Monocular Visual SLAM for Markerless Tracking Algorithm to Augmented Reality

Augmented Reality(AR)tries to seamlessly integrate virtual content into the real world of the user.Ideally,the virtual content would behave exactly like real objects.This necessitates a correct and precise estimation of the user’s viewpoint(or that of a camera)with regard to the virtual content’s coordinate sys-tem.Therefore,the real-time establishment of 3-dimension(3D)maps in real scenes is particularly important for augmented reality technology.So in this paper,we integrate Simultaneous Localization and Mapping(SLAM)technology into augmented reality.Our research is to implement an augmented reality system without markers using the ORB-SLAM2 framework algorithm.In this paper we propose an improved method for Oriented FAST and Rotated BRIEF(ORB)feature extraction and optimized key frame selection,as well as the use of the Progressive Sample Consensus(PROSAC)algorithm for planar estimation of augmented reality implementations,thus solving the problem of increased sys-tem runtime because of the loss of large amounts of texture information in images.In this paper,we get better results by comparing experiments and data analysis.However,there are some improved methods of PROSAC algorithm which are more suitable for the detection of plane feature points.

Design of Objects Tracking System Based on ARM Embedded Platform

In recent years, according to the need of intelligent video surveillance system increasing rapidly in metropolitan cities ,a design based on $3C2440 microprocessor and embedded Linux operating system is adopted for real-time video target tracking. However, it is very challenging as embedded systems usually afford limited processing power and limited resources. Therefore, to address this problem, a real-time tracking algorithm using multi-features based on compressive sensing is proposed and implemented The algorithm uses multiple matrix as the projection matrix of the compressive sensing and the compressed date as the multiple features to extract useful information needed by tracking process. Functions and libraries in OpenCV which were developed by Intel Corporation are utilized for building the tracking algorithms. It is tested with variant video sequences and the results show that the algorithm achieves stable tracking for the target moved of the light changed.

Adaptive tracking algorithm based on 3D variable turn model

Satisfactory results cannot be obtained when three-dimensional (3D) targets with complex maneuvering characteristics are tracked by the commonly used two-dimensional coordinated turn (2DCT) model. To address the problem of 3D target tracking with strong maneuverability, on the basis of the modified three-dimensional variable turn (3DVT) model, an adaptive tracking algorithm is proposed by combining with the cubature Kalman filter (CKF) in this paper. Through ideology of real-time identification, the parameters of the model are changed to adjust the state transition matrix and the state noise covariance matrix. Therefore, states of the target are matched in real-time to achieve the purpose of adaptive tracking. Finally, four simulations are analyzed in different settings by the Monte Carlo method. All results show that the proposed algorithm can update parameters of the model and identify motion characteristics in real-time when targets tracking also has a better tracking accuracy.

A deformation measurement method based on surface texture information of rocks and its application

Users of the digital image correlation method are faced with the problem of poor operability,low repeatability,and lack of standardized specifications for spraying speckles.To solve the problem,the research proposed a rock deformation measurement method that obviates the need to spray speckles.A local binary model was established by using the local binary pattern(LBP)operator based on deep texture features on rock surfaces.The resulting LBP digital speckle pattern can substitute artificial speckle patterns and demonstrates high quality and strong applicability.Based on the LBP digital speckle pattern,the target tracking algorithm was employed to achieve non-contact measurement of the dynamic displacements of rocks.The feasibility and effectiveness of the algorithm in practical application were verified by conducting shear tests on granite and siltstone.Test results show that the deformation characteristics in the displacement nephograms are in line with the measured data pertaining to rock fracturing and conform to the basic characteristics of the shear failure of rocks.The deformation measurement method based on surface texture information can realize non-contact displacement measurement of rocks under conditions without speckles:this obviates the influence of the quality of sprayed speckles on the accuracy of the measurement of deformation.

