WorldWideScience

Sample records for moving target tracking

  1. Continuous haptic information in target tracking from a moving platform

    NARCIS (Netherlands)

    Korteling, J.E.; Emmerik, M.L. van

    1998-01-01

    The present study was conducted to gain insight in the effects of different forms of continuous haptic information (CHI) to operator performance of a moving unmanned platform. In a simulator experi-ment, subjects had to track a moving target with a disturbed viewfinder ('moving platform'). While per

  2. Detecting and Tracking Moving Targets on Omnidirectional Vislon

    Institute of Scientific and Technical Information of China (English)

    YANG Shuying; GE Weimin; ZHANG Cheng; HE Pilian

    2009-01-01

    A method was presented to implement the detecting and tracking of moving targets through omnidirectional vision.The method combined optical flow with particle filter arithmetic.in which optical flow field was used to detect and locate moving targets and particle filter was used to track the detected moving objects.According to the circular image character of omnidirectionaI vision.the calculation equation of optical flow field and the tracking arithmetic of particle filter were improved based on the polar coordinates at the omnidirectional center.The edge of a randomly moving object could be detected by optical flow field and was surrounded by a reference region in the particle filter.A dynamic motion model was established to predict particle state.Histograms were used as the features in the reference region and candidate regions.The mutual information(MI)and Gaussian function were combined to calculate particle weights.Finally,the state of tracked object was computed by the total particle states with weights.Experiment results show that the proposed method could detect and track moving objects with better realtime performance and accuracy.

  3. Energy Efficient Moving Target Tracking in Wireless Sensor Networks.

    Science.gov (United States)

    Wen, Yingyou; Gao, Rui; Zhao, Hong

    2016-01-02

    Moving target tracking in wireless sensor networks is of paramount importance. This paper considers the problem of state estimation for L-sensor linear dynamic systems. Firstly, the paper establishes the fuzzy model for measurement condition estimation. Then, Generalized Kalman Filter design is performed to incorporate the novel neighborhood function and the target motion information, improving with an increasing number of active sensors. The proposed measurement selection approach has some advantages in time cost. As such, if the desired accuracy has been achieved, the parameter initialization for optimization can be readily resolved, which maximizes the expected lifespan while preserving tracking accuracy. Through theoretical justifications and empirical studies, we demonstrate that the proposed scheme achieves substantially superior performances over conventional methods in terms of moving target tracking under the resource-constrained wireless sensor networks.

  4. A ground moving target emergency tracking method for catastrophe rescue

    Science.gov (United States)

    Zhou, X.; Li, D.; Li, G.

    2014-11-01

    In recent years, great disasters happen now and then. Disaster management test the emergency operation ability of the government and society all over the world. Immediately after the occurrence of a great disaster (e.g., earthquake), a massive nationwide rescue and relief operation need to be kicked off instantly. In order to improve the organizations efficiency of the emergency rescue, the organizers need to take charge of the information of the rescuer teams, including the real time location, the equipment with the team, the technical skills of the rescuers, and so on. One of the key factors for the success of emergency operations is the real time location of the rescuers dynamically. Real time tracking methods are used to track the professional rescuer teams now. But volunteers' participation play more and more important roles in great disasters. However, real time tracking of the volunteers will cause many problems, e.g., privacy leakage, expensive data consumption, etc. These problems may reduce the enthusiasm of volunteers' participation for catastrophe rescue. In fact, the great disaster is just small probability event, it is not necessary to track the volunteers (even rescuer teams) every time every day. In order to solve this problem, a ground moving target emergency tracking method for catastrophe rescue is presented in this paper. In this method, the handheld devices using GPS technology to provide the location of the users, e.g., smart phone, is used as the positioning equipment; an emergency tracking information database including the ID of the ground moving target (including the rescuer teams and volunteers), the communication number of the handheld devices with the moving target, and the usually living region, etc., is built in advance by registration; when catastrophe happens, the ground moving targets that living close to the disaster area will be filtered by the usually living region; then the activation short message will be sent to the selected

  5. Moving Target Tracking through Distributed Clustering in Directional Sensor Networks

    Directory of Open Access Journals (Sweden)

