Piecewise affine kernel tracking for non-planar targets

Since the multiple kernel representation opened in tracking the possibility of representing several features of the target in the same model, tracking multiple features using kernel-based methods has received a great attention. In spite of these efforts, the formulation has been reduced to tracking planar targets or targets rotating inside a plane parallel to the image plane. The aim of this paper is to extend the multi-kernel tracking to cope with situations different to those. To this end, we consider the triangular mesh described by the centers of the kernels and we develop the estimation of a set of affine transforms, one at each mesh triangle, subject to the constraints that each affine transform of a triangle must be compatible with the affine transforms coming from contiguous triangles. The method is applied to sequences including face and car tracking. Results show an outperformance respect to previous kernel tracking methods, which generally work with a too restricted set of movements.     

结合形态学梯度互信息和多分辨率寻优的图像配准新方法

对互信息配准法进行算法改进. 在互信息基础上结合形态学梯度作为新的图像配准测度, 不仅考虑所有体素信息, 而且有效结合像素在空间位置的相互关系. 将粒子群优化 (Particle swarm optimization, PSO) 算法这种全局寻优算法和 Powell 这一局部寻优算法相结合, 前者的配准结果为后者的算法优化提供了非常有效的初始点, 优化时间大为减少. 借鉴小波变换中多分辨率的思想, 在低分辨率图像中粗略配准后, 上升到高分辨率图像上进一步细化配准结果, 增加算法鲁棒性. 实验结果证明, 本文算法效果良好, 寻优过程在数分钟内完成, 能够满足诊断和科研的实时性要求.     

自主水下航行器的变质心跟踪控制

The trajectory-tracking control problem is investigated for an autonomous underwater vehicle (AUV) moving in the vertical plane using an internal point mass and a rear thruster as actuators. Combined with the dynamics of the point mass, the AUV is modeled as an underactuated system. A Lyapunov-based tracking controller is proposed by using backstepping approach to stabilize the error dynamics and force the position errors to a small neighborhood of the origin. Simulation results validate the proposed tracking approach.     

一类不确定Lur'e奇异系统的可靠鲁棒H_∞跟踪控制(英文)

The problem of reliable robust H_∞tracking control for a class of uncertain Lur'e singular systems is studied.A practical and general failure model of actuator and sensor is considered by using convex polytopic uncertainties to describe control surface impairment.Some sufficient conditions are presented for the case of actuator,sensor and control surface failures in terms of linear matrix inequalities (LMIs).The resultant control systems are reliable in that they guarantee closed-loop system robust stability with H_∞performance and the output tracking the reference signal without steady-state error when all control components are operational as well as when some control components experience failures.Finally,a numerical example is given to show the effectiveness of the proposed methods.     

微小型仿生机器鱼设计与实时路径规划

提出一种结构紧凑, 运动灵活, 装配多传感器, 可自主游动的微小型仿生机器鱼系统设计方案. 在仿鲹科加月牙尾模式鱼类运动研究的基础上, 给出了微小型机器鱼推进、转弯等运动的控制方法. 结合运动控制和传感器信息处理, 给出了基于红外传感器的自主避障算法和基于光敏传感器的主动趋光算法, 进而提出了基于这两种传感器信息感知的动态光源跟踪方法. 通过实验, 给出了机器鱼尾部摆动频率、幅度和运动速度之间的关系, 验证了机器鱼追踪动态光源算法, 表明了本文所提系统设计方案和算法的有效性.     

高阶非线性不确定系统的自适应实际输出跟踪控制

本文研究了一类高阶非线性不确定系统的自适应实际输出跟踪控制问题, 该问题在未知控制系数的下界精确知道的假设下已经得到了研究. 基于新的鲁棒自适应控制和连续控制思想, 成功去除该假设条件. 进而应用增加幂次积分的方法, 给出了构造连续自适应实际输出跟踪控制器的系统化方法. 该控制器确保闭环系统的所有状态全局稳定, 并且经过有限时间后, 跟踪误差可以被某一事先给定的任意正数界定. 最后, 通过一个仿真算例验证了理论结果的正确性.     

目标跟踪中巴氏系数误差的分析及其消除方法

在meanshift的目标跟踪方法中,Taylor公式的近似展开会造成优化过程中Bhattacharyya系数值的误差,这种误差会给目标跟踪带来偏差,同时不适合快速运动目标的跟踪.针对Bhattacharyya系数的Taylor公式近似表示情形,研究了这种近似表示引起的系数误差和对目标跟踪的影响,在此基础上,将Bhattacharyya系数的优化问题转化为求解约束优化问题,从而提出一种改进的目标跟踪方法,以达到提高目标跟踪的精度,而且证明了该改进方法的收敛性.实验表明文中方法对于快速运动目标的跟踪具有更好的跟踪精度.     

一种新的基于在线采样的多物体跟踪方法

跟踪多个运动物体,尤其是在遮挡过程中跟踪多个运动物体,是计算机视觉领域一个重要但具有挑战性的问题.该文提出了一种新的在线采样、更新学习和分类的跟踪框架来处理多物体跟踪问题.首先,对遮挡发生前若干帧的各物体进行块采样,作为训练样本进行在线分类器设计.各帧的物体区域也在线进行块采样,并用这些分类器来进行分类标号.如果遮挡没有发生,一些新的训练样本被添加用来更新分类器.当遮挡发生时,根据标号结果,前景区域被分割成多个目标物体.和以往方法相比,新方法不依赖于一些假设条件,如场景深度信息、物体的先验模型(比如形状、种类、区域内颜色各向同性、运动规律等),具有更好的适应能力.实验结果验证了该文方法的稳定性和有效性.     

基于子话题分治匹配的新事件检测

新事件检测是话题检测与跟踪领域的一项重要研究,其任务是实时监控新闻报道流并从中识别新话题.现有方法将话题和报道描述为单一结构的特征向量进行匹配,造成子话题间互为噪声并形成错误语义,从而误导新话题的识别.针对这一缺陷,文中提出基于子话题分治匹配的新事件检测方法,将话题和报道划分为不同子话题,根据相关子话题的比例关系和分布关系建立新话题识别模型.实验在TDT4和TDT5中获得显著改进,最小检测错误代价为0.4061,相应漏检率为0.1859.     

Parallel and distributed simulation of sediment dynamics in shallow water using particle decomposition approach

This paper describes the parallel simulation of sediment dynamics in shallow water. By using a Lagrangian model, the problem is transformed to one in which a large number of independent particles must be tracked. This results in a technique that can be parallelised with high efficiency. We have developed a sediment transport model using three different sediment suspension methods. The first method uses a modified mean for the Poisson distribution function to determine the expected number of the suspended particles in each particular grid cell of the domain over all available processors. The second method determines the number of particles to suspend with the aid of the Poisson distribution function only in those grid cells which are assigned to that processor. The third method is based on the technique of using a synchronised pseudo-random-number generator to generate identical numbers of suspended particles in all valid grid cells for each processor. Parallel simulation experiments are performed in order to investigate the efficiency of these three methods. Also the parallel performance of the implementations is analysed. We conclude that the second method is the best method on distributed computing systems (e.g., a Beowulf cluster), whereas the third maintains the best load distribution.