A Robust and Optimal Visual Tracking Method With Blocking Obstacles and Water Reflection Noises

2018 ◽  
Author(s):  
Xiongfeng Yi ◽  
Zheng Chen
Keyword(s):  
Visual Tracking ◽  
Water Surface ◽  
Optimal Algorithm ◽  
Dimensional Space ◽  
The Body ◽  
Moving Object ◽  
Tracking Method ◽  
The Real ◽  
Tracking Process ◽  
Image Pixels

Image-based tracking has been widely used to obtain the position and velocity information of a moving object in a 2-dimensional or 3-dimensional space. However, the tracking process is always affected by reflection noises and blocking obstacles in the environment. This paper provides a robust and optimal algorithm for tracking a moving object on the surface of water. First, we create a matrix to project the image pixels back to the real world coordinate. Second, color and shape tests are used to recognize the object and a vector is used to represent the object. If the object is partially blocked by the obstacles or the reflection from the water surface, the vector is used to predict the position of the body. In the real-time tracking, a Kalman filter is used to optimize the prediction. We tested our algorithm by tracking a submarine on the water surface of a tank. Experimental results show that the visual tracking method is robust to reflection noises and blocking obstacles.

scholarly journals A Robust Visual Tracking Method for Unmanned Mobile Systems

2019 ◽  
Vol 141 (7) ◽  
Author(s):  
Xiongfeng Yi ◽  
Zheng Chen
Keyword(s):  
Visual Tracking ◽  
Water Surface ◽  
Mobile Systems ◽  
Light Reflection ◽  
Image Process ◽  
Water Tank ◽  
Complex Environments ◽  
Tracking Method ◽  
Real Time Tracking ◽  
Image Pixels

This paper introduces a robust visual tracking of objects in complex environments with blocking obstacles and light reflection noises. This visual tracking method utilizes a transfer matrix to project image pixels back to real-world coordinates. During the image process, a color and shape test is used to recognize the object and a vector is used to represent the object, which contains the information of orientation and body length of the object. If the object is partially blocked by the obstacles or the reflection from the water surface, the vector predicts the position of the object. During the real-time tracking, a Kalman filter is used to optimize the result. To validate the method, the visual tracking algorithm was tested by tracking a submarine and a fish on the water surface of a water tank, above which three pieces of blur glass were blocking obstacles between the camera and the object. By using this method, the interference from the reflection of the side glass and the fluctuation of the water surface can be also avoided.

scholarly journals A Moving Frame Trajectory Tracking Method of a Flying-Wing UAV Using the Differential Geometry

2016 ◽  
Vol 2016 ◽  
pp. 1-9 ◽  
Author(s):  
Yi Zhu ◽  
Xin Chen ◽  
Chuntao Li
Keyword(s):  
Flight Control ◽  
Trajectory Tracking ◽  
Dimensional Space ◽  
Three Dimensional ◽  
Elliptic Cylinder ◽  
Dynamic Equations ◽  
Moving Frame ◽  
Moving Frames ◽  
Tracking Method ◽  
Tracking Process

The problem of UAV trajectory tracking is a difficult issue for scholars and engineers, especially when the target curve is a complex curve in the three-dimensional space. In this paper, the coordinate frames during the tracking process are transformed to improve the tracking result. Firstly, the basic concepts of the moving frame are given. Secondly the transfer principles of various moving frames are formulated and the Bishop frame is selected as a final choice for its flexibility. Thirdly, the detailed dynamic equations of the moving frame tracking method are formulated. In simulation, a moving frame of an elliptic cylinder helix is formulated precisely. Then, the devised tracking method on the basis of the dynamic equations is tested in a complete flight control system with 6 DOF nonlinear equations of the UAV. The simulation result shows a satisfactory trajectory tracking performance so that the effectiveness and efficiency of the devised tracking method is proved.

DEVELOPMENT OF A DEVICE FOR CONTROL OF THE STATE OF THE ORGANISM BASED ON PHOTOPLETISMOGRAPHY USING TECHNOLOGIES OF DIGITAL ADAPTIVE FILTRATION

2020 ◽  
pp. 100-107
Author(s):  
Алексей Дмитриевич Акишин ◽  
Иван Павлович Семчук ◽  
Александр Петрович Николаев
Keyword(s):  
Heart Rate ◽  
Cardiovascular System ◽  
Adaptive Filtering ◽  
Least Squares Method ◽  
Optimal Algorithm ◽  
Heart Diseases ◽  
Cardiac Activity ◽  
Motion Artifacts ◽  
The Body ◽  
Advantages And Disadvantages

