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IEEE International Workshop on Consumer Electronics

作者： Bojan Mrazovac Branislav M. Todorovic Dragan Kukolj Miodrag Temerinac Department for Computing and Control Engineering Faculty of Technical Sciences Novi Sad Serbia RT-RK Institute for Computer Based Systems Narodnog fronta 23a Novi Sad Serbia

ISBN: (纸本)9781509042692

Device-free human presence (DFHP) detection is a novel technique, mainly applicable to wireless sensor networks in which a human does not need to carry a wireless transceiver to be detected. Irregularities in the radio signal propagation pattern, expressed in a form of received signal strength indicator's (RSSI) variations can indicate possible presence of a human within the existing radio network. In this paper we propose DFHP detection method based on frequency analysis of RSSI variations. The main advantage of the proposed method compared to human detection method based on information entropy is the possibility to determine human presence from furniture layout change. The main drawback is a disability to recognize the absence from the presence of a motionless person in an environment. However, the combination of these two approaches defines a robust and cost-effective DFHP detection method that can be used in various smart home systems without the need for specific hardware installation and exploitation procedures.

关键词： fast Fourier transform human presence detection information entropy rssi

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Autonomous exploration of large unknown indoor environments for dense 3D model building 19

Autonomous exploration of large unknown indoor environments ...

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19th IFAC World Congress on International Federation of Automatic control, IFAC 2014

作者： Maurović, Ivan Dakulović, Marija Petrović, Ivan University of Zagreb Croatia Faculty of Electrical Engineering and Computing Department of Control and Computer Engineering Croatia

ISBN: (纸本)9783902823625

Autonomous exploration and mapping of indoor environments is important task for building inspections. Mapping of large environments in 3D requires high memory and computational consumptions. In this paper, we present a 3D exploration strategy for a mobile robot equipped with a 3D laser scanner. Our strategy does not require a map of the environment and ensures on-line exploration of large unknown spaces. We propose a room detection algorithm and focus on the room-by-room exploration keeping the memory and computational requirements low. We evaluated our strategy by simulations and experimentally using a real mobile robot. © IFAC.

关键词： Navigation

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One-shot Learning Gesture Recognition based on Improved 3D SMoSIFT Feature Descriptor from RGB-D Videos

One-shot Learning Gesture Recognition based on Improved 3D S...

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第27届中国控制与决策会议

作者： Jia Lin Xiaogang Ruan Naigong Yu Ruoyan Wei Electronic Information & Control Engineering College Beijing University of Technology Department of Computing Science University of AlbertaEdmonton T6G 2R3Canada

ISBN: (纸本)9781479970186

To satisfy the distinctive feature extraction requirement of one-shot learning gesture recognition for mobile robot control,a improved three-dimensional local sparse motion scale invariant feature transform(3D SMoSIFT) feature descriptor is proposed,which fuses RGB-D ***,gray pyramid,depth pyramid and optical flow pyramids are built as scale space for each gray frame(converted from RGB frame) and depth *** interest regions are extracted according the variance of optical flow,and variance is calculated in horizontal and vertical ***,corners are just extracted in each interest region as interest points,and then the information of gray and depth optical flow is simultaneously used to detect robust keypoints around the motion pattern in the scale ***,SIFT descriptors are calculated on 3D gradient space and 3D motion *** improved feature descriptor has been evaluated under a bag of feature model on one-shot learning Chalearn Gesture *** demonstrate that the proposed method distinctly improves the accuracy of gesture *** results also show that the improved 3D SMoSIFT feature descriptor surpasses other spatiotemporal feature descriptors and is comparable to the state-of-the-art approaches.

关键词： Three dimensional Sparse Motion Scale-invariant Feature Transiorm(3D SMoSlFT) One-shot Learning Gesture Recognition Variance of Optical FlowRGB-D Data

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Gravitational wave astronomy: the current status

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Science China(Physics,Mechanics & Astronomy) 2015年第12期58卷 3-43页

