Search results for: Motion detection

Authors: Mohammed Ibrahim M, Anupama R.

Abstract:

Robustness is one of the primary performance criteria for an Intelligent Video Surveillance (IVS) system. One of the key factors in enhancing the robustness of dynamic video analysis is,providing accurate and reliable means for shadow detection. If left undetected, shadow pixels may result in incorrect object tracking and classification, as it tends to distort localization and measurement information. Most of the algorithms proposed in literature are computationally expensive; some to the extent of equalling computational requirement of motion detection. In this paper, the homogeneity property of shadows is explored in a novel way for shadow detection. An adaptive division image (which highlights homogeneity property of shadows) analysis followed by a relatively simpler projection histogram analysis for penumbra suppression is the key novelty in our approach.

Keywords: homogeneity, penumbra, projection histogram, shadow correction

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Authors: Sang Hyun Kim

Abstract:

In this paper, a fast motion compensation algorithm is proposed that improves coding efficiency for video sequences with brightness variations. We also propose a cross entropy measure between histograms of two frames to detect brightness variations. The framewise brightness variation parameters, a multiplier and an offset field for image intensity, are estimated and compensated. Simulation results show that the proposed method yields a higher peak signal to noise ratio (PSNR) compared with the conventional method, with a greatly reduced computational load, when the video scene contains illumination changes.

Keywords: Motion estimation, Fast motion compensation, Brightness variation compensation, Brightness change detection, Cross entropy.

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Authors: Yeongyu Choi, Ju H. Park, S. M. Lee, Ho-Youl Jung

Abstract:

In this paper, an improved method for estimating fundamental matrix is proposed. The method is applied effectively to monocular camera based moving object detection. The method consists of corner points detection, moving object’s motion estimation and fundamental matrix calculation. The corner points are obtained by using Harris corner detector, motions of moving objects is calculated from pyramidal Lucas-Kanade optical flow algorithm. Through epipolar geometry analysis using RANSAC, the fundamental matrix is calculated. In this method, we have improved the performances of moving object detection by using two threshold values that determine inlier or outlier. Through the simulations, we compare the performances with varying the two threshold values.

Keywords: Corner detection, optical flow, epipolar geometry, RANSAC.

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Authors: Chia-Jung Chen, Rong-Shine Lin, Rong-Guey Chang

Abstract:

As networking has become popular, Web-learning tends to be a trend while designing a tool. Moreover, five-axis machining has been widely used in industry recently; however, it has potential axial table colliding problems. Thus this paper aims at proposing an efficient web-learning collision detection tool on five-axis machining. However, collision detection consumes heavy resource that few devices can support, thus this research uses a systematic approach based on web knowledge to detect collision. The methodologies include the kinematics analyses for five-axis motions, separating axis method for collision detection, and computer simulation for verification. The machine structure is modeled as STL format in CAD software. The input to the detection system is the g-code part program, which describes the tool motions to produce the part surface. This research produced a simulation program with C programming language and demonstrated a five-axis machining example with collision detection on web site. The system simulates the five-axis CNC motion for tool trajectory and detects for any collisions according to the input g-codes and also supports high-performance web service benefiting from C. The result shows that our method improves 4.5 time of computational efficiency, comparing to the conventional detection method.

Keywords: Collision detection, Five-axis machining, Separating axis.

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Authors: Giovanni Incerti

Abstract:

The paper presents a method for a simple and immediate motion planning of a SCARA robot, whose end-effector has to move along a given trajectory; the calculation procedure requires the user to define in analytical form or by points the trajectory to be followed and to assign the curvilinear abscissa as function of the time. On the basis of the geometrical characteristics of the robot, a specifically developed program determines the motion laws of the actuators that enable the robot to generate the required movement; this software can be used in all industrial applications for which a SCARA robot has to be frequently reprogrammed, in order to generate various types of trajectories with different motion times.

Keywords: Motion planning, SCARA robot, trajectory tracking.

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Authors: Insaf Ajili, Malik Mallem, Jean-Yves Didier

Abstract:

Motion recognition from videos is actually a very complex task due to the high variability of motions. This paper describes the challenges of human motion recognition, especially motion representation step with relevant features. Our descriptor vector is inspired from Laban Movement Analysis method. We propose discriminative features using the Random Forest algorithm in order to remove redundant features and make learning algorithms operate faster and more effectively. We validate our method on MSRC-12 and UTKinect datasets.

