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Real-time vision-based vehicle detection and tracking on a moving vehicle for nighttime driver assistance

International Journal of Robotics and Automation 2009年第2期24卷 89-102页

作者： Chen, Y.-L. Wu, B.-F. Lin, C.-T. Fan, C.-J. Hsieh, C.-M. Department of Computer Science and Information Engineering Asia University 500 Liufeng Rd Wufeng Taichung 41354 Taiwan Department of Electrical and Control Engineering National Chiao Tung University 1001 Ta-Hsueh Road Hsinchu 30050 Taiwan

This study presents an effective method for detecting and tracking vehicles in front of a camera-assisted car during nighttime driving. The proposed method identifies vehicles based on detecting and locating vehicle headlights and taillights by using the techniques of image segmentation and pattern analysis. First, to effectively extract bright objects of interest, a fast bright object segmentation process based on automatic multilevel histogram thresholding is applied on the nighttime road-scene images. This automatic multilevel thresholding approach can provide robustness and adaptability for the detection system to be operated well under various illumination conditions at night. The extracted bright objects are processed by a spatial clustering and tracking procedure by locating and analyzing the spatial and temporal features of vehicle light patterns, and estimating the distance between the detected vehicles and the camera-assisted car. Experimental results demonstrate the feasibility and effectiveness of the proposed method for detecting and tracking vehicles at night.

关键词： Image segmentation

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Sampled Data Errors-in-Variables Systems

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IFAC Proceedings Volumes 2009年第10期42卷 1157-1162页

作者： Juan C. Agüero Graham C. Goodwin Torsten Söderström Juan I. Yuz ARC Centre for Complex Dynamics Systems and Control School of Electrical Engineering and Computer Science The University of Newcastle Australia Department of Information Technology Uppsala University Sweden Department of Electronic Engineering Universidad Técnica Federico Santa María Valparaíso Chile

Errors-in-Variables systems have been extensively studied in the literature. We study the impact of sampling on a continuous-time errors-in-variables problem. In particular, we study some approximations of a two dimensional (input-output) continuous-time signal spectrum developed from the sampled-data spectrum. Indeed, some of the paper is tutorial in nature. We also explore the possibility of retrieving the underlying continuous-time system from samples of the input and output signals.

关键词： Sampled-data models Errors-in-Variables Identifiability

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Rapid automatic segmentation and visualization of teeth in CT-scan data

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Journal of Applied sciences 2009年第11期9卷 2031-2044页

作者： Akhoondali, H. Zoroofi, R.A. Shirani, G. Control and Intelligent Processing Center of Excellence Faculty of Engineering School of Electrical and Computer Engineering University of Tehran Tehran Iran Department of Oral and Maxillofacial Surgery Faculty of Dentistry Medical Science University of Tehran Tehran Iran

In this study, a fast automatic method is proposed for the segmentation and visualization of teeth in multi-slice CT-scan data of the head. The algorithm consists of five main procedures. In the first part, the mandible and maxilla are separated using maximum intensity projection in the y direction and a step like region separation algorithm. In the second part, the dental region is separated using maximum intensity projection in the z direction, thresholding and cropping. In the third part, the teeth are rapidly segmented using a region growing algorithm based on four thresholds which are used to distinguish between seed points, teeth and none teeth tissue. In the fourth part, the results are visualized using iso-surface extraction and surface and volume rendering. A semi-automatic method is also proposed for rapid metal artifact removal. Results on multiple dadasets have shown the success of the algorithm with the dental region separation and segmentation procedure taking an average of only 2.4 sec to complete for each jaw making it at least tens of times faster than any previously proposed method. © 2009 Asian Network for Scientific Information.

关键词： computerized tomography

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Fully automatic extraction of panoramic dental images from CT-scan volumetric data of the head

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Journal of Applied sciences 2009年第11期9卷 2106-2114页

In this study, a fully automatic technique is proposed for the extraction of panoramic dental images from CT-scan images of the teeth. The process is performed in three steps: Mandibular region isolation, mandibular curve creation and panoramic image extraction. First the mandibular region is isolated. To do this the maxilla and mandible are separated from each other by finding the slice separating them. Then an image of the maximum intensity projection of the slices containing the mandible is obtained. The projection of the mandible is then isolated from the other bones. Using the isolated mandible region an initial curve is created. Nine control points are then selected on the curve. These control points are used to create a fine curve using cubic splines. The formula for each spline segment is used to find the perpendicular lines to the spline on each point on the spline. These perpendicular lines are then used in all slices (mandible and maxilla) to create the panoramic images. The algorithm has many advantages over earlier methods. Results using multiple datasets have shown that the algorithm is robust. © 2009 Asian Network for Scientific Information.

