目标局部或全部遮挡条件下跟踪方法研究

运动目标跟踪技术是计算机视觉领域的核心课题之一，具有十分重要的意义和广泛的实用价值。它融合了图像处理、模式识别、人工智能、自动控制以及计算机应用等相关领域的先进技术和研究成果。运动目标跟踪的实质是一种从图像信号中实时自动识别目标，提取目标的位置信息，自动跟踪目标的技术。它的难点在于图像信号采集过程中的信息损失和复杂的应用环境。特别是跟踪过程中的遮挡问题越来越成为限制跟踪算法实用性的关键因素。如何解决运动目标跟踪过程中的遮挡问题是本文的研究重点。 针对运动目标的遮挡问题，本文提出了一种将基于灰度特征的多子区域相关跟踪算法与二维目标运动估计理论相结合的跟踪策略。在目标未被遮挡或仅被部分遮挡时，采用多子区域相关跟踪算法，利用目标剩余的特征对目标进行定位。当遮挡比较严重，目标剩余特征不足以准确定位目标位置或目标已被完全遮挡时，多子区域相关跟踪算法已经不能识别目标，这时根据目标运动的历史信息，运用二维目标运动估计理论预测出目标的位置。经过大量仿真试验，结果表明：该算法已经达到了良好的抗遮挡效果，在遮挡和半遮挡情况下，跟踪结果达到了较高的精度。 为了验证算法在实际工程中的效果，笔者模拟某红外观瞄指示装置，为算法搭建了一个基于虚拟现实技术的硬件验证平台，并在该平台上验证了部分算法。

基于神经网络的机器人视觉伺服控制

视觉伺服可以应用于机器人初始定位自动导引、自动避障、轨线跟踪和运动目标跟踪等控制系统中。传统的视觉伺服系统在运行时包括工作空间定位和动力学逆运算两个过程,需要实时计算视觉雅可比矩阵和机器人逆雅可比矩阵,计算量大,系统结构复杂。本文分析了基于图像的机器人视觉伺服的基本原理,使用BP神经网络来确定达到指定位姿所需要的关节角度,将视觉信息直接融入伺服过程,在保证伺服精度的情况下大大简化了控制算法。文中针对Puma560工业机器人的模型进行了仿真实验,结果验证了该方法的有效性。

基于主动视觉和超声的机器人目标跟踪系统

运动目标跟踪技术是未知环境下移动机器人研究领域的一个重要研究方向。该文提出了一种基于主动视觉和超声信息的移动机器人运动目标跟踪设计方法,利用一台SONY EV-D31彩色摄像机、自主研制的摄像机控制模块、图像采集与处理单元等构建了主动视觉系统。移动机器人采用了基于行为的分布式控制体系结构,利用主动视觉锁定运动目标,通过超声系统感知外部环境信息,能在未知的、动态的、非结构化复杂环境中可靠地跟踪运动目标。实验表明机器人具有较高的鲁棒性,运动目标跟踪系统运行可靠。

Global Translation Preferred Active Contour

具有全局平移优先属性的主动轮廓更适于目标跟踪。演化轮廓具有的全局平移优先性可以理解为沿轮廓的速度场具有相等的倾向。根据此思想,通过定义在曲线扰动集合上的新内积空间导出了一种简单,具有平移优先的梯度流。新的内积空间由于是通过向H0主动轮廓对应的內积空间引入曲线扰动的方差获得,所以此主动轮廓称为方差主动轮廓。方差主动轮廓是将H0主动轮廓与其对应的平均梯度流通过加权求和获得,而H1主动轮廓则是通过H0主动轮廓与特定类型的核函数进行卷积得到。因此方差主动轮廓实现时更简单和快速。最后给出了H0,H1和方差主动轮廓在频域与时域的分析。

移动机器人运动目标跟踪系统设计

利用SONYEV-D31摄像机和自主研发的摄像机控制模块,构建了一套主动视觉子系统,并将该子系统应用于RIRA-II型移动机器人上,实现了移动机器人运动目标自动跟踪功能。RIRA-II移动机器人采用了由一组分布式行为模块和集中命令仲裁器组成的基于行为的分布式控制体系结构。各行为模块基于领域知识通过反应方式产生投票,由仲裁器产生动作指令,机器人完成相应的动作。在设置了障碍、窄通道以及模拟墙体的复杂环境下进行运动目标跟踪实验,实验表明运动目标跟踪系统运行可靠,具有较高的鲁棒性。

