scholarly journals Vision-based dynamic target trajectory and ego-motion estimation using incremental light bundle adjustment

2018 ◽  
Vol 10 (2) ◽  
pp. 157-170 ◽  
Author(s):  
Michael Chojnacki ◽  
Vadim Indelman
Keyword(s):  
Motion Estimation ◽  
Target Tracking ◽  
Moving Objects ◽  
3D Structure ◽  
Computational Effort ◽  
Bundle Adjustment ◽  
Computational Time ◽  
Computationally Efficient ◽  
Dynamic Target ◽  
Real Imagery

This paper presents a vision-based, computationally efficient method for simultaneous robot motion estimation and dynamic target tracking while operating in GPS-denied unknown or uncertain environments. While numerous vision-based approaches are able to achieve simultaneous ego-motion estimation along with detection and tracking of moving objects, many of them require performing a bundle adjustment optimization, which involves the estimation of the 3D points observed in the process. One of the main concerns in robotics applications is the computational effort required to sustain extended operation. Considering applications for which the primary interest is highly accurate online navigation rather than mapping, the number of involved variables can be considerably reduced by avoiding the explicit 3D structure reconstruction and consequently save processing time. We take advantage of the light bundle adjustment method, which allows for ego-motion calculation without the need for 3D points online reconstruction, and thus, to significantly reduce computational time compared to bundle adjustment. The proposed method integrates the target tracking problem into the light bundle adjustment framework, yielding a simultaneous ego-motion estimation and tracking process, in which the target is the only explicitly online reconstructed 3D point. Our approach is compared to bundle adjustment with target tracking in terms of accuracy and computational complexity, using simulated aerial scenarios and real-imagery experiments.

Real-time positioning of moving objects by dynamic target tracking

1991 ◽  
Vol 46 (3) ◽  
pp. 147-160 ◽  
Author(s):  
G. Bayer ◽  
P. Krzystek ◽  
W. Möhlenbrink
Keyword(s):  
Target Tracking ◽  
Real Time ◽  
Moving Objects ◽  
Dynamic Target

scholarly journals A computationally efficient hybrid 2D–3D subwoofer model

2021 ◽  
Vol 11 (1) ◽  
Author(s):  
Ahmad H. Bokhari ◽  
Martin Berggren ◽  
Daniel Noreland ◽  
Eddie Wadbro
Keyword(s):  
Hybrid Model ◽  
3D Model ◽  
Element Model ◽  
Acoustic Properties ◽  
Computational Time ◽  
Average Response ◽  
Frequency Range ◽  
Computationally Efficient ◽  
Lumped Element ◽  
Lumped Element Model

AbstractA subwoofer generates the lowest frequency range in loudspeaker systems. Subwoofers are used in audio systems for live concerts, movie theatres, home theatres, gaming consoles, cars, etc. During the last decades, numerical simulations have emerged as a cost- and time-efficient complement to traditional experiments in the design process of different products. The aim of this study is to reduce the computational time of simulating the average response for a given subwoofer design. To this end, we propose a hybrid 2D–3D model that reduces the computational time significantly compared to a full 3D model. The hybrid model describes the interaction between different subwoofer components as interacting modules whose acoustic properties can partly be pre-computed. This allows us to efficiently compute the performance of different subwoofer design layouts. The results of the hybrid model are validated against both a lumped element model and a full 3D model over a frequency band of interest. The hybrid model is found to be both accurate and computationally efficient.

Dynamic Target Tracking Based on Particle Filter in Actual Environment

2013 ◽  
Vol 683 ◽  
pp. 824-827
Author(s):  
Tian Ding Chen ◽  
Chao Lu ◽  
Jian Hu
Keyword(s):  
Kalman Filter ◽  
Particle Filter ◽  
Target Tracking ◽  
Monitoring System ◽  
Filter Method ◽  
Complex Scene ◽  
Actual Environment ◽  
Dynamic Target ◽  
Gaussian System ◽  
Non Gaussian

With the development of science and technology, target tracking was applied to many aspects of people's life, such as missile navigation, tanks localization, the plot monitoring system, robot field operation. Particle filter method dealing with the nonlinear and non-Gaussian system was widely used due to the complexity of the actual environment. This paper uses the resampling technology to reduce the particle degradation appeared in our test. Meanwhile, it compared particle filter with Kalman filter to observe their accuracy .The experiment results show that particle filter is more suitable for complex scene, so particle filter is more practical and feasible on target tracking.

Integrated Redesign of Large-Scale Structures by Large Admissible Perturbations

2003 ◽  
Vol 125 (4) ◽  
pp. 234-241 ◽  
Author(s):  
Vincent Y. Blouin ◽  
Michael M. Bernitsas ◽  
Denby Morrison
Keyword(s):  
Degrees Of Freedom ◽  
Large Scale ◽  
Direct Method ◽  
Computational Effort ◽  
Forced Response ◽  
Response Amplitude ◽  
Computational Time ◽  
Performance Constraints ◽  
Large Admissible Perturbations ◽  
Design Selection

