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Improving tracking with a tracklet associator

Improving tracking with a tracklet associator

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canadian conference on computer and robot vision, CRV

作者： Ré mi Nahon Guillaume-Alexandre Bilodeau Gilles Pesant Department of Computer Engineering and Software Engineering Polytechnique Montr&#x00E9 al Montr&#x00E9 al Canada

ISBN: (数字)9781665497749

ISBN: (纸本)9781665497756

Multiple object tracking (MOT) is a task in computer vision that aims to detect the position of various objects in videos and to associate them to a unique identity. We propose an approach based on Constraint Programming $(CP)$ whose goal is to be grafted to any existing tracker in order to improve its object association results. We developed a modular algorithm divided into three independent phases. the first phase consists in recovering the tracklets pro-vided by a base tracker and to cut them at the places where uncertain associations are spotted, for exam-ple, when tracklets overlap, which may cause identity switches. In the second phase, we associate the previ-ously constructed tracklets using a Belief Propagation Constraint Programming algorithm, where we pro-pose various constraints that assign scores to each of the tracklets based on multiple characteristics, such as their dynamics or the distance between them in time and space. Finally, the third phase is a rudimen-tary interpolation model to fill in the remaining holes in the trajectories we built. Experiments show that our model leads to improvements in the results for all three of the state-of-the-art trackers on which we tested it (3 to 4 points gained on HOTA and IDF1).

关键词： Constraint handling Interpolation Heuristic algorithms Trajectory Dynamic programming Object tracking Task analysis

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Optical Flow-based obstacle detection and avoidance behaviors for mobile robots used in unmaned planetary exploration

Optical Flow-based obstacle detection and avoidance behavior...

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International conference on Recent Advances in Space Technologies (RAST)

作者： Erdogan Dur Aeronautics And Space Technologies Institute (ASTIN) Electronic Engineering 34149 Yesilyurt Istanbul Turkey

there is growing international interest in a global exploration of the surface of Mars, more distant planets, and planetary moons. Mobile robots are of high interest for unmanned planetary exploration. During the last decade, there has been significant progress toward a supervised autonomous robotic capability for remotely controlled scientific exploration of planetary surfaces. Planetary Micro-Rovers such as Micro-RoSA-2 Mars Rover were designed for autonomous exploration mission in space. the European Space Agency (ESA) also started to develop concepts for micro-rovers for Mars missions. the mission is characterized by limited tele-operation, limited knowledge of the planetary terrain, challenges in obstacle detection and avoidance and hazard detection. therefore, it requires an accurate obstacle detection and avoidance system which is one of the most critical factors in the design of autonomous vehicles used in such planetary missions. Numerous methods for obstacle avoidance and detection behaviors have been suggested and research in this area of robotics is conducted extensively. Fixed mounting of sonar sensors, rotating sonar sensor, laser scanner and vision based systems are the primary sensors that can be used for the obstacle detection and avoidance behaviors of the mobile robots. With the rapidly improvement of computer technology, Visual-based sensors gain an intense popularity and consequently have been begun to be utilized in so many robotic researches. Among the various applications in robotics, one of the most popular concepts is gathering information from the navigation environments for mobile robots by working on optical flow of vision which is derived from a stereo camera located on the robots. We can determine the optical flow the movement of the objects within the area of robotic vision. If a relative motion in the environment, whether from objects or mobile robot, is present, then the information that can be gathered from this environment is enou

关键词： Optical detectors Mobile robots Optical computing Image motion analysis Artificial neural networks Multilayer perceptrons Optical fiber networks Navigation Stereo vision Image databases

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Configuring an “Animated Work Environment”: a user-centered design approach

Configuring an “Animated Work Environment”: a user-centere...