Постоянно растущий интерес к разработке новых неинвазивных и безманжетных методов измерения параметров сердечной деятельности, использование которых давало бы возможность непрерывного и удаленного контроля сердечно-сосудистой системы, обуславливает актуальность данной работы. В многочисленных публикациях продолжаются обсуждения преимуществ и недостатков различных методов ранней диагностики сердечно-сосудистых заболеваний. Однако артефакты движения являются сильной помехой, мешающей точной оценке показателей функционирования сердечно-сосудистой системы. Одним из перспективных методов контроля является метод оценки физиологических параметров с использованием фотоплетизмографии. Данная статья посвящена разработке устройства для фотоплетизмографических исследований и алгоритмических методов обработки регистрируемых сигналов для обеспечения мониторинга сердечного ритма с заданной точностью. В работе используются технологии цифровой адаптивной фильтрации полученных сигналов для мониторинга сердечного ритма в условиях внешних механических и электрических помеховых воздействий, ухудшающих точностные характеристики системы, а также разработана архитектура системы и изготовлен макет устройства, который позволил провести измерения для определения оптимального алгоритма цифровой обработки сигналов. При использовании устройства применялись методы адаптивной фильтрации на основе фильтров Винера, фильтров на основе метода наименьших квадратов и Калмановской фильтрации. Разработанное устройство для фотоплетизмографических исследований обеспечило возможность мониторинга сердечного ритма с заданной точностью, контроля текущего состояния организма и может быть использовано в качестве средства диагностики заболеваний сердца The constantly growing interest in the development of new non-invasive and cuff-free methods for measuring the parameters of cardiac activity, the use of which would give the possibility of continuous and remote monitoring of the cardiovascular system, determines the relevance of this work. Numerous publications continue to discuss the advantages and disadvantages of various methods of early diagnosis of cardiovascular disease. However, motion artifacts are a strong hindrance to the accurate assessment of the performance of the cardiovascular system. One of the promising control methods is the method for assessing physiological parameters using photoplethysmography. This article is devoted to the development of a device for photoplethysmographic studies and algorithmic methods for processing recorded signals to ensure monitoring of the heart rate with a given accuracy. The work uses technologies of digital adaptive filtering of the received signals to monitor the heart rate in conditions of external mechanical and electrical interference, which worsen the accuracy characteristics of the system, as well as the architecture of the system and a prototype of the device, which made it possible to carry out measurements to determine the optimal algorithm for digital signal processing. When using the device, the methods of adaptive filtering based on Wiener filters, filters based on the least squares method and Kalman filtering were used. The developed device for photoplethysmographic studies provided the ability to monitor the heart rate with a given accuracy, control the current state of the body and can be used as a means of diagnosing heart diseases

Multi-Scale Anti-Occlusion Correlation Filters Object Tracking Method Based on Complementary Features

2020 ◽  
pp. 2155002
Author(s):  
Xiuhua Hu ◽  
Yuan Chen ◽  
Yan Hui ◽  
Yingyu Liang ◽  
Guiping Li ◽  
...  
Keyword(s):  
Object Tracking ◽  
Scale Model ◽  
Correlation Filters ◽  
Motion Feature ◽  
Tracking Method ◽  
Object State ◽  
Multi Scale ◽  
Tracking Process ◽  
Object Appearance ◽  
Response Peak

Aiming to tackle the problem of tracking drift easily caused by complex factors during the tracking process, this paper proposes an improved object tracking method under the framework of kernel correlation filter. To achieve discriminative information that is not sensitive to object appearance change, it combines dimensionality-reduced Histogram of Oriented Gradients features and Lab color features, which can be used to exploit the complementary characteristics robustly. Based on the idea of multi-resolution pyramid theory, a multi-scale model of the object is constructed, and the optimal scale for tracking the object is found according to the confidence maps’ response peaks of different sizes. For the case that tracking failure can easily occur when there exists inappropriate updating in the model, it detects occlusion based on whether the occlusion rate of the response peak corresponding to the best object state is less than a set threshold. At the same time, Kalman filter is used to record the motion feature information of the object before occlusion, and predict the state of the object disturbed by occlusion, which can achieve robust tracking of the object affected by occlusion influence. Experimental results show the effectiveness of the proposed method in handling various internal and external interferences under challenging environments.

The Doctrine of Transubstantiation in Durand's Rationale

Traditio ◽  
1996 ◽  
Vol 51 ◽  
pp. 308-317
Author(s):  
Timothy M. Thibodeau
Keyword(s):  
Thirteenth Century ◽  
Recent Article ◽  
The Body ◽  
Final Word ◽  
The Real ◽  
Eucharistic Theology ◽  
Real Presence ◽  
Fourth Lateran Council

In a recent article on the medieval dogma of transubstantiation, Gary Macy builds upon the works of Hans Jorissen and James F. McCue to question the validity of Jaroslav Pelikan's claim that “at the Fourth Lateran Council in 1215, the doctrine of the real presence of the body and blood of Christ in the Eucharist achieved its definitive formulation in the dogma of transubstantiation.” Macy demonstrates that through most of the thirteenth century, the majority of theologians did not, in fact, consider Lateran IV's decree the final word on eucharistic theology. The debate over precisely how the real presence of Christ occurred in the eucharist was far from closed.