Keywords: Human motion recognition, Discriminative LMA features, random forest, features reduction.

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Authors: Lenka Krulikovská, Jaroslav Polec

Abstract:

In this paper we present a method of abrupt cut detection with a novel logic of frames- comparison. Actual frame is compared with its motion estimated prediction instead of comparison with successive frame. Four different similarity metrics were employed to estimate the resemblance of compared frames. Obtained results were evaluated by standard used measures of test accuracy and compared with existing approach. Based on the results, we claim the proposed method is more effective and Pearson correlation coefficient obtained the best results among chosen similarity metrics.

Keywords: Abrupt cut, mutual information, shot cut detection, Pearson correlation coefficient.

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Authors: Yudhajit Datta, Jonathan Bandi, Ankit Sethia, Hamsi Iyer

Abstract:

Motion Tracking and Stereo Vision are complicated, albeit well-understood problems in computer vision. Existing softwares that combine the two approaches to perform stereo motion tracking typically employ complicated and computationally expensive procedures. The purpose of this study is to create a simple and effective solution capable of combining the two approaches. The study aims to explore a strategy to combine the two techniques of two-dimensional motion tracking using Kalman Filter; and depth detection of object using Stereo Vision. In conventional approaches objects in the scene of interest are observed using a single camera. However for Stereo Motion Tracking; the scene of interest is observed using video feeds from two calibrated cameras. Using two simultaneous measurements from the two cameras a calculation for the depth of the object from the plane containing the cameras is made. The approach attempts to capture the entire three-dimensional spatial information of each object at the scene and represent it through a software estimator object. In discrete intervals, the estimator tracks object motion in the plane parallel to plane containing cameras and updates the perpendicular distance value of the object from the plane containing the cameras as depth. The ability to efficiently track the motion of objects in three-dimensional space using a simplified approach could prove to be an indispensable tool in a variety of surveillance scenarios. The approach may find application from high security surveillance scenes such as premises of bank vaults, prisons or other detention facilities; to low cost applications in supermarkets and car parking lots.

Keywords: Kalman Filter, Stereo Vision, Motion Tracking, Matlab, Object Tracking, Camera Calibration, Computer Vision System Toolbox.

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Authors: Alpha Agape Gopalai, S. M. N. Arosha Senanayake

Abstract:

This paper explores the opportunity of using tri-axial wireless accelerometers for supervised monitoring of sports movements. A motion analysis system for the upper extremities of lawn bowlers in particular is developed. Accelerometers are placed on parts of human body such as the chest to represent the shoulder movements, the back to capture the trunk motion, back of the hand, the wrist and one above the elbow, to capture arm movements. These sensors placement are carefully designed in order to avoid restricting bowler-s movements. Data is acquired from these sensors in soft-real time using virtual instrumentation; the acquired data is then conditioned and converted into required parameters for motion regeneration. A user interface was also created to facilitate in the acquisition of data, and broadcasting of commands to the wireless accelerometers. All motion regeneration in this paper deals with the motion of the human body segment in the X and Y direction, looking into the motion of the anterior/ posterior and lateral directions respectively.

Keywords: Motion Regeneration, Virtual Instrumentation, Wireless Accelerometers.

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Authors: S. Seyedtabaii, L. Seyedtabaii

Abstract:

Artifact free photoplethysmographic (PPG) signals are necessary for non-invasive estimation of oxygen saturation (SpO2) in arterial blood. Movement of a patient corrupts the PPGs with motion artifacts, resulting in large errors in the computation of Sp02. This paper presents a study on using Kalman Filter in an innovative way by modeling both the Artillery Blood Pressure (ABP) and the unwanted signal, additive motion artifact, to reduce motion artifacts from corrupted PPG signals. Simulation results show acceptable performance regarding LMS and variable step LMS, thus establishing the efficacy of the proposed method.

Keywords: Kalman filter, Motion artifact, PPG, Photoplethysmography.