引用

2008 IET 4th International conference on Intelligent Environments

作者： K. E. Green L. J. Gugerty J. C. Witte I. D. Walker H. Houayek J. Rubinstein R. Daniels J. Turchi M. Kwoka I. Dunlop J. Johnson Clemson University USA Clemson University Clemson SC US

the dramatic shift in the nature, place and organization of working life, as well as the sophistication of information technologies employed in work, have prompted a trans- disciplinary team to develop an intelligent environment supporting increasingly digital lifestyles. this 'Animated Work Environment" (AWE) is envisioned less as a design product and more as the locus of interaction between people, software, information, machines, furniture, and other physical surroundings. In realizing this vision, the team (representing architecture, robotics, human factors and sociology) employed a user-centered design approach to designing, prototyping, demonstrating and evaluating AWE. this paper presents, for the first time, findings from surveys and task analyses of workers employing digital technologies, and traces how these findings informed the design of six physical configurations and other aspects of the AWE robot-architecture prototype. Also presented is a reflection on the benefits and challenges of iterative, trans-disciplinary design approaches to complex systems supporting human activity. Following from a collaborative research approach which includes careful analyses of users' want and needs, AWE promises to better cultivate rich, engaged and connected lifestyles in an increasingly digital world.

关键词： Intelligent Environments Architectural Design Human Factors robotics computer-Supported Cooperative Work computer supported cooperative work Human factors Building design robotics Product Design DIGITAL TECHNIQUES career information technology awe Life Style

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Research on Intelligent Glue-coating robot Based on Visual Servo

Research on Intelligent Glue-coating Robot Based on Visual S...

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2010 4th International conference on Intelligent Information Technology Application (IITA2010)

作者： Zhigang Yang,Yi An School of computer and Automation Engineering,Hebei Polytechnic University,Tangshan,Hebei,063009,China Yanbin Sun,Jingchun Zhang School of Information,Hebei Polytechnic University,Tangshan,Hebei,063009,China

At present,Glue-coating machines have some shortages,such as unintelligence,complexity of setting glue path for new *** this paper,real-time image capture was achieved by using digital camera technology and image processing *** captured image is converted into a character *** model is determined through comparing with the standard library and the *** image of workpiece was vectored through frame extracting and *** NC(Numerical Control) code generation technology,the NC code is automatically generated for sprinkler nozzle walking *** Appling visual servo and embedding the vision system into feedback loop of the robot,the system achieves high-precision robot *** extracting the glue line curve from image,thinning glue curve by morphological method,and extracting the frame information,the closure and quality of the glue curve can be *** of test show that the effect is satisfactory and the method is effective.

关键词： Visual Servo Glue-coating robot Glue Curve Quality Detecting DM642

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Analysis on computer Communication Network and the Framework of the Network Security Technologies

Analysis on Computer Communication Network and the Framework...

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2017 4th International conference on Machinery,Materials and computer(MACMC 2017)

作者： Fengquan Li Xi'an International University

ISBN: (纸本)9781510871038

As the popularity of the computer technology and the constant development of communication technology, the application of the information technology was utilized more widely. Under this background, the issue of network security is exposed gradually. Especially the communication network, it is the core part of the communication system, so it is very important in the whole system. At present, the issue of network security becomes stubborn so that it influences the daily work and life of the public. In order to strengthen the construction of information security, and improve the network security, it is necessary to deeply analyze the network security technology, and then to bring forward the targeted countermeasures. According to the relevant materials, the writer of this thesis takes the present situation of the computer communication network as the breakthrough point, and then discusses and analyzes framework of the network security technologies. In the developmental trend of information technology, the network communication becomes more and more popular, but it also brings about some problems on the security field. In one hand, the network information technology privies the strong driving force to the development of the economy and the society, and most of the industries take the best of this technology and becomes stronger and stronger;but, in the other hand, we have to accept that there still are some defects which could bring about some serious problems. the communication network is suffering the security risks every minutes, no matter these risks are brought about by the defects of the network or the risks that are caused by the defects of the operation system on which the network is run, even the mistakes of the operators, these all could bring about serious threats to the whole communication system, such as the reveal of the confidential data, system failure, etc, they all could bring about the negative influences to the daily production and life of the public

关键词： computer Communication Network Framework of Security Technologies Network Security

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A Design of Agricultural robotics for the use of Sowing and Planting

A Design of Agricultural Robotics for the use of Sowing and ...

