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Scanning and tracking with independent cameras—a biologically motivated approach based on model predictive control

Ofir Avni, Francesco Borrelli, Gadi Katzir, Ehud Rivlin, Hector Rotstein
2007 Autonomous Robots  
This paper presents a framework for visual scanning and target tracking with a set of independent pan-tilt cameras.  ...  The approach is systematic and based on Model Predictive Control (MPC), and was inspired by our understanding of the chameleon visual system.  ...  Acknowledgements The authors are grateful to the anonymous reviewers for their helpful comments on how to improve the original version of the manuscript.  ... 
doi:10.1007/s10514-007-9057-4 fatcat:e7bri6ke75auvpjh3kef3ugbry

Scanning the Environment with Two Independent Cameras - Biologically Motivated Approach

Ofir Avni, Francesco Borrelli, Gadi Katzir, Ehud Rivlin, Hector Rotstein
2006 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems  
A switching optimal control strategy based on smooth pursuit and saccades is designed by means of explicit Model Predictive Control (MPC) theory.  ...  In the second part we develop a model-based control strategy for target tracking.  ...  Both algorithms use a model-based approach combining robotic head model and target model to optimally solve the scanning and the tracking problem.  ... 
doi:10.1109/iros.2006.282031 dblp:conf/iros/AvniBKRR06 fatcat:ot5s2jp64bcfdl2hmpcn7fda5m

Using Dynamic Optimization for Reproducing the Chameleon Visual System

Ofir Avni, Francesco Borrelli, Gadi Katzir, Ehud Rivlin, Hector Rotstein
2006 Proceedings of the 45th IEEE Conference on Decision and Control  
This paper presents a method for robust target tracking with a set of independent pan-tilt cameras which combines smooth pursuit and saccades.  ...  Explicit robust and minimumtime Model Predictive Control (MPC) theory is used for the design of the tracking control law.  ...  Motivated by this fact and the observations mentioned above, the objective of our research is to develop, model and control a robot head based on the principles that govern the chameleon eyes movements  ... 
doi:10.1109/cdc.2006.376907 dblp:conf/cdc/AvniBKRR06 fatcat:7ivz37agvbdi3h7sj43h5ssmoa

Peripheral-Foveal Vision for Real-time Object Recognition and Tracking in Video

Stephen Gould, Joakim Arfvidsson, Adrian Kaehler, Benjamin Sapp, Marius Messner, Gary R. Bradski, Paul Baumstarck, Sukwon Chung, Andrew Y. Ng
2007 International Joint Conference on Artificial Intelligence  
Our method is motivated by biological vision systems and uses a learned "attentive" interest map on a low resolution data stream to direct a high resolution "fovea."  ...  Because object recognition is run only on a small foveal image, our system achieves performance in real-time object recognition and tracking that is well beyond simpler systems.  ...  Acknowledgments We give warm thanks to Morgan Quigley for help with the STAIR hardware, and to Pieter Abbeel for helpful discussions.  ... 
dblp:conf/ijcai/GouldAKSMBBCN07 fatcat:3nmqo7qhhfcmpleabe23mggqyu

Scanning the Issue

Petros Ioannou
2018 IEEE transactions on intelligent transportation systems (Print)  
Joint Transportation and Charging Scheduling in Public Vehicle Systems-A Game Theoretic Approach M. Zhu, X.-Y. Liu, and X.  ...  They adopt a cake-cutting game model to capture the interactions among PV groups, the cloud, and smart grids.  ...  Saroldi This paper presents a methodological approach for driver modeling based on recent ideas grounded in human sensorimotor control and cognition.  ... 
doi:10.1109/tits.2018.2857658 fatcat:76cvnxxqv5gi7db4pvdls6sbla

A survey of selective fixation control for machine vision

1992 IEEE Control Systems  
The emphasis is not on physical aspects of controlling camera movements, but on quantitative methods used in the selection of new targets for fixation.  ...  This is followed by a discussion of computational models for selective fixation control, most of which have begun to emerge only in recent years.  ...  A two-level control hierarchy is used, in which the lower level is a traditional feedback control system, modeled after the human oculomotor system and capable of visual tracking.  ... 
doi:10.1109/37.204948 fatcat:j4t4hdr4xng5vooagfh3jfqgea

A review of log-polar imaging for visual perception in robotics

V. Javier Traver, Alexandre Bernardino
2010 Robotics and Autonomous Systems  
The concise yet comprehensive review offered in this paper is intended to provide novel and experienced roboticists with a quick and gentle overview of log-polar vision and to motivate vision researchers  ...  It has been studied for about three decades and has surpassed conventional approaches in robotics applications, mainly the ones where real-time constraints make it necessary to utilize resource-economic  ...  [70] , and publishers and authors for their kind permission to reproduce figures used in this paper.  ... 
doi:10.1016/j.robot.2009.10.002 fatcat:sscwtx3nfbfvxmyn5gi36acssu

Automated assessment and tracking of human body thermal variations using unsupervised clustering

Bardia Yousefi, Julien Fleuret, Hai Zhang, Xavier P. V. Maldague, Raymond Watt, Matthieu Klein
2016 Applied Optics  
It applies HSV based kernelled k-means clustering which initializes and controls the points which lie on the Region of Interest (ROI) boundary.  ...  The presented approach addresses a review on the overheating which occurs during radiological examinations such as MRI and a series of thermal experiments to determine the thermal suitable fabric material  ...  The current approach is motivated from a research study on epilepsy [16] which tracks the body temperature for thermal monitoring.  ... 
doi:10.1364/ao.55.00d162 pmid:27958451 fatcat:fynhdgo3frhvlc7v4zdsuaxcje

