• Title/Summary/Keyword: feature-based tracking

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Modified Asymmetrical Variable Step Size Incremental Conductance Maximum Power Point Tracking Method for Photovoltaic Systems

  • Tian, Yong;Xia, Bizhong;Xu, Zhihui;Sun, Wei
    • Journal of Power Electronics
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    • v.14 no.1
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    • pp.156-164
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    • 2014
  • The power-voltage (P-V) characteristic of a photovoltaic (PV) array is nonlinear and time varying with the change in atmospheric conditions. As a result, the maximum power point tracking (MPPT) technique must be applied in PV systems to maximize the generated energy. The incremental conductance (INC) algorithm, one of the MPPT strategies, is widely used for its high tracking accuracy, good adaptability to rapidly changing atmospheric conditions, and easy implementation. This paper presents a modified asymmetrical variable step size INC MPPT method that is based on the asymmetrical feature of the P-V curve. Compared with conventional fixed or variable step size method, the proposed method can effectively improve tracking accuracy and speed. The theoretical foundation and design principle of the proposed approach are validated by the simulation and experimental results.

Real-Time Objects Tracking using Color Configuration in Intelligent Space with Distributed Multi-Vision (분산다중센서로 구현된 지능화공간의 색상정보를 이용한 실시간 물체추적)

  • Jin, Tae-Seok;Lee, Jang-Myung;Hashimoto, Hideki
    • Journal of Institute of Control, Robotics and Systems
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    • v.12 no.9
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    • pp.843-849
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    • 2006
  • Intelligent Space defines an environment where many intelligent devices, such as computers and sensors, are distributed. As a result of the cooperation between smart devices, intelligence emerges from the environment. In such scheme, a crucial task is to obtain the global location of every device in order to of for the useful services. Some tracking systems often prepare the models of the objects in advance. It is difficult to adopt this model-based solution as the tracking system when many kinds of objects exist. In this paper the location is achieved with no prior model, using color properties as information source. Feature vectors of multiple objects using color histogram and tracking method are described. The proposed method is applied to the intelligent environment and its performance is verified by the experiments.

Design of a MOT model based on Heatmap Detection and Transformer to improve object tracking performance (객체 추적 성능향상을 위한 Heatmap Detection 및 Transformer 기반의 MOT 모델 설계)

  • Hyun-Sung Yang;Chun-Bo Sim;Se-Hoon Jung
    • Proceedings of the Korea Information Processing Society Conference
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    • 2023.05a
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    • pp.461-463
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    • 2023
  • 본 연구는 실시간 MOT(Multiple-Object-Tracking)의 성능을 향상시키기 위해 다양한 기법을 적용한 MOT 모델을 설계한다. 연구에서 사용하는 Backbone 모델은 TBD(Tracking-by-Detection) 기반의 Tracking 모델을 사용한다. Heatmap Detection을 통해 객체를 검출하고 Transformer 기반의 Feature를 연결하여 Tracking 한다. 제안하는 방법은 Anchor 기반의 Detection의 장시간 문제와 추적 객체 정보 전달손실을 감소하여 실시간 객체 추적에 도움이 될 것으로 사료된다.

A Study on Feature-Based Visual Servoing Control of Robot System by Utilizing Redundant Feature

  • Han, Sung-Hyun;Hideki Hashimoto
    • Journal of Mechanical Science and Technology
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    • v.16 no.6
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    • pp.762-769
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    • 2002
  • This paper presents how effective it is to use many features for improving the speed and accuracy of visual servo systems. Some rank conditions which relate the image Jacobian to the control performance are derived. The focus is to describe that the accuracy of the camera position control in the world coordinate system is increased by utilizing redundant features in this paper. It is also proven that the accuracy is improved by increasing the number of features involved. Effectiveness of the redundant features is evaluated by the smallest singular value of the image Jacobian which is closely related to the accuracy with respect to the world coordinate system. Usefulness of the redundant features is verified by the real time experiments on a Dual-Arm robot manipulator made by Samsung Electronic Co. Ltd..

