2,251 research outputs found
Target Centroid Position Estimation of Phase-Path Volume Kalman Filtering
For the problem of easily losing track target when obstacles appear in intelligent robot target tracking, this paper proposes a target tracking algorithm integrating reduced dimension optimal Kalman filtering algorithm based on phase-path volume integral with Camshift algorithm. After analyzing the defects of Camshift algorithm, compare the performance with the SIFT algorithm and Mean Shift algorithm, and Kalman filtering algorithm is used for fusion optimization aiming at the defects. Then aiming at the increasing amount of calculation in integrated algorithm, reduce dimension with the phase-path volume integral instead of the Gaussian integral in Kalman algorithm and reduce the number of sampling points in the filtering process without influencing the operational precision of the original algorithm. Finally set the target centroid position from the Camshift algorithm iteration as the observation value of the improved Kalman filtering algorithm to fix predictive value; thus to make optimal estimation of target centroid position and keep the target tracking so that the robot can understand the environmental scene and react in time correctly according to the changes. The experiments show that the improved algorithm proposed in this paper shows good performance in target tracking with obstructions and reduces the computational complexity of the algorithm through the dimension reduction
Device-free Localization using Received Signal Strength Measurements in Radio Frequency Network
Device-free localization (DFL) based on the received signal strength (RSS)
measurements of radio frequency (RF)links is the method using RSS variation due
to the presence of the target to localize the target without attaching any
device. The majority of DFL methods utilize the fact the link will experience
great attenuation when obstructed. Thus that localization accuracy depends on
the model which describes the relationship between RSS loss caused by
obstruction and the position of the target. The existing models is too rough to
explain some phenomenon observed in the experiment measurements. In this paper,
we propose a new model based on diffraction theory in which the target is
modeled as a cylinder instead of a point mass. The proposed model can will
greatly fits the experiment measurements and well explain the cases like link
crossing and walking along the link line. Because the measurement model is
nonlinear, particle filtering tracing is used to recursively give the
approximate Bayesian estimation of the position. The posterior Cramer-Rao lower
bound (PCRLB) of proposed tracking method is also derived. The results of field
experiments with 8 radio sensors and a monitored area of 3.5m 3.5m show that
the tracking error of proposed model is improved by at least 36 percent in the
single target case and 25 percent in the two targets case compared to other
models.Comment: This paper has been withdrawn by the author due to some mistake
Evaluating indoor positioning systems in a shopping mall : the lessons learned from the IPIN 2018 competition
The Indoor Positioning and Indoor Navigation (IPIN) conference holds an annual competition in which indoor localization systems from different research groups worldwide are evaluated empirically. The objective of this competition is to establish a systematic evaluation methodology with rigorous metrics both for real-time (on-site) and post-processing (off-site) situations, in a realistic environment unfamiliar to the prototype developers. For the IPIN 2018 conference, this competition was held on September 22nd, 2018, in Atlantis, a large shopping mall in Nantes (France). Four competition tracks (two on-site and two off-site) were designed. They consisted of several 1 km routes traversing several floors of the mall. Along these paths, 180 points were topographically surveyed with a 10 cm accuracy, to serve as ground truth landmarks, combining theodolite measurements, differential global navigation satellite system (GNSS) and 3D scanner systems. 34 teams effectively competed. The accuracy score corresponds to the third quartile (75th percentile) of an error metric that combines the horizontal positioning error and the floor detection. The best results for the on-site tracks showed an accuracy score of 11.70 m (Track 1) and 5.50 m (Track 2), while the best results for the off-site tracks showed an accuracy score of 0.90 m (Track 3) and 1.30 m (Track 4). These results showed that it is possible to obtain high accuracy indoor positioning solutions in large, realistic environments using wearable light-weight sensors without deploying any beacon. This paper describes the organization work of the tracks, analyzes the methodology used to quantify the results, reviews the lessons learned from the competition and discusses its future
Tracking moving optima using Kalman-based predictions
The dynamic optimization problem concerns finding an optimum in a changing environment. In the field of evolutionary algorithms, this implies dealing with a timechanging fitness landscape. In this paper we compare different techniques for integrating motion information into an evolutionary algorithm, in the case it has to follow a time-changing optimum, under the assumption that the changes follow a nonrandom law. Such a law can be estimated in order to improve the optimum tracking capabilities of the algorithm. In particular, we will focus on first order dynamical laws to track moving objects. A vision-based tracking robotic application is used as testbed for experimental comparison
Respiratory Rate Monitoring in Clinical Environments with a Contactless Ultra-Wideband Impulse Radar-based Sensor System
Respiratory rate is an extremely important but poorly monitored vital sign for medical conditions. Current modalities for respiratory monitoring are suboptimal. This paper presents a proof of concept of a new algorithm using a contactless ultra-wideband (UWB) impulse radar-based sensor to detect respiratory rate in both a laboratory setting and in a two-subject case study in the Emergency Department. This novel approach has shown correlation with manual respiratory rate in the laboratory setting and shows promise in Emergency Department subjects. In order to improve respiratory rate monitoring, the UWB technology is also able to localize subject movement throughout the room. This technology has potential for utilization both in and out of the hospital environments to improve monitoring and to prevent morbidity and mortality from a variety of medical conditions associated with changes in respiratory rate
One-arcsecond line-of-sight pointing control on exoplanetsat, a three-unit CubeSat
ExoplanetSat is a proposed 10×10×34-cm space telescope designed to detect down to Earth-sized exoplanets in an orbit out to the habitable zone of bright, Sun-like stars via the transit method. Achieving this science objective requires one-arcsecond line-of-sight pointing control for the science CCD detector, an unprecedented requirement for CubeSats. A two-stage control architecture that coordinates coarse rigid-body attitude control with fine line-of-sight pointing control will be employed to meet this challenging pointing requirement. Detailed testing of the reaction wheels and CMOS detectors has been performed to extract key performance parameters used in simulations. The results of these simulations indicate that a 1.4 arcsecond pointing precision (3σ) is achievable. To meet the 1.0-arcsecond pointing requirement, several options are analyzed. In particular, a new technique to estimate reaction wheel vibrations for feed forward cancellation of reaction wheel vibrations is presented. This estimator adaptively estimates disturbances from noisy sensor measurements and effectively stores disturbance amplitude and phase in memory as a function of wheel speed. In addition to these simulation results, testing results from a hardware-in-the-loop (HWIL) testbed demonstrate the capability of the fine pointing control loop. Future plans for complete HWIL testing of the coarse and fine control loops are presented
Vision-Aided Navigation for GPS-Denied Environments Using Landmark Feature Identification
In recent years, unmanned autonomous vehicles have been used in diverse applications because of their multifaceted capabilities. In most cases, the navigation systems for these vehicles are dependent on Global Positioning System (GPS) technology. Many applications of interest, however, entail operations in environments in which GPS is intermittent or completely denied. These applications include operations in complex urban or indoor environments as well as missions in adversarial environments where GPS might be denied using jamming technology.
