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In this paper we present a new approach for tracking movements of human body in dynamic scenes. The body is characterized by a set of points of interest (PI) issued from Harris corner detector where every one is characterized by its local appearance and its position in each frame of the video sequence. Tracking is achieved by template matching between PI in a pair of consecutive frames in the sequence...
Formation design considering the eccentricity and the J2 perturbation is significant for a practical satellite formation flying mission. The linear solution of satellite relative motion proves that, by setting all satellites having the same mean orbit elements of semi-major axis, eccentricity, inclination and right ascension of ascending node, a passive in-plane formation is periodic and stable in...
Discovering non-trivial matching subsequences from two time series is very useful in synthesizing novel time series. This can be applied to applications such as motion synthesis where smooth and natural motion sequences are often required to be generated from existing motion sequences. We first address this problem by defining it as a problem of l-epsiv-join over two time series. Given two time series,...
The autonomous landing and hazard avoidance technology (ALHAT) project is studying the lunar landing descent phase from lunar orbit to the surface. In this paper, we give an overview of the timing and DeltaV implications for key activities during the lunar landing approach phase. Timing and DeltaV performance are evaluated while varying the approach phase design and key hazard detection parameters...
Scientific visualization tools are applied to gain understanding of time-varying simulations. When these simulations have a high temporal resolution or simulate a long time span, efficient navigation in the temporal dimension of the visualization is mandatory. For this purpose, we propose direct manipulation of visualization objects to control time. By dragging objects along their three-dimensional...
In path planning, potential fields introduce force constraints to ensure curvature continuity of trajectories and thus to facilitate path-tracking design. In previous works, a path planning design by fractional (or generalized) repulsive potential has been developed to avoid fixed obstacles: danger level of each obstacle was characterized by the fractional order of differentiation, and a fractional...
This paper proposes a new trajectory clustering scheme for objects moving on road networks. A trajectory on road networks can be defined as a sequence of road segments a moving object has passed by. We first propose a similarity measurement scheme that judges the degree of similarity by considering the total length of matched road segments. Then, we propose a new clustering algorithm based on such...
We present a novel concept, Virtualized Traffic, to reconstruct and visualize continuous traffic flows from discrete spatio-temporal data provided by traffic sensors or generated artificially to enhance a sense of immersion in a dynamic virtual world. Given the positions of each car at two recorded locations on a highway and the corresponding time instances, our approach can reconstruct the traffic...
Video search has become a compelling research topic in recent years, due to the proliferation of online video uploading/sharing sites and the exponential explosion of video data. In this demonstration, we showcase a Web-based integrated platform which performs online detection of near-duplicate occurrences over continuous video streams, as well as retrieval of near-duplicate clips from segmented video...
A variety of tasks could benefit from the availability of direction cues that do not rely on vision or sound. Skin stretch has been found to be a reliable means of communicating direction and has potential to be rendered by a compact device. We have conducted experiments exploring the use of lateral skin stretch at the fingertip to communicate direction. A small rubber cylinder was pressed against...
This paper looks at incorporating time information into a waypoint trajectory-generation technique known as vector field guidance to give a 4D trajectory generator henceforth known as tensor field guidance. The time-based information is local in that it is relative from waypoint to waypoint. We envisage that a higher-level controller or an air traffic management system automates the waypoint generation,...
This paper focuses on an optimal three-dimensional analytical solution for aircraft non-cooperative collision avoidance. Based on a geometric approach, an analytical solution to a proper kinematic optimization problem is here derived, which implies the simultaneous change of all control variables (speed module, track and slope angles), thus this approach resulting very suitable for real-time applications...
We consider the problem of wheeled mobile robot navigation towards an unknown stationary or maneuvering target with real time obstacle avoidance using range-only measurements. We study a method for navigation and guidance termed equiangular navigation guidance (ENG) law and give mathematically rigorous proof of convergence and stability of the proposed navigation law. Using the sensory information,...
Biologically inspired techniques have been widely investigated for realizing adaptive searching behaviour in a mobile robot. In this paper, we propose a framework based on ldquoYuragirdquo, a Japanese word for biological fluctuation. Yuragi-based framework is simple, has a noise-utilizing novelty to keep the robot searching for the goal, while its basic expression enables the robot to switch elegantly...
Good communication among workers helps make comfortable atmosphere in an office and contributes to the increase company productivity. Therefore, relationship between workers is an important information the manager needs to know by examining the worker's comfort level in an office environment. Moreover, the quantified information of the human relationship is useful for robots to provide services to...
According to the design requirement of UAV (the unmanned aircraft vehicle), the models of threat, UAV's dynamics, guidance and trajectory planning are established. Trajectory planning adopts genetic algorithms (GAs) and genetic coding uses "distance, corner" program. Through simulating by Matlab/Simlink software, the result proves the trajectory planning according with dynamics, characteristic.
In this paper, a proposition about the relationship between path curve and cart motion is proposed and proved. Based on the proposition, the cubic polynomial is provided as a transition path. This is convenient for designing the trajectory and uniqueness for determining parameters of the path curves by the allowable minimal turn radius of cart. Experimental results, performed on the prototype cart,...
Since the beginning, quantum mechanics has raised major foundational and interpretative problems. Foundational research has been an important factor in the development of quantum cryptography, quantum information theory and, perhaps one day, practical quantum computers. Many believe that, in turn, quantum information theory has bearing on foundational research. This is largely related to the so-called...
In more and more commercial scenarios, radio frequency identification (RFID) is used to tag assets on a large scale. These given tag infrastructures offer themselves for the navigation of autonomous transport vehicles and service robots. In this paper we investigate loop closure for graph-based simultaneous localization and mapping (SLAM) and trajectory estimation in environments with such dense RFID...
This paper presents a novel approach to skill modeling acquired from human demonstration. The approach is based on fuzzy modeling and is using a planner for generating corresponding robot trajectories. One of the main challenges stems from the morphological differences between human and robot hand/arm structure, which makes direct copying of human motions impossible in the general case. Thus, the...
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