An Efficient Smartphone Assisted Indoor Localization with Tracking Approach using Glowworm Swarm Optimization Algorithm

2021 ◽  
pp. 101-107
Author(s):  
Mohammad Alshehri ◽  
Keyword(s):  
Real Time ◽  
Indoor Localization ◽  
Initial Position ◽  
Swarm Optimization ◽  
The Real ◽  
Assisted Navigation ◽  
Glowworm Swarm Optimization ◽  
Tracking Process ◽  
Wide Range ◽  
Localization And Tracking

Presently, a precise localization and tracking process becomes significant to enable smartphone-assisted navigation to maximize accuracy in the real-time environment. Fingerprint-based localization is the commonly available model for accomplishing effective outcomes. With this motivation, this study focuses on designing efficient smartphone-assisted indoor localization and tracking models using the glowworm swarm optimization (ILT-GSO) algorithm. The ILT-GSO algorithm involves creating a GSO algorithm based on the light-emissive characteristics of glowworms to determine the location. In addition, the Kalman filter is applied to mitigate the estimation process and update the initial position of the glowworms. A wide range of experiments was carried out, and the results are investigated in terms of distinct evaluation metrics. The simulation outcome demonstrated considerable enhancement in the real-time environment and reduced the computational complexity. The ILT-GSO algorithm has resulted in an increased localization performance with minimal error over the recent techniques.

Music in migrant camps as a medium creating non-narrative human relationships

2021 ◽  
Vol 12 (1) ◽  
pp. 347-360
Author(s):  
Julien Labia
Keyword(s):  
At Risk ◽  
Personal Identity ◽  
Direct Relationship ◽  
The Body ◽  
Verbal Art ◽  
Problematic Situation ◽  
Human Relationships ◽  
The Real ◽  
Musical Interactions ◽  
Expressive Activity

A migrant camp is a ‘non-place’ where personal identity is put at risk. Music is a means of personal adaptation in camps, even if it means allowing little place for the real reasons for displacement of the very people shaping these new hybridizations of music. The present power of music in such a place is to create strong relationships, ‘shortcutting’ both narration and the longer time needed in order to create relationships. The kind of personal advantage it is for someone to be a musician is a topic surprisingly forgotten, obscured by theoretical habits of seeing music essentially as an expressive activity directed to an audience, or as being a communicative activity. Music has a performative power different from language, as a non-verbal art having a strong and direct relationship to the body. Musical interactions on the field give migrants the ability to balance their problematic situation of refugees, shaping a real present.

Bodies of Meaning: Studies on Language, Labor, and Liberation. By David McNally. Albany: State University of New York Press, 2000. 277p. $72.50 cloth, $23.95 paper.

2002 ◽  
Vol 96 (1) ◽  
pp. 189-191
Author(s):  
Nicholas Xenos
Keyword(s):  
New York ◽  
Human Body ◽  
Social Life ◽  
Walter Benjamin ◽  
The Body ◽  
The Other ◽  
State University ◽  
The Real

David McNally styles this book as beginning in a polemic and ending in a “materialist approach to language” much indebted to the German critic Walter Benjamin. The charge is that “postmodernist theory, whether it calls itself poststructuralism, deconstruction or post-Marxism, is constituted by a radical attempt to banish the real human body—the sensate, biocultural, laboring body—from the sphere of language and social life” (p. 1). By treating language as an abstraction, McNally argues, postmodernism constitutes a form of idealism. More than that, it succumbs to and perpetuates the fetishism of commodities disclosed by Marx insofar as it treats the products of human laboring bodies as entities independently of them. Clearly irritated by the claims to radicalism made by those he labels postmodern, McNally thinks he has found their Achilles' heel: “The extra-discursive body, the body that exceeds language and discourse, is the ‘other’ of the new idealism, the entity it seeks to efface in order to bestow absolute sovereignty on language. To acknowledge the centrality of the sensate body to language and society is thus to threaten the whole edifice of postmodernist theory” (p. 2).

Influence of Ball and Background Patterns on Perception of Visual Direction of a Moving Object

1979 ◽  
Vol 49 (2) ◽  
pp. 343-346 ◽  
Author(s):  
Marcella V. Ridenour
Keyword(s):  
Analysis Of Variance ◽  
Moving Objects ◽  
Dimensional Space ◽  
Three Dimensional ◽  
Moving Object ◽  
Visual Direction ◽  
Visual Patterns ◽  
Prediction Time ◽  
The Subject ◽  
Three Dimensional Space

30 boys and 30 girls, 6 yr. old, participated in a study assessing the influence of the visual patterns of moving objects and their respective backgrounds on the prediction of objects' directionality. An apparatus was designed to permit modified spherical objects with interchangeable covers and backgrounds to move in three-dimensional space in three directions at selected speeds. The subject's task was to predict one of three possible directions of an object: the object either moved toward the subject's midline or toward a point 18 in. to the left or right of the midline. The movements of all objects started at the same place which was 19.5 ft. in front of the subject. Prediction time was recorded on 15 trials. Analysis of variance indicated that visual patterns of the moving object did not influence the prediction of the object's directionality. Visual patterns of the background behind the moving object did not influence the prediction of the object's directionality except during the conditions of a light nonpatterned moving object. It was concluded that visual patterns of the background and that of the moving object have a very limited influence on the prediction of direction.

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