Rao-Blackwellised particle filter for colour-based tracking

Colour-based particle filters have been used exhaustively in the literature given rise to multiple applications However tracking coloured objects through time has an important drawback since the way in which the camera perceives the colour of the object can change Simple updates are often used to address this problem which imply a risk of distorting the model and losing the target In this paper a joint image characteristic-space tracking is proposed which updates the model simultaneously to the object location In order to avoid the curse of dimensionality a Rao-Blackwellised particle filter has been used Using this technique the hypotheses are evaluated depending on the difference between the model and the current target appearance during the updating stage Convincing results have been obtained in sequences under both sudden and gradual illumination condition changes Crown Copyright (C) 2010 Published by Elsevier B V All rights reserved

A spatio-temporal 2D-models framework for human pose recovery in monocular sequences

This paper addresses the pose recovery problem of a particular articulated object: the human body. In this model-based approach, the 2D-shape is associated to the corresponding stick figure allowing the joint segmentation and pose recovery of the subject observed in the scene. The main disadvantage of 2D-models is their restriction to the viewpoint. To cope with this limitation, local spatio-temporal 2D-models corresponding to many views of the same sequences are trained, concatenated and sorted in a global framework. Temporal and spatial constraints are then considered to build the probabilistic transition matrix (PTM) that gives a frame to frame estimation of the most probable local models to use during the fitting procedure, thus limiting the feature space. This approach takes advantage of 3D information avoiding the use of a complex 3D human model. The experiments carried out on both indoor and outdoor sequences have demonstrated the ability of this approach to adequately segment pedestrians and estimate their poses independently of the direction of motion during the sequence. (c) 2008 Elsevier Ltd. All rights reserved.

An efficient particle filter for color-based tracking in complex scenes

In this paper, we introduce an efficient method for particle selection in tracking objects in complex scenes. Firstly, we improve the proposal distribution function of the tracking algorithm, including current observation, reducing the cost of evaluating particles with a very low likelihood. In addition, we use a partitioned sampling approach to decompose the dynamic state in several stages. It enables to deal with high-dimensional states without an excessive computational cost. To represent the color distribution, the appearance of the tracked object is modelled by sampled pixels. Based on this representation, the probability of any observation is estimated using non-parametric techniques in color space. As a result, we obtain a Probability color Density Image (PDI) where each pixel points its membership to the target color model. In this way, the evaluation of all particles is accelerated by computing the likelihood p(z|x) using the Integral Image of the PDI.

Automatic detection and classification of football players

Color segmentation of images usually requires a manual selection and classification of samples to train the system. This paper presents an automatic system that performs these tasks without the need of a long training, providing a useful tool to detect and identify figures. In real situations, it is necessary to repeat the training process if light conditions change, or if, in the same scenario, the colors of the figures and the background may have changed, being useful a fast training method. A direct application of this method is the detection and identification of football players.

Mean field approach for tracking similar objects

In this paper, we consider the problem of tracking similar objects. We show how a mean field approach can be used to deal with interacting targets and we compare it with Markov Chain Monte Carlo (MCMC). Two mean field implementations are presented. The first one is more general and uses particle filtering. We discuss some simplifications of the base algorithm that reduce the computation time. The second one is based on suitable Gaussian approximations of probability densities that lead to a set of self-consistent equations for the means and covariances. These equations give the Kalman solution if there is no interaction. Experiments have been performed on two kinds of sequences. The first kind is composed of a single long sequence of twenty roaming ants and was previously analysed using MCMC. In this case, our mean field algorithms obtain substantially better results. The second kind corresponds to selected sequences of a football match in which the interaction avoids tracker coalescence in situations where independent trackers fail.

