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Sign Language (SL) allows hearing and speech impaired people to communicate each other. Nevertheless, SL is not understood by most of common people. The development of a real-time Mexican Sign Language (MSL) translator could benefit the speech impaired community. In this work we propose a method capable of recognize in real-time a basic list of Mexican Sign Language (MSL) signs of 20 meaningful words...
Two systematic adaptive control approaches are applied for tracking and regulating the Lorenz chaotic system. The adaptive synchronization approach is implemented with 3 individual controllers used in the Lyapunov function design. The adaptive backstepping control is also introduced with a single controller at much less control efforts. The asymptotic stability for both proposed control laws has been...
Suspicious behavior detection has been developed in an unsupervised way based on spatio-temporal motion analysis in pedestrian virtual space. The pedestrian virtual plane has been constructed which consists of both the ground plane and the pedestrian head one. The suspicious behavior has been discriminated in a circular variance of pedestrian trajectories around the 3D virtual region instead of traditional...
Action recognition based on human skeleton structure represents nowadays a prosper research field. This is mainly due to the recent advances in terms of capture technologies and skeleton extraction algorithms. In this context, we observed that 3D skeleton-based actions share several properties with handwritten symbols since they both result from a human performance. We accordingly hypothesize that...
The analysis of human gait is more and more investigated due to its large panel of potential applications in various domains, like rehabilitation, deficiency diagnosis, surveillance and movement optimization. In addition, the release of depth sensors offers new opportunities to achieve gait analysis in a non-intrusive context. In this paper, we propose a gait analysis method from depth sequences by...
We have developed a real-time ball tracking system that can be used for volleyball games. Although a number of methods for visual object tracking have been proposed, tracking a fast-moving ball is still a challenging task because of the motion blur and the occlusion. We thus use a complementary tracking scheme in which tracking processes for multiple cameras help each other sharing the 3D position...
We present a multi-target tracking system for estimating the position of multiple soccer players as they move around during a soccer game. Our system relies on silhouette observations recorded by a static camera, and utilises 3D models and particle filter methods to estimate athlete positions. Tracking parameters can be adapted in order to tip the scales towards precision or performance. We present...
Digital video stabilization is crucial in many applications such as object detection and tracking. It has been studied for decades yielding an extensive amount of literature in the field, however, current approaches suffer from either being computationally expensive or under-performing in terms of visual quality . In this paper, we present StableFlow, a novel real-time method that was inspired by...
In this paper we propose a hierarchical activity clustering methodology which incorporates the use of topological persistence analysis. Our clustering methodology captures the hierarchies present in the data and is therefore able to show the dependencies that exist between these activities. We make use of an aggregate persistence diagram to select robust graphical structures present within the dataset...
Video completion aims to track, remove, and fill in unwanted regions (holes) of a video sequence. Holes have to be filled-in consistently to create a visually pleasant video output. Challenges arise when big holes propagate along several frames (large spatiotemporal holes) in outdoor videos with variant illumination and structured background. In those cases even forefront video completion approaches...
We consider leader-follower multi-agent systems in which the leader executes the desired trajectory and the followers implement the consensus algorithm subject to stochastic disturbances. The performance of the leader-follower systems is quantified by using the steady-state variance of the deviation of the followers from the leader. We study the asymptotic scaling of the variance in directed lattices...
Map retrieval, the problem of similarity search over a large collection of 3D pointset maps previously built by mobile robots, is crucial for autonomous navigation in indoor and outdoor environments. Bag-of-words (BoW) methods constitute a popular approach to map retrieval; however, these methods have extremely limited descriptive ability because they ignore the spatial layout information of the local...
High resolution 3D mapping of road systems is currently being carried out by expensive Mobile Mapping Systems (MMS) but coverage is limited. Recently Low Cost Sensor (LCS) systems have been developed which use common, low cost, internal MEMS position sensors from mobile phones, but such sensors come with a reduced absolute and relative positional accuracy. This study investigates the registration...
With advancing technologies, robotic manipulators and visual environment sensors are becoming cheaper and more widespread. However, robot control can be still a limiting factor for better adaptation of these technologies. Robotic manipulators are performing very well in structured workspaces, but do not adapt well to unexpected changes, like people entering the workspace. We present a method combining...
This paper presents an automatic airspace sectorization method for air traffic management in presence of many climbing trajectories. For this purpose, we have modified the formulation, and solved it using Non-dominated Sorting Genetic Algorithm II (NSGA-II) and Voronoi diagrams. The air traffic controller's monitoring workload is formulated with the use of modified dynamic density, which is a more...
This paper presents a method for detection and trajectory estimation of moving objects such as walking humans to achieve efficient indoor navigation of a mobile manipulator. Mobile manipulation requires interactions of the robot with objects such as humans and robots, which are usually in motion, thus it is important that a robot can detect moving humans and robots, estimate their trajectories for...
We present an approach to learn and generate movements for robot actions from human demonstrations using Dynamical Movement Primitives (DMPs) framework. The human hand movements are recorded by a motion tracker using a Kinect sensor with a color-marker glove. We segment an observed movement into simple motion units which are called as motion primitives. Then, each motion primitive will be encoded...
3D motion data of fish school is more valuable than 2D data for behavior and other researches. This paper proposes to use a master view tracking first strategy based on a novel master-slave camera setup. On this basis, fish are firstly tracked in master view in 2D after being extracted via an eye-focused Gaussian Mixture Model (E-GMM) detector. Then 3D trajectories are reconstructed by associating...
Interests on 3D object reconstruction digitizing the shape and color of an object from the real world are getting popular. 3D object reconstruction consists of various steps such as image acquisition, image refinement, point cloud generation, iterative closest points, bundle adjustment and model surface representation. Among them, iterative closest points method is critical to calculate the accurate...
The research community has shown significant improvements in both vision-based detection and tracking of vehicles, working towards a high level understanding of on-road maneuvers. Behaviors of surrounding vehicles in a highway environment is found as an interesting starting point, of why this dataset is introduced along with its challenges and evaluation metrics. A vision-based multi-perspective dataset...
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