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Calibration-free camera hand-over for fast and reliable person tracking in multi-camera setups

Calibration-free camera hand-over for fast and reliable pers...

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International Conference on Pattern Recognition

作者： Birgit Moller Thomas Plotz Gernot A. Fink Institute of Computer Science Martin Luther University of Halle-Wittenberg Halle Germany Intelligent Systems Group Robotics Research Institute Dortmund University Dortmund Germany

ISBN: (纸本)9781424421749

Ensembles of multiple (active) cameras yield an important ingredient in modern tracking and surveillance applications. They overcome the limited fields-of-view of single cameras, however, require robust procedures for handing over tracking tasks from one camera to another. In this paper a calibration-free procedure is proposed that allows for fast and reliable camera hand-over in Ambient Intelligence (AmI) applications. The approach is based on online acquisition of scenario-specific target models and especially solves the problem of significant changes in object view during hand-over. Real-world results acquired in an AmI environment prove the effectiveness of our technique.

关键词： Calibration Ambient intelligence Robot vision systems Smart cameras Target tracking Histograms intelligent robots Surveillance Robustness Video sequences

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Spatial-Temporal correlatons for unsupervised action classification

Spatial-Temporal correlatons for unsupervised action classif...

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Workshop on Motion and Video Computing

作者： Silvio Savarese Andrey DelPozo Juan Carlos Niebles Li Fei-Fei Beckman Institute University of Illinois Urbana-Champaign USA Department of Computer Science University of Illinois Urbana-Champaign USA Robotics and Intelligent Systems Group Universidad del Norte Colombia Department of Computer Science Princeton University USA

Spatial-temporal local motion features have shown promising results in complex human action classification. Most of the previous works [6],[16],[21] treat these spatial- temporal features as a bag of video words, omitting any long range, global information in either the spatial or temporal domain. Other ways of learning temporal signature of motion tend to impose a fixed trajectory of the features or parts of human body returned by tracking algorithms. This leaves little flexibility for the algorithm to learn the optimal temporal pattern describing these motions. In this paper, we propose the usage of spatial-temporal correlograms to encode flexible long range temporal information into the spatial-temporal motion features. This results into a much richer description of human actions. We then apply an unsupervised generative model to learn different classes of human actions from these ST-correlograms. KTH dataset, one of the most challenging and popular human action dataset, is used for experimental evaluation. Our algorithm achieves the highest classification accuracy reported for this dataset under an unsupervised learning scheme.

关键词： Humans Cameras Robustness Video sequences computer science intelligent robots Legged locomotion Feature extraction intelligent systems Trajectory

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Output-feedback control for almost global stabilization of fully-actuated rigid bodies

Output-feedback control for almost global stabilization of f...

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IEEE Conference on Decision and Control

作者： David Cabecinhas Rita Cunha Carlos Silvestre Department of Electrical Engineering and Computer Science and Institute for Systems and Robotics Instituto Superior Técnico Lisboa Portugal

ISBN: (纸本)9781424431236

This paper addresses the problem of stabilizing a fully-actuated rigid body. The problem is formulated considering the natural space for rigid body configurations, the Special Euclidean group SE(3). The proposed solution consists of an output-feedback controller for force and torque actuation that guarantees almost global asymptotic stability of the desired equilibrium point. As such the equilibrium point is a stable attractor for all initial conditions except for those in a nowhere dense set of measure zero. As an additional feature, the controller is required to verify prescribed bounds on the actuation.

关键词： Control systems Force control Geometry Asymptotic stability US department of Transportation Torque control State-space methods Quaternions Adaptive control Robot kinematics

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Extraction rice-planted areas by RADARSAT data using neural networks

Extraction rice-planted areas by RADARSAT data using neural ...

