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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, we present the first multi-body non-rigid structure-from-motion (SFM) method, which simultaneously reconstructs and segments multiple objects that are undergoing non-rigid deformation over time. Under our formulation, 3D trajectories for each non-rigid object can be well approximated with a sparse affine combination of other 3D trajectories from the same object. The resultant optimization...
This paper proposes a new adaptive repetitive visual-servo control system for a moving high-flying vehicle (HFV) with an uncalibrated camera to monitor, track, and precisely control the movements of a low-flying vehicle (LFV) or mobile ground robot. When deployed, a remote operator of the HFV defines the desired trajectory for the LFV in the HFV's camera frame (image frame). Due to the circulatory...
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...
In recent years, e-rehabilitation has become an emerging topic, firstly because of an increasing demand, secondly because of improved sensor systems and higher computational performance. Furthermore, due to the lack of therapists in Germany, an adequate supervision of the therapy is often impossible. A tracking of physiological parameters, such as the heart rate, can contribute to an improved evaluation...
Videos from an Unmanned Aerial Vehicle (UAV) platform have become more available in the surveillance community. As the number of video samples are increasing, automated analysis of these videos have become important. In this paper, we describe the task of vehicle movement event classification in videos taken from UAV. Given object track information from UAV video sequences, we processed the noisy...
Recently, Simultaneous Localization And Mapping (SLAM) has been getting more and more popular on the applications of mobile robot and unmanned aerial vehicles. If combined with semi-dense mapping, monocular SLAM will have a good prospect for multi-applications such as visual navigation. In addition, robust tracking is a pivotal role in complex and volatile situation and also it determines the quality...
Flyer is a means utilized popularly and effectively in recording landscape from above, collecting data of environment and weather, contributing to field works, especially conveying samples and medications from or to patients living in areas isolated by flood. It is necessary to track flyer's locations and characteristics for its activities. Visualization-based system for tracking flyer enables user...
As closed circuit television which had been used only for surveillance or identification has developed rapidly the research on intelligent surveillance systems is getting increased interest. Above all, abnormal event detection is becoming an essential part of surveillance systems by detecting or identifying actions or situations which are not commonly occurred in general. In this work, we propose...
Ball and Plate system is a well-known benchmark to test control strategies because of its multivariable nonlinear coupled dynamics, open loop instability and under actuation. Moreover, presence of parameter uncertainty and external disturbance makes it further challenging and interesting. This calls for a robust controller which not only stabilises the ball on the plate but also makes the ball follow...
The analytic video is a very challenging area of research in computer vision. Ensure a high level of security in a public space monitored by a surveillance camera is a difficult task in recent years. Understanding people behaviors in real time allows the surveillance systems to analyze unusual events through the video frames. In this paper, we propose a new approach for detecting suspicious behavior...
In this paper, we present an integrated approach for path planning and control for autonomous mobile robots. Typically, path planners pass on the trajectory coordinates to a motion controller that controls steering or curvature of the autonomous robot. However, these approaches ignores the smoothness of trajectory or staying on the path at different times. Our proposed system is a novel approach,...
This paper presents a methodology to characterize information about groups of people with the main goal of detecting cultural aspects. Based on tracked pedestrians, groups are detected and characterized. Group information is then used to find out Cultural aspects in videos, based on the Hofstede cultural dimensions theory. The presented work was tested in videos of pedestrian groups recorded in different...
This work proposes a trajectory clustering-based approach for segmenting flow patterns in high density crowd videos. The goal is to produce a pixel-wise segmentation of a video sequence (static camera), where each segment corresponds to a different motion pattern. Unlike previous studies that use only motion vectors, we extract full trajectories so as to capture the complete temporal evolution of...
Pelvic organ prolapse is a major health problem in women where pelvic floor organs (bladder, uterus, small bowel, and rectum) fall from their normal position and bulge into the vagina. Dynamic Magnetic Resonance Imaging (DMRI) is presently used to analyze the organs' movements from rest to maximum strain providing complementary support for diagnosis. However, there is currently no automated or quantitative...
Central nervous system dysfunction in infants may be manifested through inconsistent, rigid and abnormal limb movements. Detection of limb movement anomalies associated with such neurological dysfunctions in infants is the first step towards early treatment for improving infant development. This paper addresses the issue of detecting and quantifying limb movement anomalies in infants through non-invasive...
A method of tracking objects in multi CCTV, based on the use of the characteristic features of color, proximity and path is studied. The method's essence lies in resolving of the extreme problem concerning the generalized criteria, built on metrics in the field of each feature. The crucial advantage of the proposed method is ensuring of a sufficient level of the method effectiveness at the reduction...
This paper presents a novel method for classifying regions from human movements in service robots' working environments. The entire space is segmented subject to the class type according to the functionality or affordance of each place which accommodates a typical human behavior. This is achieved based on a grid map in two steps. First a probabilistic model is developed to capture human movements...
Despite the huge research on crowd on behavior understanding in visual surveillance community, lack of publicly available realistic datasets for evaluating crowd behavioral interaction led not to have a fair common test bed for researchers to compare the strength of their methods in the real scenarios. This work presents a novel crowd dataset contains around 45,000 video clips which annotated by one...
Distraction during driving is a growing concern for global road safety. Different activities impertinent to driving hinder the concentration of driver on road and often cause substantial damage to life and property. For making driving safe, an algorithm is proposed in this paper that is capable of detecting distraction during driving. The proposed algorithm tracks key body parts of the driver in video...
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