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Advance Computing and Innovative Technologies in Engineering (ICACITE), International conference on

作者： P. Chandrakala Rinkesh Badholia E. Arunkumar Mekvin Victor M. Maheswaran Ashutosh Kumar Choubey Department of Electrical and Electronics Engineering Prince Shri Venkateshwara Padmavathy Engineering College TN Department of Mechanical Engineering IES Institute of Technology and Management IES University Bhopal M.P. India Department of Electronics and Communication Engineering Karpagam College of Engineering Coimbatore TN School of Business and Management Christ University Bangalore Mechatronics Engineering dept Nehru Institute of Engineering and Technology T.M. Palayam Tamil Nadu India Baderia Global Institute of Engineering & Management Jabalpur Madhya pradesh India

ISBN: (数字)9798350360165

ISBN: (纸本)9798350360172

Agricultural robots is always getting better to deal with problems like population growth, fast urbanization, fierce competition for high-quality goods, worries about protecting the environment, and a lack of skilled workers. this in-depth study looks at the main uses of farming robotic systems, covering jobs like preparing the land, sowing, planting, treating plants, gathering, estimating yields, and phenotyping. Each robot is judged on how it moves, what it will be used for, whether it has sensors, a robotic arm, or a computer vision program, as well as its development stage and where it came from. the study finds trends, possible problems, and things that stop business growth by looking at these shared traits. It also shows which countries are putting money into studying and developing (R&D) for these products. the study points out four important areas—movement systems as a whole sensor, computer vision computer programs, and communication technologies—that need more research to make smart agriculture better. the results make it clear that spending money on farming robotic systems can pay off in the long run by helping with things like accurate yield estimates and short-term benefits like keeping an eye on the harvest.

关键词： computer vision Agricultural robots Visualization Crops robot sensing systems Market research Sensor systems

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Depth Estimation in Static Monocular vision with Stereo vision Assisted Deep Learning Approach

Depth Estimation in Static Monocular Vision with Stereo Visi...

引用

computer, Control and robotics (ICCCR), International conference on

作者： Juzheng Zhang Xiao Da Terrence Fu Sutthiphong Srigrarom Mechanical Engineering National University of Singapore Singapore

ISBN: (数字)9798350373141

ISBN: (纸本)9798350373158

this paper introduces a method for depth estimation that combines the strengths of geometric and deep learning approaches, tailored for use with fisheye cameras. By leveraging the wide field of view (FOV) provided by fisheye lenses and the accuracy of deep learning models, we aim to overcome the limitations inherent in traditional monocular and stereo vision depth estimation techniques. Our approach integrates a geometry-based stereo vision model with unparallel camera axes, specifically designed for fisheye cameras, with state-of-the-art deep learning methods for monocular depth estimation. We utilize existing datasets and pre-trained networks, including vision transformers and Fully Convolutional Networks (FCNs), to address the challenges of data scarcity and computational resource limitations. the methodology involves calibration of fisheye cameras, depth estimation from geometric and learning-based methods, and a novel combination of these methods to achieve higher accuracy and a broader FOV than currently possible with either approach alone. Our experiments, conducted using an RGB-D camera for validation, demonstrate the potential of our method to enhance depth map quality significantly. this research not only fills a gap in the literature by merging geometric and learning-based depth estimation for fisheye cameras but also proposes a practical application within the drone project's obstacle detection function. Future work will explore the refinement of the geometric model, the integration of different learning-based methods, and the development of a custom network to further improve depth estimation accuracy and applicabllity.

关键词： Deep learning Learning systems Accuracy Estimation Cameras Transformers robot sensing systems

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RGB-D Point Cloud Correction using Information of Adjacent Frames

RGB-D Point Cloud Correction using Information of Adjacent F...

