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Scale adaptable mean shift object tracking based on image fragments

Dongnan Daxue Xuebao (Ziran Kexue Ban)/Journal of Southeast University (Natural Science Edition) 2010年第SUPPL. 1期40卷 131-135页

作者： Wang, Aqin Yang, Wankou Sun, Changyin School of Automation Southeast University Nanjing 210096 China Key Laboratory of Measurement and Control for Complex Systems of Engineering of Ministry of Edu. Southeast University Nanjing 210096 China

The classical mean shift tracking algorithm is apt to make errors or lose the target if the target is occluded for a very long time. Thus an improved mean shift tracking algorithm is proposed. This algorithm divides the target into multiple fragments and integrates spatial information by using different weights of each image fragment. The similarity coefficient between target template and candidate template consists of the Bhattacharyya coefficients of the corresponding multiple fragments. Experimental results show that the proposed method is efficient when the target is occluded for a long time. A new method named edge-histogram is used. This method is based on original scale updating mechanism and make a further judgment that whether the target is smaller or not by calculating the Bhattacharyya coefficient between the target's edge-histograms of the current frame and the previous one. Experimental results show that the proposed algorithm can deal with the scale problem very well.

关键词： Graphic methods

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Applications of Berkeley DB in home energy monitor system

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Dongnan Daxue Xuebao (Ziran Kexue Ban)/Journal of Southeast University (Natural Science Edition) 2010年第SUPPL. 1期40卷 92-97页

作者： Bao, Jing Ye, Hua Sun, Xiaojie Li, Jian School of Automation Southeast University Nanjing 210096 China Key Laboratory of Measurement and Control of Complex Systems of Engineering of Ministry of Edu. Southeast University Nanjing 210096 China

In order to achieve the goal of data statistic and task management under the embedded systems, together with the consideration of processing speed and the internal storage capacity, the embedded database is introduced. The features of embedded database are small in size, multi-functional, portable, highly efficient and stable. Taking the data management in the home energy monitor system as an example, a statistical method of time sharing is proposed. The embedded database Berkeley DB is transplanted, and the resource occupancy and response speed before and after using Berkeley DB are compared. Testing data show that although taking up more storage resources, the use of Berkeley DB provides more efficient data management capabilities. The application of Berkeley DB improves the system response, and provides a better human-computer interaction. Under the allowance of the hardware resources of device, this practice of using space for performance is feasible.

关键词： Information management

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Smooth path design for mobile service robots based on improved A* algorithm

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Dongnan Daxue Xuebao (Ziran Kexue Ban)/Journal of Southeast University (Natural Science Edition) 2010年第SUPPL. 1期40卷 155-161页

作者： Shan, Wei Meng, Zhengda School of Automation Southeast University Nanjing 210096 China Key Laboratory of Measurement and Control of Complex Systems of Engineering of Ministry of Edu. Southeast University Nanjing 210096 China

When it comes to the issue of path planning for mobile service robots in structured indoor environments, traditional A* algorithm fails to display a good performance of real-time path tracking. Therefore, a new method is proposed to design a near-optimal smooth path. Mobile robots can thus track the path smoothly and reach the goal fast. At first, the improved A* algorithm is applied to plan a proper trajectory for the mobile robot. Then a key-point optimization process is applied to make the global path simplified to be connections among a series of key points. The most important improvement lies in the introduction of the polar polynomials curve to smooth the path according to the constraints of position, curvature and slope. However, when the arc turns become 90° or more, the optimized piecewise-polynomial-function curve is generated to replace the original one. Experimental results prove that the path generated meets the dynamic characteristics of the mobile robots as well as the geometric features. The requirements of quick real-time computation of path tracking process can be well satisfied.

