Incremental tensor biased discriminant analysis:a new color-based visual tracking method

Most existing color-based tracking algorithms utilize the statistical color information of the object as the tracking clues, without maintaining the spatial structure within a single chromatic image. Recently, the researches on the multilinear algebra provide the possibility to hold the spatial structural relationship in a representation of the image ensembles. In this paper, a third-order color tensor is constructed to represent the object to be tracked. Considering the influence of the environment changing on the tracking, the biased discriminant analysis (BDA) is extended to the tensor biased discriminant analysis (TBDA) for distinguishing the object from the background. At the same time, an incremental scheme for the TBDA is developed for the tensor biased discriminant subspace online learning, which can be used to adapt to the appearance variant of both the object and background. The experimental results show that the proposed method can track objects precisely undergoing large pose, scale and lighting changes, as well as partial occlusion. © 2009 Elsevier B.V.

Non-rigid object tracking in complex scenes

A recently proposed colour based tracking algorithm has been established to track objects in real circumstances [Zivkovic, Z., Krose, B. 2004. An EM-like algorithm for color-histogram-based object tracking. In: Proc, IEEE Conf. on Computer Vision and Pattern Recognition, pp. 798-803]. To improve the performance of this technique in complex scenes, in this paper we propose a new algorithm for optimally adapting the ellipse outlining the objects of interest. This paper presents a Lagrangian based method to integrate a regularising component into the covariance matrix to be computed. Technically, we intend to reduce the residuals between the estimated probability distribution and the expected one. We argue that, by doing this, the shape of the ellipse can be properly adapted in the tracking stage. Experimental results show that the proposed method has favourable performance in shape adaption and object localisation.

A new creep test method for asphalt mixtures

A new creep test, Partial Triaxial Test (PTT), was developed to study the permanent deformation properties of asphalt mixtures. The PTT used two duplicate platens whose diameters were smaller than the diameter of the cylindrical asphalt mixtures specimen. One base platen was centrally placed under the specimen and another loading platen was centrally placed on the top surface of the specimen. Then the compressive repeated load was applied on the loading platen and the vertical deformation of the asphalt mixture was recorded in the PTTs. Triaxial repeated load permanent deformation tests (TRT) and PTTs were respectively conducted on AC20 and SMA13 asphalt mixtures at 40°C and 60°C so as to provide the parameters of the creep constitutive relations in the ABAQUS finite element models (FEMs) which were built to simulate the laboratory wheel tracking tests. The real laboratory wheel tracking tests were also conducted on AC20 and SMA13 asphalt mixtures at 40°C and 60°C. Then the calculated rutting depth from the FEMs were compared with the measured rutting depth of the laboratory wheeling tracking tests. Results indicated that PTT was able to characterize the permanent deformation of the asphalt mixtures in laboratory. The rutting depth calculated using the parameters estimated from PTTs' results was closer to and showed better matches with the measured rutting than the rutting depth calculated using the parameters estimated from TRTs' results. Main reason was that PTT could better simulate the changing confinement conditions of asphalt mixtures in the laboratory wheeling tracking tests than the TRT.

Experimental comparison of dynamic tracking performance of iGPS and laser tracker

External metrology systems are increasingly being integrated with traditional industrial articulated robots, especially in the aerospace industries, to improve their absolute accuracy for precision operations such as drilling, machining and jigless assembly. While currently most of the metrology assisted robotics control systems are limited in their position update rate, such that the robot has to be stopped in order to receive a metrology coordinate update, some recent efforts are addressed toward controlling robots using real-time metrology data. The indoor GPS is one of the metrology systems that may be used to provide real-time 6DOF data to a robot controller. Even if there is a noteworthy literature dealing with the evaluation of iGPS performance, there is, however, a lack of literature on how well the iGPS performs under dynamic conditions. This paper presents an experimental evaluation of the dynamic measurement performance of the iGPS, tracking the trajectories of an industrial robot. The same experiment is also repeated using a laser tracker. Besides the experiment results presented, this paper also proposes a novel method for dynamic repeatability comparisons of tracking instruments. © 2011 Springer-Verlag London Limited.