Multi-robot tracking of mobile target is studied in the paper, which is based on the communication and sensors. For an independent tracking robot, the processes are separated into three layers and four tasks, and allo...
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Multi-robot tracking of mobile target is studied in the paper, which is based on the communication and sensors. For an independent tracking robot, the processes are separated into three layers and four tasks, and allocated to different robots for distinct roles in tracking, which is named the Distributed Decision control System (DDCS). After that, two tracking models, centralized and distributed models, are designed for multi-robot tracking. Furthermore, a Proportional Navigation Guidance Law (PNGL) and l-ϕ formation control algorithm are mentioned to realize the robot motion control. At last the simulation has shown the feasibility and validity of both models.
In noncooperative Iris recognition one should deal with uncontrolled behavior of the subject as well as uncontrolled lighting conditions. That means imperfect focus, contrast, brightness, and orientation among the oth...
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ISBN:
(纸本)9783000248832
In noncooperative Iris recognition one should deal with uncontrolled behavior of the subject as well as uncontrolled lighting conditions. That means imperfect focus, contrast, brightness, and orientation among the others. To cope with this situation we propose to take iris images at both near infrared (NIR) and visible light (VL) and use them simultaneously for recognition. In this paper, a novel approach for iris recognition is proposed so that extracted features of NIR and VL images are fused to improve the recognition rate. When the images do not have enough quality due to focus, contrast, etc., effects of feature fusion is more pronounced. This is the situation in UTIRIS database, which is used in our experiments. Experimental results show that the proposed approach, especially in small training samples, leads to a remarkable improvement on recognition rate compared with either NIR or VL recognition.
In despite of successful implementation of iris recognition systems, noncooperative recognition is still remained as an unsolved problem. Unexpected behavior of the subjects and uncontrolled lighting conditions as the...
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ISBN:
(纸本)9783000248832
In despite of successful implementation of iris recognition systems, noncooperative recognition is still remained as an unsolved problem. Unexpected behavior of the subjects and uncontrolled lighting conditions as the main aspects of noncooperative iris recognition result in blurred and noisy captured images. This issue can degrade the performance of iris recognition system. In this paper, to address the aforementioned challenges, an intelligent decision combiner is proposed in which prior to perform decision fusion;an automatic image quality inspection is carried out. The goal is to determine whether captured decisions based on visible light (VL) and near infrared (NIR) images have enough reliability to incorporate into final decision making. Experimental results on the UTIRIS confirm the superior performance of the proposed combiner in comparison with other common nontrainable decision combiners whereas in all cases, the effectiveness of fusion approach makes it a reliable solution to noncooperative subjects' behavior and uncontrolled lighting conditions.
To overcome the main drawbacks of global minimal for active contour models (L. D. Cohen and Ron Kimmel) that the contour is only extracted partially for low SNR images, Method of boundary extraction based on Schrö...
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To overcome the main drawbacks of global minimal for active contour models (L. D. Cohen and Ron Kimmel) that the contour is only extracted partially for low SNR images, Method of boundary extraction based on Schrödinger Equation is proposed. Our Method is based on computing the numerical solutions of initial value problem for second order nonlinear Schrödinger equation by using discrete Fourier Transformation. Schrödinger transformation of image is first given. We compute the probability P(b,a) that a particle moves from a point a to another point b according to I-Type Schrödinger transformation of image and obtain boundary of object by using quantum contour model.
In this paper, we presented a ringing metric to evaluate the quality of images restored using iterative image restoration algorithms. A ringing metrics is used to assessment the restored images based on the Gabor filt...
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In this paper, we presented a ringing metric to evaluate the quality of images restored using iterative image restoration algorithms. A ringing metrics is used to assessment the restored images based on the Gabor filter. The experimental results validate the proposed method perform well over a wide range of restoration image ringing levels assessment. And the proposed model has given good agreement with observer ratings obtained in subjective experiments.
This paper provided a mathematic model for Three Gorges-Gezhou dam co-scheduling problems, based on full analysis of Three Gorges-Gezhou dam's actual needs, to maximize the total throughput of Three Gorges-Gezhou ...