关键词： Mobile robots

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A new method for compensating phase-shifting error in phase measuring profilometry

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Dongnan Daxue Xuebao (Ziran Kexue Ban)/Journal of Southeast University (Natural Science Edition) 2010年第SUPPL. 1期40卷 302-307页

作者： Zhu, Lin Da, Feipeng Gai, Shaoyan Research Institute of Automation Southeast University Nanjing 210096 China Key Laboratory of Measurement and Control of Complex Systems of Engineering of Ministry of Edu. Southeast University Nanjing 210096 China

A new phase-shifting error compensating algorithm for phase-measuring profilometry is proposed. In this error detecting algorithm, it is supposed that sinusoidal fringe is projected to the plate, thus the phase differences between adjacent pixels are equal. Three adjacent phase points are taken as the research object. Combining the principle of phase compensation measurement, each phase of the point is presented as an equation containing the phase-shifting error. According to the characteristics that the phase differences between adjacent pixels are equal, an equation to calculate the phase-shifting error is constructed. Then the phase shifting error is taken into account in the original algorithm for error compensation. Simulation results show the inhibitory effect of the error compensation by using the novel algorithm. The proposed algorithm is also used for three-dimensional reconstruction. The final result shows that the new compensation algorithm is better than the original one obviously. This error compensating algorithm can effectively improve the accuracy of three-dimensional measurement.

关键词： Error compensation

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Novel dimension reduction method of gabor feature and its application to face recognition

Novel dimension reduction method of gabor feature and its ap...

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2009 2nd International Congress on Image and Signal Processing, CISP'09

作者： Xiaodong, Li Shumin, Fei Tao, Zhang Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education School of Automation South-East University Nanjing China

ISBN: (纸本)9781424441310

In order to improve the face recognition performance using Gabor wavelet, a multi-channel dimension reduction scheme (MDRS) employing PCA algorithm is proposed. In addition, the selection of scales and orientations in Gabor transformation is investigated. Different from existing dimension reduction methods which employed ensemble dimension reduction scheme (EDRS), in MDRS model, PCA algorithm is performed on total convolution results related to a certain Gabor filter to get feature vector whose dimensions are reduced. The process is repeated according to the number of other different Gabor filters. So a given face image sample has the same number of feature vectors as that of Gabor filters, and the final augmented feature vector could be derived by concatenating all these feature vectors. The experiment results in the popular face databases such as YALE and FERET demonstrate not only that the proposed method is effective but also that the traditional selection of scale and orientation is not optimal. ©2009 IEEE.

关键词： Face recognition

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Adaptive control for a class of discrete-time time-delay systems with regard to delay parameter

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Journal of systems engineering and Electronics 2009年第1期20卷 159-167页

作者： Chai Lin Cheng Ming Fei Shumin Zhai Junyong Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education School of Automation Southeast Univ. Nanjing 210096 P. R. China School of eleetrics Southeast Univ. Nanjing 210096 P. R. China

The memory state feedback control problem for a class of discrete-time systems with input delay and unknown state delay is addressed based on LMIs and Lyapunov-Krasovskii functional method. Under the action of our designed adaptive control law, the unknown time-delay parameter is included in memory state feedback controller. Using LMI technique, delay-dependent sufficient conditions for the existence of the feedback controller are obtained. Finally, the effectiveness of the proposed design method is demonstrated by a numerical example.

关键词： discrete-time time-delay systems adaptive control linear matrix inequality.

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Improved color-based particle filter for tracking moving object

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Journal of Computational Information systems 2009年第1期5卷 323-330页

作者： Zhang, Tao Fei, Shumin Li, Xiaodong Lu, Hong Key Laboratory of Measurement and Control of Complex Systems of Engineering Southeast University Nanjing 210096 China

Robust real-time tracking of non-rigid objects is a challenging task. Color is a powerful feature for tracking deformable objects in image sequences with complex backgrounds. Color distribution is applied, as it is robust to partial occlusion, is rotation and scale invariant and computationally efficient. Particle filter has been proven very successful for non-linear and non-Gaussian estimation tracking problems. The article presents the integration of color distributions into particle filtering. A target is tracked with a particle filter by comparing its histogram with the histograms of the sample positions using the Bhattacharyya distance. Additionally, to solve the sample impoverishment (all particles collapse to a single point within a few iterations) in the particle-filter algorithm, a new resampling algorithm is proposed to tackle sample impoverishment. The performance of the proposed filter is evaluated qualitatively on various real-world video sequences. The experimental results show that the improved color-based particle filter algorithm can reduce sample impoverishment effectively and track the moving object very well. Copyright © 2009 Binary Information Press.

