A Novel Object Tracking Algorithm Based on Discrete Wavelet Transform and Extended Kalman Filter

Author(s):  
Yinghua Lu ◽  
Ying Zheng ◽  
Xianliang Tong ◽  
Yanfen Zhang ◽  
Jun Kong
Author(s):  
Kwangseok Oh ◽  
Taejun Song ◽  
Hyewon Lee

This paper describes an extended Kalman filter based object tracking algorithm for autonomous guided truck using 1-layer laser scanner. The 1-layer laser scanner has been used to obtain 2D cloud point data to detect the preceding object for tracking control. The object tracking algorithm proposed in this study consists of perception, decision, and control stages. In the perception stage, object’s information such as relative coordinate and yaw angle has been derived based on coordinate transformation, clustering, and state estimation algorithm using the obtained point data from laser scanner. In order to estimate object’s states such as coordinate and velocity, the extended Kalman filter has been used in this study. Based on the estimated states of the object, the desired path has been derived for calculation of steering angle. The simplified mathematical model of the truck has been derived to design optimal controller. The optimal controller designed in this study is based on the linear quadratic regulator for computing the optimal angle of steering module used for tracking. In order for reasonable performance evaluation, actual data from laser scanner and the derived mathematical model of truck have been used. The developed tracking algorithm and performance evaluation have been designed and conducted on Matlab/Simulink environment. Results of the performance evaluation show that the developed object tracking algorithm has been able to track the preceding object using 1-layer laser scanner.


Informatica ◽  
2013 ◽  
Vol 24 (4) ◽  
pp. 657-675
Author(s):  
Jonas Valantinas ◽  
Deividas Kančelkis ◽  
Rokas Valantinas ◽  
Gintarė Viščiūtė

2020 ◽  
Vol 64 (3) ◽  
pp. 30401-1-30401-14 ◽  
Author(s):  
Chih-Hsien Hsia ◽  
Ting-Yu Lin ◽  
Jen-Shiun Chiang

Abstract In recent years, the preservation of handwritten historical documents and scripts archived by digitized images has been gradually emphasized. However, the selection of different thicknesses of the paper for printing or writing is likely to make the content of the back page seep into the front page. In order to solve this, a cost-efficient document image system is proposed. In this system, the authors use Adaptive Directional Lifting-Based Discrete Wavelet Transform to transform image data from spatial domain to frequency domain and perform on high and low frequencies, respectively. For low frequencies, the authors use local threshold to remove most background information. For high frequencies, they use modified Least Mean Square training algorithm to produce a unique weighted mask and perform convolution on original frequency, respectively. Afterward, Inverse Adaptive Directional Lifting-Based Discrete Wavelet Transform is performed to reconstruct the four subband images to a resulting image with original size. Finally, a global binarization method, Otsu’s method, is applied to transform a gray scale image to a binary image as the output result. The results show that the difference in operation time of this work between a personal computer (PC) and Raspberry Pi is little. Therefore, the proposed cost-efficient document image system which performed on Raspberry Pi embedded platform has the same performance and obtains the same results as those performed on a PC.


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