People tracking by cooperative fusion of RADAR and camera sensors

Accurate 3D tracking of objects from monocular camera poses challenges due to the loss of depth during projection. Although ranging by RADAR has proven effective in highway environments, people tracking remains beyond the capability of single sensor systems. In this paper, we propose a cooperative RADAR-camera fusion method for people tracking on the ground plane. Using average person height, joint detection likelihood is calculated by back-projecting detections from the camera onto the RADAR Range-Azimuth data. Peaks in the joint likelihood, representing candidate targets, are fed into a Particle Filter tracker. Depending on the association outcome, particles are updated using the associated detections (Tracking by Detection), or by sampling the raw likelihood itself (Tracking Before Detection). Utilizing the raw likelihood data has the advantage that lost targets are continuously tracked even if the camera or RADAR signal is below the detection threshold. We show that in single target, uncluttered environments, the proposed method entirely outperforms camera-only tracking. Experiments in a real-world urban environment also confirm that the cooperative fusion tracker produces significantly better estimates, even in difficult and ambiguous situations

Fractal dimension of fumed silica: Comparison of light scattering and electron microscope methods

Due to the enormous increase in nanopowder production, it becomes necessary to find and develop adapted characterization techniques. In the case of nanostructured agglomerates, the structure of these particles has a direct impact on flowing, and handling, but also on end-use final product properties. In this work, a fractal approach is used to characterize the agglomerate structure using two different, commercially available and widely used, methods: static light scattering (SLS) and image analysis of scanning electron microscope (SEM) photographs of the aggregates. Fumed silica aggregates are used for this comparison. The results by image analysis show that fumed silica aggregates have a two-level structure, made of compact aggregates of open aggregates of nanoparticles. This structure is not detected by SLS. For such a structure, SLS seems to be less accurate than image analysis method, although it could be an interesting technique in more simple cases, since it is a much less time-consuming technique