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Many vision-based systems have been proposed for intersection monitoring, but few of them use wide angle cameras. In this paper, we present a fisheye-stereo monitoring system that will be installed especially in rural areas. Our goal is to estimate the extrinsic calibration decoupled into a rotation followed by a translation. In the context of rural intersections, methods that purely rely on the geometry...
This paper studies indoor localisation problem by using low-cost and pervasive sensors. Most of existing indoor localisation algorithms rely on camera, laser scanner, floor plan or other pre-installed infrastructure to achieve sub-meter or sub-centimetre localisation accuracy. However, in some circumstances these required devices or information may be unavailable or too expensive in terms of cost...
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 this paper, the load torque is measured using sensorless online algebraic approach (SAA) and sensorless reduced order observer (SROO) scheme without torque as well as speed sensor. The measured torque is used in controlling the speed of DC motor connected through a partially flat boost converter using the exact tracking error dynamics passive output feedback (ETEDPOF) control law. Further, SAA...
We present a novel visual-magneto-inertial system for pedestrian indoor navigation. It includes magnetic, inertial and depth sensors integrated into a device that can be hand held by a pedestrian. Our method builds upon a magneto-inertial tachymeter that is able to accurately reconstruct body speed in presence of magnetic gradient and a depth registration algorithm for computing inter-image movement...
Personal dead reckoning (PDR) localization technology can provide effective and critical assistance for public security, such as emergency rescue or anti-terror training in the indoor or underground environment without the need of deploying additional positioning infrastructure. However, the PDR suffers from the severe position error accumulation with time due to the inaccurate step length and moving...
In this paper, we propose a framework to map stationary sound sources while simultaneously localise a moving robot. Conventional methods for localisation and sound source mapping rely on a microphone array and either, 1) a proprioceptive sensor only (such as wheel odometry) or 2) an additional exteroceptive sensor (such as cameras or lasers) to get accurately the robot locations. Since odometry drifts...
As an automatic tracking system, the shipboard Automatic Identification System (AIS) has been widely adopted to identify and locate the vessels by electronically exchanging data with other nearby ships. With the development of computer technology, AIS-based visualization of vessel traffic has attracted increasing attention during the past several years. The vessel density visualization can be used...
This paper suggests a mapless indoor localization using wifi received signal strength (RSS) of a smartphone, collected by multiple people. A new trajectory learning algorithm by combining a dynamic time warping and a machine learning technique is proposed in order to generate an alternative map. Moreover, we combine particle filter and Gaussian process (GP) for the position estimation, because it...
In foot-mounted positioning systems, it is hard to align multi-agent trajectories. In addition, the positioning accuracy is hard to maintain due to inertial drifts. An approach for trajectory initialization and calibration using iBeacons is proposed in this paper. This approach is under the framework of a particle filter. In the observation model of the particle filter, a nonparametric Gaussian Process...
Real time indoor navigation has lately been a growing field. Some applications might not need a real time estimation of the trajectory, and a post processing framework provides a better estimation of this trajectory. Thus, the aim of this paper is to present and compare three different algorithms to improve a real time trajectory estimation. Two different smoothing algorithms and the Viterbi algorithm...
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...
A highly accurate estimation method of 3-D pedestrian trajectories from walking activity sensing data is proposed. This method uses data from an accelerometer, a gyrometer, and an air pressure sensor, and does not require detailed information on the building structure. In activity sensing using wearable sensors, higher accuracy can be expected from detection of zones in which there is continuously...
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...
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...
An engagement dynamic model is set up for the miniature missile guidance solution under the constraints of field-of-view angle and terminal impact angle. The impact-angle constraint guidance law design is converted into an optimal control problem subjected to terminal constraints. Then a look angle guidance solution without line-of-sight rate is detailed to satisfy the requirement on field-of-view...
To analyze the driving behavior is important for design a comfortable automatic driving. So far, conventional PID models was widely used to steer the vehicle. It had been assumed that the driver looks at the constant point in conventional PID model. However, all drivers have experiences that the gazing distance changes according to the situations. The PID gain of the steering model are modified depending...
Synthetic aperture radar is a very popular and widely used instrument for various remote sensing tasks. One of the most challenging problems is to obtain high-quality images in the case of unstable flight conditions. In the paper the problem of full platform motion compensation is discussed. A particular attention is given to the analysis of moving targets. Algorithm for estimation of moving target...
Matrix factorization is a key component of collaborative filtering-based recommendation systems because it allows us to complete sparse user-by-item ratings matrices under a low-rank assumption that encodes the belief that similar users give similar ratings and that similar items garner similar ratings. This paradigm has had immeasurable practical success, but it is not the complete story for understanding...
In this paper, we propose an optimization scheme for avoiding void zone and minimization of uncertainty in glider's position estimation. Gliders stay at sojourn positions for predefined time. At these stops, self-confidence (s-confidence) and neighbor-confidence (n-confidence) regions are estimated. On the basis of present state of glider, it estimates s-confidence region and share control information...
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