Mesoscale oceanic eddies in the South China Sea from 1992 to 2012:evolution processes and statistical analysis

Automated identification and tracking of mesoscale ocean eddies has recently become one research hotspot in physical oceanography. Several methods have been developed and applied to survey the general kinetic and geometric characteristics of the ocean eddies in the South China Sea（SCS）. However, very few studies attempt to examine eddies＇ internal evolution processes. In this study, we reported a hybrid method to trace eddies＇ propagation in the SCS based on their internal structures, which are characterized by eddy centers, footprint borders, and composite borders. Eddy identification and tracking results were represented by a GIS-based spatiotemporal model. Information on instant states, dynamic evolution processes, and events of disappearance, reappearance, split, and mergence is stored in a GIS database. Results were validated by comparing against the ten Dongsha Cyclonic Eddies（DCEs） and the three long-lived anticyclonic eddies（ACEs） in the northern SCS, which were reported in previous literature. Our study confirmed the development of these eddies. Furthermore, we found more DCE-like and ACE-like eddies in these areas from 2005 to 2012 in our database. Spatial distribution analysis of disappearing, reappearing, splitting, and merging activities shows that eddies in the SCS tend to cluster to the northwest of Luzon Island, southwest of Luzon Strait, and around the marginal sea of Vietnam. Kuroshio intrusions and the complex sea floor topography in these areas are the possible factors that lead to these spatial clusters.

Design and realization of synchronization circuit for GPS software receiver based on FPGA

With research on the carrier phase synchronization and symbol synchronization algorithm of demodulation module, a synchronization circuit system is designed for GPS software receiver based on field programmable gate array （FPGA）, and a series of experiment is done on the hardware platform. The result shows the all-digital synchronization and demodulation of GPS intermediate frequency （IF） signal can be realized and applied in embedded real-time GPS software receiver system. It is verified that the decision-directed joint tracking algorithm of carrier phase and symbol timing for received signals from GPS is reasonable. In addition, the loop works steadily and can be used for receiving GPS signals using synchronous demodulation. The synchronization circuit for GPS software receiver designed based on FPGA has the features of low cost, miniaturization, low power and real-time. Surely, it will become one of the development directions for GPS and even GNSS embedded real-time software receiver.

Characteristics of cyclone climatology and variability in the Southern Ocean

A new climatology of cyclones in the Southern Ocean is generated by applying an automated cyclone detection and tracking algorithm （developed by Hodges at the Reading University） for an improved and relatively high- resolution European Centre for Medium-Range Weather Forecasts atmospheric reanalysis during 1979-2013. A validation shows that identified cyclone tracks are in good agreement with a available analyzed cyclone product. The climatological characteristics of the Southern Ocean cyclones are then analyzed, including track, number, density, intensity, deepening rate and explosive events. An analysis shows that the number of cyclones in the Southern Ocean has increased for 1979-2013, but only statistically significant in summer. Coincident with the circumpolar trough, a single high-density band of cyclones is observed in 55^-67~S, and cyclone density has generally increased in north of this band for 1979-2013, except summer. The intensity of up to 70% cyclones in the Southern Ocean is less than 980 hPa, and only a few cyclones with pressure less than 920 hPa are detected for 1979-2013. Further analysis shows that a high frequency of explosive cyclones is located in the band of 45^-55~S, and the Atlantic Ocean sector has much higher frequent occurrence of the explosive cyclones than that in the Pacific Ocean sector. Additionally, the relationship between cyclone activities in the Southern Ocean and the Southern Annular Mode is discussed.

Simulation and photoelectron track reconstruction of soft X-ray polarimeter

The soft X-ray polarimeter(SXP)is a detector with a wide energy range,large area,and large field of view.A SXP will be mounted on the Chinese Space Station and will mainly focus on detecting the polarization of transient soft X-ray(2–10 keV)sources,especially gamma-ray bursts(GRBs).In this work,a polarimeter detector unit is taken as an example,and Geant4 and Garfield++software are used to simulate the detection efficiency and track production.An improved track reconstruction algorithm is proposed and used to reconstruct two-dimensional images of the tracks.In this method,the initial emission angle of photoelectrons is reconstructed from the initial part of the track by shortening or extending the initial part of the track until the remaining track is straight,and the number of pixels is within an adjustable threshold.The modulation factor of the photoelectronic tracks after reconstruction reaches approximately 57%in the photon energy range of 7–10 keV.

