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tracking multiple targets from a mobile robot platform using a laser range scanner

Tracking multiple targets from a mobile robot platform using...

引用

IET seminar on target tracking and Data Fusion: algorithms and applications

作者： Kondaxakis, Polychronis Kasderidis, Stathis Trahanias, Panos Greece

ISBN: (纸本)9780863419102

A major issue in the field of mobile robotics today is the detection and tracking of moving objects (DATMO) from a moving observer. In dynamic and highly populated environments, this problem presents a complex and computationally demanding task. It can be divided in subproblems such as robot's relative motion compensation, feature extraction, measurement clustering, data association and targets' state vector estimation. In this paper we present an innovative approach that addresses all these issues exploiting various probabilistic and deterministic techniques. The algorithm utilizes real laser-scanner data to dynamically extract moving objects from their background environment, using a time-fading grid map method, and tracks the identified targets employing a Joint Probabilistic Data Association with Interacting Multiple Model (JPDA-IMM) algorithm. The resulting technique presents a computationally efficient approach to already existing target-tracking research for real time application scenarios. © The Institution of Engineering and Technology.

关键词： Mobile robots

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The IET seminar on algorithms and applications

The IET seminar on algorithms and applications

引用

2008 IET seminar on target tracking and Data Fusion: algorithms and applications

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NATO intelligence surveillance reconnaissance tracking standard NATO STANAG1 4676

NATO intelligence surveillance reconnaissance tracking stand...

引用

2008 IET seminar on target tracking and Data Fusion: algorithms and applications

作者： Gilles Van Nederveen SeiCorp Inc. Centreville VA USA

This piece describes how the NATO alliance is constructing a tracking standard to cover all forms of movement information in a given area of interest.

ISBN: (纸本)9780863419102

This piece describes how the NATO alliance is constructing a tracking standard to cover all forms of movement information in a given area of interest.

关键词： tracking NATO ISR North Atlantic Treaty Organization (NATO) ISR tracking Reconnaissance Intelligence

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MAP estimation in particle filter tracking

MAP estimation in particle filter tracking

引用

2008 IET seminar on target tracking and Data Fusion: algorithms and applications

作者： Hans Driessen Yvo Boers THALES NEDERLAND Hengelo Netherlands

ISBN: (纸本)9780863419102

Posterior densities in nonlinear tracking problems can successfully be constructed using particle filtering. The mean of the density is a popular point estimate. However, especially in multi-modal densities it does not always represent a reasonable estimate. In multi-target tracking the mean can produce a large bias when there is uncertainty about the labelling of the tracks, also referred to as the mixed labelling problem. The particle based Maximum A Posteriori (MAP) point estimator that has been recently developed is applied to this problem. It is shown by means of simulation that it provides a large improvement over the mean estimate.

关键词： target tracking Particle filters Point estimation MAP estimation Particle filters target tracking manufacturing automation protocol MITIGATION ACTION PLANS tracking Packaging

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Passive target tracking using transmitters of opportunity

Passive target tracking using transmitters of opportunity

引用

2008 IET seminar on target tracking and Data Fusion: algorithms and applications

作者： David Shephard G. A. Richards The Institution ofEngineering and Technology BAE Systems Stevenage Hertfordshire UK

ISBN: (纸本)9780863419102

Scattering of signals from commercial television or radio channels from air and surface targets can be detected by one or more passive receivers. The received signals can be processed to give bistatic range and range rate measurements on targets. This paper considers tracking algorithms to convert the measurements to target tracks using data from a demonstration receiver, with emphasis on the problem of track initiation for low SNR targets where there are many false detections. It is shown that it is possible to track targets in this type of environment. Further development and tuning is required to minimise the number of false tracks initiated.

关键词： Passive tracking Transmitters of Opportunity targets Commercial television Transmitters wireless channels Track tracking target tracking tuning Rate measurement, NOS Scattering False Receivers

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A technique to segment by tracking extended targets manoeuvring through complex scenes

A technique to segment by tracking extended targets manoeuvr...

引用

2008 IET seminar on target tracking and Data Fusion: algorithms and applications

作者： G. Watson Kevin Gilholm S. Watson James Wallace QinetiQ Stevenage Hertfordshire UK

ISBN: (纸本)9780863419102

We present an innovative optical flow based algorithm that uses a memory of both target appearance and motion in order to simultaneously segment and track extended targets through complex scenes. A particularly attractive feature of this approach is that is assumes little prior knowledge of the scene content (background, clutter etc) and can cope with a variety of target types and numbers. The algorithm will be demonstrated on synthetic and real-world, visual-band imagery.