    Asma Enayet

    2014-12-01

    Full Text Available The problem of moving target tracking in directional sensor networks (DSNs introduces new research challenges, including optimal selection of sensing and communication sectors of the directional sensor nodes, determination of the precise location of the target and an energy-efficient data collection mechanism. Existing solutions allow individual sensor nodes to detect the target’s location through collaboration among neighboring nodes, where most of the sensors are activated and communicate with the sink. Therefore, they incur much overhead, loss of energy and reduced target tracking accuracy. In this paper, we have proposed a clustering algorithm, where distributed cluster heads coordinate their member nodes in optimizing the active sensing and communication directions of the nodes, precisely determining the target location by aggregating reported sensing data from multiple nodes and transferring the resultant location information to the sink. Thus, the proposed target tracking mechanism minimizes the sensing redundancy and maximizes the number of sleeping nodes in the network. We have also investigated the dynamic approach of activating sleeping nodes on-demand so that the moving target tracking accuracy can be enhanced while maximizing the network lifetime. We have carried out our extensive simulations in ns-3, and the results show that the proposed mechanism achieves higher performance compared to the state-of-the-art works.

  6. Coordinated standoff tracking of moving targets using differential geometry

    Institute of Scientific and Technical Information of China (English)

    Zhi-qiang SONG; Hua-xiong LI; Chun-lin CHEN; Xian-zhong ZHOU; Feng XU

    2014-01-01

    This research is concerned with coordinated standoff tracking, and a guidance law against a moving target is proposed by using differential geometry. We first present the geometry between the unmanned aircraft (UA) and the target to obtain the convergent solution of standoff tracking when the speed ratio of the UA to the target is larger than one. Then, the convergent solution is used to guide the UA onto the standoff tracking geometry. We propose an improved guidance law by adding a derivative term to the relevant algorithm. To keep the phase angle difference of multiple UAs, we add a second derivative term to the relevant control law. Simulations are done to demonstrate the feasibility and performance of the proposed approach. The proposed algo-rithm can achieve coordinated control of multiple UAs with its simplicity and stability in terms of the standoff distance and phase angle difference.

  7. Application of Road Information in Ground Moving Target Tracking

    Institute of Scientific and Technical Information of China (English)

    Zhen Xinyan; Zhao Wei

    2007-01-01

    A new algorithm is developed to achieve accurate state estimation in ground moving target tracking by means of using road information. It is an adaptive variable structure interacting multiple model estimator with dynamic models modification (DMM VS-IMM for short). Firstly, road information is employed to modify the target dynamic models used by filter, including modification of state transition matrix and process noise. Secondly, road information is applied to update the model set of a VS-IMM estimator. Predicted state estimation and road information are used to locate the target in the road network on which the model set is updated and finally IMM filtering is implemented. As compared with traditional methods, the accuracy of state estimation is improved for target moving not only on a single road, but also through an intersection. Monte Carlo simulation demonstrates the efficiency and robustness of the proposed algorithm with moderate computational loads.

  8. Ground moving target processing for tracking selected targets

    Science.gov (United States)

    Nichols, Howard; Majumder, Uttam; Owirka, Gregory; Finn, Lucas

    2016-05-01

    BAE Systems has developed a baseline real-time selected vehicle (SV) radar tracking capability that successfully tracked multiple civilian vehicles in real-world traffic conditions within challenging semi-urban clutter. This real-time tracking capability was demonstrated in laboratory setting. Recent enhancements to the baseline capability include multiple detection modes, improvements to the system-level design, and a wide-area tracking mode. The multiple detection modes support two tracking regimes; wide-area and localized selected vehicle tracking. These two tracking regimes have distinct challenges that may be suited to different trackers. Incorporation of a wide-area tracking mode provides both situational awareness and the potential for enhancing SV track initiation. Improvements to the system-level design simplify the integration of multiple detection modes and more realistic SV track initiation capabilities. Improvements are designed to contribute to a comprehensive tracking capability that exploits a continuous stare paradigm. In this paper, focus will be on the challenges, design considerations, and integration of selected vehicle tracking.

  9. Eye tracking a self-moved target with complex hand-target dynamics.

    Science.gov (United States)

    Landelle, Caroline; Montagnini, Anna; Madelain, Laurent; Danion, Frederic

    2016-10-01

    Previous work has shown that the ability to track with the eye a moving target is substantially improved when the target is self-moved by the subject's hand compared with when being externally moved. Here, we explored a situation in which the mapping between hand movement and target motion was perturbed by simulating an elastic relationship between the hand and target. Our objective was to determine whether the predictive mechanisms driving eye-hand coordination could be updated to accommodate this complex hand-target dynamics. To fully appreciate the behavioral effects of this perturbation, we compared eye tracking performance when self-moving a target with a rigid mapping (simple) and a spring mapping as well as when the subject tracked target trajectories that he/she had previously generated when using the rigid or spring mapping. Concerning the rigid mapping, our results confirmed that smooth pursuit was more accurate when the target was self-moved than externally moved. In contrast, with the spring mapping, eye tracking had initially similar low spatial accuracy (though shorter temporal lag) in the self versus externally moved conditions. However, within ∼5 min of practice, smooth pursuit improved in the self-moved spring condition, up to a level similar to the self-moved rigid condition. Subsequently, when the mapping unexpectedly switched from spring to rigid, the eye initially followed the expected target trajectory and not the real one, thereby suggesting that subjects used an internal representation of the new hand-target dynamics. Overall, these results emphasize the stunning adaptability of smooth pursuit when self-maneuvering objects with complex dynamics. Copyright © 2016 the American Physiological Society.

