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Simultaneously execution of target detection, posture estimation, and tracking of 3D objects by Parametric Eigenspace Method embedded particle filter

IEEJ Transactions on Electronics, Information and Systems

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IEEJ Transactions on Electronics, information and systems 2009年第5期129卷 838-845+10页

作者： Obata, Masayuki Nishida, Takeshi Miyagawa, Hidekazu Ohkawa, Fujio Yaskawa Information Systems Corporation 5-15 Higashiojimachi Yahatanishi-ku Kitakyushu 806-0037 Japan Faculty of Engineering Kyushu Institute of Technology 1-1 Sensui Tobata Kitakyushu Fukuoka 804-8550 Japan Faculty of Computer Science and System Engineering Kyushu Institute of Technology 680-1 Oaza Kawatsu Iizuka Fukuoka 820-8502 Japan

In this paper, an appearance based image processing method is proposed for target detection, posture estimation, and tracking of 3D objects by Parametric Eigenspace Method embedded particle filter. In this method, the computational cost of Parametric Eigenspace Method and the tracking error can be greatly reduced by using the outputs of previous time and the preliminary knowledge of dynamics of movement of targets for a particle filter. Namely, since the particles of the particle filter can be generated in the direction where the object will be moved by using the posture estimated by Parametric Eigenspace Method for the prediction model, the accuracy of the state estimation of the object can be improved without increasing the number of particles. Therefore, the proposed method uses output result of Particle Filters and Parametric Eigenspace Method recursively and mutually for fast simultaneous execution of detection, posture estimation, and tracking of the targets. Furthermore, we demonstrate validity of our approach by several experiments. © 2009 The Institute of Electrical Engineers of Japan.

关键词： Target tracking

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Development of an autonomous-drive personal robot (self-position recognition by characteristic point detection)

Development of an autonomous-drive personal robot (self-posi...

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作者： Matsuura, Seiki Hayashi, Eiji Department of Mechanical Information Science and Technology Faculty of Computer Science and Systems Engineering Kyushu Institute of Technology 680-4 Kawazu Iizuka-City Fukuoka Prefecture Japan

ISBN: (纸本)9784990288037

We are attempting to develop an autonomous personal robot that has the ability to perform practical tasks in a human living environment by using information derived from sensors and a knowledge database. When a robot is made to function in a human environment, the issue of safety must be considered in regard to its autonomous movements. Thus, robots absolutely require systems that can recognize the external world and maintain correct driving control. We have thus developed a navigation system for an autonomous robot. The system requires only image data captured by an ocellus CCD camera. This study paid attention to the necessary self-position recognition so that the robot can move precisely. We limited the environment in which it drove to a corridor. In this system, the robot recognizes a door from an image provided by an ocellus CCD camera, and it calculates its position relative to the door. In addition, it recognizes its self-position by comparing the calculated result about the door to map information that we registered beforehand. From all of this and based on the understanding of its self-position that it has developed, the robot performs safe and correct movements without hitting walls. ©ISAROB 2009.

关键词： Robots

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Development of indoor navigation system for monocular-vision-based autonomous mobile robot

Development of indoor navigation system for monocular-vision...

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作者： Kinoshita, Tomoyuki Hayashi, Eiji Department of Mechanical Information Science and Technology Faculty of Computer Science and Systems Engineering Kyushu Institute of Technology 680-4 Kawazu Iizuka-City Fukuoka Prefecture Japan

ISBN: (纸本)9784990288037

In our research, we developed a technology for our robot that uses an indoor navigation system based on visual methods to provide the required autonomy. For robots to run autonomously, it is extremely important that they be able to recognize the surrounding environment and their current location. Because it was not necessary to use plural external world sensors, we built a navigation system in our test environment that reduced the burden of information processing mainly by using sight information from a monocular camera. In addition, we only used natural landmarks like walls because we assumed the environmental to be a human one. In this paper we discuss and explain two modules: a self-position recognition system and an obstacle recognition system. In both systems, recognition is based on image processing of the sight information provided by the robot's camera. In addition, to provide autonomy for the robot, we use an encoder and information from a two-dimensional space map given beforehand. We explain here the navigation system that integrates these two modules. We applied this system to the robot in an indoor environment and evaluated its performance, and in a discussion of our experimental results we consider the resulting problems. ©ISAROB 2009.

