A multiple template approach for robust tracking of fast motion target

Target tracking is very important in computer vision and related areas. It is usually difficult to accurately track fast motion target with appearance variations. Sometimes the tracking algorithms fail for heavy appearance variations. A multiple template method to track fast motion target with appearance changes is presented under the framework of appearance model with Kalman filter. Firstly, we construct a multiple template appearance model, which includes both the original template and templates affinely transformed from original one. Generally speaking, appearance variations of fast motion target can be covered by affine transformation. Therefore, the affine tr templates match the target of appearance variations better than conventional models. Secondly, we present an improved Kalman filter for approx- imate estimating the motion trail of the target and a modified similarity evaluation function for exact matching. The estimation approach can reduce time complexity of the algorithm and keep accuracy in the meantime. Thirdly, we propose an adaptive scheme for updating template set to alleviate the drift problem. The scheme considers the following differences： the weight differences in two successive frames; different types of affine transformation applied to templates. Finally, experiments demonstrate that the proposed algorithm is robust to appearance varia- tion of fast motion target and achieves real-time performance on middle/low-range computing platform.

Directionality based fast fractional pel motion estimation for H.264

Motion estimation is an important and intensive task in video coding applications. Since the complexity of integer pixel search has been greatly reduced by the numerous fast ME algorithm, the computation overhead required by fractional pixel ME has become relatively significant. To reduce the complexity of the fractional pixel ME algorithm, a directionality-based fractional pixel ME algorithm is proposed. The proposed algorithm efficiently explores the neighborhood positions which with high probability to be the best matching around the minimum one and skips over other unlikely ones. Thus, the proposed algorithm can complete the search by examining only 3 points on appropriate condition instead of 17 search points in the search algorithm of reference software. The simulation results show that the proposed algorithm successfully optimizes the fractional-pixel motion search on both half and quarter-pixel accuracy and improves the processing speed with low PSNR penalty.

Fast filtering algorithm based on vibration systems and neural information exchange and its application to micro motion robot

This paper develops a fast filtering algorithm based on vibration systems theory and neural information exchange approach. The characters, including the derivation process and parameter analysis, are discussed and the feasibility and the effectiveness are testified by the filtering performance compared with various filtering methods, such as the fast wavelet transform algorithm, the particle filtering method and our previously developed single degree of freedom vibration system filtering algorithm, according to simulation and practical approaches. Meanwhile, the comparisons indicate that a significant advantage of the proposed fast filtering algorithm is its extremely fast filtering speed with good filtering perfi^rmance. Further, the developed fast filtering algorithm is applied to the navigation and positioning system of the micro motion robot, which is a high real-time requirement for the signals preprocessing. Then, the preprocessing data is used to estimate the heading angle error and the attitude angle error of the micro motion robot. The estimation experiments illustrate the high practicality of the proposed fast filtering algorithm.

A limit theorem for the solutions of slow–fast systems with fractional Brownian motion

A limit theorem which can simplify slow–fast dynamical systems driven by fractional Brownian motion with the Hurst parameter H inside the（1/2, 1） interval has been proved. The slow variables of the original system can be approximated by the solution of the simplified equations in the sense of mean square. An example is presented to illustrate the applications of the limit theorem.

基于改进FAST特征匹配的电子稳像算法

针对机载摄像机视频抖动问题,提出了基于改进FAST的特征匹配方法,去除视频序列的帧间抖动,实现视频序列的电子稳像。提出了尺度空间的FAST特征提取方法,结合了优化的SURF描述算子,利用相邻帧的特征点进行匹配,消除视频的帧间旋转量,得到帧间的局部运动矢量,然后通过RANSAC算法求解出全局运动矢量,最后利用二次线性插值算法逐帧补偿。实验结果表明,稳像后的视频帧间PSNR提高5dB,提出的稳像算法去除了视频帧间复杂抖动,且快速准确并具有一定的鲁棒性。