  10. Tracking moving radar targets with parallel, velocity-tuned filters

    Energy Technology Data Exchange (ETDEWEB)

    Bickel, Douglas L.; Harmony, David W.; Bielek, Timothy P.; Hollowell, Jeff A.; Murray, Margaret S.; Martinez, Ana

    2013-04-30

    Radar data associated with radar illumination of a movable target is processed to monitor motion of the target. A plurality of filter operations are performed in parallel on the radar data so that each filter operation produces target image information. The filter operations are defined to have respectively corresponding velocity ranges that differ from one another. The target image information produced by one of the filter operations represents the target more accurately than the target image information produced by the remainder of the filter operations when a current velocity of the target is within the velocity range associated with the one filter operation. In response to the current velocity of the target being within the velocity range associated with the one filter operation, motion of the target is tracked based on the target image information produced by the one filter operation.

  11. AN ADAPTIVE MOVING TARGET TRACKING ALGORITHM FOR SMART ANTENNA SYSTEMS

    Institute of Scientific and Technical Information of China (English)

    2008-01-01

    In wireless communication environment, the time-varying channel and angular spreads caused by multipath fading and the mobility of Mobile Stations (MS) degrade the performance of the conventional Direction-Of-Arrival (DOA) tracking algorithms. On the other hand, although the DOA estimation methods based on the Maximum Likelihood (ML) principle have higher resolution than the beamforming and the subspace based methods, prohibitively heavy computation limits their practical applications. This letter first proposes a new suboptimal DOA estimation algorithm that combines the advantages of the lower complexity of subspace algorithm and the high accuracy of ML based algorithms, and then proposes a Kalman filtering based tracking algorithm to model the dynamic property of directional changes for mobile terminals in such a way that the association between the estimates made at different time points is maintained. At each stage during tracking process, the current suboptimal estimates of DOA are treated as measurements, predicted and updated via a Kalman state equation, hence adaptive tracking of moving MS can be carried out without the need to perform unduly heavy computations. Computer simulation results show that this proposed algorithm has better performance of DOA estimation and tracking of MS than the conventional ML or subspace based algorithms in terms of accuracy and robustness.

  12. Research on the laser tracking system for measuring moving target based on APD

    Science.gov (United States)

    Liu, Hua; Miao, Yinxiao; Gao, Yue

    2016-11-01

    In order to measure the coordinate of moving target, the laser tracking system for moving target was proposed, in which the receiver of four-quadrant APD was adopted as the detector and the DC motor was used to drive the reflector to move in two dimensions. The principle of the measurement system was analyzed first. Then the main part of the system was introduced. The tracking experiment showed that, this system could realized the function of automatic tracking and measuring the coordinate of moving target according to the pulsed laser ranging and angle sensors.

  13. Two Algorithms for the Detection and Tracking of Moving Vehicle Targets in Aerial Infrared Image Sequences

    Directory of Open Access Journals (Sweden)

    Yutian Cao

    2015-12-01

    Full Text Available In this paper, by analyzing the characteristics of infrared moving targets, a Symmetric Frame Differencing Target Detection algorithm based on local clustering segmentation is proposed. In consideration of the high real-time performance and accuracy of traditional symmetric differencing, this novel algorithm uses local grayscale clustering to accomplish target detection after carrying out symmetric frame differencing to locate the regions of change. In addition, the mean shift tracking algorithm is also improved to solve the problem of missed targets caused by error convergence. As a result, a kernel-based mean shift target tracking algorithm based on detection updates is also proposed. This tracking algorithm makes use of the interaction between detection and tracking to correct the tracking errors in real time and to realize robust target tracking in complex scenes. In addition, the validity, robustness and stability of the proposed algorithms are all verified by experiments on mid-infrared aerial sequences with vehicles as targets.