In structural redesign (inverse design), selection of the number and type of performance constraints is a major challenge. This issue is directly related to the computational effort and, most importantly, to the success of the optimization solver in finding a solution. These issues are the focus of this paper, which provides and discusses techniques that can help designers formulate a well-posed integrated complex redesign problem. LargE Admissible Perturbations (LEAP) is a general methodology, which solves redesign problems of complex structures with, among others, free vibration, static deformation, and forced response amplitude constraints. The existing algorithm, referred to as the Incremental Method is improved in this paper for problems with static and forced response amplitude constraints. This new algorithm, referred to as the Direct Method, offers comparable level of accuracy for less computational time and provides robustness in solving large-scale redesign problems in the presence of damping, nonstructural mass, and fluid-structure interaction effects. Common redesign problems include several natural frequency constraints and forced response amplitude constraints at various frequencies of excitation. Several locations on the structure and degrees of freedom can be constrained simultaneously. The designer must exercise judgment and physical intuition to limit the number of constraints and consequently the computational time. Strategies and guidelines are discussed. Such techniques are presented and applied to a 2,694 degree of freedom offshore tower.

scholarly journals A Hierarchical Association Framework for Multi-Object Tracking in Airborne Videos

2018 ◽  
Vol 10 (9) ◽  
pp. 1347 ◽  
Author(s):  
Ting Chen ◽  
Andrea Pennisi ◽  
Zhi Li ◽  
Yanning Zhang ◽  
Hichem Sahli
Keyword(s):  
Object Tracking ◽  
Target Tracking ◽  
Moving Objects ◽  
State Of The Art ◽  
Data Association ◽  
Multiple Object Tracking ◽  
Challenging Problem ◽  
Compressive Tracking ◽  
Vehicle Motion ◽  
Airborne Vehicle

Multi-Object Tracking (MOT) in airborne videos is a challenging problem due to the uncertain airborne vehicle motion, vibrations of the mounted camera, unreliable detections, changes of size, appearance and motion of the moving objects and occlusions caused by the interaction between moving and static objects in the scene. To deal with these problems, this work proposes a four-stage hierarchical association framework for multiple object tracking in airborne video. The proposed framework combines Data Association-based Tracking (DAT) methods and target tracking using a compressive tracking approach, to robustly track objects in complex airborne surveillance scenes. In each association stage, different sets of tracklets and detections are associated to efficiently handle local tracklet generation, local trajectory construction, global drifting tracklet correction and global fragmented tracklet linking. Experiments with challenging airborne videos show significant tracking improvement compared to existing state-of-the-art methods.

scholarly journals A Multidimensional and Multiscale Model for Pressure Analysis in a Reservoir-Pipe-Valve System

2018 ◽  
Author(s):  
Feng Jie Zheng ◽  
Fu Zheng Qu ◽  
Xue Guan Song
Keyword(s):  
Pressure Fluctuation ◽  
Large Scale ◽  
Three Dimensional ◽  
Industrial Process ◽  
Multiscale Model ◽  
Computational Time ◽  
Small Scale ◽  
Cfd Model ◽  
Computationally Efficient ◽  
Proposed Model

Reservoir-pipe-valve (RPV) systems are widely used in many industrial process. The pressure in an RPV system plays an important role in the safe operation of the system, especially during the sudden operation such as rapid valve opening/closing. To investigate the pressure especially the pressure fluctuation in an RPV system, a multidimensional and multiscale model combining the method of characteristics (MOC) and computational fluid dynamics (CFD) method is proposed. In the model, the reservoir is modeled by a zero-dimensional virtual point, the pipe is modeled by a one-dimensional MOC, and the valve is modeled by a three-dimensional CFD model. An interface model is used to connect the multidimensional and multiscale model. Based on the model, a transient simulation of the turbulent flow in an RPV system is conducted, in which not only the pressure fluctuation in the pipe but also the detailed pressure distribution in the valve are obtained. The results show that the proposed model is in good agreement with the full CFD model in both large-scale and small-scale spaces. Moreover, the proposed model is more computationally efficient than the CFD model, which provides a feasibility in the analysis of complex RPV system within an affordable computational time.

scholarly journals A Multidimensional and Multiscale Model for Pressure Analysis in a Reservoir-Pipe-Valve System

2019 ◽  
Vol 141 (5) ◽  
Author(s):  
Feng Jie Zheng ◽  
Chao Yong Zong ◽  
William Dempster ◽  
Fu Zheng Qu ◽  
Xue Guan Song
Keyword(s):  
Large Scale ◽  
Pressure Fluctuations ◽  
Three Dimensional ◽  
Multiscale Model ◽  
Computational Time ◽  
Small Scale ◽  
Dimensional System ◽  
Cfd Model ◽  
Computationally Efficient ◽  
Proposed Model

Reservoir-pipe-valve (RPV) systems are widely used in many industrial processes. The pressure in an RPV system plays an important role in the safe operation of the system, especially during the sudden operations such as rapid valve opening or closing. To investigate the pressure response, with particular interest in the pressure fluctuations in an RPV system, a multidimensional and multiscale model combining the method of characteristics (MOC) and computational fluid dynamics (CFD) method is proposed. In the model, the reservoir is modeled as a zero-dimensional virtual point, the pipe is modeled as a one-dimensional system using the MOC, and the valve is modeled using a three-dimensional CFD model. An interface model is used to connect the multidimensional and multiscale model. Based on the model, a transient simulation of the turbulent flow in an RPV system is conducted in which not only the pressure fluctuation in the pipe but also the detailed pressure distribution in the valve is obtained. The results show that the proposed model is in good agreement when compared with a high fidelity CFD model used to represent both large-scale and small-scale spaces. As expected, the proposed model is significantly more computationally efficient than the CFD model. This demonstrates the feasibility of analyzing complex RPV systems within an affordable computational time.

Sign in / Sign up

Export Citation Format

Share Document