Multiple Luminaire Identification in Airborne Images of Airport’s Approach Lighting Using Mathematical Morphology With Variable Length Structuring Element

The increasing demand for fast air transportation around the clock
has increased the number of night flights in civil aviation over
the past few decades. In night aviation, to land an aircraft, a
pilot needs to be able to identify an airport. The approach
lighting system (ALS) at an airport is used to provide
identification and guidance to pilots from a distance. ALS
consists of more than $100$ luminaires which are installed in a
defined pattern following strict guidelines by the International
Civil Aviation Organization (ICAO). ICAO also has strict
regulations for maintaining the performance level of the
luminaires. However, once installed, to date there is no automated
technique by which to monitor the performance of the lighting. We
suggest using images of the lighting pattern captured using a camera
placed inside an aircraft. Based on the information contained
within these images, the performance of the luminaires has to be
evaluated which requires identification of over $100$ luminaires
within the pattern of ALS image. This research proposes analysis
of the pattern using morphology filters which use a variable
length structuring element (VLSE). The dimension of the VLSE changes
continuously within an image and varies for different images.
A novel
technique for automatic determination of the VLSE is proposed and
it allows successful identification of the luminaires from the
image data as verified through the use of simulated and real data.

Software-defined sphere decoding for FPGA-based MIMO detection

Sphere Decoding (SD) is a highly effective detection technique for Multiple-Input Multiple-Output (MIMO) wireless communications receivers, offering quasi-optimal accuracy with relatively low computational complexity as compared to the ideal ML detector. Despite this, the computational demands of even low-complexity SD variants, such as Fixed Complexity SD (FSD), remains such that implementation on modern software-defined network equipment is a highly challenging process, and indeed real-time solutions for MIMO systems such as 4 4 16-QAM 802.11n are unreported. This paper overcomes this barrier. By exploiting large-scale networks of fine-grained softwareprogrammable processors on Field Programmable Gate Array (FPGA), a series of unique SD implementations are presented, culminating in the only single-chip, real-time quasi-optimal SD for 44 16-QAM 802.11n MIMO. Furthermore, it demonstrates that the high performance software-defined architectures which enable these implementations exhibit cost comparable to dedicated circuit architectures.

Modeled structure of a G-protein-coupled receptor:The cholecystokinin-1 receptor

The Cholecystokinin-1 receptor (CCK1R) mediates actions of CCK in areas of the central nervous system and of the gut. It is a potential target to treat a number of diseases. As for all G-protein-coupled receptors, docking of ligands into modeled CCK1R binding site should greatly help to understand intrinsic mechanisms of activation. Here, we describe the procedure we used to progressively build a structural model for the CCK1R, to integrated, and on the basis of site-directed mutagenesis data on its binding site. Reliability of the CCK1R model was confirmed by interaction networks that involved conserved and functionally crucial motifs in G-protein-coupled receptors, such as Glu/Asp-Arg-Tyr and Asn-Pro-Xaa-Xaa-Tyr motifs. In addition, the 3-D structure of CCK1R-bound CCK resembled that determined by NMR in a lipid environment. The derived computational model was also used for revealing binding modes of several nonpeptide ligands and for rationalizing ligand structure-activity relationships known from experiments. Our findings indeed support that our "validated CCK1R model" could be used to study the intrinsic mechanism of CCK1R activation and design new ligands.

A sequential algorithm for sparse support vector classifiers

Support vector machines (SVMs), though accurate, are not preferred in applications requiring high classification speed or when deployed in systems of limited computational resources, due to the large number of support vectors involved in the model. To overcome this problem we have devised a primal SVM method with the following properties: (1) it solves for the SVM representation without the need to invoke the representer theorem, (2) forward and backward selections are combined to approach the final globally optimal solution, and (3) a criterion is introduced for identification of support vectors leading to a much reduced support vector set. In addition to introducing this method the paper analyzes the complexity of the algorithm and presents test results on three public benchmark problems and a human activity recognition application. These applications demonstrate the effectiveness and efficiency of the proposed algorithm.


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A wavelet-based damage detection algorithm based on bridge acceleration response to a vehicle

Previous research based on theoretical simulations has shown the potential of the wavelet transform to detect damage in a beam by analysing the time-deflection response due to a constant moving load. However, its application to identify damage from the response of a bridge to a vehicle raises a number of questions. Firstly, it may be difficult to record the difference in the deflection signal between a healthy and a slightly damaged structure to the required level of accuracy and high scanning frequencies in the field. Secondly, the bridge is going to have a road profile and it will be loaded by a sprung vehicle and time-varying forces rather than a constant load. Therefore, an algorithm based on a plot of wavelet coefficients versus time to detect damage (a singularity in the plot) appears to be very sensitive to noise. This paper addresses these questions by: (a) using the acceleration signal, instead of the deflection signal, (b) employing a vehicle-bridge finite element interaction model, and (c) developing a novel wavelet-based approach using wavelet energy content at each bridge section which proves to be more sensitive to damage than a wavelet coefficient line plot at a given scale as employed by others.