作者： BLAIR David JU Li ZHAO ChunNong WEN LinQing CHU Qi FANG Qi CAI RongGen GAO JiangRui LIN XueChun LIU Dong WU Ling-An ZHU ZongHong REITZE David H. ARAI Koji ZHANG Fan FLAMINIO Raffaele ZHU XingJiang HOBBS George MANCHESTER Richard N. SHANNON Ryan M. BACCIGALUPI Carlo GAO Wei XU Peng BIAN Xing CAO ZhouJian CHANG ZiJing DONG Peng GONG XueFei HUANG ShuangLin JU Peng LUO ZiRen QIANG Li'E TANG WenLin WAN XiaoYun WANG Yue XU ShengNian ZANG YunLong ZHANG HaiPeng LAU Yun-Kau NI Wei-Tou School of Physics The University of Western Australia State Key Laboratory of Theoretical Physics Institute of Theoretical Physics Chinese Academy of Sciences The School of Physics & Electronic Engineering Shanxi University Laboratory of All-Solid-State Light Sources Institute of Semiconductors Chinese Academy of Science State Key Laboratroy of Modern Optical Instrumentation Department of Optical Engineering Zhejiang University Laboratory of Optical Physics Institute of Physics Chinese Academy of Sciences Gravitational Wave and Cosmology Laboratory Department of Astronomy Beijing Normal University LIGO Laboratory California Institute of Technology Department of Physics University of Florida Department of Physics West Virginia University National Astronomical Observatory of Japan CSIRO Astronomy and Space Science International Centre for Radio Astronomy Research Curtin University SISSA Astrophysics Sector Institute of Applied Mathematics Academy of Mathematics and Systems Science Chinese Academy of Sciences University of Chinese Academy of Sciences Morningside Center of Mathematics Chinese Academy of Sciences State Key Laboratory of Scientific and Engineering Computing Academy of Mathematics and Systems ScienceChinese Academy of Sciences Department of Mathematics Henan University Department of Mathematics Capital Normal University Department of Geophysics College of the Geology Engineering and Geomatics Chang'an University QUEST Centre of Quantum Engineering and Space-Time Research Leibniz Universitt Hannover Max-Planck-Institut für Gravitationsphysik(Albert Einstein Institut) Aerospace Flight Dynamics Laboratory Beijing Aerospace Control Center Qian Xuesen Laboratory of Launch Vehicle Technology Center for Gravitation and Cosmology Department of Physics Tsing Hua University

In the centenary year of Einstein's General Theory of Relativity, this paper reviews the current status of gravitational wave astronomy across a spectrum which stretches from attohertz to kilohertz frequencies. Sect. 1 of this paper reviews the historical development of gravitational wave astronomy from Einstein's first prediction to our current understanding the spectrum. It is shown that detection of signals in the audio frequency spectrum can be expected very soon, and that a north-south pair of next generation detectors would provide large scientific benefits. Sect. 2 reviews the theory of gravitational waves and the principles of detection using laser interferometry. The state of the art Advanced LIGO detectors are then described. These detectors have a high chance of detecting the first events in the near future. Sect. 3 reviews the KAGRA detector currently under development in Japan,which will be the first laser interferometer detector to use cryogenic test masses. Sect. 4 of this paper reviews gravitational wave detection in the nanohertz frequency band using the technique of pulsar timing. Sect. 5 reviews the status of gravitational wave detection in the attohertz frequency band, detectable in the polarisation of the cosmic microwave background, and discusses the prospects for detection of primordial waves from the big bang. The techniques described in sects. 1–5 have already placed significant limits on the strength of gravitational wave sources. Sects. 6 and 7 review ambitious plans for future space based gravitational wave detectors in the millihertz frequency band. Sect. 6 presents a roadmap for development of space based gravitational wave detectors by China while sect. 7 discusses a key enabling technology for space interferometry known as time delay interferometry.

关键词： gravitational waves ground based detectors pulsar timing spaced based detectors CMB

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Erratum to: Multi-camera systems use for dental arch shape measurement

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The Visual Computer 2016年第5期33卷 689-689页

作者： Aleš Procházka Magdaléna Kašparová Mohammadreza Yadollahi Oldřich Vyšata Lucie Grajciarová Department of Computing and Control Engineering Institute of Chemical Technology Prague 6 Czech Republic Department of Stomatology 2nd Medical Faculty Charles University Prague 5 Czech Republic Department of Neurology Faculty of Medicine in Hradec Králové Charles University Hradec Kralove Czech Republic

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Unmanned marsupial sea-air system for object recovery 22

Unmanned marsupial sea-air system for object recovery

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22nd Mediterranean Conference on control and Automation, MED 2014

作者： Miskovic, Nikola Bogdan, Stjepan Nad, Eula Mandic, Filip Orsag, Matko Haus, Tomislav University of Zagreb Faculty of Electrical Engineering and Computing Department of Control and Computer Engineering Unska 3 Zagreb Croatia

ISBN: (纸本)9781479959006

This paper presents preliminary results obtained from a cooperative heterogeneous system consisting of an unmanned surface marine vehicle (USV) and an unmanned aerial vehicle (UAV). The envisioned scenario for this marsupial system is unmanned recovery of objects floating at the sea surface. The specific mission that is addressed in this paper includes the following phases: coarse approach where the USV approaches the object area using navigation filter based on GPS measurements;fine approach where the UAV tracking the USV sends relative distances between the USV and the object which is visible in the UAV's field of view;and tugging where the USV takes the object to safety after the initial contact has been achieved. The paper describes the ROS-based control architecture, presents simulation results, and addresses control issues related to obtaining measurements from two sources with different variances. © 2014 IEEE.

关键词： Unmanned aerial vehicles (UAV)

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An expectation maximisation algorithm for behaviour analysis in video

An expectation maximisation algorithm for behaviour analysis...

