Since the introduction of particle filtering for object tracking, a lot of improvements have been suggested. However, the definition of the observation likelihood function, needed for determining the particle weights, has received little attention. Because particle weights determine how the particles are resampled, the likelihood function has a strong influence on the tracking performance. We s...

This paper examines the tradeoffs between different classes of sensing strategy and motion control strategy in the context of terrain mapping with multiple robots. We consider a larger group of robots that can mutually estimate one another’s position (in 2D or 3D) and uncertainty using a sample-based (particle filter) model of uncertainty. Our prior work has dealt with a pair of robots that est...

Visual detection and target tracking are interdisciplinary tasks oriented to estimate the state of moving objects in an image sequence. There are different techniques focused on this problem. It is worth highlighting particle filters and Kalman filters as two of the most important tracking algorithms in the literature. In this paper, we presented a visual tracking algorithm which combines the p...

Impellers play a key role in flotation cells, as the turbulence generated through agitation aids particle suspension, air dispersion and particle–bubble collision. Therefore, it is important to understand effect that different impeller designs have on hydrodynamics, small variations could enhance performance. The study of hydrodynamics is, however, complex task due nature systems, which are opa...

We study the problem of tracking, namely, estimating the states of physical objects with time, from streams of noisy and unreliable observations. The most common model for the tracking problem is the generative model, which is the basis of solutions such as the Kalman filter and particle filters. In this paper, we consider a different formulation – an explanatory framework – for tracking, and w...

The design of future radioactive ion beam (RIB) facilities requires the forecast of radio isotope inventory after irradiation. At CERN – ISOLDE, we developed a software that estimates the activity of irradiated materials as a function of time dedicated to radioactive waste management. This tool can also be used for licensing procedures, planning of irradiation experiments and the estimation of ...

peritoneally or intrapleurally into mice or patients bearing cancerous effusions remains largely local ized in the cavity and therefore can be used suc cessfully for intracavitary tumor therapy. Later (3, 9, 10), similar intracavitary retention of radio active material, suggesting analogous therapeutic application, was obtained with particle suspen sions of radioactive chromic phosphate (CrP320...

A novel algorithm, termed a Boosted Adaptive Particle Filter (BAPF), for integrated face detection and face tracking is proposed. The proposed algorithm is based on the synthesis of an adaptive particle filtering algorithm and the AdaBoost face detection algorithm. An Adaptive Particle Filter (APF), based on a new sampling technique, is proposed. The APF is shown to yield more accurate estimate...

It is challenging to measure the hydrodynamics of stirred tank reactors when they contain multiphase flows comprising liquid, gas bubbles and particles. Radioactive particle tracking techniques such as positron emission (PEPT) are only established determine internal flow behaviour due inherent opacity density fluid vessel walls. The profiles solids an important tool for robust reactor design op...

Human body tracking has received increasing attention in recent years due to its broad applicability. Among these tracking algorithms, the particle filter is considered an effective approach for human motion tracking. However, it suffers from the degeneracy problem and considerable computational burden. This paper presents a novel 3D model-based tracking algorithm called the progressive particl...