Temat: motion estimation - Prolib Integro

Skocz do pozycji: 1.

Tytuł:: Estimation of stereo camera motion
Autorzy:: Polańczyk, M.
Barański, P.
Strzelecki, M.
Tematy:: stereovision
motion estimation; Pokaż więcej
Wydawca:: Fundacja na Rzecz Młodych Naukowców
Powiązania:: https://bibliotekanauki.pl/articles/1396540.pdf Link otwiera się w nowym oknie
Opis:: The paper presents an algorithm for estimating the motion of a stereovision camera. The movement is calculated on the base of a sequence of depth pictures. While moving the camera can be held in hands without much impact on the prediction accuracy. The algorithm provides real-time data processing when a 2.5 GHz dual core computer is used.
Dostawca treści:: Biblioteka Nauki

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Skocz do pozycji: 2.

Tytuł:: Path planning optimization and object placement through visual servoing technique for robotics application
Autorzy:: Patel, Sumitkumar
Israni, Dippal
Shah, Parth
Tematy:: visual servoing
features
coordinates
kinematics
disparity
optimization
motion estimation; Pokaż więcej
Wydawca:: Sieć Badawcza Łukasiewicz - Przemysłowy Instytut Automatyki i Pomiarów
Powiązania:: https://bibliotekanauki.pl/articles/950976.pdf Link otwiera się w nowym oknie
Opis:: Visual servoing define a new methodology for vision based control in robotics. Vision based action involve number of actions that move a robot in response of results of camera analysis. This process is important to operate and help robot to achieve a specific goal. The main purpose of visual servoing consists of considering a vision system by specific sensor dedicated to involve control servo loop and task. In this article, three visual control scheme: Image Based Visual Servoing (IBVS), Position Based Visual Servoing (PBVS) and Hybrid Based Visual Servoing (HBVS) are illustrated. The different terminologies are represented through effective workflow of robot vision. IBVS method concentrate on the image features that are immediately available in the image. This experiment is performed by estimating distance between camera and object. PBVS consist of moving object 3-D parameters to estimate measurement. This paper showcases PBVS using kuka robot model. HBVS uses the 2D and 3D servoing by combining visual sensors also it overcomes challenges of previous two methods. This paper represents HBVS method using IPR communication robot model.
Dostawca treści:: Biblioteka Nauki

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Skocz do pozycji: 3.

Tytuł:: Obstacle Avoidance Procedure and Lee Algorithm Based Path Replanner for Autonomous Mobile Platforms
Autorzy:: Polańczyk, M.
Strzelecki, M.
Ślot, K.
Tematy:: mobile platform motion system
camera motion estimation
map of obstacles
path planning; Pokaż więcej
Wydawca:: Polska Akademia Nauk. Czytelnia Czasopism PAN
Powiązania:: https://bibliotekanauki.pl/articles/226622.pdf Link otwiera się w nowym oknie
Opis:: The paper proposes solution for two important issues connected to navigation of independent mobile platforms in an unknown environment. First issue relates to obstacle map, estimated based on stereovision images. It provides a basis for further platform path-planning. The main problem that has to be solved in obstacle map derivation is elimination of artifacts resulting from depth estimation. Thus a two-step artifact filtering procedure is proposed, which exploits both within-frame spatial correlations as well as temporal, between-frame correlations to do this task. Second procedure, based on well-known Lees algorithm is designed for obtaining vehicle collisionless path. Such routes need to be updated on-the-fly to take into account moving obstacles or newly detected objects. The main idea of the proposed approach is to identify regions where environment has changed and to execute a procedure of selective path updates. As a result, an optimal path can be derived at a computational expense comparable to the heuristic Lifelong A* search. Experiment results demonstrate efficiency of the two discussed approaches for platform operation control in real environments, where both static and moving obstacles are present.
Dostawca treści:: Biblioteka Nauki

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Skocz do pozycji: 4.

