Distributed human 3D pose estimation and action recognition.

In this paper, we propose a distributed solution for3D human pose estimation using a RGBD camera network. Thekey feature of our method is a dynamic hybrid consensus filter(DHCF) is introduced to fuse the multiple view informationof cameras. In contrast to the centralized fusion solution,the DHCF algorithm can be used in a distributed network,which requires no central information fusion center. Therefore,the DHCF based fusion algorithm can benefit from manyadvantages of distributed network. We also show that theproposed fusion algorithm can handle the occlusion problemseffectively, and achieve higher action recognition rate comparedto the ones using only single view information

Visual SLAM based on dynamic object removal

Visual simultaneous localization and mapping (SLAM) is the core of intelligent robot navigation system. Many traditional SLAM algorithms assume that the scene is static. When a dynamic object appears in the environment, the accuracy of visual SLAM can degrade due to the interference of dynamic features of moving objects. This strong hypothesis limits the SLAM applications for service robot or driverless car in the real dynamic environment. In this paper, a dynamic object removal algorithm that combines object recognition and optical flow techniques is proposed in the visual SLAM framework for dynamic scenes. The experimental results show that our new method can detect moving object effectively and improve the SLAM performance compared to the state of the art methods

H∞ filtering for nonlinear discrete-time stochastic systems with randomly varying sensor delays

This is the post print version of the article. The official published version can be obained from the link - Copyright 2009 Elsevier LtdThis paper is concerned with the H∞ filtering problem for a general class of nonlinear discrete-time stochastic systems with randomly varying sensor delays, where the delayed sensor measurement is governed by a stochastic variable satisfying the Bernoulli random binary distribution law. In terms of the Hamilton–Jacobi–Isaacs inequalities, preliminary results are first obtained that ensure the addressed system to possess an l2-gain less than a given positive scalar γ. Next, a sufficient condition is established under which the filtering process is asymptotically stable in the mean square and the filtering error satisfies the H∞ performance constraint for all nonzero exogenous disturbances under the zero-initial condition. Such a sufficient condition is then decoupled into four inequalities for the purpose of easy implementation. Furthermore, it is shown that our main results can be readily specialized to the case of linear stochastic systems. Finally, a numerical simulation example is used to demonstrate the effectiveness of the results derived.This paper was not presented at any IFAC meeting. This paper was recommended for publication in revised form by Associate Editor James Lam under the direction of Editor Ian R. Petersen. This work was supported by the Shanghai Natural Science Foundation under Grant 07ZR14002, the Engineering and Physical Sciences Research Council (EPSRC) of the UK under Grant GR/S27658/01, the Royal Society of the UK and the Alexander von Humboldt Foundation of Germany

Testing parity symmetry of gravity with gravitational waves

The examination of parity symmetry in gravitational interactions has drawn increasing attention. Although Einstein's General Relativity is parity-conserved, numerous theories of parity-violating (PV) gravity in different frameworks have recently been proposed for different motivations. In this review, we briefly summarize the recent progress of these theories, and focus on the observable effects of PV terms in the gravitational waves (GWs), which are mainly reflected in the difference between the left-hand and right-hand polarization modes. We are primarily concerned with the implications of these theories for GWs generated by the compact binary coalescences and the primordial GWs generated in the early Universe. The deviation of GW waveforms and/or primordial power spectrum can always be quantified by the energy scale of parity violation of the theory. Applying the current and future GW observation from laser interferometers and cosmic microwave background radiation, the current and potential constraints on the PV energy scales are presented, which indicates that the parity symmetry of gravity can be tested in high energy scale in this new era of gravitational waves.Comment: 22 pages, no figure

CASTER: A Computer-Vision-Assisted Wireless Channel Simulator for Gesture Recognition