关键词： computerized tomography

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Simultaneous localization of mobile robot and multiple sound sources using microphone array

Simultaneous localization of mobile robot and multiple sound...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： Jwu-Sheng Hu Chen-Yu Chan Cheng-Kang Wang Chieh-Chih Wang Department of Electrical and Control Engineering National Chiao Tung University Hsinchu Taiwan Department of Computer Science and Graduate Institute of Networking and Multimedia National Taiwan University Taipei Taiwan

Sound source localization is an important function in robot audition. The existing works perform sound source localization using static microphone arrays. This work proposes a framework that simultaneously localizes the mobile robot and multiple sound sources using a microphone array on the robot. First, an eigenstructure-based generalized cross correlation method for estimating time delays between microphones under multi-source environments is described. A method to compute the far field source directions as well as the speed of sound using the estimated time delays is proposed. In addition, the correctness of the sound speed estimate is utilized to eliminate spurious sources, which greatly enhances the robustness of sound source detection. The arrival angles of the detected sound sources are used as observations in a bearings-only SLAM procedure. As the source signals are not persistent and there is no identification of the signal content, data association is unknown which is solved using FastSLAM. The experimental results demonstrate the effectiveness of the proposed approaches.

关键词： Microphone arrays Mobile robots Delay effects Equations Delay estimation Robustness Signal processing Intelligent robots Multiple signal classification Robotics and automation

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Discrete time consensus problem using optimal control

Discrete time consensus problem using optimal control

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SICE Annual Conference

作者： Jinyoung Lee Jung-Su Kim ASRI School of Electrical Engineering and Computer Science Seoul National University Seoul South Korea Department of Control and Instrumentation Engineering Seoul National University of Technology Seoul South Korea

This paper presents several design methods for consensus algorithm in discrete time formulation. To this end, we investigate a consensus condition and design a consensus algorithm based on the condition first. Second, it is discussed how a robust consensus algorithm can be designed using LQR (linear quadratic regulator). Finally, a constrained consensus problem is introduced and a brief idea tackling the problem is described using MPC (model predictive control).

关键词： Optimal control Algorithm design and analysis Tree graphs Robustness Predictive models Predictive control Uncertainty Graph theory computer science Instruments

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Optimal waypoint placement for road surveillance using unmanned aerial vehicles

Optimal waypoint placement for road surveillance using unman...

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作者： McDonald, Suzanne Holsapple, Raymond W. Kingston, Derek University of Maryland College Park MD 20742 United States Air Force Research Laboratory Wright-Patterson AFB OH 45433 United States Department of Electrical and Computer Engineering College Park MD 20742 United States Control Science Center of Excellence Wright-Patterson AFB OH 45433 United States

ISBN: (纸本)9781563479786

In this paper we consider an intelligence, surveillance and reconnaissance (ISR) mission where a human operator and a team of unmanned aerial vehicles (UAVs) are tasked to patrol a road. There are numerous inherent ISR benefits for patrolling a road. For example it might be beneficial to track the suspected movements of enemy troops in a forward operating location. Another example might be to gather intelligence that could then be used, possibly not in real time, to perform change detection, a method that might help with the detection of improvised explosive devices (IEDs). The layout of the road, with respect to a fixed known reference point, is assumed to be known a priori. For example the latitude and longitude coordinates of various points along the road would be sufficient. Most UAV autopilots make use of waypoint navigation to control the vehicle. This work investigates one method of optimally choosing the waypoints for the UAVs along the road. The cost function used minimizes the cross-track area error.

关键词： Cost functions

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A Study on the performance of the improved Energy Storage System for mild Hybrid Vehicles

A Study on the performance of the improved Energy Storage Sy...

