in online multi-object tracking-by-detection, which caused by frequent occlusions, false alarms or miss detections and other factors. In this paper, we proposed an improved fast online multi-object tracking method through taking into account the results of multiple single-object trackers and detections synthetically. To solve the fixed scale problem of conventional kernelized...
In recent years, the demand for robots that can perform various tasks in dangerous environments has increased. Teleoperated robots are more suitable for dangerous environments than autonomous robots. We have developed a master-slave robot system that consists of a lightweight master device and a high-power slave robot and proposed operation assistance methods to improve the dexterity and increase...
This paper presents a cooperative filtering scheme for online parameter identification of 2D diffusion processes using data collected by a mobile sensor network moving in the diffusion field. The diffusion equation is incorporated into the information dynamics associated with the trajectories of the mobile sensors. A cooperative Kalman filter is developed to provide estimates of field values, the...
One factor of human sperm health is sperm motility. Motility is the ability of sperm to move. Sperm with healthy motility move forward promptly, not inactive and not moving in circles. In this paper, we would like to analyse sperm motility by considering the problem of multi object tracking in video sequences of human sperms. The challenges in multi-sperm tracking are many human sperms have fast and...
Object occlusion is widespread in video surveillance due to the influence of angle and environment, which brings a great impact on the target tracking and makes the development of video object tracking encountered meeting many constraints. The challenge in video object tracking is how to track accurately when the target is obscured. We use the frame difference method to detect the target and smooth...
This paper proposed for comparison of two methods used to predict the trajectory of a moving object in 3D fields using Kalman Filter and Levenberg-Marquardt Least Squares. The Kalman Filter needs dynamic model of the object to predict trajectory, different from The Levenberg-Marquardt method requires previous movements of the object, and the system can determine the next move, to perform this experiment...
Based on the analysis of GPS deception jamming theory, this paper considers the control feathers of the UAV GPS/INS integrated navigation system and designs an innovation detection rule for the UAV navigation system state estimation. Methods of direct track deception and track fusion are used to achieve the intrusive control of the navigation system and the control of the UAV's trajectory through...
Multiple Unmanned Aerial Vehicles(UAVs) are crucial for Cyber-Physical Systems(CPS). No collisions should be ensured between each other when executing a complex task. This paper proposes a state-prediction-based trajectory control strategy for UAVs. We first introduce the concept of “space-time protection volume” under the constraint of the number of needed vehicles and the scope of the task space...
Global Navigation Satellite Systems (GNSS) have become an integral part of all applications where mobility plays an important role. However, The performances of GNSS-based positioning systems can be affected in constrained environments (urban and indoor environments), due to masking of satellites by buildings and multipath effects. In this paper, a comparative investigation on classical GNSS localization...
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