FAST望远镜馈源运动控制系统3D仿真系统设计

FAST是我们国家计划自主建造的具有重要意义的巨型射电望远镜。作为其重要创新之一的馈源支撑系统,对工程界提出了诸多技术难点。针对FAST的馈源运动控制要求,在进行相关运动学分析的基础上开发了针对馈源运动控制系统的仿真系统。该系统利用了先进的图形开发工具OpenGL,基于Visual C++平台,具有良好的人机界面,包括控制区域,模型显示区域以及输出信息显示等。针对不同的轨迹输入参数设定,给出了相应的可视化仿真结果。对于馈源运动控制算法的开发,提供了一定程度的参考。

基于OSG的FAST三维运动仿真系统

500米口径球面射电望远镜(FAST)具有零部件繁多、技术密集等特点,在进行观测活动时需要各部门之间协调配合,为了能够有效地对FAST观测活动进行模拟和规划,提出一种基于OpenSceneGraph(OSG)和Qt的FAST三维运动仿真系统。利用Qt建立交互式界面,OSG建立FAST的虚拟场景,分析了抛物面、馈源舱以及钢索的运动过程,对其主要的运动部件进行了运动仿真。并且建立了馈源舱位置姿态的Redis数据库,利用数据库中的数据驱动馈源舱和钢索进行运动,将三维仿真运动系统与FAST工程对接,为日后FAST数字孪生系统的实现打下基础。实验表明,该系统可以对FAST系统观测活动进行运动模拟,对FAST运动规划和作业指导具有重要的意义。

Takagi–Sugeno Fuzzy Modeling and Control for Effective Robotic Manipulator Motion

Robotic manipulators are widely used in applications that require fast and precise motion.Such devices,however,are prompt to nonlinear control issues due to the flexibility in joints and the friction in the motors within the dynamics of their rigid part.To address these issues,the Linear Matrix Inequalities(LMIs)and Parallel Distributed Compensation(PDC)approaches are implemented in the Takagy–Sugeno Fuzzy Model(T-SFM).We propose the following methodology;initially,the state space equations of the nonlinear manipulator model are derived.Next,a Takagy–Sugeno Fuzzy Model(T-SFM)technique is used for linearizing the state space equations of the nonlinear manipulator.The T-SFM controller is developed using the Parallel Distributed Compensation(PDC)method.The prime concept of the designed controller is to compensate for all the fuzzy rules.Furthermore,the Linear Matrix Inequalities(LMIs)are applied to generate adequate cases to ensure stability and control.Convex programming methods are applied to solve the developed LMIs problems.Simulations developed for the proposed model show that the proposed controller stabilized the system with zero tracking error in less than 1.5 s.

Development of signal analysis method for the motional Stark effect diagnostic on EAST

A pilot single-channel Motional Stark Effect（MSE） diagnostic has been developed on EAST since 2015. The dual photo-elastic modulators（PEM） were employed to encode the polarization angle into a time-varying signal. The pitch angle was related to the ratio of modulation amplitude at the second harmonic frequency. A digital harmonic analyzer（DHA） technique was developed for extracting the second harmonic amplitude. The results were validated with a hardware phase lock-in amplifier, and is also consistent with the software dual phase-locking algorithm.

基于阈值控制策略的Filippov Chay神经元动力学及其耦合同步

细胞内外带电离子的连续泵送和传递产生的电磁感应效应对神经元的电活动及模态转换会产生一定的影响,促使其展现出更加丰富的放电特性.文章基于电磁感应影响下的Chay神经元模型,引入了一种以膜电压为阈值的不连续控制策略,建立了相应的Filippov Chay神经元模型,探究了在阈值控制策略影响下的神经元放电节律转迁及相应的边界运动.首先,对系统的边界动力学及滑膜动力学进行了理论分析.其次,利用单双参数分岔图探究了系统多样的放电模式.再次,结合Matcont仿真及稳定性理论详细分析了系统的平衡点及其稳定性,并且利用快慢动力学分析法进一步研究了在阈值影响下所产生的滑膜动力学及各种边界运动的切换.最后,通过电突触耦合,对不同阈值条件下耦合神经元的同步问题进行了讨论.数值仿真结果表明,在阈值的调控下Filippov Chay系统会产生滑膜放电活动及相应的穿越运动和擦边运动,同时其放电周期数也会随着阈值呈现出不同的变化规律,且对于不同阈值下的电耦合情况而言,在系统实现完全同步后都会稳定在周期数较低的放电态.以上所得结果有助于更好地理解神经元滑膜的相关控制,对进一步探究生物神经系统中复杂放电活动和信息处理的动力学行为提供了一定的帮助.

