35,625 research outputs found
Robust automatic target tracking based on a Bayesian ego-motion compensation framework for airborne FLIR imagery
Automatic target tracking in airborne FLIR imagery is currently a challenge due to the camera ego-motion. This phenomenon distorts the spatio-temporal correlation of the video sequence, which dramatically reduces the tracking performance. Several works address this problem using ego-motion compensation strategies. They use a deterministic approach to compensate the camera motion assuming a specific model of geometric transformation. However, in real sequences a specific geometric transformation can not accurately describe the camera ego-motion for the whole sequence, and as consequence of this, the performance of the tracking stage can significantly decrease, even completely fail. The optimum transformation for each pair of consecutive frames depends on the relative depth of the elements that compose the scene, and their degree of texturization. In this work, a novel Particle Filter framework is proposed to efficiently manage several hypothesis of geometric transformations: Euclidean, affine, and projective. Each type of transformation is used to compute candidate locations of the object in the current frame. Then, each candidate is evaluated by the measurement model of the Particle Filter using the appearance information. This approach is able to adapt to different camera ego-motion conditions, and thus to satisfactorily perform the tracking. The proposed strategy has been tested on the AMCOM FLIR dataset, showing a high efficiency in the tracking of different types of targets in real working conditions
A bank of unscented Kalman filters for multimodal human perception with mobile service robots
A new generation of mobile service robots could be ready soon to operate in human environments if they can robustly estimate position and identity of surrounding people. Researchers in this field face a number of challenging problems, among which sensor uncertainties and real-time constraints.
In this paper, we propose a novel and efficient solution for simultaneous tracking and recognition of people within the observation range of a mobile robot. Multisensor techniques for legs and face detection are fused in a robust probabilistic framework to height, clothes and face recognition algorithms. The system is based on an efficient bank of Unscented Kalman Filters that keeps a multi-hypothesis estimate of the person being tracked, including the case where the latter is unknown to the robot.
Several experiments with real mobile robots are presented to validate the proposed approach. They show that our solutions can improve the robot's perception and recognition of humans, providing a useful contribution for the future application of service robotics
Autonomous search for a diffusive source in an unknown environment
The paper presents an approach to olfactory search for a diffusive emitting
source of tracer (e.g. aerosol, gas) in an environment with unknown map of
randomly placed and shaped obstacles.
The measurements of tracer concentration are sporadic, noisy and without
directional information. The search domain is discretised and modelled by a
finite two-dimensional lattice. The links is the lattice represent the
traversable paths for emitted particles and for the searcher. A missing link in
the lattice indicates a blocked paths, due to the walls or obstacles. The
searcher must simultaneously estimate the source parameters, the map of the
search domain and its own location within the map. The solution is formulated
in the sequential Bayesian framework and implemented as a Rao-Blackwellised
particle filter with information-driven motion control. The numerical results
demonstrate the concept and its performance.Comment: 11 pages, 7 figure
Computational intelligence approaches to robotics, automation, and control [Volume guest editors]
No abstract available
Single camera pose estimation using Bayesian filtering and Kinect motion priors
Traditional approaches to upper body pose estimation using monocular vision
rely on complex body models and a large variety of geometric constraints. We
argue that this is not ideal and somewhat inelegant as it results in large
processing burdens, and instead attempt to incorporate these constraints
through priors obtained directly from training data. A prior distribution
covering the probability of a human pose occurring is used to incorporate
likely human poses. This distribution is obtained offline, by fitting a
Gaussian mixture model to a large dataset of recorded human body poses, tracked
using a Kinect sensor. We combine this prior information with a random walk
transition model to obtain an upper body model, suitable for use within a
recursive Bayesian filtering framework. Our model can be viewed as a mixture of
discrete Ornstein-Uhlenbeck processes, in that states behave as random walks,
but drift towards a set of typically observed poses. This model is combined
with measurements of the human head and hand positions, using recursive
Bayesian estimation to incorporate temporal information. Measurements are
obtained using face detection and a simple skin colour hand detector, trained
using the detected face. The suggested model is designed with analytical
tractability in mind and we show that the pose tracking can be
Rao-Blackwellised using the mixture Kalman filter, allowing for computational
efficiency while still incorporating bio-mechanical properties of the upper
body. In addition, the use of the proposed upper body model allows reliable
three-dimensional pose estimates to be obtained indirectly for a number of
joints that are often difficult to detect using traditional object recognition
strategies. Comparisons with Kinect sensor results and the state of the art in
2D pose estimation highlight the efficacy of the proposed approach.Comment: 25 pages, Technical report, related to Burke and Lasenby, AMDO 2014
conference paper. Code sample: https://github.com/mgb45/SignerBodyPose Video:
https://www.youtube.com/watch?v=dJMTSo7-uF
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