Free-surface Simulations of Newtonian and Non-Newtonian Fluids with the Lattice Boltzmann Method

This paper describes the application of a three-dimensional lattice Boltzmann method （LBM） to Newtonian and non-Newtonian （Bingham fluid in this work） flows with free surfaces. A mass tracking algorithm was incorporated to capture the free surface, whereas Papanastasiou＇s modified model was used for Bingham fluids. The lattice Boltzmann method was first validated using two benchmarks： Newtonian flow through a square cross-section tube and Bingham flow through a circular cross-section tube. Afterward, the dam-break problem for the Newtonian fluid and the slump test for Bingham fluid were simulated to validate the free-surface-capturing algorithm. The numerical results were in good agreement with analytical results, as well as other simulations, thereby proving the validity and correctness of the current method. The proposed method is a promising substitute for time-consuming and costly physical experiments to solve problems encountered in geotechnical and geological engineering, such as the surge and debris flow induced by a landslide or earthquake.

Seasonal and inter-annual variations of Arctic cyclones and their linkage with Arctic sea ice and atmospheric teleconnections

The seasonal and inter-annual variations of Arctic cyclone are investigated. An automatic cyclone tracking algorithm developed by University of Reading was applied on the basis of European Center for Medium-range Weather Forecasts（ECMWF） ERA-interim mean sea level pressure field with 6 h interval for 34 a period. The maximum number of the Arctic cyclones is counted in winter, and the minimum is in spring not in summer.About 50% of Arctic cyclones in summer generated from south of 70°N, moving into the Arctic. The number of Arctic cyclones has large inter-annual and seasonal variabilities, but no significant linear trend is detected for the period 1979–2012. The spatial distribution and linear trends of the Arctic cyclones track density show that the cyclone activity extent is the widest in summer with significant increasing trend in CRU（central Russia）subregion, and the largest track density is in winter with decreasing trend in the same subregion. The linear regressions between the cyclone track density and large-scale indices for the same period and pre-period sea ice area indices show that Arctic cyclone activities are closely linked to large-scale atmospheric circulations, such as Arctic Oscillation（AO）, North Atlantic Oscillation（NAO） and Pacific-North American Pattern（PNA）. Moreover,the pre-period sea ice area is significantly associated with the cyclone activities in some regions.

Computational study of bubble coalescence/break-up behaviors and bubble size distribution in a 3-D pressurized bubbling gas-solid fluidized bed of Geldart A particles

A computational study was carried out on bubble dynamic behaviors and bubble size distributions in a pressurized lab-scale gas-solid fluidized bed of Geldart A particles.High-resolution 3-D numerical simulations were performed using the two-fluid model based on the kinetic theory of granular flow.A finegrid,which is in the range of 3–4 particle diameters,was utilized in order to capture bubble structures explicitly without breaking down the continuum assumption for the solid phase.A novel bubble tracking scheme was developed in combination with a 3-D detection and tracking algorithm(MS3 DATA)and applied to detect the bubble statistics,such as bubble size,location in each time frame and relative position between two adjacent time frames,from numerical simulations.The spatial coordinates and corresponding void fraction data were sampled at 100 Hz for data analyzing.The bubble coalescence/break-up frequencies and the daughter bubble size distribution were evaluated by using the new bubble tracking algorithm.The results showed that the bubble size distributed non-uniformly over cross-sections in the bed.The equilibrium bubble diameter due to bubble break-up and coalescence dynamics can be obtained,and the bubble rise velocity follows Davidson’s correlation closely.Good agreements were obtained between the computed results and that predicted by using the bubble break-up model proposed in our previous work.The computational bubble tracking method showed the potential of analyzing bubble motions and the coalescence and break-up characteristics based on time series data sets of void fraction maps obtained numerically and experimentally.

Multifeature Statistical TV Tracker

A multifeature statistical image segmentation algorithm is described. Multiple features such as grey, edge magnitude and correlation are combined to form a multidimensional space statistics. The statistical algorithm is used to segment an image using the decision curved surface determined by the multidimensional feature function. The segmentation problem which is difficult to solve using the features independently will be readily solved using the same features jointly. An adaptive segmentation algorithm is discussed. Test results of the real-time TV tracker newly developed have shown that the segmentation algorithm discussed here improves effectively the image segmentation quality and system tracking performance.