Tytuł:: A Framework for Fluid Motion Estimation using a Constraint-Based Refinement Approach
Autorzy:: Doshi, Hirak
Nori, Uday Kiran
Tematy:: fluid motion estimation
evolutionary PDE
image processing
augmented Lagrangian
bounded constraint algorithm; Pokaż więcej
Wydawca:: Szkoła Główna Gospodarstwa Wiejskiego w Warszawie. Instytut Informatyki Technicznej
Powiązania:: https://bibliotekanauki.pl/articles/59122856.pdf Link otwiera się w nowym oknie
Opis:: Physics-based optical flow models have been successful in capturing the deformities in fluid motion arising from digital imagery. However, a common theoretical framework analyzing several physics-based models is missing. In this regard, we formulate a general framework for fluid motion estimation using a constraint-based refinement approach. We demonstrate that for a particular choice of constraint, our results closely approximate the classical continuity equation-based method for fluid flow. This closeness is theoretically justified by augmented Lagrangian method in a novel way. The convergence of Uzawa iterates is shown using a modified bounded constraint algorithm. The mathematical well-posedness is studied in a Hilbert space setting. Further, we observe a surprising connection to the Cauchy-Riemann operator that diagonalizes the system leading to a diffusive phenomenon involving the divergence and the curl of the flow. Several numerical experiments are performed and the results are shown on different datasets. Additionally, we demonstrate that a flow-driven refinement process involving the curl of the flow outperforms the classical physics-based optical flow method without any additional assumptions on the image data.
Dostawca treści:: Biblioteka Nauki

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Skocz do pozycji: 5.

Tytuł:: GOP Structure Adaptable to the Location of Shot Cuts
Autorzy:: Krulikovská, L.
Polec, J.
Tematy:: shot cut detection
Pearson correlation coefficient
motion estimation
adaptive threshold
video encoding
adaptive GOP structure; Pokaż więcej
Wydawca:: Polska Akademia Nauk. Czytelnia Czasopism PAN
Powiązania:: https://bibliotekanauki.pl/articles/227351.pdf Link otwiera się w nowym oknie
Opis:: In this paper we present a novel two stage algorithm for improving video coding efficiency. The proposed method combines video cut detection and adaptive GOP structure. At first, we have proposed a new technique of frames' comparison for the shot cut detection. The majority of existing methods compare pairs of successive frames. We compare actual frame with its motion estimated prediction. We also present adaptive threshold. The efficiency of novel technique for video cut detection was confirmed through experiment and compared to the commonly used ones in the terms of recall and precision. The next step is to situate I frames to the positions of detected cuts during the process of video encoding. Finally the proposed method is verified by simulations and the obtained results are compared with fixed GOP structures of sizes 4, 8, 12, 16, 32, 64, 128 and GOP structure with length of entire video. Proposed method achieved the gain in bit rate from 15,33% to 50,59%, while not degrading PSNR in comparison to simulated fixed GOP structures.
Dostawca treści:: Biblioteka Nauki

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Skocz do pozycji: 6.

Tytuł:: Skalowalny algorytm estymacji ruchu dla systemów rozproszonych
A scalable motion estimation algorithm for distributed systems
Autorzy:: Konieczny, J.
Łuczak, A.
Tematy:: algorytm skalowalny
estymacja ruchu
systemy rozproszone
przetwarzanie w czasie rzeczywistym
scalable algorithm
motion estimation
distributed systems
real-time processing; Pokaż więcej
Wydawca:: Stowarzyszenie Inżynierów i Techników Mechaników Polskich
Powiązania:: https://bibliotekanauki.pl/articles/154045.pdf Link otwiera się w nowym oknie
Opis:: W pracy zaprezentowano autorski algorytm umożliwiający realizację procesu estymacji ruchu w czasie rzeczywistym przy wykorzystaniu systemów rozproszonych. Jest to algorytm należący do grupy tzw. szybkich algorytmów estymacji ruchu i umożliwia estymację ruchu z rozdzielczością poniżej jednego okresu próbkowania. Zaproponowany algorytm jest skalowalny i posiada budowę modułową, umożliwia elastyczne dostosowanie do rozmiaru układu oraz udostępnia mechanizm kontroli liczby cykli zegara niezbędnych do estymacji ruchu. W rezultacie możliwe jest dostosowanie częstotliwości zegara do możliwości układu przy zapewnieniu przetwarzania w czasie rzeczywistym.
In this paper a novel scalable algorithm for real-time motion estimation dedicated for distributed systems is presented. The proposed algorithm has modular structure and provides ability to flexibly adjust the global clock-rate required for real-time processing. This is achieved using hierarchical structure of the algorithm, which assumes division of the whole motion estimation process into independent processing stages (Figs. 1, 3, 4) and introducing special mechanism for controlling the allowed number of computation cycles. The algorithm modularity provides additional profits like ability to choose various methods for each processing stage independently and scalability of the circuit structure resulting in more efficient hardware implementation. Flexible clock-rate adjustment enables real-time processing with various types of computational platforms, with special regards to distributed systems consisting of many low-performance units. An example of scalable performance of the algorithm in distributed systems is presented. In order to increase the image resolution in real-time processing the processed image is shared between many processing units (Fig. 5). An exemplary system used for evaluation was created using Digilent "Starter Boards" with Xilinx Spartan-3 XC3S1000 FPGA circuits connected with NOC (Network On Chip) (Fig. 6). In the presented implementation six Spartan-3 circuits were able to estimate motion vectors with half-pel accuracy in real-time for HD resolution (1920x1080) video sequence with 25 frames per second.
Dostawca treści:: Biblioteka Nauki