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ISBN:
(纸本)9781424421138
This paper provided a mathematic model for Three Gorges-Gezhou dam co-scheduling problems, based on full analysis of Three Gorges-Gezhou dam's actual needs, to maximize the total throughput of Three Gorges-Gezhou dam, to maximize the utilization ratio of shiplock area and minimize the total navigation shiplock waiting time under eight constraint conditions. Then a scheduling algorithm based on GA was pointed out. The three gorges south lock, Gezhou dam lock, the three gorges north lock were optimization searched separately in the GA algorithm. The scheduling results of the three gorges south lock were taken as the origin of the whole plan period, and also were taken as the basis of the Gezhou dam scheduling together with the ship applied information. The scheduling results of Gezhou dam were regarded as the basis of the three gorges north lock scheduling together with the ship applied information, so repeated, until the optimal scheduling results were given, or the most iterative step was reached. The applied result shows that making a period plan of two dam five lock only needs 2 minutes, and the plan is quite effective according to practical application.
Combining bottom-up and top-down attention influences, a novel region extraction model which based on object-accumulated visual attention mechanism is proposed in this paper. Compared with early research, the new appr...
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Combining bottom-up and top-down attention influences, a novel region extraction model which based on object-accumulated visual attention mechanism is proposed in this paper. Compared with early research, the new approach brings in prior information at the proper time, updates scan path dynamically, needs less computational resources and reduces the probability to direct the attention to a less-meaning area. The application to search an airport target in remote sensing image was provided, through which the novel mechanism that how visual attention chose the area was described. Compared with another two region extraction models, experimental results confirm the effectiveness of the approach proposed in this paper.
Shuffled frog leaping (SFL) is a population based, cooperative search metaphor inspired by natural memetics. Its ability of adapting to dynamic environment makes SFL become one of the most important memetic algorithms...
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ISBN:
(纸本)9781424421138
Shuffled frog leaping (SFL) is a population based, cooperative search metaphor inspired by natural memetics. Its ability of adapting to dynamic environment makes SFL become one of the most important memetic algorithms. In order to improve the algorithm's stability and the ability to search the global optimum, a novel 'cognition component' is introduced to enhance the effectiveness of the SFL namely frog not only adjust its position according to the best individual within the memeplex or the global best of population but also according to thinking of the frog itself. To validate the improved SFL (ISFL) method, numerous simulations were conducted to compare SFL and ISFL using six benchmark problems for continuous and discrete optimization. According to the simulation results, adding the cognitive behavior to SFL significantly enhances the performance of SFL in solving the optimization problems, and the improvements are more evident with the scale of the problem increasing.
The principle of target tracking and data fusion techniques are discussed. To resolve high uncertainty that exists in sensors of mobile robots, one multi-sensor data fusion algorithm is presented. The algorithm is bas...
The principle of target tracking and data fusion techniques are discussed. To resolve high uncertainty that exists in sensors of mobile robots, one multi-sensor data fusion algorithm is presented. The algorithm is based on particle filter techniques, fuses the information coming from multiple sensors and merges different state space models. So it can be used to eliminate system and measurement noise and estimate value of position and headings of mobile robot. On simulation experiments, we compare different cases such as single sensors and multi-sensor data fusion, the results demonstrate the feasibility and effectiveness of this algorithm and exhibits good tracking performance.
To infrared images, the contrast of target and background is low, dim small targets have no concrete shapes and their textures cannot be reliable predicted. The paper puts forward a novel algorithm to fuse mid-wave an...
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To infrared images, the contrast of target and background is low, dim small targets have no concrete shapes and their textures cannot be reliable predicted. The paper puts forward a novel algorithm to fuse mid-wave and long-wave infrared images and detect targets. Firstly, the source images are decomposed by wavelet transformation. In usual, targets in infrared images are man-made, and their fractal dimension is different comparing with natural background. In wavelet transformation domain high-frequency part, we calculate local fractal dimension and set up fusion rule to merge corresponding sub-images of two matching source images. In low-frequency, we extract local maximum gray level to fuse them. Then reconstruct image by wavelet inverse transformation and obtain fused result image. In fusion results, the contrast between targets and background has obvious changes. And targets can be detected using contrast threshold. The experimental results show that the method proposed in this paper using wavelet transformation fractal dimension to fuse dual band infrared images, and then detect targets is better than using mid-wave or long -wave infrared images detect targets alone.
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