This thesis investigate the development of vision-aided navigation algorithms that utilize processed images from a monocular camera as an alternative to GPS. The vision-aided navigation approach explored in this thesis entails defining a set of inertial landmarks, the locations of which are known within the environment, and employing image processing algorithms to detect these landmarks in image frames collected from an onboard monocular camera. These vision-based landmark measurements effectively serve as surrogate GPS measurements that can be incorporated into a navigation filter. Several image processing algorithms were considered for landmark detection and this thesis focuses in particular on two approaches: the continuous adaptive mean shift (CAMSHIFT) algorithm and the adaptable compressive (ADCOM) tracking algorithm. These algorithms are discussed in detail and applied for the detection and tracking of landmarks in monocular camera images. Navigation filters are then designed that employ sensor fusion of accelerometer and rate gyro data from an inertial measurement unit (IMU) with vision-based measurements of the centroids of one or more landmarks in the scene. These filters are tested in simulated navigation scenarios subject to varying levels of sensor and measurement noise and varying number of landmarks. Finally, conclusions and recommendations are provided regarding the implementation of this vision-aided navigation approach for autonomous vehicle navigation systems
Practical implementation of a hybrid indoor localization system
Mestrado de dupla diplomação com a UTFPR - Universidade Tecnológica Federal do ParanáIndoor localization systems occupy a significant role to track objects during their life
cycle, e.g., related to retail, logistics and mobile robotics. These positioning systems use
several techniques and technologies to estimate the position of each object, and face several
requirements such as position accuracy, security, coverage range, energy consumption and
cost. This master thesis describes a real-world scenario implementation, based on Bluetooth
Low Energy (BLE) beacons, evaluating a Hybrid Indoor Positioning System (H-IPS)
that combines two RSSI-based approaches: Multilateration (MLT) and Fingerprinting
(FP). The objective is to track a target node, assuming that the object follows a linear
motion model. It was employed Kalman Filter (KF) to decrease the positioning errors of
the MLT and FP techniques. Furthermore a Track-to-Track Fusion (TTF) is performed
on the two KF outputs in order to maximize the performance. The results show that the
accuracy of H-IPS overcomes the standalone FP in 21%, while the original MLT is outperformed
in 52%. Finally, the proposed solution demonstrated a probability of error < 2 m
of 80%, while the same probability for the FP and MLT are 56% and 20%, respectively.Os sistemas de localização de ambientes internos desempenham um papel importante
na localização de objectos durante o seu ciclo de vida, como por exemplo os relacionados
com o varejo, a logística e a robótica móvel. Estes sistemas de localização utilizam várias
técnicas e tecnologias para estimar a posição de cada objecto, e possuem alguns critérios
tais como precisão, segurança, alcance, consumo de energia e custo. Esta dissertação
de mestrado descreve uma implementação num cenário real, baseada em Bluetooth Low
Energy (BLE) beacons, avaliando um Sistema Híbrido de Posicionamento para Ambientes
Internos (H-IPS, do inglês Hybrid Indoor Positioning System) que combina duas abordagens
baseadas no Indicador de Intensidade do Sinal Recebido (RSSI, do inglês Received
Signal Strength Indicator): Multilateração (MLT) e Fingerprinting (FP). O objectivo é
localizar um nó alvo, assumindo que o objecto segue um modelo de movimento linear.
Foi utilizado Filtro de Kalman (FK) para diminuir os erros de posicionamento do MLT
e FP, além de aplicar uma fusão de vetores de estado nas duas saídas FK, a fim de
maximizar o desempenho. Os resultados mostram que a precisão do H-IPS supera o FP
original em 21%, enquanto que o MLT original tem um desempenho superior a 52%. Finalmente,
a solução proposta apresentou uma probabilidade de erro de < 2 m de 80%,
enquanto a mesma probabilidade para FP e MLT foi de 56% e 20%, respectivamente
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