This paper describes a multiple sensor tracking simulation software package (MUST) developed by the Data and Information Group of CSSIP which is written in Matlab and C++. The aim of MUST is to assess the performance of a single-target multisensor tracker, the extended Kalman filter-probabilistic data association (EKF-PDA) tracker, under different target/sensor/environment scenarios. The simula...

With the evolution and fusion of wireless sensor network and embedded camera technologies, distributed smart camera networks have emerged as a new class of systems for wide-area surveillance applications. Wireless networks, however, introduce a number of constraints to the system that need to be considered, notably the communication bandwidth constraints. Existing approaches for target tracking...

The ML-PMHT MultistaticTracker for SharplyManeuvering Targets Report Title The maximum likelihood probabilistic multi-hypothesis tracker (ML-PMHT) is applied to a benchmark multistatic active sonar scenario with multiple targets, multiple sources, and multiple receivers. We first compare the performance of the tracker on this scenario when it is applied in Cartesian measurement space, a typical...

Programming robots often involves expert knowledge in both the robot itself and task to execute. An alternative direct programming is for a human show examples of execution have perform based on these examples, scheme known as learning or from demonstration. We propose study generic simple learning-from-demonstration framework. Our approach combine demonstrated commands according similarity bet...

This paper presents an approach for tracking multiple persons on a mobile robot with a combination of colour and thermal vision sensors, using several new techniques. First, an adaptive colour model is incorporated into the measurement model of the tracker. Second, a new approach for detecting occlusions is introduced, using a machine learning classifier for pairwise comparison of persons (clas...

In this paper, we address the problem of realizing a human following task in a crowded environment. We consider an active perception system, consisting of a camera mounted on a pan-tilt unit and a 360◦ RFID detection system, both embedded on a mobile robot. To perform such a task, it is necessary to efficiently track humans in crowds. In a first step, we have dealt with this problem using the p...

Tracking maneuvering targets presents a great challenge to airborne surveillance radar signal processing and sensor systems management systems. Smears caused by an uncompensated maneuver (either translational or rotational) affect target identification (ID) with distorted target images. An unexpected maneuver introduces large position estimation errors to a tracker and in the worst case loss of...

Conventional spoken dialogue systems use frame structure to represent dialogue state. In this paper, we argue that using target distribution to represent dialogue state is much better than using frame structure. Based on the proposed target-based state, two target-based state tracking algorithms are introduced. Experiments in an end-to-end spoken dialogue system with real users are conducted to...

We present a demonstrated and commercially viable self-tracker, using robust software that fuses data from inertial and vision sensors. Compared to infrastructurebased trackers, self-trackers have the advantage that objects can be tracked over an extremely wide area, without the prohibitive cost of an extensive network of sensors or emitters to track them. So far most AR research has focused on...

Industrial robots are increasingly used in various applications where the robot accuracy becomes very important, hence calibrations of the robot’s kinematic parameters and the measurement system’s extrinsic parameters are required. However, the existing calibration approaches are either too cumbersome or require another expensive external measurement system such as laser tracker or measurement ...