  14. Genetic Fuzzy Logic Control Technique for a Mobile Robot Tracking a Moving Target

    Directory of Open Access Journals (Sweden)

    Karim Benbouabdallah

    2013-01-01

    Full Text Available Target tracking is a crucial function for an autonomous mobile robot navigating in unknown environments. This paper presents a mobile robot target tracking approach based on artificial intelligence techniques. The proposed controller calculates both the mobile robot linear and angular velocities from the distance and angle that separate it to the moving target. The controller was designed using fuzzy logics theory and then, a genetic algorithm was applied to optimize the scaling factors of the fuzzy logic controller for better accuracy and smoothness of the robot trajectory. Simulation results illustrate that the proposed controller leads to good performances in terms of computational time and tracking errors convergence.

  15. A novel infrared small moving target detection method based on tracking interest points under complicated background

    Science.gov (United States)

    Dong, Xiabin; Huang, Xinsheng; Zheng, Yongbin; Bai, Shengjian; Xu, Wanying

    2014-07-01

    Infrared moving target detection is an important part of infrared technology. We introduce a novel infrared small moving target detection method based on tracking interest points under complicated background. Firstly, Difference of Gaussians (DOG) filters are used to detect a group of interest points (including the moving targets). Secondly, a sort of small targets tracking method inspired by Human Visual System (HVS) is used to track these interest points for several frames, and then the correlations between interest points in the first frame and the last frame are obtained. Last, a new clustering method named as R-means is proposed to divide these interest points into two groups according to the correlations, one is target points and another is background points. In experimental results, the target-to-clutter ratio (TCR) and the receiver operating characteristics (ROC) curves are computed experimentally to compare the performances of the proposed method and other five sophisticated methods. From the results, the proposed method shows a better discrimination of targets and clutters and has a lower false alarm rate than the existing moving target detection methods.

  16. Direction Tracking of Multiple Moving Targets Using Quantum Particle Swarm Optimization

    Directory of Open Access Journals (Sweden)

    Gao Hongyuan

    2016-01-01

    Full Text Available Based on weighted signal covariance (WSC matrix and maximum likelihood (ML estimation, a directionof-arrival (DOA estimation method of multiple moving targets is designed and named as WSC-ML in the presence of impulse noise. In order to overcome the shortcoming of the multidimensional search cost of maximum likelihood estimation, a novel continuous quantum particle swarm optimization (QPSO is proposed for this continuous optimization problem. And a tracking method of multiple moving targets in impulsive noise environment is proposed and named as QPSO-WSC-ML. Later, we make use of rank-one updating to update the weighted signal covariance matrix of WSC-ML. Simulation results illustrate the proposed QPSO-WSC-ML method is efficient and robust for the direction tracking of multiple moving targets in the presence of impulse noise.

  17. DMLC motion tracking of moving targets for intensity modulated arc therapy treatment - a feasibility study

    Energy Technology Data Exchange (ETDEWEB)

    Zimmerman, Jens; Korreman, Stine; Persson, Gitte (Dept. of Radiation Oncology, Rigshospitalet, Univ. of Copenhagen, Copenhagen (Denmark)); Cattell, Herb; Svatos, Michelle (Varian Medical Systems, Palo Alto, CA (United States)); Sawant, Amit; Venkat, Raghu; Carlson, David; Keall, Paul (Stanford Univ., Stanford, CA (United States))

    2009-02-15

    Intensity modulated arc therapy offers great advantages with the capability of delivering a fast and highly conformal treatment. However, moving targets represent a major challenge. By monitoring a moving target it is possible to make the beam follow the motion, shaped by a Dynamic MLC (DMLC). The aim of this work was to evaluate the dose delivered to moving targets using the RapidArcTM (Varian Medical Systems, Inc.) technology with and without a DMLC tracking algorithm. Material and methods. A Varian Clinac iX was equipped with a preclinical RapidArcTM and a 3D DMLC tracking application. A motion platform was placed on the couch, with the detectors on top: a PTW seven29 and a Scandidos Delta4. One lung plan and one prostate plan were delivered. Motion was monitored using a Real-time Position Management (RPM) system. Reference measurements were performed for both plans with both detectors at state (0) 'static, no tracking'. Comparing measurements were made at state (1) 'motion, no tracking' and state (2) 'motion, tracking'. Results. Gamma analysis showed a significant improvement from measurements of state (1) to measurements of state (2) compared to the state (0) measurements: Lung plan; from 87 to 97% pass. Prostate plan; from 81 to 88% pass. Sub-beam information gave a much reduced pattern of periodically spatial deviating dose points for state (2) than for state (1). Iso-dose curve comparisons showed a slightly better agreement between state (0) and state (2) than between state (0) and state (1). Conclusions. DMLC tracking together with RapidArcTM make a feasible combination and is capable of improving the dose distribution delivered to a moving target. It seems to be of importance to minimize noise influencing the tracking, to gain the full benefit from the application.

