Finite Impulse Response Filter-Based Track Formation for Preceding Vehicle Tracking Using Automotive Radars

Automotive radars, which are used for preceding vehicle tracking, have attracted significant attention in recent years. However, the false measurements that occur in cluttered roadways hinders the tracking process in vehicles; thus, it is essential to develop automotive radar systems that are robust against false measurements. This study proposed a novel track formation algorithm to initialize the preceding vehicle tracking in automotive radar systems. The proposed algorithm is based on finite impulse response filtering, and exhibited significantly higher accuracy in highly cluttered environments than a conventional track formation algorithm. The excellent performance of the proposed algorithm was demonstrated using extensive simulations under real conditions.

Multi-Seam Tracking With a Portable Robotic Welding System in Unstructured Environments

Most welding manufacturing of the heavy industry, such as shipbuilding and construction, is carried out in an unstructured workspace. The term Unstructured indicates the production environment is irregular, changeable and without model. In this case, the changeable workpiece position, workpiece shape, environmental background, and environmental illumination should be carefully considered. Because of such complicated characteristics, the welding is currently being relied on the manual operation, resulting in high cost, low efficiency and quality. This work proposes a portable robotic welding system and a novel seam tracking method. Compared to existing methods, it can cope with more complex general spatial curve weld. Firstly, the tracking pose of the robot is modeled by a proposed dual-sequence tracking strategy. On this basis, the working parameters can be adjusted to avoid robot-workpiece collision around the workpiece corners during the tracking process. By associating the forward direction of the welding torch with the viewpoint direction of the camera, it solves the problem that the weld feature points are prone to be lost in the tracking process by conventional methods. Point cloud registration is adopted to globally locate the multi-segment welds in the workpiece, since the system deployment location is not fixed. Various experiments on single or multiple welds under different environmental conditions show that even if the robot is deployed in different positions, it can reach the starting point of the weld smoothly and accurately track along the welds.

Survey on Smart Security Surveillance System

As an integral part of the safety and security many organizations, video rental has established its value and benefits many times by providing immediate management of property, people, the environment and property. This project operates in the form of the Embedded Real-Time Surveillance System Based Raspberry Pi SBC for internal detection that enhances monitoring technology to provide critical safety in our lives as well as consistent performance and alert operation. The proposed security solution depends on our integration of cameras and motion detectors into a web application. Raspberry Pi operates and controls motion detectors and video cameras for remote hearing and monitoring, streams streaming video and recording for future playback. This research focuses on the development of a detection system that detects strangers and responds quickly by taking and transferring images to wireless modules based on owners. This Raspberry Pi program based on Smart Surveillance System provides a remote location monitoring concept. The proposed solution provides a fully functional, efficient and easy-to-use global solution. This project will also introduce the concept of motion detection and tracking using image processing. This type of technology is very important when it comes to surveillance and security. The live video stream will be used to show how things can be found and tracked. The detection and tracking process will be based on the pixel threshold. Keyword: Internet Of Things (IOT), Raspberry pi, Picamera, PIR Sensor, Dropbox.

Label GM-PHD Filter Based on Threshold Separation Clustering

Gaussian mixture probability hypothesis density (GM-PHD) filtering based on random finite set (RFS) is an effective method to deal with multi-target tracking (MTT). However, the traditional GM-PHD filter cannot form a continuous track in the tracking process, and it is easy to produce a large number of redundant invalid likelihood functions in a dense clutter environment, which reduces the computational efficiency and affects the update result of target probability hypothesis density, resulting in excessive tracking error. Therefore, based on the GM-PHD filter framework, the target state space is extended to a higher dimension. By adding a label set, each Gaussian component is assigned a label, and the label is merged in the pruning and merging step to increase the merging threshold to reduce the Gaussian component generated by dense clutter update, which reduces the computation in the next prediction and update. After pruning and merging, the Gaussian components are further clustered and optimized by threshold separation clustering, thus as to improve the tracking performance of the filter and finally realizing the accurate formation of multi-target tracks in a dense clutter environment. Simulation results show that the proposed algorithm can form a continuous and reliable track in dense clutter environment and has good tracking performance and computational efficiency.