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International Conference on Information Fusion

作者： Olga Isupova Lyudmila Mihaylova Danil Kuzin Garik Markarian Francois Septier Department of Automatic Control and Systems Engineering University of Sheffield Sheffield UK School of Computing and Communications Lancaster University Lancaster UK Telecom Lille Institut Mines-Telecom Villeneuve d'Ascq Cedex France

Surveillance systems require advanced algorithms able to make decisions without a human operator or with minimal assistance from human operators. In this paper we propose a novel approach for dynamic topic modeling to detect abnormal behaviour in video sequences. The topic model describes activities and behaviours in the scene assuming behaviour temporal dynamics. The new inference scheme based on an Expectation-Maximisation algorithm is implemented without an approximation at intermediate stages. The proposed approach for behaviour analysis is compared with a Gibbs sampling inference scheme. The experiments both on synthetic and real data show that the model, based on Expectation-Maximisation approach, outperforms the one, based on Gibbs sampling scheme.

关键词： Visualization Hidden Markov models Training Testing Markov processes Feature extraction Joints

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Detection and tracking of dynamic objects using 3D laser range sensor on a mobile platform 11

Detection and tracking of dynamic objects using 3D laser ran...

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11th International Conference on Informatics in control, Automation and Robotics, ICINCO 2014

作者： Ćesić, Josip Marković, Ivan Jurić-Kavelj, Srećko Petrović, Ivan University of Zagreb Faculty of Electrical Engineering and Computing Department of Control and Computer Engineering Unska 3 Zagreb10000 Croatia

ISBN: (纸本)9789897580406

In this paper we present an algorithm for detection, extraction and tracking of moving objects using a 3D laser range sensor. First, ground extraction is performed using random sample consensus for model parameter estimation. Afterwards, to downsample the point cloud, a voxel grid filtering is executed and octree data structure is used. This data structure enables an efficient detection of differences between two consecutive point clouds, based on which clustering of dynamic parts of the cloud is performed. The obtained clusters are then expanded over the set of static voxels in order to cover entire objects. In order to account for ego-motion an iterative closest point registration technique with an initial transformation guess obtained by odometry of the platform is used. As the final step, we present a tracking algorithm based on joint probabilistic data association (JPDA) filter with variable process and measurement noise taking into account velocity and position of the tracked objects. However, JPDA filter assumes a constant and known number of objects in the scene, and therefore we use track management based on entropy. Experiments are performed using a setup consisting of a Velodyne HDL-32E mounted on top of a mobile platform in order to verify the developed algorithms.

关键词： Extraction

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Blended dictionaries for reduced-memory lempel-ziv corpus compression 14

Blended dictionaries for reduced-memory lempel-ziv corpus co...

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19th Australasian Document computing Symposium, ADCS 2014

作者： Tong, Jiancong Wirth, Anthony Zobel, Justin College of Computer and Control Engineering Nankai University China Department of Computing and Information Systems University of Melbourne Australia

ISBN: (纸本)9781450330008

Relative Lempel-Ziv (RLZ) compression has been shown to be effective for compression of large text repositories. It provides high compression ratios with extremely fast atomic decompression of individual documents. However, it depends on a large in-memory dictionary, which is implemented as a contiguous string that must be accessed randomly during the decompression process. In this paper we explore how compressed suffix arrays might reduce the size of the dictionary. These suffix arrays drastically increase the cost of accessing individual characters, however, so we propose splitting of the dictionary: An uncompressed structure for frequently accessed dictionary elements, with compression for the remainder. Our results show that splitting provides a smoothly tuneable trade-off between access time and memory requirements, but does not overcome the inherent limitations of compressed suffix arrays for this application, with decompression time growing by a factor of 10 for even the best combination of parameters. Suffix arrays comprise an attractive option where memory is limited, high compression is paramount, and decompression speed is unimportant. © Copyright 2014 ACM.

关键词： Economic and social effects

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Compact auxiliary dictionaries for incremental compression of large repositories 14

Compact auxiliary dictionaries for incremental compression o...

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23rd ACM International Conference on Information and Knowledge Management, CIKM 2014

ISBN: (纸本)9781450325981

Compression is widely exploited in retrieval systems, such as search engines and text databases, to lower both retrieval costs and system latency. In particular, compression of repositories can reduce storage requirements and fetch times, while improving caching. One of the most effective techniques is relative Lempel-Ziv, RLZ, in which a RAM-resident dictionary encodes the collection. With RLZ, a specified document can be decoded independently and extremely fast, while maintaining a high compression ratio. For terabyte-scale collections, this dictionary need only be a fraction of a per cent of the original data size. However, as originally described, RLZ uses a static dictionary, against which encoding of new data may be inefficient. An obvious alternative is to generate a new dictionary solely from the new data. However, this approach may not be scalable because the combined RAM-resident dictionary will grow in proportion to the collection. In this paper, we describe effective techniques for extending the original dictionary to manage new data. With these techniques, a new auxiliary dictionary, relatively limited in size, is created by interrogating the original dictionary with the new data. Then, to compress this new data, we combine the auxiliary dictionary with some parts of the original dictionary (the latter in fact encoded as pointers into that original dictionary) to form a second dictionary. Our results show that excellent compression is available with only small auxiliary dictionaries, so that RLZ can feasibly transmit and store large, growing collections. Copyright 2014 ACM.

关键词： Encoding (symbols)

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