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Skocz do pozycji: 7.

Tytuł:: Model algorytmiczny komputerowego systemu nawigacyjnego do wspomagania zabiegów igłowej biopsji przezoskrzelowej metodą wirtualnej bronchoskopii.
Algorithmic Model of Computer Navigation System Assisting Transbronchial Needle-Aspiration
Autorzy:: Zieliński, T.
Duplaga, M.
Bułat, J.
Duda, K.
Socha, M.
Turcza, P.
Tematy:: pulmonologia
pozycjonowanie bronchofiberoskopu
wirtualna bronchoskopia
dopasowywanie obrazów
estymacja ruchu
pulmonology
transbronchial needle-aspiration biopsy
bronchofiberoscope positioning
virtual bronchoscopy
motion estimation; Pokaż więcej
Wydawca:: Stowarzyszenie Inżynierów i Techników Mechaników Polskich
Powiązania:: https://bibliotekanauki.pl/articles/154197.pdf Link otwiera się w nowym oknie
Opis:: W artykule przedstawiono opracowany model algorytmiczny systemu do wspomagania pozycjonowania końcówki bronchofiberoskopu, względem organów anatomicznych człowieka, podczas zabiegu igłowej, przezoskrzelowej biopsji aspiracyjnej. Jego zadaniem jest ułatwienie lekarzowi pobrania do analizy próbki tkanek konkretnego, zbyt dużego węzła chłonnego (znalezionego metodą tomografii komputerowej), drogą jego nakłucia od strony wnętrza drzewa oskrzelowego. Podstawą działania systemu jest dopasowywanie do siebie dwóch obrazów: rzeczywistego, pochodzącego z kamery endoskopowej bronchofiberoskopu, oraz wirtualnego, syntezowanego na podstawie danych tomograficznych pacjenta. W artykule opisano poszczególne bloki składowe algorytmu nawigacji oraz przeprowadzono dyskusję nad możliwością jego implementacji w czasie rzeczywistym.
In the paper developed algorithmic model of a computer system for bronchofiberoscope positioning (in respect to human body organs) during transbronchial needle-aspiration biopsy is described. Its goal is to help a doctor to take a probe of a pathologically enlarged lesion (found during computed tomography examination) by means of needle aspiration performed from bronchial tree interior. The system exploits an idea of registration of two images: the real one, coming from endoscope camera, and, the virtual one, synthesized on the base of computed tomography data. Main building blocks of the navigation algorithm are presented and possibility of its future real-time implementation is discussed.
Dostawca treści:: Biblioteka Nauki

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Skocz do pozycji: 8.