Lightweight high-precision pedestrian tracking algorithm in complex occlusion scenarios

  • Qiang Gao;Zhicheng He;Xu Jia;Yinghong Xie;Xiaowei Han
    • KSII Transactions on Internet and Information Systems (TIIS)
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    • v.17 no.3
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    • pp.840-860
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    • 2023
  • Aiming at the serious occlusion and slow tracking speed in pedestrian target tracking and recognition in complex scenes, a target tracking method based on improved YOLO v5 combined with Deep SORT is proposed. By merging the attention mechanism ECA-Net with the Neck part of the YOLO v5 network, using the CIoU loss function and the method of CIoU non-maximum value suppression, connecting the Deep SORT model using Shuffle Net V2 as the appearance feature extraction network to achieve lightweight and fast speed tracking and the purpose of improving tracking under occlusion. A large number of experiments show that the improved YOLO v5 increases the average precision by 1.3% compared with other algorithms. The improved tracking model, MOTA reaches 54.3% on the MOT17 pedestrian tracking data, and the tracking accuracy is 3.7% higher than the related algorithms and The model presented in this paper improves the FPS by nearly 5 on the fps indicator.

Gaze Detection by Wearable Eye-Tracking and NIR LED-Based Head-Tracking Device Based on SVR

  • Cho, Chul Woo;Lee, Ji Woo;Shin, Kwang Yong;Lee, Eui Chul;Park, Kang Ryoung;Lee, Heekyung;Cha, Jihun
    • ETRI Journal
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    • v.34 no.4
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    • pp.542-552
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    • 2012
  • In this paper, a gaze estimation method is proposed for use with a large-sized display at a distance. Our research has the following four novelties: this is the first study on gaze-tracking for large-sized displays and large Z (viewing) distances; our gaze-tracking accuracy is not affected by head movements since the proposed method tracks the head by using a near infrared camera and an infrared light-emitting diode; the threshold for local binarization of the pupil area is adaptively determined by using a p-tile method based on circular edge detection irrespective of the eyelid or eyelash shadows; and accurate gaze position is calculated by using two support vector regressions without complicated calibrations for the camera, display, and user's eyes, in which the gaze positions and head movements are used as feature values. The root mean square error of gaze detection is calculated as $0.79^{\circ}$ for a 30-inch screen.

A Hardware Implementation of Pyramidal KLT Feature Tracker (계층적 KLT 특징 추적기의 하드웨어 구현)

  • Kim, Hyun-Jin;Kim, Gyeong-Hwan
    • Journal of the Institute of Electronics Engineers of Korea SP
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    • v.46 no.2
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    • pp.57-64
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    • 2009
  • This paper presents the hardware implementation of the pyramidal KLT(Kanade-Lucas-Tomasi) feature tracker. Because of its high computational complexity, it is not easy to implement a real-time KLT feature tracker using general-purpose processors. A hardware implementation of the pyramidal KLT feature tracker using FPGA(Field Programmable Gate Array) is described in this paper with emphasis on 1) adaptive adjustment of threshold in feature extraction under diverse lighting conditions, and 2) modification of the tracking algorithm to accomodate parallel processing and to overcome memory constraints such as capacity and bandwidth limitation. The effectiveness of the implementation was evaluated over ones produced by its software implementation. The throughput of the FPGA-based tracker was 30 frames/sec for video images with size of $720{\times}480$.

Video Analysis System for Action and Emotion Detection by Object with Hierarchical Clustering based Re-ID (계층적 군집화 기반 Re-ID를 활용한 객체별 행동 및 표정 검출용 영상 분석 시스템)