基于多微处理器的智能超声探测系统

设计了一种基于多微处理器的智能超声探测系统。该系统采用由上位工作模式控制单元和下位智能超声传感器阵列组成的分布式结构。每个超声传感器均由独立的微处理器控制,并完成实时数据处理、抗干扰处理、故障报警以及数据通信等功能。上位控制单元根据移动机器人的运动状态采用不同的控制策略,使下位传感器阵列分组并行工作,提高了探测系统的实时性;下位传感器采用"阈值比较法"、"改进型递推均值滤波"算法和模糊信息处理技术,提高了探测系统的准确性、可靠性。将该探测系统安装于RIRA-II移动机器人上,进行了基于主动视觉和超声信息的运动目标跟踪实验,实验表明超声探测系统运行可靠、稳定。

空间工作记忆与注意广度

The relationship between working memory (WM) and attention has attracted many researchers. In his embedded-processes model of WM, Cowan (1999, 2001) uses the term focus of attention to refer to the core component of WM, and proposes that the focus of attention of WM and that of perception have the same span, which is a fixed number. This hypothesis about the scope of attention has seldom been tested, although considerable studies have revealed that WM and attention have overlapping mechanisms. The present dissertation tests this hypothesis by examining the dual-task interference between Corsi Blocks Task (CBT) and Mutilple Object Tracking (MOT) and the findings demenstrate that Cowan’s hypothesis is not exactly true. The results of our first study show that the interference effect of MOT on CBT is a reliable indicator of whether and to which extent the attentional resoureces of WM and perception overlap. In the second study we find that the capacity of the common resources is not a fixed number but varies with the difficulty of control of attention. And the third study indicates that attentional resources used in WM and perception are partly independent, the overlapping part can attend to only one or two items or locations at a time. These findings can contribute to future studies on the capacity limitation of different cognitive functions, and to the development of relevant ability tests.

Incremental pairwise discriminant analysis based visual tracking

The distinguishment between the object appearance and the background is the useful cues available for visual tracking in which the discriminant analysis is widely applied However due to the diversity of the background observation there are not adequate negative samples from the background which usually lead the discriminant method to tracking failure Thus a natural solution is to construct an object-background pair constrained by the spatial structure which could not only reduce the neg-sample number but also make full use of the background information surrounding the object However this Idea is threatened by the variant of both the object appearance and the spatial-constrained background observation especially when the background shifts as the moving of the object Thus an Incremental pairwise discriminant subspace is constructed in this paper to delineate the variant of the distinguishment In order to maintain the correct the ability of correctly describing the subspace we enforce two novel constraints for the optimal adaptation (1) pairwise data discriminant constraint and (2) subspace smoothness The experimental results demonstrate that the proposed approach can alleviate adaptation drift and achieve better visual tracking results for a large variety of nonstationary scenes (C) 2010 Elsevier B V All rights reserved

An Efficient Front-Tracking Method For Fully Nonlinear Interfacial Waves

A fully nonlinear and dispersive model within the framework of potential theory is developed for interfacial (2-layer) waves. To circumvent the difficulties arisen from the moving boundary problem a viable technique based on the mixed Eulerian and Lagrangian concept is proposed: the computing area is partitioned by a moving mesh system which adjusts its location vertically to conform to the shape of the moving boundaries but keeps frozen in the horizontal direction. Accordingly, a modified dynamic condition is required to properly compute the boundary potentials. To demonstrate the effectiveness of the current method, two important problems for the interfacial wave dynamics, the generation and evolution processes, are investigated. Firstly, analytical solutions for the interfacial wave generations by the interaction between the barotropic tide and topography are derived and compared favorably with the numerical results. Furthermore simulations are performed for the nonlinear interfacial wave evolutions at various water depth ratios and satisfactory agreement is achieved with the existing asymptotical theories. (c) 2008 Elsevier Inc. All rights reserved.