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Authors: Dong-Hyung Kim, Ji Yeong Lee, Chang-Soo Han

Abstract:

This paper presents a sensor-based motion planning algorithm for 3-DOF car-like robots with a nonholonomic constraint. Similar to the classic Bug family algorithms, the proposed algorithm enables the car-like robot to navigate in a completely unknown environment using only the range sensor information. The car-like robot uses the local range sensor view to determine the local path so that it moves towards the goal. To guarantee that the robot can approach the goal, the two modes of motion are repeated, termed motion-to-goal and wall-following. The motion-to-goal behavior lets the robot directly move toward the goal, and the wall-following behavior makes the robot circumnavigate the obstacle boundary until it meets the leaving condition. For each behavior, the nonholonomic motion for the car-like robot is planned in terms of the instantaneous turning radius. The proposed algorithm is implemented to the real robot and the experimental results show the performance of proposed algorithm.

Keywords: Motion planning, car-like robot, bug algorithm, autonomous motion planning, nonholonomic constraint.

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Authors: Barış Can Yalçın

Abstract:

Motion sensors have been commonly used as a valuable component in mechatronic systems, however, many mechatronic designs and applications that need motion sensors cost enormous amount of money, especially high-tech systems. Design of a software for communication protocol between data acquisition card and motion sensor is another issue that has to be solved. This study presents how to design a low cost motion data acquisition setup consisting of MPU 6050 motion sensor (gyro and accelerometer in 3 axes) and Arduino Mega2560 microcontroller. Design parameters are calibration of the sensor, identification and communication between sensor and data acquisition card, interpretation of data collected by the sensor.

Keywords: Calibration of sensors, data acquisition.

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Authors: Alpha Agape Gopalai, Darwin Gouwanda, S.M.N. Arosha Senanayake

Abstract:

This paper explores the opportunity of using tri-axial wireless accelerometers for supervised monitoring of sports movements. A motion analysis system for the upper extremities of lawn bowlers in particular is developed. Accelerometers are placed on parts of human body such as the chest to represent the shoulder movements, the back to capture the trunk motion, back of the hand, the wrist and one above the elbow, to capture arm movements. These sensors placement are carefully designed in order to avoid restricting bowler-s movements. Data is acquired from these sensors in soft-real time using virtual instrumentation; the acquired data is then conditioned and converted into required parameters for motion regeneration. A user interface was also created to facilitate in the acquisition of data, and broadcasting of commands to the wireless accelerometers. All motion regeneration in this paper deals with the motion of the human body segment in the X and Y direction, looking into the motion of the anterior/ posterior and lateral directions respectively.

Keywords: Motion Regeneration, Virtual Instrumentation, Wireless Accelerometers

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Authors: Ahmad R. Naghsh-Nilchi, Mohammad Roshanzamir

Abstract:

One of the popular methods for recognition of facial expressions such as happiness, sadness and surprise is based on deformation of facial features. Motion vectors which show these deformations can be specified by the optical flow. In this method, for detecting emotions, the resulted set of motion vectors are compared with standard deformation template that caused by facial expressions. In this paper, a new method is introduced to compute the quantity of likeness in order to make decision based on the importance of obtained vectors from an optical flow approach. For finding the vectors, one of the efficient optical flow method developed by Gautama and VanHulle[17] is used. The suggested method has been examined over Cohn-Kanade AU-Coded Facial Expression Database, one of the most comprehensive collections of test images available. The experimental results show that our method could correctly recognize the facial expressions in 94% of case studies. The results also show that only a few number of image frames (three frames) are sufficient to detect facial expressions with rate of success of about 83.3%. This is a significant improvement over the available methods.

Keywords: Facial expression, Facial features, Optical flow, Motion vectors.

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Authors: Theerawat Songyot, Tham Manjing, Bunyarit Uyyanonvara, Chanjira Sinthanayothin

Abstract:

Corner detection and optical flow are common techniques for feature-based video stabilization. However, these algorithms are computationally expensive and should be performed at a reasonable rate. This paper presents an algorithm for discarding irrelevant feature points and maintaining them for future use so as to improve the computational cost. The algorithm starts by initializing a maintained set. The feature points in the maintained set are examined against its accuracy for modeling. Corner detection is required only when the feature points are insufficiently accurate for future modeling. Then, optical flows are computed from the maintained feature points toward the consecutive frame. After that, a motion model is estimated based on the simplified affine motion model and least square method, with outliers belonging to moving objects presented. Studentized residuals are used to eliminate such outliers. The model estimation and elimination processes repeat until no more outliers are identified. Finally, the entire algorithm repeats along the video sequence with the points remaining from the previous iteration used as the maintained set. As a practical application, an efficient video stabilization can be achieved by exploiting the computed motion models. Our study shows that the number of times corner detection needs to perform is greatly reduced, thus significantly improving the computational cost. Moreover, optical flow vectors are computed for only the maintained feature points, not for outliers, thus also reducing the computational cost. In addition, the feature points after reduction can sufficiently be used for background objects tracking as demonstrated in the simple video stabilizer based on our proposed algorithm.

