10,853 research outputs found
Real-time, long-term hand tracking with unsupervised initialization
This paper proposes a complete tracking system that is capable of long-term, real-time hand tracking with unsupervised initialization and error recovery. Initialization is steered by a three-stage hand detector, combining spatial and temporal information. Hand hypotheses are generated by a random forest detector in the first stage, whereas a simple linear classifier eliminates false positive detections. Resulting detections are tracked by particle filters that gather temporal statistics in order to make a final decision. The detector is scale and rotation invariant, and can detect hands in any pose in unconstrained environments. The resulting discriminative confidence map is combined with a generative particle filter based observation model to enable robust, long-term hand tracking in real-time. The proposed solution is evaluated using several challenging, publicly available datasets, and is shown to clearly outperform other state of the art object tracking methods
A Lens-Calibrated Active Marker Metrology System
This paper presents a prototypical marker tracking system, MT, which is capable of recording multiple mobile robot trajectories in parallel for offline analysis. The system is also capable of providing trajectory data in realtime to agents (such as robots in an arena) and implements several multi-agent operators to simplify agent-based perception. The latter characteristic provides an ability to minimise the normally expensive process of implementing agent-centric perceptual mechanisms and provides a means for multiagent "global knowledge" (Parker 1993)
Non-convex optimization for 3D point source localization using a rotating point spread function
We consider the high-resolution imaging problem of 3D point source image
recovery from 2D data using a method based on point spread function (PSF)
engineering. The method involves a new technique, recently proposed by
S.~Prasad, based on the use of a rotating PSF with a single lobe to obtain
depth from defocus. The amount of rotation of the PSF encodes the depth
position of the point source. Applications include high-resolution single
molecule localization microscopy as well as the problem addressed in this paper
on localization of space debris using a space-based telescope. The localization
problem is discretized on a cubical lattice where the coordinates of nonzero
entries represent the 3D locations and the values of these entries the fluxes
of the point sources. Finding the locations and fluxes of the point sources is
a large-scale sparse 3D inverse problem. A new nonconvex regularization method
with a data-fitting term based on Kullback-Leibler (KL) divergence is proposed
for 3D localization for the Poisson noise model. In addition, we propose a new
scheme of estimation of the source fluxes from the KL data-fitting term.
Numerical experiments illustrate the efficiency and stability of the algorithms
that are trained on a random subset of image data before being applied to other
images. Our 3D localization algorithms can be readily applied to other kinds of
depth-encoding PSFs as well.Comment: 28 page
PAMPC: Perception-Aware Model Predictive Control for Quadrotors
We present the first perception-aware model predictive control framework for
quadrotors that unifies control and planning with respect to action and
perception objectives. Our framework leverages numerical optimization to
compute trajectories that satisfy the system dynamics and require control
inputs within the limits of the platform. Simultaneously, it optimizes
perception objectives for robust and reliable sens- ing by maximizing the
visibility of a point of interest and minimizing its velocity in the image
plane. Considering both perception and action objectives for motion planning
and control is challenging due to the possible conflicts arising from their
respective requirements. For example, for a quadrotor to track a reference
trajectory, it needs to rotate to align its thrust with the direction of the
desired acceleration. However, the perception objective might require to
minimize such rotation to maximize the visibility of a point of interest. A
model-based optimization framework, able to consider both perception and action
objectives and couple them through the system dynamics, is therefore necessary.
Our perception-aware model predictive control framework works in a
receding-horizon fashion by iteratively solving a non-linear optimization
problem. It is capable of running in real-time, fully onboard our lightweight,
small-scale quadrotor using a low-power ARM computer, to- gether with a
visual-inertial odometry pipeline. We validate our approach in experiments
demonstrating (I) the contradiction between perception and action objectives,
and (II) improved behavior in extremely challenging lighting conditions
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