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This paper focuses on the inspection for sloping dam wall by a remotely operated vehicle (ROV). First, a dedicated ROV for dam inspection is described. Second, a fixed-distance tracking control strategy is proposed to guarantee the fixed camera-to-subject distance in sloping dam inspection, which is instrumental in sonar image fusion for the large-scale dam wall with a certain inclination. In addition,...
With the growing number of automated welding systems present throughout manufacturing, achieving high precision is naturally a key objective. The alignment of weld tip to weld seam, particularly in very long welds (such as in pipes), is a technical challenge in which computer vision has much to offer. This paper introduces a real-time methodology for weld-seam tracking. The key challenge associated...
With an increase in acceptance of face recognition systems, the desire for accurate biometric authentication — face recognition, has increased. Nowadays, the fundamental limitations of existing systems are, the vulnerabilities of false verification via a picture or simple video of a person. In this paper, it is inspired by how humans can perform reliable spoofing detection only based on the available...
Similar to common object discovery in images or videos, it is of great interests to discover and locate common actions in videos, which can benefit many video analytics applications such as video summarization, search, and understanding. In this work, we tackle the problem of common action discovery and localization in unconstrained videos, where we do not assume to know the types, numbers or locations...
We present a robust algorithm for personalizing a spheremesh tracking model to a user from a collection of depth measurements. Our core contribution is to demonstrate how simple geometric reasoning can be exploited to build a shape-space, and how its performance is comparable to shape-spaces constructed from datasets of carefully calibrated models. We achieve this goal by first reparameterizing the...
This paper describes a face recognition-based people tracking and re-identification system for RGB-D camera networks. The system tracks people and learns their faces online to keep track of their identities even if they move out from the camera's field of view once. For robust people re-identification, the system exploits the combination of a deep neural network- based face representation and a Bayesian...
Recently multiple studies have demonstrated microbubble (MB)-based super-resolution imaging (SRI) with ∼λ/10 subwavelength resolution on mice and rats. Clinical translation of SRI, however, faces many technical challenges such as low signal-to-noise-ratio (SNR) of the MB signal and physiologic and operator-induced motion in humans. In this study, we take advantage of the rich spatiotemporal information...
In this paper, robust stability and perturbations rejection of perturbed nonlinear systems with disturbance are considered by using the operator-based right coprime factorization technique. That is, when both perturbation and disturbance exist in nonlinear systems, robust control design scheme is proposed for guaranteeing the uncertain nonlinear systems to work stable based on the proposed condition...
In this paper, we propose torque-modulated backstepping control for uniform tracking errors in the vertical motion of two-dimensional electromagnetic scanners using only output measurement. Due to manufacturing tolerance, there are parameter uncertainties of two-dimensional electromagnetic scanners so that it is not easy to obtain uniform tracking error performance for the motion control of scanners...
Despite many proposed solutions, multi-object tracking remains a challenging problem in complex situations involving partial occlusions and non-uniform and abrupt illumination changes. Considering modular systems, the tracking performance strongly depends on the consistency of the different blocks relatively to error features. In this work, using the Belief Function framework, we take into account...
This article considers the robust cooperative control problem of multiple double-integrator agents' formation moving around a set of given curves on spheres, where each agent suffers an unknown spatiotemporal flowfield and the communication topology among agents is directed. The flow specification is composed of a general direction matrix and a responding unknown flow speed vector, which includes...
Reconstructing a 3D model of an unknown object via incremental registration of multiple appearance models is a challenging task. With availability of low cost sensors and robust algorithms, the field of visual scene reconstruction has advanced considerably. While these advances has enabled robust reconstructions of cluttered and unstructured scenes, an active 3D reconstruction of a generic handheld...
Visual tracking is a significant but challenging field in computer vision. Although considerable progress has been made in recent years, robust tracking in complicated scenes remains an open problem. Trackers get confused easily when similar objects appear or heavy clutter occurs due to indistinguishable features. In this work, a more effective feature extraction method based on convolutional neural...
Low-cost, indirect-drive actuators, like timing belts are widely used in many industrial applications requiring linear translational motion. However, the timing belt faces greater control challenges as newer technological processes necessitate an increased tracking accuracy, precision and a need for minimal vibration all in the presence of rapid payload changes. Firstly, it is widely known that belt...
In this paper, we propose an external model based, data-driven approach to robust output regulation. No a priori knowledge of the plant and the exosystem is required, apart from their state dimension and an upper bound on the exosystem frequencies. The core of the method lies in an error-feedback reset logic for the state of the external model.
In this paper the authors introduce a method focusing on the robustness improvement of the landmark tracking system for mobile robot operation in natural environments. We extract feature points from the data obtained by a stereo vision system with CenSurE (Center Surround Extremas for Realtime Feature Detection and Matching) used as a detector, and FREAK (Fast Retina Keypoint) as a descriptor. RANSAC...
A sliding mode robust control based on HJI theory is proposed for the synchronous control of the H-type precision motion platform driven by the dual linear motors. Although the same control method is operating on two Permanent Magnet Linear Synchronous Motors (PMLSM) with identical parameters. The synchronous error between the two motors is unavoidable due to the unbalanced forces, mechanical assembly...
Tracking human gait accurately and robustly constitutes a key factor for a smart robotic walker, aiming to provide assistance to patients with different mobility impairment. A context-aware assistive robot needs constant knowledge of the user's kinematic state to assess the gait status and adjust its movement properly to provide optimal assistance. In this work, we experimentally validate the performance...
To Improve the robust performance of visual tracking in various kind of scene, a novel method by harmony search and co-inference learning based on multi-cues was proposed. The candidate state was achieved by the harmony search and co-inference learning. Then the harmony memory vector corresponded the biggest fitness function was chosen as the state vector. Compared with the harmony search visual tracking...
We present a framework for online generation of robust motion plans for robotic systems with nonlinear dynamics subject to bounded disturbances, control constraints, and online state constraints such as obstacles. In an offline phase, one computes the structure of a feedback controller that can be efficiently implemented online to track any feasible nominal trajectory. The offline phase leverages...
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