Tytuł:: Theoretical geodesy
Autorzy:: Borkowski, A.
Kosek, W.
Tematy:: M-estimation
robust estimation
reliability
time series
polar motion
niezawodność
szeregi czasowe
estymacja; Pokaż więcej
Wydawca:: Polska Akademia Nauk. Czytelnia Czasopism PAN
Powiązania:: https://bibliotekanauki.pl/articles/145440.pdf Link otwiera się w nowym oknie
Opis:: The paper presents a summary of research activities concerning theoretical geodesy performed in Poland in the period of 2011-2014. It contains the results of research on new methods of the parameter estimation, a study on robustness properties of the M-estimation, control network and deformation analysis, and geodetic time series analysis. The main achievements in the geodetic parameter estimation involve a new model of the M-estimation with probabilistic models of geodetic observations, a new Shift-Msplit estimation, which allows to estimate a vector of parameter differences and the Shift-Msplit(+) that is a generalisation of Shift-Msplit estimation if the design matrix A of a functional model has not a full column rank. The new algorithms of the coordinates conversion between the Cartesian and geodetic coordinates, both on the rotational and triaxial ellipsoid can be mentioned as a highlights of the research of the last four years. New parameter estimation models developed have been adopted and successfully applied to the control network and deformation analysis. New algorithms based on the wavelet, Fourier and Hilbert transforms were applied to find time-frequency characteristics of geodetic and geophysical time series as well as time-frequency relations between them. Statistical properties of these time series are also presented using different statistical tests as well as 2nd, 3rd and 4th moments about the mean. The new forecasts methods are presented which enable prediction of the considered time series in different frequency bands.
Dostawca treści:: Biblioteka Nauki

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Skocz do pozycji: 9.

Tytuł:: Geodesy: General theory and methodology 2015–2018
Autorzy:: Borkowski, Andrzej
Kosek, Wiesław
Ligas, Marcin
Tematy:: niezawodność
szereg czasowy
szacowanie
robust estimation
reliability
time series
polar motion
least squares collocation; Pokaż więcej
Wydawca:: Polska Akademia Nauk. Czytelnia Czasopism PAN
Powiązania:: https://bibliotekanauki.pl/articles/145489.pdf Link otwiera się w nowym oknie
Opis:: The summary of research activities concerning general theory and methodology performed in Poland in the period of 2015–2018 is presented as a national report for the 27th IUGG (International Union of Geodesy and Geophysics) General Assembly. It contains the results of research on new or improved methods and variants of robust parameter estimation and their application, especially to control network analysis. Reliability analysis of the observation system and an integrated adjustment approach are also given. The identifiability (ID) index as a new measure for minimal detectable bias (MDB) in the observation system of a network, has been introduced. A new method of covariance function parameter estimation in the least squares collocation has been developed. The robustified version of the Shift-Msplit estimation, termed as Shift-M*split estimation, which enables estimation of parameter differences (robustly), without the need of prior estimation of the parameters, has been introduced. Results on the analysis of geodetic time series, particularly Earth orientation parameter time series, geocenter time series, permanent station coordinates and sea level variation time series are also provided in this review paper. The entire bibliography of related works is provided in the references.
Dostawca treści:: Biblioteka Nauki

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Skocz do pozycji: 10.

Tytuł:: Raport Badawczy = Research Report ; RB/8/2005
Processing National CO 2 Inventory Emission Data and their Total Uncertainty Estimates
Autorzy:: Nahorski, Zbigniew (1945– )
Jęda, Waldemar Paweł
Wydawca:: Instytut Badań Systemowych. Polska Akademia Nauk
Systems Research Institute. Polish Academy of Sciences
Powiązania:: Raport Badawczy = Research Report
Opis:: 22 pages ; 21 cm
22 stron ; 21 cm
Bibliografia s. 20-22
Bibliography p. 20-22
One of the purposes of this article is to propose statistical signal processing methods to assess the uncertainty of reported greenhouse gases emissions. They use the yearly reported observations while assuming temporal smoothness of the emission curve. The considered methods are: a spline function smoothing procedure, a time-varying parameter model, and the geometric Brownian motion model. They are verified on historical observations of the CO2 emissions from combustion of the fossil fuels. The obtained estimates of variances agree in the range with those obtained from national inventories. As an additional result, some regularities in observed curves were noticed.
Dostawca treści:: RCIN - Repozytorium Cyfrowe Instytutów Naukowych

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