A Graphic Algorithm of＂Track＂ Effect in 3D Games

In 3D games, a lot of weapons in the movement will drag a ＂follow the shadow＂ effect, which is called the ＂track＂. In this paper, we first analyze the change rule of the ＂track＂, and then put forward a kind of algorithm to realize the ＂track＂. The calculation of this algorithm is small, but the effect is very real, has been successfully applied to a variety of 3D games.

Simulation research of discrete sliding mode control for active power filter

Because of the widely-used nonlinear loads, the problems of harmonics and low power factor in power systems are becoming more and more serious. In view of the above problems, a shunt three-phase active power filter （SAPF） based on discrete sliding mode control to suppress the harmonics was designed and the power factor improved. First, built the mathematical model of SAPF. Then, controlled the switch through analyzing the harmonic current that was controlled signal using discrete sliding mode control. Through simulation using MATLAB, verified the validity of the algorithm. By the simulation waveforms, it can be found that after the load current containing a large number of harmonics passes the active power filter, the waveform of the power current approximately becomes a sine wave and the harmonics is significantly reduced. As a result, it plays a good role in purifying power systems. Moreover, from the waveforms of harmonic current and power current, it can be found that the algorithm has a faster tracking speed. The waveform can fect.

Distributed coordinated adaptive tracking in networked redundant robotic systems with a dynamic leader

Distributed coordinated control of networked robotic systems formulated by Lagrange dynamics has recently been a subject of considerable interest within science and technology communities due to its broad engineering applications involving complex and integrated production processes,where high flexibility,manipulability,and maneuverability are desirable characteristics.In this paper,we investigate the distributed coordinated adaptive tracking problem of networked redundant robotic systems with a dynamic leader.We provide an analysis procedure for the controlled synchronization of such systems with uncertain dynamics.We also find that the proposed control strategy does not require computing positional inverse kinematics and does not impose any restriction on the self-motion of the manipulators;therefore,the extra degrees of freedom are applicable for other sophisticated subtasks.Compared with some existing work,a distinctive feature of the designed distributed control algorithm is that only a subset of followers needs to access the position information of the dynamic leader in the task space,where the underlying directed graph has a spanning tree.Subsequently,we present a simulation example to verify the effectiveness of the proposed algorithms.

Tracking and recognition algorithm for a robot harvesting oscillating apples

Apple fruits on trees tend to swing because of wind or other natural causes,therefore reducing the accuracy of apple picking by robots.To increase the accuracy and to speed up the apple tracking and identifying process,tracking and recognition method combined with an affine transformation was proposed.The method can be divided into three steps.First,the initial image was segmented by Otsu’s thresholding method based on the two times Red minus Green minus Blue(2R-G-B)color feature;after improving the binary image,the apples were recognized with a local parameter adaptive Hough circle transformation method,thus improving the accuracy of recognition and avoiding the long,time-consuming process and excessive fitted circles in traditional Hough circle transformation.The process and results were verified experimentally.Second,the Shi-Tomasi corners detected and extracted from the first frame image were tracked,and the corners with large positive and negative optical flow errors were removed.The affine transformation matrix between the two frames was calculated based on the Random Sampling Consistency algorithm(RANSAC)to correct the scale of the template image and predict the apple positions.Third,the best positions of the target apples within 1.2 times of the prediction area were searched with a de-mean normalized cross-correlation template matching algorithm.The test results showed that the running time of each frame was 25 ms and 130 ms and the tracking error was more than 8%and 20%in the absence of template correction and apple position prediction,respectively.In comparison,the running time of our algorithm was 25 ms,and the tracking error was less than 4%.Therefore,test results indicate that speed and efficiency can be greatly improved by using our method,and this strategy can also provide a reference for tracking and recognizing other oscillatory fruits.