  18. Cortical fMRI activation produced by attentive tracking of moving targets.

    Science.gov (United States)

    Culham, J C; Brandt, S A; Cavanagh, P; Kanwisher, N G; Dale, A M; Tootell, R B

    1998-11-01

    Attention can be used to keep track of moving items, particularly when there are multiple targets of interest that cannot all be followed with eye movements. Functional magnetic resonance imaging (fMRI) was used to investigate cortical regions involved in attentive tracking. Cortical flattening techniques facilitated within-subject comparisons of activation produced by attentive tracking, visual motion, discrete attention shifts, and eye movements. In the main task, subjects viewed a display of nine green "bouncing balls" and used attention to mentally track a subset of them while fixating. At the start of each attentive-tracking condition, several target balls (e.g., 3/9) turned red for 2 s and then reverted to green. Subjects then used attention to keep track of the previously indicated targets, which were otherwise indistinguishable from the nontargets. Attentive-tracking conditions alternated with passive viewing of the same display when no targets had been indicated. Subjects were pretested with an eye-movement monitor to ensure they could perform the task accurately while fixating. For seven subjects, functional activation was superimposed on each individual's cortically unfolded surface. Comparisons between attentive tracking and passive viewing revealed bilateral activation in parietal cortex (intraparietal sulcus, postcentral sulcus, superior parietal lobule, and precuneus), frontal cortex (frontal eye fields and precentral sulcus), and the MT complex (including motion-selective areas MT and MST). Attentional enhancement was absent in early visual areas and weak in the MT complex. However, in parietal and frontal areas, the signal change produced by the moving stimuli was more than doubled when items were tracked attentively. Comparisons between attentive tracking and attention shifting revealed essentially identical activation patterns that differed only in the magnitude of activation. This suggests that parietal cortex is involved not only in discrete

  19. Moving target detection in foliage using along track monopulse synthetic aperture radar imaging.

    Science.gov (United States)

    Soumekh, M

    1997-01-01

    This paper presents a method for detecting moving targets embedded in foliage from the monostatic and bistatic synthetic aperture radar (SAR) data obtained via two airborne radars. The two radars, which are mounted on the same aircraft, have different coordinates in the along track (cross-range) domain. However, unlike the interferometric SAR systems used for topographic mapping, the two radars possess a common range and altitude (i.e., slant range). The resultant monopulse SAR images are used to construct difference and interferometric images for moving target detection. It is shown that the signatures of the stationary targets are weakened in these images. Methods for estimating a moving target's motion parameters are discussed. Results for an ultrawideband UHF SAR system are presented.

  20. Linear Track Estimation Using Double Pulse Sources for Near-Field Underwater Moving Target

    Institute of Scientific and Technical Information of China (English)

    Zhifei Chen; Hong Hou; Jianhua Yang; Jincai Sun; Qian Wang

    2013-01-01

    The double pulse sources (DPS) method is presented for linear track estimation in this work.In the field of noise identification of underwater moving target,the Doppler will distort the frequency and amplitude of the radiated noise.To eliminate this,the track estimation is necessary.In the DPS method,we first estimate bearings of two sinusoidal pulse sources installed in the moving target through baseline positioning method.Meanwhile,the emitted and recorded time of each pulse are also acquired.Then the linear track parameters will be achieved based on the geometry pattern with the help of double sources spacing.The simulated results confirm that the DPS improves the performance of the previous double source spacing method.The simulated experiments were carried out using a moving battery car to further evaluate its performance.When the target is 40-60m away,the experiment results show that biases of track azimuth and abeam distance of DPS are under 0.6° and 3.4m,respectively.And the average deviation of estimated velocity is around 0.25m/s.

  1. Location Detection and Tracking of Moving Targets by a 2D IR-UWB Radar System

    Directory of Open Access Journals (Sweden)

    Van-Han Nguyen

    2015-03-01

    Full Text Available In indoor environments, the Global Positioning System (GPS and long-range tracking radar systems are not optimal, because of signal propagation limitations in the indoor environment. In recent years, the use of ultra-wide band (UWB technology has become a possible solution for object detection, localization and tracking in indoor environments, because of its high range resolution, compact size and low cost. This paper presents improved target detection and tracking techniques for moving objects with impulse-radio UWB (IR-UWB radar in a short-range indoor area. This is achieved through signal-processing steps, such as clutter reduction, target detection, target localization and tracking. In this paper, we introduce a new combination consisting of our proposed signal-processing procedures. In the clutter-reduction step, a filtering method that uses a Kalman filter (KF is proposed. Then, in the target detection step, a modification of the conventional CLEAN algorithm which is used to estimate the impulse response from observation region is applied for the advanced elimination of false alarms. Then, the output is fed into the target localization and tracking step, in which the target location and trajectory are determined and tracked by using unscented KF in two-dimensional coordinates. In each step, the proposed methods are compared to conventional methods to demonstrate the differences in performance. The experiments are carried out using actual IR-UWB radar under different scenarios. The results verify that the proposed methods can improve the probability and efficiency of target detection and tracking.