Keywords: background object tracking, feature point reduction, low cost tracking, video stabilization.

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Authors: R. Amornmaneekul, S. Chadsuthi, D. Triampo, W. Triampo

Abstract:

We apply a particle tracking technique to track the motion of individual pathogenic Leptospira. We observe and capture images of motile Leptospira by means of CCD and darkfield microscope. Image processing, statistical theories and simulations are used for data analysis. Based on trajectory patterns, mean square displacement, and power spectral density characteristics, we found that the motion modes are most likely to be directed motion mode (70%) and the rest are either normal diffusion or unidentified mode. Our findings may support the fact that why leptospires are very well efficient toward targeting internal tissues as a result of increase in virulence factor.

Keywords: Leptospirosis, spirochetes, patterns, motion.

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Authors: Sepehr Aslani, Homayoun Mahdavi-Nasab

Abstract:

Automated motion detection and tracking is a challenging task in traffic surveillance. In this paper, a system is developed to gather useful information from stationary cameras for detecting moving objects in digital videos. The moving detection and tracking system is developed based on optical flow estimation together with application and combination of various relevant computer vision and image processing techniques to enhance the process. To remove noises, median filter is used and the unwanted objects are removed by applying thresholding algorithms in morphological operations. Also the object type restrictions are set using blob analysis. The results show that the proposed system successfully detects and tracks moving objects in urban videos.

Keywords: Optical flow estimation, moving object detection, tracking, morphological operation, blob analysis.

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Authors: Giovanni Incerti

Abstract:

The motion planning procedure described in this paper has been developed in order to eliminate or reduce the residual vibrations of electromechanical positioning systems, without augmenting the motion time (usually imposed by production requirements), nor introducing overtime for vibration damping. The proposed technique is based on a suitable choice of the motion law assigned to the servomotor that drives the mechanism. The reference profile is defined by a Bezier curve, whose shape can be easily changed by modifying some numerical parameters. By means of an optimization technique these parameters can be modified without altering the continuity conditions imposed on the displacement and on its time derivatives at the initial and final time instants.

Keywords: Servomechanism, residual vibrations, motion optimization.

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Authors: Jer-Rong Chang

Abstract:

The flexible follower response of a translating cam with four different profiles for rise-dwell-fall-dwell (RDFD) motion is investigated. The cycloidal displacement motion, the modified sinusoidal acceleration motion, the modified trapezoidal acceleration motion, and the 3-4-5 polynomial motion are employed to describe the rise and the fall motions of the follower and the associated four kinds of cam profiles are studied. Since the follower flexibility is considered, the contact point of the roller and the cam is an unknown. Two geometric constraints formulated to restrain the unknown position are substituted into Hamilton-s principle with Lagrange multipliers. Applying the assumed mode method, one can obtain the governing equations of motion as non-linear differential-algebraic equations. The equations are solved using Runge-Kutta method. Then, the responses of the flexible follower undergoing the four different motions are investigated in time domain and in frequency domain.

Keywords: translating cam, flexible follower, rise-dwell-falldwell, response

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Authors: Najm Alotaibi

Abstract:

Human motion capture has become one of the major area of interest in the field of computer vision. Some of the major application areas that have been rapidly evolving include the advanced human interfaces, virtual reality and security/surveillance systems. This study provides a brief overview of the techniques and applications used for the markerless human motion capture, which deals with analyzing the human motion in the form of mathematical formulations. The major contribution of this research is that it classifies the computer vision based techniques of human motion capture based on the taxonomy, and then breaks its down into four systematically different categories of tracking, initialization, pose estimation and recognition. The detailed descriptions and the relationships descriptions are given for the techniques of tracking and pose estimation. The subcategories of each process are further described. Various hypotheses have been used by the researchers in this domain are surveyed and the evolution of these techniques have been explained. It has been concluded in the survey that most researchers have focused on using the mathematical body models for the markerless motion capture.

