共查询到10条相似文献,搜索用时 140 毫秒
1.
Ofir Avni Francesco Borrelli Gadi Katzir Ehud Rivlin Hector Rotstein 《Autonomous Robots》2008,24(3):285-302
This paper presents a framework for visual scanning and target tracking with a set of independent pan-tilt cameras. The approach
is systematic and based on Model Predictive Control (MPC), and was inspired by our understanding of the chameleon visual system.
We make use of the most advanced results in the MPC theory in order to design the scanning and tracking controllers. The scanning
algorithm combines information about the environment and a model for the motion of the target to perform optimal scanning
based on stochastic MPC. The target tracking controller is a switched control combining smooth pursuit and saccades. Min-Max
and minimum-time MPC theory is used for the design of the tracking control laws.
We make use of the observed chameleon’s behavior to guide the scanning and the tracking controller design procedures, the
way they are combined together and their tuning.
Finally, simulative and experimental validation of the approach on a robotic chameleon head composed of two independent Pan-Tilt
cameras is presented.
相似文献
Ehud RivlinEmail: |
2.
Visual-model-based,real-time 3D pose tracking for autonomous navigation: methodology and experiments
This paper presents a novel 3D-model-based computer-vision method for tracking the full six degree-of-freedom (dof) pose (position
and orientation) of a rigid body, in real-time. The methodology has been targeted for autonomous navigation tasks, such as
interception of or rendezvous with mobile targets. Tracking an object’s complete six-dof pose makes the proposed algorithm
useful even when targets are not restricted to planar motion (e.g., flying or rough-terrain navigation). Tracking is achieved
via a combination of textured model projection and optical flow. The main contribution of our work is the novel combination
of optical flow with z-buffer depth information that is produced during model projection. This allows us to achieve six-dof tracking with a single
camera.
A localized illumination normalization filter also has been developed in order to improve robustness to shading. Real-time
operation is achieved using GPU-based filters and a new data-reduction algorithm based on colour-gradient redundancy, which was developed within the framework of our project. Colour-gradient redundancy is an important property of colour images,
namely, that the gradients of all colour channels are generally aligned. Exploiting this property provides a threefold increase
in speed. A processing rate of approximately 80 to 100 fps has been obtained in our work when utilizing synthetic and real
target-motion sequences. Sub-pixel accuracies were obtained in tests performed under different lighting conditions.
相似文献
Beno BenhabibEmail: |
3.
This paper presents a technique for dynamically reconfiguring search spaces in order to enable Bayesian autonomous search
and tracking missions with moving targets. In particular, marine search and rescue scenarios are considered, highlighting
the need for space reconfiguration in situations where moving targets are involved. The proposed technique improves the search
space configuration by maintaining the validity of the recursive Bayesian estimation. The advantage of the technique is that
autonomous search and tracking can be performed indefinitely, without loss of information. Numerical results first show the
effectiveness of the technique with a single search vehicle and a single moving target. The efficacy of the approach for coordinated
autonomous search and tracking is shown through simulation, incorporating multiple search vehicles and multiple targets. The
examples also highlight the added benefit to human mission planners resulting from the technique’s simplification of the search
space allocation task.
相似文献
Benjamin LavisEmail: |
4.
Rodrigo Verschae Javier Ruiz-del-Solar Mauricio Correa 《Machine Vision and Applications》2008,19(2):85-103
In this paper a unified learning framework for object detection and classification using nested cascades of boosted classifiers
is proposed. The most interesting aspect of this framework is the integration of powerful learning capabilities together with
effective training procedures, which allows building detection and classification systems with high accuracy, robustness,
processing speed, and training speed. The proposed framework allows us to build state of the art face detection, eyes detection,
and gender classification systems. The performance of these systems is validated and analyzed using standard face databases
(BioID, FERET and CMU-MIT), and a new face database (UCHFACE).
相似文献
Javier Ruiz-del-SolarEmail: |
5.
Detecting and tracking human faces in video sequences is useful in a number of applications such as gesture recognition and
human-machine interaction. In this paper, we show that online appearance models (holistic approaches) can be used for simultaneously
tracking the head, the lips, the eyebrows, and the eyelids in monocular video sequences. Unlike previous approaches to eyelid
tracking, we show that the online appearance models can be used for this purpose. Neither color information nor intensity
edges are used by our proposed approach. More precisely, we show how the classical appearance-based trackers can be upgraded
in order to deal with fast eyelid movements. The proposed eyelid tracking is made robust by avoiding eye feature extraction.
Experiments on real videos show the usefulness of the proposed tracking schemes as well as their enhancement to our previous
approach.
相似文献
Javier OrozcoEmail: |
6.