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computer, Big Data and Artificial Intelligence (ICCBD+AI), International conference on

作者： Jiadun Wang Shengtao Li Kai Huang School of Computer Electronic and Information GuangXi University NanNing China School of Computer Science and Engineering Sun Yat-Sen University GuangZhou China

ISBN: (数字)9798350373233

ISBN: (纸本)9798350373240

Breathing motion compensation is an important issue to be addressed in robotic thoracic and abdominal surgery. In recent years, with the widespread application of RGB-D depth cameras based on TOF imaging principles, respiratory monitoring has become a trend. However, due to the multi-path interference of TOF principle RGB-D cameras, various measures are often taken to avoid interference when using multiple cameras for respiratory monitoring. In this paper, a deep learning network that fuses previous frame information is proposed for respiratory motion point clouds under multi-path interference. At the same time, a method for generating multi-path interference regions from clean point clouds is designed, and a dataset is created for training. Our experiments prove that point cloud misalignment caused by multi-path interference can be effectively corrected using a neural network that fuses information from previous frame point clouds.

关键词： Point cloud compression Training Visualization Fuses robot vision systems Interference Cameras

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A Dual-arm Cooperating Physiotherapy Service robot Based on Visual Position

A Dual-arm Cooperating Physiotherapy Service Robot Based on ...

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2013 4th International conference on Applied Mechanics and Mechanical Engineering(ICAMME 2013)

作者： Huanbing Gao Shouyin Lu Tao Wang School of Control Science and Engineering Shandong University School of Information and Electrical Engineering Shandong Jianzhu University

this paper presents the scheme of a physiotherapy service robot including the mechanical architecture, control system, visual position system, etc. the robot can treat degenerative disease and chronic disease of middle-aged and aged people by Chinese massage skill, the main body of which includes a massage adjustable bed, two 4-DOF robot arms and two massage hands that can accomplish various massage manipulations. Two arms cooperate to improve the massage efficiency, and provide sufficient strength and enough reachable workspace for massage. the manipulators are controlled by a TRIO multi-axes motion controller and a embedded computer module. Physiological signal and massage pressure is detecting in real time in massage process to ensure a scientific and safe therapy. vision System sends the recognized acupoint position to the master system to track the patient's body, and the acupoint being massaged is displayed in real time by the 3D virtual display model. the robot can execute ten massage manipulations, which make traditional Chinese massage can have a robot instead. the effectiveness for degenerative lumbago in middle-aged and aged is demonstrated by laboratory examination and clinical trial.

关键词： Acupoint recognition Motion control Physiological signal detecting

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Dyna VIO: Real-Time Visual-Inertial Odometry with Instance Segmentation in Dynamic Environments

Dyna VIO: Real-Time Visual-Inertial Odometry with Instance S...

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computer, Control and robotics (ICCCR), International conference on

作者： Feixiang Zheng Wanbiao Lin Lei Sun College of Artificial Intelligence Nankai University Tianjin China Shenzhen Research Institute Nankai University Shenzhen China

ISBN: (数字)9798350373141

ISBN: (纸本)9798350373158

Current state-of-the-art visual-inertial odometry algorithms work on the assumption that the observed features are absolutely static, which leads to their weakness in dynamic environments. In this paper, we propose a novel visual-inertial odometry framework that is capable of identifying and rejecting dynamic features, called DynaVIO. First, instance information of input images are collected to detect potential dynamic objects. then, consecutive masks of the same object are associated to maintain the information consistency of tracked features. Based on this, a dynamic probability propagation model is built to infer the state inconsistency between masks and static background, achieving fast and accurate identifications of dynamic objects. Finally, features on highly dynamic objects are rejected to avoid their influences on pose estimation tasks. Validation experiments on VIODE dataset proves that our algorithm perform better than other state-of-the-art methods.

关键词： Accuracy Heuristic algorithms Semantics Pose estimation robot vision systems Real-time systems Odometry

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