  2. TOA Estimation and Data Association for Through-Wall Tracking of Moving Targets

    Directory of Open Access Journals (Sweden)

    Rovňáková Jana

    2010-01-01

    Full Text Available Through-wall tracking of moving targets is of great interest for rescue, surveillance, and security operations. For its realization, the handheld ultrawideband radars with small antenna array provide a practical solution. The radar signal processing, which is hidden behind the estimation of the final target tracks, represents a complex process with several processing phases. In this paper, all phases for through wall tracking are outlined whereas the attention is devoted to the estimation of the correct input data for the localization phase. This is done by applying a new approach that combines the time of arrival (TOA estimation and the data-association into a single step. The properties of the proposed algorithm are illustrated by processing of real radar signals. Here, the obtained results confirm that the proposed algorithm has provided good, stable, and robust TOA estimation including deghosting task solution.

  3. Tracking and Recognition of Multiple Human Targets Moving in a Wireless Pyroelectric Infrared Sensor Network

    Directory of Open Access Journals (Sweden)

    Ji Xiong

    2014-04-01

    Full Text Available With characteristics of low-cost and easy deployment, the distributed wireless pyroelectric infrared sensor network has attracted extensive interest, which aims to make it an alternate infrared video sensor in thermal biometric applications for tracking and identifying human targets. In these applications, effectively processing signals collected from sensors and extracting the features of different human targets has become crucial. This paper proposes the application of empirical mode decomposition and the Hilbert-Huang transform to extract features of moving human targets both in the time domain and the frequency domain. Moreover, the support vector machine is selected as the classifier. The experimental results demonstrate that by using this method the identification rates of multiple moving human targets are around 90%.

  4. Application of Fractional Fourier Transform to Moving Target Indication via Along-Track Interferometry

    Directory of Open Access Journals (Sweden)

    Chiu Shen

    2005-01-01

    Full Text Available A relatively unknown yet powerful technique, the so-called fractional Fourier transform (FrFT, is applied to SAR along-track interferometry (SAR-ATI in order to estimate moving target parameters. By mapping a target's signal onto a fractional Fourier axis, the FrFT permits a constant-velocity target to be focused in the fractional Fourier domain thereby affording orders of magnitude improvement in SCR. Moving target velocity and position parameters are derived and expressed in terms of an optimum fractional angle and a measured fractional Fourier position , allowing a target to be accurately repositioned and its velocity components computed without actually forming an SAR image. The new estimation algorithm is compared with the matched filter bank approach, showing some of the advantages of the FrFT method. The proposed technique is applied to the data acquired by the two-aperture CV580 airborne radar system configured in its along-track mode. Results show that the method is effective in estimating target velocity and position parameters.

  5. Robustness of target dose coverage to motion uncertainties for scanned carbon ion beam tracking therapy of moving tumors.

    Science.gov (United States)

    Eley, John Gordon; Newhauser, Wayne David; Richter, Daniel; Lüchtenborg, Robert; Saito, Nami; Bert, Christoph

    2015-02-21

    Beam tracking with scanned carbon ion radiotherapy achieves highly conformal target dose by steering carbon pencil beams to follow moving tumors using real-time magnetic deflection and range modulation. The purpose of this study was to evaluate the robustness of target dose coverage from beam tracking in light of positional uncertainties of moving targets and beams. To accomplish this, we simulated beam tracking for moving targets in both water phantoms and a sample of lung cancer patients using a research treatment planning system. We modeled various deviations from perfect tracking that could arise due to uncertainty in organ motion and limited precision of a scanned ion beam tracking system. We also investigated the effects of interfractional changes in organ motion on target dose coverage by simulating a complete course of treatment using serial (weekly) 4DCTs from six lung cancer patients. For perfect tracking of moving targets, we found that target dose coverage was high ([Formula: see text] was 94.8% for phantoms and 94.3% for lung cancer patients, respectively) but sensitive to changes in the phase of respiration at the start of treatment and to the respiratory period. Phase delays in tracking the moving targets led to large degradation of target dose coverage (up to 22% drop for a 15° delay). Sensitivity to technical uncertainties in beam tracking delivery was minimal for a lung cancer case. However, interfractional changes in anatomy and organ motion led to large decreases in target dose coverage (target coverage dropped approximately 8% due to anatomy and motion changes after 1 week). Our findings provide a better understand of the importance of each of these uncertainties for beam tracking with scanned carbon ion therapy and can be used to inform the design of future scanned ion beam tracking systems.