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International Conference on Telecommunications Energy (INTELEC)

作者： Byoung-Hoon Kim Back-Haeng Lee Jin-Beom Jeong Dong-Hyung Shin Hyun-Sik Song Hoon-Heo Hee-Jun Kim Korea Automotive Technology Institute South Korea Department of Control and Instrumentation Engineering Korea University South Korea School of Electrical Engineering and Computer Science Hanyang University South Korea

Hybrid electric vehicles (HEV) utilize electric power as well as a mechanical engine for propulsion; therefore the performance of HEVs can be directly influenced by the characteristics of the energy storage system (ESS). The ESS for HEVs generally requires high power performance, long cycle life and reliability, as well as cost effectiveness, so the hybrid energy storage system (HESS), which combines different kinds of storage devices, has been considered to fulfill both performance and cost requirements. To improve operating efficiency, cycle life, cold cranking and life-time of the HESS, an advanced dynamic control regime with which pertinent storage devices in the HESS can be selectively operated based on their status was presented. Verification tests were performed to confirm the degree of improvement in energy efficiency. In this paper, an advanced HESS with improved battery management system (BMS), which has the optimal switching control function based on the estimated state of charge (SOC), has been developed and verified.

关键词： Energy storage Hybrid electric vehicles Electronic switching systems Power system reliability Costs Engines Propulsion Vehicle dynamics Testing Performance evaluation

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The real-time video stabilization for the rescue robot

The real-time video stabilization for the rescue robot

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SICE Annual Conference

作者： Jen-Pin Hsiao Cheng-Chung Hsu Tzu-Chiang Shih Pau-Lo Hsu Syh-Shiuh Yeh Bor-Chyun Wang Department of Electrical and Control Engineering National Chiao Tung University Hsinchu Taiwan Department of Mechanical Engineering National Taipei University of Technology Taipei Taiwan Department of Computer Science and Information Engineering China University of Technology Hukou Taiwan

When rescue robots navigate in a rough terrain, significant vibration of the video occurs unavoidably and a video stabilization system is proposed in this paper to reduce the disturbance on the visual system of the present rescue robots. The Kalman filter is applied to estimate the motion vector of the robot and the false estimation occurrence can be thus greatly reduced by applying analysis of correlation and variance of the motion vector estimation. With a hierarchical searching algorithm implemented on the TI DSP 6437, the frame rate can be improved from 10 fps to 28 fps to realize the real-time video stabilization and furthermore, the cooperative mission of multiple rescue robots has been achieved by applying the developed visual servo technique. The proposed virtual bounded motion control algorithm further leads the robots approaching the target precisely with cooperation of multiple rescue robots. The demo video is available at: http://***/DemoVideo/.

关键词： Robot sensing systems Mobile robots Motion estimation Optical noise Visual servoing Navigation Motion control Wireless sensor networks Vibrations Motion analysis

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Inverse Dynamic Neuro-controller for Superheater Steam Temperature control of a Large-Scale Ultra-Supercritical (USC) Boiler Unit

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IFAC Proceedings Volumes 2009年第9期42卷 107-112页

作者： Kwang Y. Lee Liangyu Ma Chang J. Boo Woo-Hee Jung Sung-Ho Kim Department of Electrical and Computer Engineering Baylor University Waco TX 76798 USA School of Control Science and Engineering North China Electric Power University Baoding 071003 China Department of Electrical Engineering Cheju National University Jeju Korea Corporate R&D Institute Doosan Heavy Industries and Construction Company Ltd. Korea

The main focus of this paper is to develop an Inverse Dynamic Neuro-controller (IDNC) by utilizing the inverse dynamic relationship of the superheater system for a large-scale ultra-supercritical (USC) boiler unit. After a recurrent neural network-based Inverse Dynamic Process Model (IDPM) has been built and trained, it is then used as a feedforward controller to improve the superheater steam temperature control. In order to eliminate the steady-state control error induced by the model and the IDPM error, a simple feedback PID compensator is added to the inverse controller. Simulation control tests are made on a full-scope simulator of the USC power generating unit to test the validity of the method. It is shown that the convergence speed of the IDNC is faster than the conventional cascaded PID control scheme. Best control result can be acquired by the IDNC together with a simple PID feedback compensator.

关键词： Ultra-supercritical (USC) boiler superheater steam temperature control inverse dynamic neuro-controller neural network feedforward control PID compensator

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