Keywords: Human Motion Capture, Computer Vision, Vision based, Tracking.

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Authors: Wei Zhang, Hong Yu, Xian-ping Zhao, Da-da Wang, Fei Xue

Abstract:

For lack of the visualization of the ultrasonic detection method of partial discharge (PD), the ultrasonic detection technology combined with the X-ray visual detection method (UXV) is proposed. The method can conduct qualitative analysis accurately and conduct reliable positioning diagnosis to the internal insulation defects of GIS, and while it could make up the blindness of the X-ray visual detection method and improve the detection rate. In this paper, an experimental model of GIS is used as the trial platform, a variety of insulation defects are set inside the GIS cavity. With the proposed method, the ultrasonic method is used to conduct the preliminary detection, and then the X-ray visual detection is used to locate and diagnose precisely. Therefore, the proposed UXV technology is feasible and practical.

Keywords: GIS, ultrasonic, visual detection, X-ray

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Authors: Jason Chien-Hsun Tseng

Abstract:

This paper evaluates performances of an adaptive noise cancelling (ANC) based target detection algorithm on a set of real test data supported by the Defense Evaluation Research Agency (DERA UK) for multi-target wideband active sonar echolocation system. The hybrid algorithm proposed is a combination of an adaptive ANC neuro-fuzzy scheme in the first instance and followed by an iterative optimum target motion estimation (TME) scheme. The neuro-fuzzy scheme is based on the adaptive noise cancelling concept with the core processor of ANFIS (adaptive neuro-fuzzy inference system) to provide an effective fine tuned signal. The resultant output is then sent as an input to the optimum TME scheme composed of twogauge trimmed-mean (TM) levelization, discrete wavelet denoising (WDeN), and optimal continuous wavelet transform (CWT) for further denosing and targets identification. Its aim is to recover the contact signals in an effective and efficient manner and then determine the Doppler motion (radial range, velocity and acceleration) at very low signal-to-noise ratio (SNR). Quantitative results have shown that the hybrid algorithm have excellent performance in predicting targets- Doppler motion within various target strength with the maximum false detection of 1.5%.

Keywords: Wideband Active Sonar Echolocation, ANC Neuro-Fuzzy, Wavelet Denoise, CWT, Hybrid Algorithm.

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Authors: Seongsoo Lee

Abstract:

Motion estimation occupies the heaviest computation in HEVC (high efficiency video coding). Many fast algorithms such as TZS (test zone search) have been proposed to reduce the computation. Still the huge computation of the motion estimation is a critical issue in the implementation of HEVC video codec. In this paper, motion estimator architecture with optimized number of PEs (processing element) is presented by exploiting early termination. It also reduces hardware size by exploiting parallel processing. The presented motion estimator architecture has 8 PEs, and it can efficiently perform TZS with very high utilization of PEs.

Keywords: Motion estimation, test zone search, high efficiency video coding, processing element, optimization.

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Authors: Yasuhisa Tamura, Koji Yamaoka, Masataka Uehara, Takeshi Shima

Abstract:

This paper proposes a three-dimensional motion capture and feedback system of flying disc throwing action learners with use of Kinect device. Rather than conventional 3-D motion capture system, Kinect has advantages of cost merit, easy system development and operation. A novice learner of flying disc is trained to keep arm movement in steady height, to twist the waist, and to stretch the elbow according to the waist angle. The proposing system captures learners- body movement, checks their skeleton positions in pre-motion / motion / post-motion in several ways, and displays feedback messages to refine their actions.

Keywords: Flying disc, throwing movement, Kinect, capture, feedback

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Authors: Giovanni Incerti

Abstract:

The motion planning technique described in this paper has been developed to eliminate or reduce the residual vibrations of belt-driven rotary platforms, while maintaining unchanged the motion time and the total angular displacement of the platform. The proposed approach is based on a suitable choice of the motion command given to the servomotor that drives the mechanical device; this command is defined by some numerical coefficients which determine the shape of the displacement, velocity and acceleration profiles. Using a numerical optimization technique, these coefficients can be changed without altering the continuity conditions imposed on the displacement and its time derivatives at the initial and final time instants. The proposed technique can be easily and quickly implemented on an actual device, since it requires only a simple modification of the motion command profile mapped in the memory of the electronic motion controller.