NOVEL TWO-LAYER MOTION ESTIMATION FOR VIDEO CODING

In this paper, we proposed a novel Two-layer Motion Estimation(TME) which searches motion vectors on two layers with partial distortion measures in order to reduce the overwhelming computational complexity of Motion Estimation(ME) in video coding. A layer is an image which is derived from the reference frame such that the sum of a block of pixels in the reference frame determines the point of a layer. It has been noticed on different video sequences that many motion vectors on the layers are the same as those searched on the reference frame. The proposed TME performs a coarse search on the first layer to identify the small region in which the best candidate block is likely to be positioned and then perform local refined search on the next layer to pick the best candidate block in the located small area. The key feature of TME is its flexibility of mixing with any fast search algorithm. Experimental results on a wide variety of video sequences show that the proposed algorithm has achieved both fast speed and good motion prediction quality when compared to well known as well as the state-of-the-art fast block matching algorithms.

基于KNN-RRT 的机械臂运动路径规划算法

针对机械臂路径规划过程中节点生成容易陷入局部最小值、算法收敛速度慢等问题,以目标引力函数渐进最优快速扩展随机树(P-RRT)为基础,提出一种基于KNN快速查找的自适应步长的改进RRT算法(KNN-RRT)。首先,在目标引力的基础上引入AdaGrad方法来调整自适应步长系数,降低随机点采样陷入局部最小值的问题;其次,利用KDTree来存储节点并利k邻近快速搜索查找相邻节点,提高算法的效率,并结合三次B样条曲线优化搜索路径的质量;最后,基于KNN-RRT算法在不同障碍物环境下进行实验,实验结果表明该算法在路径搜索时间、路径质量等方面有显著提升,提高算法的稳定性。

机载环境下的GPS测量误差分析和建模

机载环境下的GPS误差特性与静态不同,文中给出了一套机载环境下的GPS测量误差分析和建模的方法。先通过多项式拟合,分离出机载GPS的测量误差,并根据GPS的具体应用环境,用机载SAR(Synthetic Aperture Radar)雷达成像验证了这种分离误差方法的有效性,然后对GPS误差进行最小二乘处理,建立GPS的AR误差模型。应用这种方法,分析了实测某型飞机平稳飞行情况下的GPS数据,结果表明该型飞机在平稳飞行情况下的GPS速度和定位误差过程分别可以用两个不同的10阶AR过程表示。

基于相关滤波器的长时视觉目标跟踪方法

为解决相关滤波器(CF)在跟踪快速运动目标时存在跟踪失败的问题,提出一种结合了核相关滤波(KCF)跟踪器和基于光流法的检测器的长时核相关滤波(LKCF)跟踪算法。首先,使用跟踪器跟踪目标,并计算所得跟踪目标的峰值响应强度(PSR);然后,通过比较峰值响应强度(PSR)与经验阈值大小判断目标是否跟踪丢失,当目标跟踪丢失时,在上一帧所得目标附近运用光流法检测运动目标,得到目标在当前帧中的粗略位置;最后,在此粗略位置处再次运用跟踪器得到精确位置。与核相关滤波(KCF)、跟踪-学习-检测(TLD)、压缩跟踪(CT)、时空上下文(STC)等4种跟踪算法进行对比实验,实验结果表明,所提算法在距离精确度和成功率上都表现最优,且分别比核相关滤波(KCF)跟踪算法高6.2个百分点和5.1个百分点,表明所提算法对跟踪快速运动目标有很强的适应能力。

多搜索中心的运动估计快速算法

块大小可变的运动估计方法能提高视频编码性能,但也增加了计算时间.为了加快运动估计计算,本文提出了一种基于多搜索中心预测和搜索范围动态调整的快速算法.多搜索中心预测方法对当前宏块时间和空间上相邻块的运动向量进行分析,得出多个预测向量作为运动估计的搜索中心.相比传统预测方法,多搜索中心预测最高可提高约14.6%的预测精度.依据预测运动向量的数目和大小,本文算法对搜索范围进行动态调整,进一步降低了计算复杂度.实验结果显示,相比H.264参考软件中的快速全搜索算法,UMHS算法和EPZS算法,本文算法分别节省约96.22%,59.50%和39.06%的计算时间,且具有相近的率失真性能.