关键词： Navigation systems

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Search for contact interactions in dimuon events from pp collisions at s=7 TeV with the ATLAS detector

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Physical Review D 2011年第1期84卷 011101(R)-011101(R)页

作者： G. Aad B. Abbott J. Abdallah A. A. Abdelalim A. Abdesselam O. Abdinov B. Abi M. Abolins H. Abramowicz H. Abreu E. Acerbi B. S. Acharya D. L. Adams T. N. Addy J. Adelman M. Aderholz S. Adomeit P. Adragna T. Adye S. Aefsky J. A. Aguilar-Saavedra M. Aharrouche S. P. Ahlen F. Ahles A. Ahmad M. Ahsan G. Aielli T. Akdogan T. P. A. Åkesson G. Akimoto A. V. Akimov A. Akiyama M. S. Alam M. A. Alam S. Albrand M. Aleksa I. N. Aleksandrov F. Alessandria C. Alexa G. Alexander G. Alexandre T. Alexopoulos M. Alhroob M. Aliev G. Alimonti J. Alison M. Aliyev P. P. Allport S. E. Allwood-Spiers J. Almond A. Aloisio R. Alon A. Alonso M. G. Alviggi K. Amako P. Amaral C. Amelung V. V. Ammosov A. Amorim G. Amorós N. Amram C. Anastopoulos T. Andeen C. F. Anders K. J. Anderson A. Andreazza V. Andrei M-L. Andrieux X. S. Anduaga A. Angerami F. Anghinolfi N. Anjos A. Annovi A. Antonaki M. Antonelli S. Antonelli A. Antonov J. Antos F. Anulli S. Aoun L. Aperio Bella R. Apolle G. Arabidze I. Aracena Y. Arai A. T. H. Arce J. P. Archambault S. Arfaoui J-F. Arguin E. Arik M. Arik A. J. Armbruster O. Arnaez C. Arnault A. Artamonov G. Artoni D. Arutinov S. Asai R. Asfandiyarov S. Ask B. Åsman L. Asquith K. Assamagan A. Astbury A. Astvatsatourov G. Atoian B. Aubert B. Auerbach E. Auge K. Augsten M. Aurousseau N. Austin R. Avramidou D. Axen C. Ay G. Azuelos Y. Azuma M. A. Baak G. Baccaglioni C. Bacci A. M. Bach H. Bachacou K. Bachas G. Bachy M. Backes M. Backhaus E. Badescu P. Bagnaia S. Bahinipati Y. Bai D. C. Bailey T. Bain J. T. Baines O. K. Baker M. D. Baker S. Baker F. Baltasar Dos Santos Pedrosa E. Banas P. Banerjee Sw. Banerjee D. Banfi A. Bangert V. Bansal H. S. Bansil L. Barak S. P. Baranov A. Barashkou A. Barbaro Galtieri T. Barber E. L. Barberio D. Barberis M. Barbero D. Y. Bardin T. Barillari M. Barisonzi T. Barklow N. Barlow B. M. Barnett R. M. Barnett A. Baroncelli A. J. Barr F. Barreiro J. Barreiro Guimarães da Costa P. Barrillon R. Bartoldus A. E. Barton D. Bartsch V. Bartsch R. L. Bates L. Batkova J. R. Batley A. Battaglia M. Battist Fakultät für Mathematik und Physik Albert-Ludwigs-Universität Freiburg i.Br. Germany Homer L. Dodge Department of Physics and Astronomy University of Oklahoma Norman Oklahoma USA Institut de Física d’Altes Energies and Universitat Autònoma de Barcelona and ICREA Barcelona Spain Section de Physique Université de Genève Geneva Switzerland Department of Physics Oxford University Oxford United Kingdom Institute of Physics Azerbaijan Academy of Sciences Baku Azerbaijan Department of Physics Oklahoma State University Stillwater Oklahoma USA Department of Physics and Astronomy Michigan State University East Lansing Michigan USA Raymond and Beverly Sackler School of Physics and Astronomy Tel Aviv University Tel Aviv Israel LAL Université Paris-Sud and CNRS/IN2P3 Orsay France INFN Sezione di Milano Milano Italy Dipartimento di Fisica Università di Milano Milano Italy INFN Gruppo Collegato di Udine Udine Italy ICTP Trieste Italy Physics Department Brookhaven National Laboratory Upton New York USA Department of Physics Hampton University Hampton Virginia USA Department of Physics Yale University New Haven Connecticut USA Max-Planck-Institut für Physik (Werner-Heisenberg-Institut) München Germany Fakultät für Physik Ludwig-Maximilians-Universität München München Germany Department of Physics Queen Mary University of London London United Kingdom Particle Physics Department Rutherford Appleton Laboratory Didcot United Kingdom Department of Physics Brandeis University Waltham Massachusetts USA Departamento de Fisica Teorica y del Cosmos and CAFPE Universidad de Granada Granada Portugal Institut für Physik Universität Mainz Mainz Germany Department of Physics Boston University Boston Massachusetts USA Department of Physics and Astronomy Stony Brook University Stony Brook New York USA Physics Department University of Texas at Dallas Richardson Texas USA INFN Sezione di Roma Tor Vergata Roma Italy Dipartimento di Fisica Università di Roma Tor

A search for contact interactions has been performed using dimuon events recorded with the ATLAS detector in proton-proton collisions at s=7 TeV. The data sample corresponds to an integrated luminosity of 42 pb−1. No significant deviation from the standard model is observed in the dimuon mass spectrum, allowing the following 95% C.L. limits to be set on the energy scale of contact interactions: Λ>4.9 TeV (4.5 TeV) for constructive (destructive) interference in the left-left isoscalar compositeness model. These limits are the most stringent to date for μμqq contact interactions.