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作者： Konishi, T. Omatu, S. Suga, Y. Department of Computer Science and Intelligent Systems Graduate School of Engineering Osaka Prefecture University Sakai Osaka 599-8531 Japan Department of Global Environment Studies Hiroshima Institute of Technology Hiroshima 731-5193 Japan

ISBN: (纸本)9784990288020

A classification technique using the neural networks has recently been developed. We apply a neural network of learning vector quantization (LVQ) to classify remote-sensing data, including microwave and optical sensors, for the estimation of a rice-planted area. The method has the capability of nonlinear discrimination, and the classification function is determined by learning. The satellite data were observed before and after planting rice in 1999. Three sets of RADARSAT and one set of SPOT/HRV data were used in Higashi-Hiroshima, Japan. Three RADARSAT images from April to June were used for this study. The LVQ classification was applied rhe RADARSAT and SPOT to evaluate the estimate of the area of planted-rice The results show that the true production rate of the rice-planted area estimation of RADASAT by LVQ was approximately 60% compared with that of SPOT by LVQ. it is shown that the present method is much better than the SAR image classification by the maximum likelihood method. ©ISAROB 2008.

关键词： Remote sensing

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Extraction of rice-planted area using a self-organizing feature map

Extraction of rice-planted area using a self-organizing feat...

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ISBN: (纸本)9784990288020

We introduce a neural network of self-organizing feature map (SOM) to classify remote-sensing data, including microwave and optical sensors, for the estimation of areas of planted rice. This method is an unsupervised neural network which has the capability of nonlinear discrimination, and the classification function is determined by learning. The satellite data are observed before and after rice planting in 1999. Three sets of KADARSAT and one set of SPOT/HRV data were used in Higashi-Hiroshima. Japan. The RADARSAT image has only one band of data and it is difficult to extract the rice-planted area. However, the SAR back-scattering intensity in a rice-planted area decreases from April to May and increases from May to June. Therefore, three RADARSAT images from April to June were used in this study. The SOM classification was applied the RADARSAT and SPOT data to evaluate the rice-planted area estimation. It is shown that the SOM is useful for the classification of satellite data. ©ISAROB 2008.

关键词： Synthetic aperture radar

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Solving Sum and Product Riddle via BDD-based model checking

Solving Sum and Product Riddle via BDD-based model checking

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2008 IEEE/WIC/ACM International Conference on Web Intelligence and intelligent Agent Technology - Workshops, WI-IAT Workshops 2008

作者： Luo, Xiangyu Su, Kaile Sattar, Abdul Chen, Yan Tsinghua National Laboratory for Information Science and Technology School of Software Tsinghua University Beijing 100084 China Department of Computer Science Guilin University of Electronic Technology Guilin 541004 China School of Electronics Engineering and Computer Science Peking University Beijing 100871 China Institute for Integrated and Intelligent Systems Griffith University Brisbane QLD 4111 Australia

ISBN: (纸本)9780769534961

We model the Sum and Product Riddle inpublic announcement logic, which is interpreted on an epistemic Kripke model. The model is symbolically represented as a finite state program with n agents. A model checking method to the riddle is developed by using the BDD-based symbolic model checking algorithm for logic of knowledge we developed in [7]. The method is implemented by extending the model checker MCTK [7] and then the solution of the riddle is verified successfully. © 2008 IEEE.

关键词： Model checking

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A CMAC-Q-Learning based Dyna agent

A CMAC-Q-Learning based Dyna agent

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SICE Annual Conference

作者： Yuan-Pao Hsu Wei-Cheng Jiang Hsin-Yi Lin Department of Computer Science and Information Engineering National Formosa University Yunlin Taiwan Robotics Control Technology Department Intelligent Robotics Technology Division Industrial Technology and Research Institute Hsinchu Taiwan

In the this paper, a CMAC-Q-learning based Dyna agent is presented to relieve the problem of learning speed in reinforcement learning, in order to achieve the goals of shortening training process and increasing the learning, speed. We combine CMAC, Q-learning, and prioritized sweeping techniques to construct the Dyna agent in which a Q-learning is trained for policy learning; meanwhile, model approximators, called CMAC-model and CMAC-R-model, are in charge of approximating the environment model. The approximated model provides the Q-learning with virtual interaction experience to further update the policy within the time gap when there is no interplay between the agent and the real environment. The Dyna agent switches seamlessly between the real environment and the virtual environment model for the objective of policy learning. A simulation for controlling a differential-drive mobile robot has been conducted to demonstrate that the proposed method can preliminarily achieve the design goal.