  6. Robustness of target dose coverage to motion uncertainties for scanned carbon ion beam tracking therapy of moving tumors

    Science.gov (United States)

    Eley, John Gordon; Newhauser, Wayne David; Richter, Daniel; Lüchtenborg, Robert; Saito, Nami; Bert, Christoph

    2015-02-01

    Beam tracking with scanned carbon ion radiotherapy achieves highly conformal target dose by steering carbon pencil beams to follow moving tumors using real-time magnetic deflection and range modulation. The purpose of this study was to evaluate the robustness of target dose coverage from beam tracking in light of positional uncertainties of moving targets and beams. To accomplish this, we simulated beam tracking for moving targets in both water phantoms and a sample of lung cancer patients using a research treatment planning system. We modeled various deviations from perfect tracking that could arise due to uncertainty in organ motion and limited precision of a scanned ion beam tracking system. We also investigated the effects of interfractional changes in organ motion on target dose coverage by simulating a complete course of treatment using serial (weekly) 4DCTs from six lung cancer patients. For perfect tracking of moving targets, we found that target dose coverage was high ({{\\overline{V}}95} was 94.8% for phantoms and 94.3% for lung cancer patients, respectively) but sensitive to changes in the phase of respiration at the start of treatment and to the respiratory period. Phase delays in tracking the moving targets led to large degradation of target dose coverage (up to 22% drop for a 15° delay). Sensitivity to technical uncertainties in beam tracking delivery was minimal for a lung cancer case. However, interfractional changes in anatomy and organ motion led to large decreases in target dose coverage (target coverage dropped approximately 8% due to anatomy and motion changes after 1 week). Our findings provide a better understand of the importance of each of these uncertainties for beam tracking with scanned carbon ion therapy and can be used to inform the design of future scanned ion beam tracking systems.

  7. Multichannel Along-Track Interferometric SAR Systems: Moving Targets Detection and Velocity Estimation

    Directory of Open Access Journals (Sweden)

    Alessandra Budillon

    2008-01-01

    Full Text Available Along-track interferometric synthetic aperture radar (AT-InSAR systems are used to estimate the radial velocity of targets moving on the ground, starting from the interferometric phases, obtained by the combinations of two complex SAR images acquired by two antennas spatially separated along the platform moving direction. Since the radial velocity estimation obtained from a single-phase interferogram (single-channel suffers from ambiguities, multichannel AT-InSAR systems using more than one interferogram can be used. In this paper, we first analyze the moving target detection problem, evaluating the systems performance in terms of probability of detection and probability of false alarm obtained with different values of target radial velocity, signal-to-clutter ratio, and clutter-to-thermal noise ratio. Then, we analyze the radial velocity estimation accuracy in terms of Cramer-Rao lower bounds and of mean square error values, obtained by using a maximum likelihood estimation technique. We consider the cases of single-baseline and dual-baseline satellite systems, and we evaluate the detection and estimation performance improvement obtained in the dual-baseline case with respect to the single-baseline one. Sensitivity of the presented method with respect to the involved target and system parameters is also discussed.

  8. Guided filter and convolutional network based tracking for infrared dim moving target

    Science.gov (United States)

    Qian, Kun; Zhou, Huixin; Qin, Hanlin; Rong, Shenghui; Zhao, Dong; Du, Juan

    2017-09-01

    The dim moving target usually submerges in strong noise, and its motion observability is debased by numerous false alarms for low signal-to-noise ratio. A tracking algorithm that integrates the Guided Image Filter (GIF) and the Convolutional neural network (CNN) into the particle filter framework is presented to cope with the uncertainty of dim targets. First, the initial target template is treated as a guidance to filter incoming templates depending on similarities between the guidance and candidate templates. The GIF algorithm utilizes the structure in the guidance and performs as an edge-preserving smoothing operator. Therefore, the guidance helps to preserve the detail of valuable templates and makes inaccurate ones blurry, alleviating the tracking deviation effectively. Besides, the two-layer CNN method is adopted to obtain a powerful appearance representation. Subsequently, a Bayesian classifier is trained with these discriminative yet strong features. Moreover, an adaptive learning factor is introduced to prevent the update of classifier's parameters when a target undergoes sever background. At last, classifier responses of particles are utilized to generate particle importance weights and a re-sample procedure preserves samples according to the weight. In the predication stage, a 2-order transition model considers the target velocity to estimate current position. Experimental results demonstrate that the presented algorithm outperforms several relative algorithms in the accuracy.