关键词： PROTON-proton interactions MUONS W bosons MASS (Physics) LAGRANGE equations -- Numerical solutions

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Workflow service extensions for UNICORE 6 -utilising a standard WS-BPEL engine for grid service orchestration

Workflow service extensions for UNICORE 6 -utilising a stand...

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Workshops on Parallel Processing, Euro-Par 2008: VHPC 2008, UNICORE 2008, HPPC 2008, SGS 2008, PROPER 2008, ROIA 2008, and DPA 2008

作者： Gudenkauf, S. Hasselbring, W. Höing, A. Scherp, G. Kao, O. OFFIS Institute for Information Technology R and D-Division Business Information Management Escherweg 2 26121 Oldenburg Germany Technische Universitat Berlin Faculty IV-Electrical Engineering and Computer Science Dept. of Telecommunication Systems Complex and Distributed IT Systems Einsteinufer 17 10587 Berlin Germany

ISBN: (纸本)3642009549

The BIS-Grid project1, a BMBF-funded project in the context of the German D-Grid initiative, focusses on realising Enterprise Application Integration using Grid technologies to proof that Grid technologies are feasible for information systems integration. Small and medium enterprises shall be enabled to integrate heterogeneous business information systems and to use external Grid resources and services with affordable effort. In this paper, we describe service extensions to UNICORE 6 to use an arbitrary WS-BPEL workflow engine and standard WS-BPEL to orchestrate stateful, WSRF-based Web Services, also called Grid Services. Thereby, we focus on how to combine the arbitrary workflow engine with UNICORE 6, and on how to access workflows and workflow instances. The workflows itself are also provided as Grid Services, realised by a Workflow Management Service that deploys Workflow Services within UNICORE 6, each wrapping a WS-BPEL workflow that is deployed in the arbitrary workflow engine. © Springer-Verlag Berlin Heidelberg 2009.

关键词： Web services

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RESTful device interaction architecture for embedded devices

Research Reports on Information Science and Electrical Engin...

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Research Reports on information Science and Electrical engineering of Kyushu University 2009年第2期14卷 53-58页

作者： Hayakawa, Hiroshi Sato, Kenya Tagashira, Shigeaki Nakanishi, Tsuneo Fukuda, Akira Department of Computer Science and Communication Engineering Department of Information Systems Design Faculty of Science and Engineering Doshisha University Japan Department of Advanced Information Technology

Toward ubiquitous network society, there have been challenges to construct smart spaces in living space such as homes and offices by connecting embedded devices with each other;however, many existing smart spaces tend to depend on particular platform or be a self-contained environment. In this paper, we describe requirements on frameworks for smart spaces with embedded devices, and then propose a new framework based on the requirements. The proposed framework is designed to have high scalability and be suitable for cross-platform environments by employing RESTful web service for device interaction architecture. By encoding communication messages for requesting services in x-www-form-urlencoded scheme, the proposed framework can support many kinds of devices including resource-limited devices which can't afford an XML parser. Evaluation with existing frameworks shows the proposed framework is suitable as a framework for smart spaces because of its simple and lightweight architecture.

关键词： Web services

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Implementation of a GSM-based remotely controlled and monitored machine system

Implementation of a GSM-based remotely controlled and monito...

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32nd International Convention Proceedings: Microelectronics, Electronics and Electronic technology, MEET and Grid and Visualizations systems, GVS

作者： Oluwaranti, A.I. Abiona, O.O. Onime, C.E. Toki, A.T. Kehinde, L.O. Department of Computer Science and Engineering Obafemi Awolowo University Ile-Ife Nigeria Department of Computer Information Systems Indiana University Northwest Garry IN 46408 United States Information and Communication Technology Section Abdus Salam International Centre for Theoretical Physics I-34014 Trieste Italy Department of Computer Science and Engineering Obafemi Awolowo University Ile-Ife Nigeria Department of Engineering Technologies Texas Southern University Houston TX 77004 United States