关键词： Color

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Mean-square exponential stability of stochastic Markovian jump systems with mode-dependent time-varying delays

Mean-square exponential stability of stochastic Markovian ju...

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Joint 48th IEEE Conference on Decision and control and 28th Chinese control Conference

作者： Li Ma Fei-Peng Da Kan-Jian Zhang Key Laboratory of Measurement and Control for Complex Systems of Engineering Ministry of EducationSoutheast University

In this paper,the mean-square exponential stability problem is investigated for stochastic Markovian jump open-loop systems with mode-dependent time-varying *** constructing a modified Lyapunov-Krasovskii functional,a delay-dependent sufficient condition for the solvability of the above problem is presented in terms of linear matrix inequalities（LMIs）.The decay rate can be a given finite positive constant and synchronously the derivative of time-varying delays is only required to have a upper bound which is not required to be less than *** examples are presented to illustrate the effectiveness of the theoretical result.

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Modified Particle Filter for Object Tracking in Low Frame Rate Video

Modified Particle Filter for Object Tracking in Low Frame Ra...

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Joint 48th IEEE Conference on Decision and control and 28th Chinese control Conference

作者： Tao Zhang Shumin Fei Hong Lu Xiaodong Li the Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of EducationInstitute of AutomationSoutheast University the Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education Institute of AutomationSoutheast University School of Automation Nanjing Institute of Technology

Object tracking algorithm using modified Particle filter in low frame rate(LFR) video is proposed in this paper,which the object moving significantly and randomly between consecutive frames in the low frame rate ***,Particle filtering use motion transitions to model the movement of the ***,in object tracking with low frame rate sequences,it is very difficult to model significant random jumps of *** key notion of our solution is that using the object detection and extraction to locate the tracked object,while not using the dynamical *** propagate the sample set around the detected regions,which the samples are assumed to be uniformly distributed in the neighborhoods of the detected *** is similar to the general particle filter to propagate *** we compute the likelihood between the target model and the candidate regions,which are based on color histogram *** extensive experiments show that the proposed algorithm performs robustly in a large variety of tracking scenarios.

关键词： frame filter Modified Particle Filter for Object Tracking in Low Frame Rate Video Object Filter

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Scene specified control for internet-based mobile robot operation

Scene specified control for internet-based mobile robot oper...

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IEEE International Conference on Mechatronics and Automation

作者： Xudong Ma Xianzhong Dai Fang Fang Ningting Cheng Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education School of Automation South East University Nanjing China

A networked mobile robot in large networks such as Internet often operates under supervisory control and the discrete commands and decisions from the remote operators normally depend on the feedback scene information. Therefore it must be tolerate of the significant and unpredicted time latency that might mislead the robot for time and scene-dependent operations. A series of strategies are presented in this paper to decrease the latency impact and implement scene specified control of a Internet-based mobile robot. Time stamps are attached to each communication packet of scene video, audio and environment information from the robot to remote operator's computer for display, which then sends back control decision or command of the right time stamps with the scene when needed. By allocating a memory buffer for current display and recent status even including video frames the robot recalls the environment with the event time stamps as searching index, which helps to estimate the exact robot position or operation. Reverse position and motion are conducted according to estimation from the memorized information. The strategies have been introduced to improve a practical networked mobile robot control platform with experiment validity given in detail.

关键词： Layout Internet Mobile robots Computer displays Delay Communication system control Auditory displays IP networks Supervisory control Feedback

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