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Current harmonic compensation by three-phase converters controlled by space vector modulation

Current harmonic compensation by three-phase converters cont...

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作者： Paire, Damien Cirrincione, Maurizio Pucci, Marcello Járdán, Rafael K. Nagy, István Miraoui, Abdellatif Belfort France I.S.S.I.A.-C.N.R. Institute on Intelligent Systems for the Automation Palermo Italy Budapest University of Technology and Economics Department of Automation and Applied Informatics Budapest Hungary Computer and Automation Institute Hungarian Academy of Science Budapest Hungary

ISBN: (纸本)9781424417667

This paper deals with the application of a method developed for the compensation of harmonic currents generated by nonlinear loads, connected to the utility grid, using three phase dc/ac converters. The converters are supplied by renewable power sources, i.e. they are part of a Distributed Generation System. Nonlinear load current harmonics are compensated by a voltage oriented control (VOC). Current control is performed directly on the grid current so no additional current sensors are needed for ensuring sinusoidal grid current. The proposed method has been verified both by computer simulation and experimentally on a test setup where the control algorithm is implemented in a computer embedded card (dSPACE). © 2008 IEEE.

关键词： Harmonic analysis

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Camera Handoff with Adaptive Resource Management for Multi-camera Multi-target Surveillance

Camera Handoff with Adaptive Resource Management for Multi-c...

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IEEE Conference on Advanced Video and Signal Based Surveillance (AVSS)

作者： Chung-Hao Chen Yi Yao David Page Besma Abidi Andreas Koschan Mongi Abidi Imaging Robotics and Intelligent Systems Laboratory Department of Electrical Engineering and Computer Science University of Tennessee Knoxville TN USA GE Global Research Center Niskayuna NY USA

Camera handoff is a crucial step to generate a continuously tracked and consistently labeled trajectory of the object of interest in multi-camera surveillance systems. Most existing camera handoff algorithms concentrate on data association, namely consistent labeling, where images of the same object are matched across different cameras. However, most real-time object tracking systems see a decrease in the system's frame rate as the number of tracked objects increases. To address this issue, we propose to incorporate an adaptive resource management mechanism into camera handoff. In so doing, cameras¿ resources can be dynamically allocated to multiple objects according to their priorities and hence the required minimum frame rate can be maintained. Experimental results illustrate that the proposed camera handoff algorithm is capable of maintaining a constant frame rate and of achieving a substantially improved handoff success rate by approximately 20% in comparison with the algorithm presented by Khan and Shah.

关键词： Resource management Surveillance Labeling Real time systems intelligent robots USA Councils Videoconference Robot vision systems Smart cameras Robot kinematics

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Result representation of Rao-Blackwellized particle filtering for SLAM

Result representation of Rao-Blackwellized particle filterin...

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International Conference on Control, Automation and systems ( ICCAS)

作者： Nosan Kwak Beom-Hee Lee Kazuhito Yokoi Joint Japanese-French Robotics Laboratory Intelligent Systems Research Institute National Institute for Advanced Industrial Science and Technology Tsukuba Japan School of Electrical Engineering and Computer Science Seoul National University Seoul South Korea

Recently, particle filters have been applying to many robotic problems including the simultaneous localization and mapping (SLAM). Specifically, SLAM approaches employing Rao-Blackwellized particle filter (RBPF) have shown good results. However, no research is conducted to analyze representation of the results of particle filtering. After finishing the particle filtering, the results such as a map and a path are stored in the separate particles. In most cases, the result of the particle that has the highest importance weight is represented as the result. However, this approach does not give the best result all the time. Thus, We provide the analysis of final representation of particle filtering. In this paper, we compares several methods to derive the final representation of the result after finishing RBPF-SLAM. According to the result, combining data of each particle provides the better result with high probability than using just data of a particle such as the highest weighted particle representation.

关键词： Filtering Simultaneous localization and mapping Particle filters intelligent robots robotics and automation Service robots Electronic mail Finishing Diversity reception Automatic control

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