Model-based Visual Tracking: The OpenTL Framework

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It may makes up to permits before you became it. These algorithms enables a 3-D object pose using a single view of the scene and the CAD model of the object. The performance of three main types of model-based trackers is analyzed and quantified: edge-based, texture-based and hybrid tracker.

The problems of visual tracking in microscale are discussed. The control of the micromanipulation station used in the framework of our project is performed using a new Simulink block set. A hybrid localization technique for patient tracking. Nowadays numerous technologies are employed for tracking patients and assets in hospitals or nursing homes. Each of them has advantages and drawbacks. For example, WiFi localization has relatively good accuracy but cannot be used in case of power outage or in the areas with poor WiFi coverage. Magnetometer positioning or cellular network does not have such problems but they are not as accurate as localization with WiFi.

This paper describes technique that simultaneously employs different localization technologies for enhancing stability and average accuracy of localization. The proposed algorithm is based on fingerprinting method paired with data fusion and prediction algorithms for estimating the object location.

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The core idea of the algorithm is technology fusion using error estimation methods. For testing accuracy and performance of the algorithm testing simulation environment has been implemented. Significant accuracy improvement was showed in practical scenarios. Model-based extended quaternion Kalman filter to inertial orientation tracking of arbitrary kinematic chains.

Inertial orientation tracking is still an area of active research, especially in the context of out-door, real-time, human motion capture. Existing systems either propose loosely coupled tracking approaches where each segment is considered independently, taking the resulting drawbacks into account, or tightly coupled solutions that are limited to a fixed chain with few segments. Such solutions have no flexibility to change the skeleton structure, are dedicated to a specific set of joints, and have high computational complexity.

This paper describes the proposal of a new model-based extended quaternion Kalman filter that allows for estimation of orientation based on outputs from the inertial measurements unit sensors. The filter considers interdependencies resulting from the construction of the kinematic chain so that the orientation estimation is more accurate.

The proposed solution is a universal filter that does not predetermine the degree of freedom at the connections between segments of the model. To validation the motion of 3-segments single link pendulum captured by optical motion capture system is used. The next step in the research will be to use this method for inertial motion capture with a human skeleton model. Skin fluorescence model based on the Monte Carlo technique. The novel Monte Carlo technique of simulation of spatial fluorescence distribution within the human skin is presented.

The computational model of skin takes into account spatial distribution of fluorophores following the collagen fibers packing, whereas in epidermis and stratum corneum the distribution of fluorophores assumed to be homogeneous. The results of simulation suggest that distribution of auto-fluorescence is significantly suppressed in the NIR spectral region, while fluorescence of sensor layer embedded in epidermis is localized at the adjusted depth. The model is also able to simulate the skin fluorescence spectra. Recent applications of nuclear track emulsion technique.

A survey of recent results obtained using the nuclear track emulsion NTE technique in low energy applications is given. It is proposed to use an automated microscope to search for collinear tripartition of heavy nuclei implanted in NTE. NTE samples are calibrated using Kr and Xe ions with an energy of 1. Trajectory tracking and backfitting techniques against theater ballistic missiles. Detection, fast track initiation, backfitting for launch point determination, and tracking and engagement during boost phase or shortly after booster cutoff are goals that grow in importance with the proliferation of weapons of mass destruction.

This paper focuses on track initiation and backfitting techniques , as well as extending some earlier results on tracking a TBM during boost phase cutoff. Results indicate that Kalman techniques are superior to third order polynomial extrapolations in estimating the launch point, and that some knowledge of missile parameters, especially thrust, is extremely helpful in track initiation. Magneto-optical tracking of flexible laparoscopic ultrasound: model-based online detection and correction of magnetic tracking errors.

Electromagnetic tracking is currently one of the most promising means of localizing flexible endoscopic instruments such as flexible laparoscopic ultrasound transducers. However, electromagnetic tracking is also susceptible to interference from ferromagnetic material, which distorts the magnetic field and leads to tracking errors. This paper presents new methods for real-time online detection and reduction of dynamic electromagnetic tracking errors when localizing a flexible laparoscopic ultrasound transducer.

We use a hybrid tracking setup to combine optical tracking of the transducer shaft and electromagnetic tracking of the flexible transducer tip. A novel approach of modeling the poses of the transducer tip in relation to the transducer shaft allows us to reliably detect and significantly reduce electromagnetic tracking errors. Initial 3-D rms error of 6.

A model-based 3D template matching technique for pose acquisition of an uncooperative space object. This paper presents a customized three-dimensional template matching technique for autonomous pose determination of uncooperative targets. This topic is relevant to advanced space applications, like active debris removal and on-orbit servicing. The proposed technique is model-based and produces estimates of the target pose without any prior pose information, by processing three-dimensional point clouds provided by a LIDAR.

These estimates are then used to initialize a pose tracking algorithm. Peculiar features of the proposed approach are the use of a reduced number of templates and the idea of building the database of templates on-line, thus significantly reducing the amount of on-board stored data with respect to traditional techniques.

An algorithm variant is also introduced aimed at further accelerating the pose acquisition time and reducing the computational cost.

Technique performance is investigated within a realistic numerical simulation environment comprising a target model, LIDAR operation and various target-chaser relative dynamics scenarios, relevant to close-proximity flight operations. Specifically, the capability of the proposed techniques to provide a pose solution suitable to initialize the tracking algorithm is demonstrated, as well as their robustness against highly variable pose conditions determined by the relative dynamics.

Finally, a criterion for autonomous failure detection of the presented techniques is presented. Adaptive robust motion trajectory tracking control of pneumatic cylinders with LuGre model-based friction compensation. Friction compensation is particularly important for motion trajectory tracking control of pneumatic cylinders at low speed movement. However, most of the existing model-based friction compensation schemes use simple classical models, which are not enough to address applications with high-accuracy position requirements.

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Furthermore, the friction force in the cylinder is time-varying, and there exist rather severe unmodelled dynamics and unknown disturbances in the pneumatic system. To deal with these problems effectively, an adaptive robust controller with LuGre model-based dynamic friction compensation is constructed. The proposed controller employs on-line recursive least squares estimation RLSE to reduce the extent of parametric uncertainties, and utilizes the sliding mode control method to attenuate the effects of parameter estimation errors, unmodelled dynamics and disturbances. In addition, in order to realize LuGre model-based friction compensation, the modified dual-observer structure for estimating immeasurable friction internal state is developed.

Therefore, a prescribed motion tracking transient performance and final tracking accuracy can be guaranteed.

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Since the system model uncertainties are unmatched, the recursive backstepping design technology is applied. In order to solve the conflicts between the sliding mode control design and the adaptive control design, the projection mapping is used to condition the RLSE algorithm so that the parameter estimates are kept within a known bounded convex set.

Finally, the proposed controller is tested for tracking sinusoidal trajectories and smooth square trajectory under different loads and sudden disturbance. The testing results demonstrate that the achievable performance of the proposed controller is excellent and is much better than most other studies in literature. Especially when a 0.

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