From bit level systolic arrays to HDTV processor chips

The initial part of this paper reviews the early challenges (c 1980) in achieving real-time silicon implementations of DSP computations. In particular, it discusses research on application specific architectures, including bit level systolic circuits that led to important advances in achieving the DSP performance levels then required. These were many orders of magnitude greater than those achievable using programmable (including early DSP) processors, and were demonstrated through the design of commercial digital correlator and digital filter chips. As is discussed, an important challenge was the application of these concepts to recursive computations as occur, for example, in Infinite Impulse Response (IIR) filters. An important breakthrough was to show how fine grained pipelining can be used if arithmetic is performed most significant bit (msb) first. This can be achieved using redundant number systems, including carry-save arithmetic. This research and its practical benefits were again demonstrated through a number of novel IIR filter chip designs which at the time, exhibited performance much greater than previous solutions. The architectural insights gained coupled with the regular nature of many DSP and video processing computations also provided the foundation for new methods for the rapid design and synthesis of complex DSP System-on-Chip (SoC), Intellectual Property (IP) cores. This included the creation of a wide portfolio of commercial SoC video compression cores (MPEG2, MPEG4, H.264) for very high performance applications ranging from cell phones to High Definition TV (HDTV). The work provided the foundation for systematic methodologies, tools and design flows including high-level design optimizations based on "algorithmic engineering" and also led to the creation of the Abhainn tool environment for the design of complex heterogeneous DSP platforms comprising processors and multiple FPGAs. The paper concludes with a discussion of the problems faced by designers in developing complex DSP systems using current SoC technology. © 2007 Springer Science+Business Media, LLC.

Rapid design of application specific FFT cores

Methods are presented for developing synthesizable FFT cores. These are based on a modular approach in which parameterized commutator and processor blocks are cascaded to implement the computations required in many important FFT signal flow graphs. In addition, it is shown how the use of a digital serial data organization can be used to produce systems that offer 100% processor utilization along with reductions in storage requirements. The approach has been used to create generators for the automated synthesis of FFT cores that are portable across a broad range of silicon technologies. Resulting chip designs are competitive with ones created using manual methods but with significant reductions in design times.

JPEG encoder system-on-a-chip demonstrator

The design of a System-on-a-Chip (SoC) demonstrator for a baseline JPEG encoder core is presented. This combines a highly optimized Discrete Cosine Transform (DCT) and quantization unit with an entropy coder which has been realized using off-the-shelf synthesizable IP cores (Run-length coder, Huffman coder and data packer). When synthesized in a 0.35 µm CMOS process, the core can operate at speeds up to 100 MHz and contains 50 k gates plus 11.5 kbits of RAM. This is approximately 20% less than similar JPEG encoder designs reported in literature. When targeted at FPGA the core can operate up to 30 MHz and is capable of compressing 9-bit full-frame color input data at NTSC or PAL rates.

Discrete cosine transform generator for VLSI synthesis

A generator for the automated design of Discrete Cosine Transform (DCT) cores is presented. This can be used to rapidly create silicon circuits from a high level specification. These compare very favourably with existing designs. The DCT cores produced are scaleable in terms of point size as well as input/output and coefficient wordlengths. This provides a high degree of flexibility. An example, 8-point 1D DCT design, produced occupies less than 0.92 mm when implemented in a 0.35µ double level metal CMOS technology. This can be clocked at a rate of 100MHz.

Design and implementation of the symmetrically extended 2-D wavelet transform

The inclusion of the Discrete Wavelet Transform in the JPEG-2000 standard has added impetus to the research of hardware architectures for the two-dimensional wavelet transform. In this paper, a VLSI architecture for performing the symmetrically extended two-dimensional transform is presented. This architecture conforms to the JPEG-2000 standard and is capable of near-optimal performance when dealing with the image boundaries. The architecture also achieves efficient processor utilization. Implementation results based on a Xilinx Virtex-2 FPGA device are included.