关键词： Segmentation tracking Extended targets Kahnan filtering Optical flow Optic Flow tracking targets Prior Learning THROUGH extended target

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Fusion of novel biometrics for human tracking and identification

Fusion of novel biometrics for human tracking and identifica...

引用

IET seminar on target tracking and Data Fusion: algorithms and applications

作者： Nothard, Jo Hargreaves, John Goffredo, Michela Nixon, Mark Carter, John Pearce, Dan Harvey, Chris QinetiQ Ltd Cody Technology Park Farnborough Hants GU14 0LX United Kingdom ISIS Electronics and Computer Science University of Southampton United Kingdom

ISBN: (纸本)9780863419102

QinetiQ and Southampton University are engaged in a programme on fusion of novel biometrics for real-world secure environments. The main objective is to develop a camera system for measuring and fusing two key biometrics: gait and hyperspectral signature;for use outdoors, at a distance and in real world scenarios. It will provide a capability to automatically track and identify key individuals remotely and covertly by 3-D analysis of their gait and their spectral signature. This offers a significant tactical advantage over current biometrics systems which either require a cooperative subject or are unreliable in real world scenarios. The programme to date has concentrated upon the core technologies prior to incorporation into a single biometric system and fusion of the respective characteristics. Achievements so far include verification of techniques for 3D gait reconstruction from a single camera, trials of a 16 band IRIS (image replicating imaging spectrometer) camera subsystem, to obtain simultaneous hyperspectral and positional imagery at 30Hz frame rate, and application of spectral segmentation techniques to isolate and track the human subject in a cluttered urban scene. © The Institution of Engineering and Technology.

关键词： Biometrics

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A new algorithm for GMTI tracking problems, subject to a Doppler blind zone constraint

A new algorithm for GMTI tracking problems, subject to a Dop...

引用

2008 IET seminar on target tracking and Data Fusion: algorithms and applications

作者： J. M. C. Clark P. A. Kountouriotis R. B. Vinter The Institution ofEngineering and Technology Printed and published by the lET Imperial College London Stevenage Hertfordshire UK

ISBN: (纸本)9780863419102

This paper introduces a new methodology to take account of the Doppler blind zone arising, for example, in GMTI tracking. Here, the measurements are suppressed, when the range-rate of the target drops below a specified threshold. algorithms based on the new methodology are easy to implement, robust to choice of initial distributions and computationally efficient. Simulations have been conducted for a number of scenarios featuring in earlier comparative exercises. The new techniques exhibit a uniform improvement in estimation accuracy, as compared with earlier proposed approximate analytic techniques.

关键词： target tracking Bayesian methods Minimum detectable velocity Blind Doppler Radar target tracking radar Bayes methods algorithms new technique Dead band A* Algorithm

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Intelligent fuel-flow monitoring based on particle-tracking velocimetry

Intelligent fuel-flow monitoring based on particle-tracking ...

引用

2008 IET seminar on target tracking and Data Fusion: algorithms and applications

作者： Stephen Ingram M.A. Hossain K. Dahl The Institution ofEngineering and Technology Goodrich Engine Control Systems Stevenage Hertfordshire UK The Institution ofEngineering and Technology Bradford University Stevenage Hertfordshire UK

Artificial neural-networks have been widely applied in various aspects of particle-tracking velocimetry. This paper presents an overview of the different applications and gives an insight into how this technology can be applied to fuel-flow monitoring. The paper presents a method of flow-field estimation based on particle-tracking velocimetry, without the need to solve the correspondence problem. We also present a method of defeating the obscuration problem found in many optical velocimetry schemes.

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Video tracking using dual-treewavelet polar matching and particle filtering

Video tracking using dual-treewavelet polar matching and par...

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2008 IET seminar on target tracking and Data Fusion: algorithms and applications

作者： Sze Kim Pang J. D. B. Nelson Simon J. Godsill N. G. Kingsbury The Institution ofEngineering and Technology University of Cambridge Stevenage Hertfordshire UK

ISBN: (纸本)9780863419102

In this paper, we describe a video tracking application using the dual-tree polar matching algorithm. The models are specified in a probabilistic setting, and a particle filter is used to perform the sequential inference. Computer simulations demonstrate the ability of the algorithm to track a simulated video moving target in an urban environment with complete and partial occlusions.

关键词： Dual-Tree Wavelet Polar Matching Video tracking Particle Filtering Particle filters Videotapes Filtration tracking urban environment

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