一种H.264/AVC中的快速运动估计算法

在UMHexagonS算法的基础上,最新的H.264/AVC视频编码采用一种简单、有效的混合快速运动估计算法。该文介绍一种新的快速搜索算法,初步研究和分析其综合性能的优越性,并提出改进策略,如增加终止搜索的判定、进一步划分运动类型、采用自适应的方向性搜索模板。实验结果表明,改进的策略能减少“简化UMHexagonS算法“8%-30%的搜索时间,而码率和率失真性能的变化可以忽略不计,对一些特殊序列,率失真性能略优于“简化UMHexagonS算法”。

一种新的快速块匹配运动估计算法

提出了一种新的快速、有效的块匹配运动估计算法。算法采用多步搜索方法 ,利用相邻块之间的运动相关性 ,选择反映当前块运动趋势的预测点作为初始搜索点 ;用子采样块匹配失真度量来减少计算量 ;利用运动矢量的中心倾向的分布特性 ,用多侯选点钻石形状搜索方法来提高运动估计的速度和准确性。实验表明 ,该算法计算复杂性低 ,预测质量好。

基于运动矢量时—空特性的快速运动估计算法研究

通过运动矢量在时—空特性的分析,根据时—空关系采用不同的搜索模式;实验结果表明该算法有效提高了运动估计的速度并避免了现有运动技术的不足,同时具有与相关算法近似或更好的性能。

针对H.264改进的快速整像素运动估计算法

以视频压缩标准H.264联合开发模型(JM)中的运动估计算法UMHexagonS为基础,提出了一个新的快速整像素运动估计算法来改进压缩编码性能。在起始搜索点预测部分,提出了新的预测运动矢量(MV)检测顺序,以提高起始搜索点的准确度;在全局搜索部分提出了自适应全局搜索方法,根据准确度最高的两个预测MV之间的关系,适当跳过非对称十字型模板搜索和非均匀多重六边形模板搜索,并通过对不同序列的测试,验证了判断准则的可行性与准确性。根据实际序列中最佳MV相对起始点的分布,提出了改进5×5搜索。另外,增加了针对子宏块的提前终止策略,在不增加额外运算量的前提下,进一步减少了运动估计开销。实验结果表明,相对UMHexagonS算法,提出的改进算法使搜索点总数平均减小了83.80%,信噪比平均下降了0.021dB,或输出码率等效增加了0.46%。该算法有效降低了运动估计的运算量,而只带来了很小的编码性能下降,且对不同运动强度的视频序列具有均匀的算法效果。

基于螺线管和线圈盘的新型混合式斥力机构分析

斥力机构凭借其快速性在中压直流领域得到广泛应用,为解决高压断路器长行程驱动速度和效率低等关键问题,该文对比分析线盘式和螺线管式机构的原理和特点,综合两者优点提出了适合长行程的串联混合式斥力机构的设计思想。基于有限元分析方法建立仿真模型,分析串联混合式、线盘式以及螺线管式机构的运动特性,研究串联混合式机构瞬态磁场分布以及机构间的影响规律,初步验证其可行性。然后对串联混合式机构进行结构紧凑型优化设计,设计一种新型混合式斥力机构,进行运动特性对比分析。研究表明,新型混合斥力机构综合线盘式机构的快速性和螺线管机构的持续性的优点,具有响应速度快、适合长行程快速驱动的特点,在电容电压1 000V,容量5 000μF条件下,响应时间0.5ms,60mm全行程时间5.6ms。该文为高压断路器长行程快速斥力机构的研制提供了参考依据。