Imaging and tracking single fluorescent nanobeads in solution

In single-particle tracking (SPT), fluorescence video microscopy is used to record the motion images of single particle or single molecule. Here, by using a total-internal-reflection microscope equipped with an argon ion laser and a charge-coupled device (CCD) camera with high-speed and high-sensitivity, video images of single nanobeads in solutions were obtained. From the trajectories, the diffusion coefficient of individual nanobead was determined by the mean square displacements as a function of time. The sizes of nanobeads were calculated by Stokes-Einstein equation, and the results were compared with the actual values.

The Effects of Visual Object Size in The Depth Perception in KM Mouse

Whether mice perceive the depth of space dependent on the visual size of object targets was explored when visual cues such as perspective and partial occlusion in space were excluded. A mouse was placed on a platform the height of which is adjustable. The platform located inside a box in which all other walls were dark exception its bottom through that light was projected as a sole visual cue. The visual object cue was composed of 4x4 grids to allow a mouse estimating the distance of the platform relative to the grids. Three sizes of grids reduced in a proportion of 2/3 and seven distances with an equal interval between the platform and the grids at the bottom were applied in the experiments. The duration of a mouse staying on the platform at each height was recorded when the different sizes of the grids were presented randomly to test whether the Judgment of the mouse for the depth of the platform from the bottom was affected by the size information of the visual target. The results from all conditions of three object sizes show that time of mice staying on the platform became longer with the increase in height. In distance of 20 similar to 30 cm, the mice did not use the size information of a target to judge the depth, while mainly used the information of binocular disparity. In distance less than 20 cm or more than 30 cm, however, especially in much higher distance 50 cm, 60 cm and 70 cm, the mice were able to use the size information to do so in order to compensate the lack of binocular disparity information from both eyes. Because the mice have only 1/3 of the visual field that is binocular. This behavioral paradigm established in the current study is a useful model and can be applied to the experiments using transgenic mouse as an animal model to investigate the relationships between behaviors and gene functions.

Migration routes and stopover sites of Black-necked Cranes determined by satellite tracking

Because their breeding and wintering areas are in remote locations, little is known about the biology of Black-necked Cranes (Grus nigricollis), including their migratory behavior. Using satellite telemetry, we monitored the migration of Black-necked Cran

Localization and tracking of phonating finless porpoises using towed stereo acoustic data-loggers

Cetaceans produce sound signals frequently. Usually, acoustic localization of cetaceans was made by cable hydrophone arrays and multichannel recording systems. In this study, a simple and relatively inexpensive towed acoustic system consisting of two miniature stereo acoustic data-loggers is described for localization and tracking of finless porpoises in a mobile survey. Among 204 porpoises detected acoustically, 34 individuals (similar to 17%) were localized, and 4 of the 34 localized individuals were tracked. The accuracy of the localization is considered to be fairly high, as the upper bounds of relative distance errors were less than 41% within 173 m. With the location information, source levels of finless porpoise clicks were estimated to range from 180 to 209 dB re 1 mu Pa pp at 1 m with an average of 197 dB (N=34), which is over 20 dB higher than that estimated previously from animals in enclosed waters. For the four tracked porpoises, two-dimensional swimming trajectories relative to the moving survey boat, absolute swimming speed, and absolute heading direction are deduced by assuming the animal movements are straight and at constant speed in the segment between two consecutive locations.

The application of DBF neural networks for object recognition

On the basis of DBF nets proposed by Wang Shoujue, the model and properties of DBF neural network were discussed in this paper. When applied in pattern recognition, the algorithm and implement on hardware were presented respectively. We did experiments on recognition of omnidirectionally oriented rigid objects on the same level, using direction basis function neural networks, which acts by the method of covering the high dimensional geometrical distribution of the sample set in the feature space. Many animal and vehicle models (even with rather similar shapes) were recognized omnidirectionally thousands of times. For total 8800 tests, the correct recognition rate is 98.75%, the error rate and the rejection rate are 0.5% and 1.25% respectively. (C) 2003 Elsevier Inc. All rights reserved.