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This paper looks into the problem of pedestrian tracking using a monocular, potentially moving, uncalibrated camera. The pedestrians are located in each frame using a standard human detector, which are then tracked in subsequent frames. This is a challenging problem as one has to deal with complex situations like changing background, partial or full occlusion and camera motion. In order to carry out...
We propose a novel approach to track multiple targets with weak appearance in low frame rate wide area aerial videos. In real world scenarios, non-linear motion such as sharp turns after slowing down or U-shape trajectories occur. Performing accurate matching without introducing undesired trajectories is very challenging. To tackle various motion patterns, we sequentially optimizing an objective function...
This paper applies game theory to multi-robot hunting target problem. A coordinated multi-robot hunting model based on extended cooperation game is established. And obstacle avoidance model and two kinds of target searching strategies--roaming search and regional search are proposed. Then an effective escape strategy for the target is also presented. Finally the whole process of the hunting task is...
Moving targets in Synthetic Aperture Radar (SAR) data impose several challenges for SAR processing. In full-aperture SAR images, moving objects appear smeared and/or displaced. In previous studies, we showed that a combination of sub-aperture processing, feature extraction, unscented Kalman filtering and multi-target hypotheses can reliably detect and track moving objects. In this paper, we present...
In executing state-to-state maneuvers, end states which are stabilizable states provide for robust maneuver control. In the normal circumstance that a maneuver only takes the system to a neighborhood of a stabilizable state, feedback control can be used to regulate to a neighborhood of the desired end state. In contrast, if the end state is not a stabilizable state, large try-again maneuvers which...
In this paper we address a control problem for an autonomous tethered kite system for the purpose of airborne wind energy generation. In particular, we design a tracking controller for the velocity vector orientation of the kite. Motivated by empirical data we model the kite steering behaviour as a delayed dynamical system and explicitly utilise the derived model information for the controller design...
This paper investigates the three-dimensional (3D) curved path following problem using fixed-wing unmanned aerial vehicles (UAVs) in the presence of constant wind disturbance. Vector field based approaches are used as the solution. Two vector fields are first developed, one is the tangent vector field based on path tangent vector and coordinate transformation, and the other is the combined vector...
Limb tracking is an important aspect of human-machine interfaces (HMI). These systems, however, can often be limited by complex algorithms requiring significant processing power, obtrusive and immobile sensing techniques, and high costs. In this work, we utilize a sensor fusion algorithm implemented in commercial inertial measurement units (IMU) to combine accelerometer and gyroscope measurements...
In this paper, formation of a group of multiple cooperative unmanned aerial vehicles (UAVs) in a desired geometrical pattern while tracking an aerial target is implemented using decentralized Learning Based Model Predictive Control (LBMPC). The LBMPC is a new control technique that combines statistical learning along with control engineering providing guarantees on safety, robustness and convergence...
This paper presents a framework for information-theoretic based task assignment of multiple UAVs for searching and tracking moving targets. A stochastic approach which uses probability density functions is introduced as the information gathering metric. This algorithm yields trajectory that minimizes the uncertainty of unknown information. The presented task assignment is based on the negotiation...
This paper tackles the evaluation of a Kalman filter-based tracker with real data acquired by a Passive Bistatic Radar (PBR) system. The detection of slow moving targets manoeuvres in ground environment is considered. This radar scenario is characterized by shadowed areas with detection losses due to diffraction phenomena associated with trees, buildings, etc. The application of the designed tracker...
Multiple Hypothesis Tracking (MHT) is an active field for the detection and tracking of low-observable small targets. Most of MHT algorithms are based on a search method in a large tree of possible tracks in a digital image sequence. Though, processing a tree structure with a significant number of branches in MHT has been a challenging issue. Tracking high-speed objects with traditional MHT requires...
Target tracking is an important application in Wireless Sensor Networks or Internet of Things. In most applications, a large number of inexpensive and stationary sensor nodes are deployed randomly in a field to cooperatively monitor the intrusive targets that are able to move around the field. To save energy depletion, sensor nodes are in sleep mode in most of the time while they should be waked up...
In this paper, we propose a novel method to recover the 3D trajectory of a moving person from a monocular camera mounted on a quadrotor micro aerial vehicle (MAV). The key contribution is an integrated approach that simultaneously performs visual odometry (VO) and persistent tracking of a person automatically detected in the scene. All computation pertaining to VO, detection and tracking runs onboard...
Stroke can lead to loss or impairment of somatosensory sensation (i.e. proprioception), that reduces functional control of limb movements. Here we examine the possibility of providing artificial feedback to make up for lost sensory information following stroke. However, it is not clear whether this kind of sensory substitution is even possible due to stroke-related loss of central processing pathways...
We present a method for the three-dimensional (3D) steering of a flexible needle under 3D ultrasound guidance. The proposed solution is based on a duty-cycling visual servoing strategy we designed in a previous work, and on a new needle tracking algorithm for 3D ultrasound. The flexible needle modeled as a polynomial curve is tracked during automatic insertion using particle filtering. This new tracking...
This paper addresses the tracking problem using the short state sequences in time series (which is called plot-sequences in this paper) obtained from multi-frame track-before-detect (TBD). Some TBD methods, e.g., dynamic programming (DP), maximum likelihood probabilistic data association (ML-PDA), histogram probabilistic multihypothesis tracker (H-PMHT) and Hough transform (HT) based TBD, are batch...
The EC MORPH project, described in [1], proposes a novel concept of an underwater robotic system that emerges from the integration, albeit in a non-physical manner, of several different mobile robot-modules with distinct and complementary resources. This approach aims to afford end-users efficient tools to map the underwater environment with great accuracy in situations that defy existing technology:...
CMRE has been evaluating the potential of autonomous networked ASW using underwater vehicles through a program of sonar signal processing, underwater communications, navigation and robotic behavior developments and at-sea decision support tested through an ambitious seagoing experimental program and demonstrated during NATO ASW exercises. In this paper the various scientific aspects of the program...
Radio tomographic imaging (RTI) is a promising technique which allows localizing and tracking targets carrying no electronic devices. It utilizes the attenuation of wireless links to generate images of the change in the propagation field. Objects that obstruct the wireless signals in the field will lead to bright blobs in RTI image. For multi-target tracking, we employ clustering to obtain cluster...
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