Zoom tracking is becoming a standard feature in digital still cameras (DSCs). It involves keeping an object of interest in
focus during the zooming-in or zooming-out operation. Zoom tracking is normally achieved by moving the focus motor in real-time
according to the so-called trace curves in response to changes in the zoom motor position. A trace curve denotes in-focus
motor positions versus zoom motor positions for a specific object distance. A zoom tracking approach is characterized by the
way these trace curves are estimated and followed. In this paper, a new zoom tracking approach, named predictive zoom tracking
(PZT), is introduced based on two prediction models: auto-regressive and recurrent neural network. The performance of this
approach is compared with the existing zoom tracking approaches commonly used in DSCs. The real-time implementation results
obtained on an actual digital camera platform indicate that the developed PZT approach not only achieves higher tracking accuracies
but also effectively addresses the key challenge of zoom tracking, namely the one-to-many mapping problem.
相似文献
V. PeddigariEmail: Email: |
7.
A New Model for Cloud Tracking and Analysis on Satellite Images 总被引:1,自引:0,他引:1
The study of convective clouds is an important issue in weather analysis. Previous methods are based on shape matching and
level set. In this paper, a method based on snake model is used for cloud tracking. Snakes are known to be more efficient
than level set for contour detection however they do not handle topological changes. Therefore, geometrical criteria are introduced
to characterize topological transformations. Geometrical techniques are then combined and inserted in the tracking algorithm
to perform morphological operations. By applying this method, a history of the positions of the clouds is obtained. In a second
stage, a data model is presented for cloud interrogation. Physical information is introduced and data are organized so that
spatiotemporal queries can be performed. Results obtained with the tracking method on a real data set are presented and some
query examples are given.
相似文献
Hui LinEmail: |
8.
This paper proposes an appearance generative mixture model based on key frames for meanshift tracking. Meanshift tracking
algorithm tracks an object by maximizing the similarity between the histogram in tracking window and a static histogram acquired
at the beginning of tracking. The tracking therefore could fail if the appearance of the object varies substantially. In this
paper, we assume the key appearances of the object can be acquired before tracking and the manifold of the object appearance
can be approximated by piece-wise linear combination of these key appearances in histogram space. The generative process is
described by a Bayesian graphical model. An Online EM algorithm is proposed to estimate the model parameters from the observed
histogram in the tracking window and to update the appearance histogram. We applied this approach to track human head motion
and to infer the head pose simultaneously in videos. Experiments verify that our online histogram generative model constrained
by key appearance histograms alleviates the drifting problem often encountered in tracking with online updating, that the
enhanced meanshift algorithm is capable of tracking object of varying appearances more robustly and accurately, and that our
tracking algorithm can infer additional information such as the object poses.
Electronic supplementary material The online version of this article (doi:) contains supplementary material, which is available to authorized users.
相似文献
Jilin Tu (Corresponding author)Email: |
Hai TaoEmail: |
Thomas HuangEmail: |
9.
Massimo De Santo Gennaro Percannella Carlo Sansone Mario Vento 《Pattern Analysis & Applications》2007,10(2):135-145
In this paper, we propose an innovative architecture to segment a news video into the so-called “stories” by both using the
included video and audio information. Segmentation of news into stories is one of the key issues for achieving efficient treatment
of news-based digital libraries. While the relevance of this research problem is widely recognized in the scientific community,
we are in presence of a few established solutions in the field. In our approach, the segmentation is performed in two steps:
first, shots are classified by combining three different anchor shot detection algorithms using video information only. Then,
the shot classification is improved by using a novel anchor shot detection method based on features extracted from the audio
track. Tests on a large database confirm that the proposed system outperforms each single video-based method as well as their
combination.
相似文献
Mario VentoEmail: |
10.
Liang Lin Yongtian Wang Yue Liu Caiming Xiong Kun Zeng 《Multimedia Tools and Applications》2009,41(2):235-252
Accurate 3D registration is a key issue in the Augmented Reality (AR) applications, particularly where are no markers placed
manually. In this paper, an efficient markerless registration algorithm is presented for both outdoor and indoor AR system.
This algorithm first calculates the correspondences among frames using fixed region tracking, and then estimates the motion
parameters on projective transformation following the homography of the tracked region. To achieve the illumination insensitive
tracking, the illumination parameters are solved jointly with motion parameters in each step. Based on the perspective motion
parameters of the tracked region, the 3D registration, the camera’s pose and position, can be calculated with calibrated intrinsic
parameters. A marker-less AR system is described using this algorithm, and the system architecture and working flow are also
proposed. Experimental results with comparison quantitatively demonstrate the correctness of the theoretical analysis and
the robustness of the registration algorithm.
相似文献
Kun ZengEmail: |