In this paper, a computer-vision-assisted simulation method is proposed to address the issue of training dataset acquisition for wireless hand gesture recognition. In the existing literature, in order to classify gestures via the wireless channel estimation, massive training samples should be measured in a consistent environment, consuming significant efforts. In the proposed CASTER simulator, however, the training dataset can be simulated via existing videos. Particularly, a gesture is represented by a sequence of snapshots, and the channel impulse response of each snapshot is calculated via tracing the rays scattered off a primitive-based hand model. Moreover, CASTER simulator relies on the existing videos to extract the motion data of gestures. Thus, the massive measurements of wireless channel can be eliminated. The experiments demonstrate a 90.8% average classification accuracy of simulation-to-reality inference.Comment: 7 pages, 9 figure

Investigation of Application of Suction Line Heat Exchanger in R290 Air Conditioner with Small Diameter Copper Tube

R290 is a potential refrigerant replacing R22 because of its zero Ozone Depletion Potential (ODP) and virtually zero Global Warming Potential (GWP). However, R290 is flammable and requires excellent containment to avoid leakage and reduce the risk of fire. The use of small diameter copper tube (5 mm or even smaller) is an effective way to reduce refrigerant charge and thus reduce the risk of fire in the event of a refrigerant leak. However, employing small diameter copper tube will increase pressure drop and consequently reduce system performance. A suction line heat exchanger which employs the low temperature refrigerant in suction line to cool down the refrigerant before expansion value is a potential solution to improve system performance because R290 has low discharge temperature compared with HFC refrigerants (e.g. R22, R410A). This paper presents an investigation of application of a suction line heat exchanger in an R290 air conditioner with small diameter copper tube. A theoretical analysis is proposed at first to investigate the effect of the suction line heat exchanger on capacity and system energy efficiency under variable evaporating and cooling temperatures. A prototype R290 air conditioner with and without a suction line heat exchanger is tested in order to explore the effect of a suction line heat exchanger on system performance and refrigerant charge in real working conditions. Finally, a refrigerant circuit solution for heat pump air conditioners is proposed. The results of theoretical analysis indicate that the capacity and system energy efficiency increase linearly with the heat exchange of the suctionline heat exchanger, and the suction line heat exchanger can improves capacity by up to 12% and system energy efficiency by up to 4% under both cooling and heating modes. This is because the suction line heat exchanger increases the sub-cooling but has less impact on compressor power due to good thermal properties of R290. Further, the evaporating and condensation temperature have insignificant impact on the performance of suction line heat exchanger. The experimental results show that the suction line heat exchanger improves the cooling capacity and system efficiency by 5.3% and 4.5%, respectively. These results agree well with that of the system analysis. The sub-cooling temperature increases 10.2o C and the discharge temperature increases 25.4o C. Further, the suction line heat exchanger reduces the refrigerant charge by as much as 6%. This is because suction line heat exchanger increases the discharge temperature, and thus the superheat region of the condenser increases resulting in less refrigerant in the condenser. Overall, the use of a suction line heat exchanger in a system with small diameter copper tube improves the performance of R290 and more importantly reduces the refrigerant charge

Simultaneous monocular visual odometry and depth reconstruction with scale recovery

In this paper, we propose a deep neural net-work that can estimate camera poses and reconstruct thefull resolution depths of the environment simultaneously usingonly monocular consecutive images. In contrast to traditionalmonocular visual odometry methods, which cannot estimatescaled depths, we here demonstrate the recovery of the scaleinformation using a sparse depth image as a supervision signalin the training step. In addition, based on the scaled depth,the relative poses between consecutive images can be estimatedusing the proposed deep neural network. Another novelty liesin the deployment of view synthesis, which can synthesize anew image of the scene from a different view (camera pose)given an input image. The view synthesis is the core techniqueused for constructing a loss function for the proposed neuralnetwork, which requires the knowledge of the predicted depthsand relative poses, such that the proposed method couples thevisual odometry and depth prediction together. In this way,both the estimated poses and the predicted depths from theneural network are scaled using the sparse depth image as thesupervision signal during training. The experimental results onthe KITTI dataset show competitive performance of our methodto handle challenging environments