Modulating vision with motor plans: A biologically-inspired efficient allocation of visual resources

Luka Lukic, Aude Billard, Jose Santos-Victor
2013 2013 13th IEEE-RAS International Conference on Humanoid Robots (Humanoids)  
The proposed model is validated in a series of experiments conducted with the iCub robot, both using the simulator and with the real robot.  ...  This paper presents a novel, biologically-inspired, approach for an efficient management of computational resources for visual processing.  ...  In a visually-aided manipulation, based on standard vision processing approach, during reaching and grasping for the target object, in every cycle of the control loop vision scans every part of both stereo  ... 
doi:10.1109/humanoids.2013.7029971 fatcat:bozn7vvf4faajmk5iim26seslm

The Visual Analysis of Human Movement: A Survey

D.M Gavrila
1999 Computer Vision and Image Understanding  
The emphasis is on discussing the various methodologies; they are grouped in 2-D approaches with or without explicit shape models and 3-D approaches. Where appropriate, systems are reviewed.  ...  The ability to recognize humans and their activities by vision is key for a machine to interact intelligently and effortlessly with a human-inhabited environment.  ...  Polana and Nelson also described a technique to deal with the more complex case of a moving camera and /or multiple (overlapping) objects, based on detecting and tracking independently moving objects.  ... 
doi:10.1006/cviu.1998.0716 fatcat:ep75ekg4h5elzebmm3pasqlqdy

Security Guard Robot Detecting Human Using Gaussian Distribution Histogram Method

Zacharie
2010 Journal of Computer Science  
In this research a human detection security robot based on Gaussian distribution histogram was proposed.  ...  Approach: The proposed method consisted of three steps: (1) the RGB color space histogram was created by subdividing a color space into certain number of bins and then counted the number of pixels that  ...  This approach is based on custom models and study with a fixed camera. A camera mounted on an autonomous robot will face difficulties separating human motion and other moving objects.  ... 
doi:10.3844/jcssp.2010.1144.1150 fatcat:lniyor6g7bbrbhvyqxd3wstzgi

Event-based Vision: A Survey [article]

Guillermo Gallego, Tobi Delbruck, Garrick Orchard, Chiara Bartolozzi, Brian Taba, Andrea Censi, Stefan Leutenegger, Andrew Davison, Joerg Conradt, Kostas Daniilidis, Davide Scaramuzza
2020 arXiv   pre-print
This paper provides a comprehensive overview of the emerging field of event-based vision, with a focus on the applications and the algorithms developed to unlock the outstanding properties of event cameras  ...  We present event cameras from their working principle, the actual sensors that are available and the tasks that they have been used for, from low-level vision (feature detection and tracking, optic flow  ...  Event-based Control Theory: Event-based techniques can be motivated from the perspective of control and decision theory.  ... 
arXiv:1904.08405v2 fatcat:ffh6el7ojfg6jag5qm2hwnhweu

Active Perception based Formation Control for Multiple Aerial Vehicles [article]

Rahul Tallamraju, Eric Price, Roman Ludwig, Kamalakar Karlapalem, Heinrich H. Bülthoff, Michael J. Black, Aamir Ahmad
2019 arXiv   pre-print
In this paper we present a novel front-end for our aerial mocap system that consists of multiple micro aerial vehicles (MAVs) with only on-board cameras and computation.  ...  Autonomous motion capture (mocap) systems for outdoor scenarios involving flying or mobile cameras rely on i) a robotic front-end to track and follow a human subject in real-time while he/she performs  ...  ACKNOWLEDGMENTS The authors would like to thank Igor Martinovic and Mason Landry for their help with the field experiments.  ... 
arXiv:1901.07813v1 fatcat:ss46ds2rjrdq7llbisinarvani

Event-based Vision: A Survey

Guillermo Gallego, Tobi Delbruck, Garrick Michael Orchard, Chiara Bartolozzi, Brian Taba, Andrea Censi, Stefan Leutenegger, Andrew Davison, Jorg Conradt, Kostas Daniilidis, Davide Scaramuzza
2020 IEEE Transactions on Pattern Analysis and Machine Intelligence  
This paper provides a comprehensive overview of the emerging field of event-based vision, with a focus on the applications and the algorithms developed to unlock the outstanding properties of event cameras  ...  We present event cameras from their working principle, the actual sensors that are available and the tasks that they have been used for, from low-level vision (feature detection and tracking, optic flow  ...  Citation information: DOI 10.1109/TPAMI.2020.3008413, IEEE Transactions on Pattern Analysis and Machine Intelligence  ... 
doi:10.1109/tpami.2020.3008413 pmid:32750812 fatcat:vlxvlv4uynh5rpw4qlmaywqlqq

Learning-Based Methods of Perception and Navigation for Ground Vehicles in Unstructured Environments: A Review

Dario Calogero Guastella, Giovanni Muscato
2020 Sensors  
We present a review on the recent contributions in the robotics literature adopting learning-based methods to solve the problem of environment perception and interpretation with the final aim of the autonomous  ...  Several well-established communities in robotics research deal with these scenarios such as search and rescue robotics, planetary exploration, and agricultural robotics.  ...  [48] two probabilistic maps are independently built from RGB camera images and 3D LIDAR scans and combined through Bayesian fusion.  ... 
doi:10.3390/s21010073 pmid:33375609 fatcat:dp4xortvvvfwxgkoenonxufmoe
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