  • Lee, Sang-Hyun;Yang, Seong-Hun;Oh, Seung-Jin;Kang, Jinbeom
    • Journal of Intelligence and Information Systems
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    • v.28 no.1
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    • pp.89-106
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    • 2022
  • Recently, the amount of video data collected from smartphones, CCTVs, black boxes, and high-definition cameras has increased rapidly. According to the increasing video data, the requirements for analysis and utilization are increasing. Due to the lack of skilled manpower to analyze videos in many industries, machine learning and artificial intelligence are actively used to assist manpower. In this situation, the demand for various computer vision technologies such as object detection and tracking, action detection, emotion detection, and Re-ID also increased rapidly. However, the object detection and tracking technology has many difficulties that degrade performance, such as re-appearance after the object's departure from the video recording location, and occlusion. Accordingly, action and emotion detection models based on object detection and tracking models also have difficulties in extracting data for each object. In addition, deep learning architectures consist of various models suffer from performance degradation due to bottlenects and lack of optimization. In this study, we propose an video analysis system consists of YOLOv5 based DeepSORT object tracking model, SlowFast based action recognition model, Torchreid based Re-ID model, and AWS Rekognition which is emotion recognition service. Proposed model uses single-linkage hierarchical clustering based Re-ID and some processing method which maximize hardware throughput. It has higher accuracy than the performance of the re-identification model using simple metrics, near real-time processing performance, and prevents tracking failure due to object departure and re-emergence, occlusion, etc. By continuously linking the action and facial emotion detection results of each object to the same object, it is possible to efficiently analyze videos. The re-identification model extracts a feature vector from the bounding box of object image detected by the object tracking model for each frame, and applies the single-linkage hierarchical clustering from the past frame using the extracted feature vectors to identify the same object that failed to track. Through the above process, it is possible to re-track the same object that has failed to tracking in the case of re-appearance or occlusion after leaving the video location. As a result, action and facial emotion detection results of the newly recognized object due to the tracking fails can be linked to those of the object that appeared in the past. On the other hand, as a way to improve processing performance, we introduce Bounding Box Queue by Object and Feature Queue method that can reduce RAM memory requirements while maximizing GPU memory throughput. Also we introduce the IoF(Intersection over Face) algorithm that allows facial emotion recognized through AWS Rekognition to be linked with object tracking information. The academic significance of this study is that the two-stage re-identification model can have real-time performance even in a high-cost environment that performs action and facial emotion detection according to processing techniques without reducing the accuracy by using simple metrics to achieve real-time performance. The practical implication of this study is that in various industrial fields that require action and facial emotion detection but have many difficulties due to the fails in object tracking can analyze videos effectively through proposed model. Proposed model which has high accuracy of retrace and processing performance can be used in various fields such as intelligent monitoring, observation services and behavioral or psychological analysis services where the integration of tracking information and extracted metadata creates greate industrial and business value. In the future, in order to measure the object tracking performance more precisely, there is a need to conduct an experiment using the MOT Challenge dataset, which is data used by many international conferences. We will investigate the problem that the IoF algorithm cannot solve to develop an additional complementary algorithm. In addition, we plan to conduct additional research to apply this model to various fields' dataset related to intelligent video analysis.

A Target Tracking Based on Bearing and Range Measurement With Unknown Noise Statistics

  • Lim, Jaechan
    • Journal of Electrical Engineering and Technology
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    • v.8 no.6
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    • pp.1520-1529
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    • 2013
  • In this paper, we propose and assess the performance of "H infinity filter ($H_{\infty}$, HIF)" and "cost reference particle filter (CRPF)" in the problem of tracking a target based on the measurements of the range and the bearing of the target. HIF and CRPF have the common advantageous feature that we do not need to know the noise statistics of the problem in their applications. The performance of the extended Kalman filter (EKF) is also compared with that of the proposed filters, but the noise information is perfectly known for the applications of the EKF. Simulation results show that CRPF outperforms HIF, and is more robust because the tracking of HIF diverges sometimes, particularly when the target track is highly nonlinear. Interestingly, when the tracking of HIF diverges, the tracking of the EKF also tends to deviate significantly from the true track for the same target track. Therefore, CRPF is very effective and appropriate approach to the problems of highly nonlinear model, especially when the noise statistics are unknown. Nonetheless, HIF also can be applied to the problem of timevarying state estimation as the EKF, particularly for the case when the noise statistcs are unknown. This paper provides a good example of how to apply CRPF and HIF to the estimation of dynamically varying and nonlinearly modeled states with unknown noise statistics.

Robust Face and Facial Feature Tracking in Image Sequences (연속 영상에서 강인한 얼굴 및 얼굴 특징 추적)

  • Jang, Kyung-Shik;Lee, Chan-Hee
    • Journal of the Korea Institute of Information and Communication Engineering
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    • v.14 no.9
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    • pp.1972-1978
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    • 2010
  • AAM(Active Appearance Model) is one of the most effective ways to detect deformable 2D objects and is a kind of mathematical optimization methods. The cost function is a convex function because it is a least-square function, but the search space is not convex space so it is not guaranteed that a local minimum is the optimal solution. That is, if the initial value does not depart from around the global minimum, it converges to a local minimum, so it is difficult to detect face contour correctly. In this study, an AAM-based face tracking algorithm is proposed, which is robust to various lighting conditions and backgrounds. Eye detection is performed using SIFT and Genetic algorithm, the information of eye are used for AAM's initial matching information. Through experiments, it is verified that the proposed AAM-based face tracking method is more robust with respect to pose and background of face than the conventional basic AAM-based face tracking method.