The Role of 5G Network Image Information Based on Deep Learning in UAV Prediction Target Trajectory Tracking

With the development of information technology in the network era and the popularization of the 5G era, UAV-related applications are becoming more and more widely used, which is one of the essential basic technologies. Therefore, the technology has great research value and practical significance, a multiobjective detector based on support vector machine (SVM) is designed based on directional gradient histogram (HOG), and the startup method used with cross-validation methods can improve detector performance. It makes the detector accuracy above 98% and has good resistance to the target scale. A real-time target tracker is designed with its rotation variation and with an improved average displacement algorithm. The algorithm must manually select the target model and suggest the target model to achieve automatic acquisition of the target model. Due to the ambiguity of the target tracking state, several judgment conditions are set to determine whether the tracking has failed and whether the tracker state is correctly verified, with several similar target tracking algorithms. When the system is started, the system detects targets frame by frame. And it will locate a possible target by color segmentation and specify the target to be tracked to recommend the relevant model during the tracking process and open the tracker to determine the target tracking state frame by frame and perform target detection at each frame. Then it will find possible goals and will follow them to achieve a balance of stable and real-time system performance, using the results of the TPD-KCF method. The percentage of correctly tracking images can reach 98%, and the efficiency is significantly improved.

Set-membership filtering for automatic guided vehicles with unknown-but-bounded noises

This paper is concerned with the state estimation problem for an automatic guided vehicle (AGV). A novel set-membership filtering (SMF) scheme is presented to solve the state estimation problem in the trajectory tracking process of the AGV under the unknown-but-bounded (UBB) process and measurement noises. Different from some existing traditional filtering methods, such as Kalman filtering method and [Formula: see text] filtering method, the proposed SMF scheme is developed to provide state estimation sets rather than state estimation points for the system states to effectively deal with UBB noises and reduce the requirement of the sensor precision. Then, in order to obtain the state estimation ellipsoids containing the true states, a set-membership estimation algorithm is designed based on the AGV physical model and S-procedure technique. Finally, comparison examples are presented to illustrate the effectiveness of the proposed SMF scheme for an AGV state estimation problem in the present of the UBB noises.

SORT-YM: An Algorithm of Multi-Object Tracking with YOLOv4-Tiny and Motion Prediction

Multi-object tracking (MOT) is a significant and widespread research field in image processing and computer vision. The goal of the MOT task consists in predicting the complete tracklets of multiple objects in a video sequence. There are usually many challenges that degrade the performance of the algorithm in the tracking process, such as occlusion and similar objects. However, the existing MOT algorithms based on the tracking-by-detection paradigm struggle to accurately predict the location of the objects that they fail to track in complex scenes, leading to tracking performance decay, such as an increase in the number of ID switches and tracking drifts. To tackle those difficulties, in this study, we design a motion prediction strategy for predicting the location of occluded objects. Since the occluded objects may be legible in earlier frames, we utilize the speed and location of the objects in the past frames to predict the possible location of the occluded objects. In addition, to improve the tracking speed and further enhance the tracking robustness, we utilize efficient YOLOv4-tiny to produce the detections in the proposed algorithm. By using YOLOv4-tiny, the tracking speed of our proposed method improved significantly. The experimental results on two widely used public datasets show that our proposed approach has obvious advantages in tracking accuracy and speed compared with other comparison algorithms. Compared to the Deep SORT baseline, our proposed method has a significant improvement in tracking performance.

Study on the existence of the transportation particle tracking model in the interactive medium

This paper assumes that the particle jumps randomly (Guassian jumps) from one point to another along one of the imaginary lines inside the interactive medium. Since this study was done in the space, we consider that the position of the particle at any time [Formula: see text] has a multivariate distribution. The random waiting time of the particle for each Gaussian jump depends on its length. An identical set of programed nanosensors (with unit speed) were used to track this particle. Each line has a sensor that starts the tracking process from the origin. The existence of the necessary conditions which give the optimal search plan and the minimum expected value of the particle detection has been proven. This study is supported by a numerical example.

Multistage Optimization Using a Modified Gaussian Mixture Model in Sperm Motility Tracking

Infertility is a condition whereby pregnancy does not occur despite having unprotected sexual intercourse for at least one year. The main reason could originate from either the male or the female, and sometimes, both contribute to the fertility disorder. For the male, sperm disorder was found to be the most common reason for infertility. In this paper, we proposed male infertility analysis based on automated sperm motility tracking. The proposed method worked in multistages, where the first stage focused on the sperm detection process using an improved Gaussian Mixture Model. A new optimization protocol was proposed to accurately detect the motile sperms prior to the sperm tracking process. Since the optimization protocol was imposed in the proposed system, the sperm tracking and velocity estimation processes are improved. The proposed method attained the highest average accuracy, sensitivity, and specificity of 92.3%, 96.3%, and 72.4%, respectively, when tested on 10 different samples. Our proposed method depicted better sperm detection quality when qualitatively observed as compared to other state-of-the-art techniques.