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Online multi-object tracking generally addressed in tracking-by-detection paradigm. Multi-object tracking is more complicated when a frame consists of abrupt motion and similar appearance of objects. The abrupt motion and similar appearance cause ambiguity to the cost function, which gradually reduces assignment performance of the tracker. In this paper, we exploit the object appearance and dynamics...
Human lower arm motion analysis is essential in developing robotic rehabilitation systems for assisting people during eating activities. In this research, human wrist and elbow joints motion is analyzed during five different eating activities and using different cutleries which are the fork and spoon. Xsens Motion Tracker (MTw™) has been used to capture the orientation data in the form of Euler angles...
Appearance based multi-object tracking (MOT) is a challenging task, specially in complex scenes where objects have similar appearance or are occluded by background or other objects. Such factors motivate researchers to propose effective trackers which should satisfy real-time processing and object trajectory recovery criteria. In order to handle both mentioned requirements, we propose a robust online...
One of the algorithms implemented in Radar system is Kalman filter. Kalman filter is one of a method to estimate a problem in dynamic systems and model measurement. Kalman filter has the ability to estimate certain condition either in the past, current, future time, or characteristic of the model unknown. The Purpose of this paper is to design ships tracking system using Kalman filter algorithm. According...
Autonomous Underwater Vehicle (AUV) is referred as a promising device to extend human intelligences to harsh underwater environment. Most applications of AUV demand accurate trajectory tracking, however the nonlinear and model inaccuracy constraints on AUV make it challenging to achieve tracking task. In this paper, we are concerned with the trajectory tracking problem for AUV. The AUV is assumed...
The notion of a Fast Moving Object (FMO), i.e. an object that moves over a distance exceeding its size within the exposure time, is introduced. FMOs may, and typically do, rotate with high angular speed. FMOs are very common in sports videos, but are not rare elsewhere. In a single frame, such objects are often barely visible and appear as semitransparent streaks. A method for the detection and tracking...
In this work, we introduce the challenging problem of joint multi-person pose estimation and tracking of an unknown number of persons in unconstrained videos. Existing methods for multi-person pose estimation in images cannot be applied directly to this problem, since it also requires to solve the problem of person association over time in addition to the pose estimation for each person. We therefore...
Behavior analysis provides a crucial non-invasive and easily accessible diagnostic tool for biomedical research. A detailed analysis of posture changes during skilled motor tasks can reveal distinct functional deficits and their restoration during recovery. Our specific scenario is based on a neuroscientific study of rodents recovering from a large sensorimotor cortex stroke and skilled forelimb grasping...
We present an approach to reconstruct the 3D shape of multiple deforming objects from incomplete 2D trajectories acquired by a single camera. Additionally, we simultaneously provide spatial segmentation (i.e., we identify each of the objects in every frame) and temporal clustering (i.e., we split the sequence into primitive actions). This advances existing work, which only tackled the problem for...
This article aims to seek approaches to modeling and controlling the motion of mass-flexible structure systems composed of two lumped masses connected by two flexible structures modeled as distributed masses. The system model is first developed, and the system transfer function is then determined. With the system model, there are two control schemes (feedback control and feedforward control) proposed...
This paper is the companion-paper of another paper presented in FUSION'17 concerning bearings-only target motion analysis (BOTMA). In this one, bearing data are replaced by range data: we study observability in range-only target motion analysis (ROTMA). When the observer is in constant turn motion, the target's trajectory is observable, as in BOTMA. If the observer is in constant acceleration motion,...
This paper presents a real time hybrid 2D position and orientation tracking system developed for an upper limb rehabilitation robot. Designed to work on a table-top, the robot is to enable home-based upper-limb rehabilitative exercise for stroke patients. Estimates of the robot's position are computed by fusing data from two tracking systems, each utilizing a different sensor type: laser optical sensors...
Crustal movement is a key factor affecting water cycle and related land surface processes. In this paper, the principle of a class of crustal movement simulation system (CMSS) is introduced. The CMSS proposed in this study is composed of twelve sets of four-legged parallel manipulator with three degrees of freedom. The structure of the parallel manipulator with actuation redundancy is analyzed. In...
This paper studies a load transportation problem using two and three quadcopters for outdoor applications. We construct a transportation controller, that consists of a formation controller to track a desired trajectory and a load sharing controller to share the load effects, in a distributed way. Specifically, based on the displacement-based formation and consensus approaches, the formation and load...
Wearable Augmented Reality (AR) devices1 are being explored in many applications for visualizing real-time contextual information. More importantly, these devices can also be used in tele-assistance from remote sites when on-field operators require off-field expert's guidance for trouble-shooting. For an effective communication, touchless hand gestures are the most intuitive to select a Region Of...
We propose a novel method for video object proposal to generate sequences of bounding boxes for each object candidate in videos, namely object trajectory proposals. Unlike the image-based methods that produce object proposals independently in each video frame, our method generates temporally consistent proposals in the form of object trajectories, which is crucial for subsequent analysis of object...
Multiple person tracking over a camera network is usually performed by matching person images between adjacent cameras. It easily fails by a temporal appearance change of the persons caused by environmental illumination and observation orientation of a camera. To solve this problem, matching person images across not only adjacent cameras but also cameras multiple hops away in the camera network is...
Observability in bearings-only target analysis (BOTMA) is studied when the target is in constant-velocity motion and the observer maneuvers gently (a constant turn motion or a constant acceleration motion). During our study, we proved that the rendezvous routes of the observer and the target play a key role in this analysis. We establish necessary and sufficient conditions of observability and we...
Modulation of stiffness provides a great deal of advantage in the way humans interact with the environment, and is very important in successfully performing activities of daily living. In the context of human-machine interactions, stiffness control could provide a safer interaction, especially when dealing with unpredictable environment. In this paper we propose a user-modulated stiffness and position...
Mobile robots are remarkable cases of high development technology and systems. Robot community developed a complex analysis to meet the increased demands for the control challenges for the movement of Robot. A model predictive control (MPC) approach is used in combination with feedforward Controller in a context of decoupling controller. Implementation of this algorithm in the ROS system is presented...
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