ISBN: (纸本)9789532330434

Remote machine system consists of network of machines that transmit or receive data to or from some remote locations over a telecommunications network. Mobile computing has risen to new level with the advent of Global System for Mobile communication with General Packet Radio Service (GSM/GPRS). Bringing machine system control and monitoring to mobile phones is the focus of this paper, especially in 2/2.5G mobile networks, thus the paper presents an implementation of GSM-based remotely controlled and monitored machine system. The implementation of the design used the GSM/GPRS and the Internet to relay data between two java enabled mobile phones, over wide distances, and a Bluetooth link for data exchange over short distances between a 'resident' phone and the microcontroller that controlled the operations of the machine system. Java technology platform was used to program the mobile phones and an Internet server. The microcontroller was programmed using the PBASIC language. Results obtained from the tests showed that in terms of control precisions, the implementation was able to control the machines servo to a number of different states, and response time analysis revealed that each 2-way transaction averaged less than 15 seconds in response time, which is appropriate for most applications.

关键词： Global system for mobile communications

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Lossless Image Compression Based on Multiple-Tables Arithmetic Coding

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Mathematical Problems in engineering 2009年第1期2009卷

作者： Chan, Yung-Kuan Chen, Rung-Ching Pai, Pei-Yan Chang, Chin-Chen Department of Information Management Chaoyang University of Technology No. 168 Jifong E. Rd. Wufong Township Taichung County 41349 Taiwan Department of Computer Science National Tsing-Hua University No. 101 Section 2 Kuang-Fu Road Hsinchu 300 Taiwan Department of Management Information Systems National Chung Hsing University 250 Kuo-kuang Road Taichung 402 Taiwan Department of Information Engineering and Computer Science Feng Chia University No.100 Wenhwa Rd. Seatwen Taichung 407 Taiwan

This paper is intended to present a lossless image compression method based on multiple-tables arithmetic coding (MTAC) method to encode a gray-level image f. First, the MTAC method employs a median edge detector (MED) to reduce the entropy rate of f. The gray levels of two adjacent pixels in an image are usually similar. A base-switching transformation approach is then used to reduce the spatial redundancy of the image. The gray levels of some pixels in an image are more common than those of others. Finally, the arithmetic encoding method is applied to reduce the coding redundancy of the image. To promote high performance of the arithmetic encoding method, the MTAC method first classifies the data and then encodes each cluster of data using a distinct code table. The experimental results show that, in most cases, the MTAC method provides a higher efficiency in use of storage space than the lossless JPEG2000 does.

关键词： Pixels

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Noise-controlled pattern formation and threshold shift for electroconvection in the conduction and dielectric regimes

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Physical Review E 2009年第6期80卷 066304-066304页

作者： Jong-Hoon Huh Akiyuki Kuribayashi Shoichi Kai Department of Mechanical Information Science and Technology Faculty of Computer Science and Systems Engineering Kyushu Institute of Technology Fukuoka 820-8502 Japan Department of Applied Quantum Physics and Nuclear Engineering Faculty of Engineering Kyushu University Fukuoka 812–8581 Japan

We report noise-controlled electrohydrodynamic pattern formations and threshold shifts in nematic liquid crystals. In the electrohydrodynamic system superposed with noise, experimental results obtained in the dielectric regime are compared to those in the conventional conduction regime. The noise intensity dependences of thresholds and pattern evolution processes are remarkably different for each regime. The pattern formation mechanisms in the presence of noise for both regimes are discussed based on the results. Moreover, it is found that the thresholds and characteristic wavelengths of dissipative structures can be effectively controlled by external multiplicative noises with appropriate intensity and correlation times.

关键词： Electrohydrodynamics

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A Hybrid Edge Detection Method Based on Fuzzy Set Theory and Cellular Learning Automata

A Hybrid Edge Detection Method Based on Fuzzy Set Theory and...

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International Conference on Computational Science and its Applications (ICCSA)

作者： Saman Sinaie Afshin Ghanizadeh Emadaldin Mozafari Majd Siti Mariyam Shamsuddin Faculty of Computer Science and Information Systems University Technology of Malaysia Skudai Malaysia Faculty of Electrical Engineering University Technology of Malaysia Skudai Malaysia

In this paper, a hybrid edge detection method based on fuzzy sets and cellular learning automata is proposed. At first, existing methods of edge detection and their problems are discussed and then a high performance method for edge detection, that can extract edges more precisely by using only fuzzy sets than by other edge detection methods, is suggested. After that the edges improve incredibly by using cellular learning automata. In the end, we compare it with popular edge detection methods such as Sobel and Canny. The proposed method does not need parameter settings as Canny edge detector does, and it can detect edges more smoothly in a shorter amount of time while other edge detectors cannot.

关键词： Image edge detection Fuzzy set theory Learning automata Fuzzy sets Detectors

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