A precise approach to tracking dim-small targets using spectral fingerprint features

A precise method for accurately tracking dim- small targets, based on spectral fingerprint is proposed where traditional full color tracking seems impossible. A fingerprint model is presented to adequately extract spectral features. By creating a multidimensional feature space and extending the limited RGB information to the hyperspectral information, the improved precise tracking model based on a nonparamet- ric kernel density estimator is built using the probability his- togram of spectral features. A layered particle filter algorithm for spectral tracking is presented to avoid the object jumping abruptly. Finally, experiments are conducted that show that the tracking algorithm with spectral fingerprint features is ac- curate, fast, and robust. It meets the needs of dim-small target tracking adequately.

Tracking structure suitable for L6 signal

A tracking structure suitable for L6 signal of quasi-zenith satellite system(QZSS) was proposed in order to track the L6 signal without other frequency assistance. Moreover, the tracking structure does not change the receiver’s hardware structure. The main difference between the proposed and the traditional tracking structure lies in the generation of local codes of E,P and L branches. The method of local code generation is designed in a two-stage manner. The first stage is the generation of the P branch local code with fast fouriertransform(FFT). In the second stage, the local codes of the E and L branches are obtained with the code-chip interval. The tracking structure can track and decode L6 signal separately, and track code shift keying(CSK)modulated signal as well. The structure was verified using both simulation data, generated in different conditions, and actual data obtained from QZSS satellites respectively. The results show that the improved tracking loop is able to track L6 signal without other frequency assitance. Furthermore, the biterror ratio(BER) of L6 tracking algorithm is lower than that of L1C/A assist L6 algorithm, when the Doppler remains a constant and reed solomn(RS)encode are applied. To be more specific, with the proposed structure the BER decreased by 11.40%, 17.07%, 15.00%, 11.15%, 5.19% when carrier to noise ratio(CNR) is 36-40 dB·Hz.

A Ray Tracing and Joint Spectrum Based Clustering and Tracking Algorithm for Internet of Intelligent Vehicles

Driven by the rapid growth in information services provided by the Internet and the appearance of new multimedia applications,millimeter wave is foreseen as a key enabler towards the Internet of intelligent vehicles(IoIV)for urban traffic safety enhancement.In this regard,cluster-based channel modeling has become an important research topic in the realm of emergency communications.To fully understand the cluster-based channel model,a series of vehicle-to-infrastructure(V2I)channel simulations at 22.6 GHz are conducted by a three-dimensional ray tracing(RT)simulator.The clustering and tracking algorithm is proposed and analyzed from three aspects by the obtained simulation results.The multiple signal classification estimation spectrum is applied to restrain the influence of antenna sidelobes and identify targets at first.Based on the fundamentals,the clusters can be identified and subsequently tracked using the proposed approach.The impacts of antenna sidelobes,angle resolution of beam rotation,and non-line-of-sight propagation path on the performance of clustering and tracking are evaluated.The multi-component-level RT results are adopted as comparison benchmarks,which reflect the ground truth.This work aims to provide a full picture of the clustering characteristics for designing and analyzing emergency communication systems.

Video-based pedestrian grouping model considering longspan space in a big hall

Pedestrian group detection is a challenging but significant issue in pedestrian flow control and public safety management.To address the issue that most conventional pedestrian grouping models(PGMs)can only identify a pedestrian group at a limited distance of less than 2 m,this study extended the pedestrian distance constraint of conventional PGMs with a reconstruction of the normal group detection criterion and development of a novelgroup detection criterion suitable for long-span space.To measure the movement behaviorsimilarity with normal distance,five necessary constraints:velocity difference,moving direction offset,distance limitation,distance fluctuation,and group-keeping duration were studied quantitatively to form the criterion to detect normal groups.Meanwhile,a long-span group detection criterion was proposed with extended distance and direction con-sistency constraints.Therefore,this study proposed an improved PGM that considers long-span spaces(PGMLS).In the PGMLS workflow,the MMTrack algorithm was used to obtainpedestrian trajectories.A difference measurement method based on sequential pattern analysis(SPA)was adopted to analyze the velocity similarity of pedestrians.To validate the proposed grouping model,experiments based on pedestrian movement videos in the exit hall of the Shanghai Hongqiao International Airport were conducted.The results indicate that the proposed model can detect both normal and widely separated pedestrian groups,with a long span range of 2-12 m.