Keywords: Command shaping, residual vibrations, belt transmission, servomechanism.

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Authors: Jae-Jeong Kim, Ki-Ro Kim, Hyoung-Kyu Song

Abstract:

In this paper, we propose an efficient signal detector that switches M parameter of QRD-M detection scheme is proposed for MIMO-OFDM system. The proposed detection scheme calculates the threshold by 1-norm condition number and then switches M parameter of QRD-M detection scheme according to channel information. If channel condition is bad, the parameter M is set to high value to increase the accuracy of detection. If channel condition is good, the parameter M is set to low value to reduce complexity of detection. Therefore, the proposed detection scheme has better tradeoff between BER performance and complexity than the conventional detection scheme. The simulation result shows that the complexity of proposed detection scheme is lower than QRD-M detection scheme with similar BER performance.

Keywords: MIMO-OFDM, QRD-M, Channel condition.

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Authors: Saad M. Al-Garni, Adel A. Abdennour

Abstract:

Vehicle detection is the critical step for highway monitoring. In this paper we propose background subtraction and edge detection technique for vehicle detection. This technique uses the advantages of both approaches. The practical applications approved the effectiveness of this method. This method consists of two procedures: First, automatic background extraction procedure, in which the background is extracted automatically from the successive frames; Second vehicles detection procedure, which depend on edge detection and background subtraction. Experimental results show the effective application of this algorithm. Vehicles detection rate was higher than 91%.

Keywords: Image processing, Automatic background extraction, Moving vehicle detection.

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Authors: Zhenyu Zhang, Qingbin Gao

Abstract:

Low-resolution digital encoder (LRDE) is commonly adopted as a position sensor in low-cost and resource-constraint applications. Traditionally, a digital encoder is modeled as a quantizer without considering the initial position of the LRDE. However, it cannot be applied to extreme LRDE for which stroke of angular motion is only a few times of resolution of the encoder. Besides, the actual angular motion is substantially distorted by this extreme LRDE so that the encoder reading does not faithfully represent the actual angular motion. This paper presents a modeling method for extreme LRDE by taking into account the initial position of the LRDE. For a control system with sinusoidal reference signal and extreme LRDE, this paper analyzes the characteristics of angular motion. Specifically, two descriptors of sinusoidal angular motion are studied, which essentially sheds light on the actual angular motion from extreme LRDE.

Keywords: Low resolution digital encoder, resource-constraint control system, sinusoidal reference signal, servo motion control.

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Authors: Xiang Yu, Chuntao Feng, Lu Yang, Meiyang Song, Wenhao Zhou

Abstract:

The existing two-dimensional micro-Doppler features extraction ignores the correlation information between the spatial and temporal dimension features. For the range-Doppler map, the time dimension is introduced, and a frequency modulation continuous wave (FMCW) radar human fall detection algorithm based on time-varying range-Doppler features is proposed. Firstly, the range-Doppler sequence maps are generated from the echo signals of the continuous motion of the human body collected by the radar. Then the three-dimensional data cube composed of multiple frames of range-Doppler maps is input into the three-dimensional Convolutional Neural Network (3D CNN). The spatial and temporal features of time-varying range-Doppler are extracted by the convolution layer and pool layer at the same time. Finally, the extracted spatial and temporal features are input into the fully connected layer for classification. The experimental results show that the proposed fall detection algorithm has a detection accuracy of 95.66%.

Keywords: FMCW radar, fall detection, 3D CNN, time-varying range-Doppler features.

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Authors: Mohamed E. Salem Abozaed

Abstract:

Detection and classification of power quality (PQ) disturbances is an important consideration to electrical utilities and many industrial customers so that diagnosis and mitigation of such disturbance can be implemented quickly. S-transform algorithm and continuous wavelet transforms (CWT) are time-frequency algorithms, and both of them are powerful in detection and classification of PQ disturbances. This paper presents detection and classification of PQ disturbances using S-transform and CWT algorithms. The results of detection and classification, provides that S-transform is more accurate in detection and classification for most PQ disturbance than CWT algorithm, where as CWT algorithm more powerful in detection in some disturbances like notching

Keywords: CWT, Disturbances classification, Disturbances detection, Power quality, S-transform.

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