This report describes a series of tests that were performed on a multiple target tracker. The tracker is to be used in the context of following a particular person through a populated indoor environment. Aim of the tests was to determine the usefulness of the tracking approach for this purpose and to define issues for future work and improvements. The setup of the tests is described together wi...

This paper proposes an adaptive shape kernel-based mean shift tracker using a single static camera for the robot vision system. The question that we address in this paper is how to construct such a kernel shape that is adaptive to the object shape. We perform nonlinear manifold learning technique to obtain the low-dimensional shape space which is trained by training data with the same view as t...

In this paper, a new object tracking system is proposed to improve the object manipulation capabilities of service robots. The goal is to continuously track the state of the visualized environment in order to send visual information in real time to the path planning and decision modules of the robot; that is, to adapt the movement of the robotic system according to the st...

We describe a method of mobile robot monocular visual navigation, which uses multiple visual cues to detect and segment the ground plane in the robot’s field of view. Corner points are tracked through an image sequence and grouped into coplanar regions using a method which we call an H-based tracker. The H-based tracker employs planar homographys and is initialised by 5-point planar projective ...

---------------------------------------------------------------------***--------------------------------------------------------------------Abstract: Object detection and tracking is an important and challenging task in many critical computer vision applications such as automated video surveillance, traffic monitoring, autonomous robot navigation, and smart environments. Object tracking can be ...

Target tracking in a multi-camera system is an active and challenging research that in many systems requires video synchronisation and knowledge of the camera set-up and layout. In this paper a highly flexible, modular and decentralised system architecture is presented for multi-camera target tracking with relaxed synchronisation constraints among camera views. Moreover, the system does not rel...

Localization and mapping on autonomous robots typically requires a good pose estimate, which is hard to acquire if the vehicle is tracked. In this paper we describe a solution to the pose estimation problem by utilizing a consumer-quality camera and an Inertial Measurement Unit (IMU). The basic idea is to continuously track salient features with the KLT feature tracker [12] over multiple images...

Sensor and motor systems are not separable for autonomous agents to accomplish tasks in a dynamic environment. This paper proposes a method to represent the interaction between a vision-based learning agent and its environment. The method is called \motion sketch" by which a one-eyed mobile robot can learn several behaviors such as obstacle avoidance and target pursuit. A motion sketch is a col...

OBJECTIVE We present an algorithm that enables percutaneous needle-placement procedures to be performed with unencoded, unregistered, minimally calibrated robots while removing the constraint of placing the needle tip on a mechanically enforced Remote Center of Motion (RCM). MATERIALS AND METHODS The algorithm requires only online tracking of the surgical tool and a five-degree-of-freedom (5-...

Detecting and tracking small targets in the aerospace is both a significant and difficult issue for the satellite tracking system. It is fundamentally challenging due to the existence of strong noise in captured images, the few characteristics of spot-like target, the simultaneous multiple targets, the real-time requirements, and so on. To address these challenges, we respectively design the de...