  9. Analgorithmic Framework for Automatic Detection and Tracking Moving Point Targets in IR Image Sequences

    Directory of Open Access Journals (Sweden)

    R. Anand Raji

    2015-05-01

    Full Text Available Imaging sensors operating in infrared (IR region of electromagnetic spectrum are gaining importance in airborne automatic target recognition (ATR applications due to their passive nature of operation. IR imaging sensors exploit the unintended IR radiation emitted by the targets of interest for detection. The ATR systems based on the passive IR imaging sensors employ a set of signal processing algorithms for processing the image information in real-time. The real-time execution of signal processing algorithms provides the sufficient reaction time to the platform carrying ATR system to react upon the target of interest. These set of algorithms include detection, tracking, and classification of low-contrast, small sized-targets. Paper explained a signal processing framework developed to detect and track moving point targets from the acquired IR image sequences in real-time.Defence Science Journal, Vol. 65, No. 3, May 2015, pp.208-213, DOI: http://dx.doi.org/10.14429/dsj.65.8164

  10. An information potential approach for tracking and surveilling multiple moving targets using mobile sensor agents

    Science.gov (United States)

    Lu, W.; Zhang, G.; Ferrari, S.; Fierro, R.; Palunko, I.

    2011-05-01

    The problem of surveilling moving targets using mobile sensor agents (MSAs) is applicable to a variety of fields, including environmental monitoring, security, and manufacturing. Several authors have shown that the performance of a mobile sensor can be greatly improved by planning its motion and control strategies based on its sensing objectives. This paper presents an information potential approach for computing the MSAs' motion plans and control inputs based on the feedback from a modified particle filter used for tracking moving targets. The modified particle filter, as presented in this paper implements a new sampling method (based on supporting intervals of density functions), which accounts for the latest sensor measurements and adapts, accordingly, a mixture representation of the probability density functions (PDFs) for the target motion. It is assumed that the target motion can be modeled as a semi-Markov jump process, and that the PDFs of the Markov parameters can be updated based on real-time sensor measurements by a centralized processing unit or MSAs supervisor. Subsequently, the MSAs supervisor computes an information potential function that is communicated to the sensors, and used to determine their individual feedback control inputs, such that sensors with bounded field-of-view (FOV) can follow and surveil the target over time.

  11. Posture and gaze tracking of a vertically moving target reveals age-related constraints in visuo-motor coupling.

    Science.gov (United States)

    Sotirakis, H; Kyvelidou, A; Stergiou, N; Hatzitaki, V

    2017-07-27

    Previously we have demonstrated that the effect of aging on posture and gaze active tracking of a visual target moving in the horizontal direction is dependent on target's complexity. In this study, we asked whether a similar phenomenon is present when tracking a visual target moving with varying complexity in the vertical direction. Ten young (22.98±2.9years) and 10 older adults (72.45±4.72years) tracked for 120s, a visual target moving vertically by shifting their bodyweight in the anterior-posterior direction. Three target motions were tested: a simple periodic (sine wave), a more complex (Lorenz attractor) and an ultra-complex random (Surrogated Lorenz attractor) pattern. Cross-spectral analysis revealed lower sway-target coherence as a function of age, regardless of target motion's complexity. This age effect was significant for the sway-target gain but not for the phase index. Gaze-target analysis revealed age related differences only when tracking the more complex targets. Regardless of age, tracking of the complex target was associated with lower cross Approximate Entropy. It is concluded that tracking of visual targets oscillating in the vertical direction reveals age related constraints that are independent of visual motion's complexity. These constraints are evident in the spatial and not temporal aspects of visuo-motor coupling, which suggests the presence of neuromuscular deficiencies in controlling visually guided postural sway in the anterior-posterior direction. Copyright © 2017 Elsevier B.V. All rights reserved.

  12. Experimental investigation of a moving averaging algorithm for motion perpendicular to the leaf travel direction in dynamic MLC target tracking

    Energy Technology Data Exchange (ETDEWEB)

    Yoon, Jai-Woong; Sawant, Amit; Suh, Yelin; Cho, Byung-Chul; Suh, Tae-Suk; Keall, Paul [Department of Biomedical Engineering, College of Medicine, Catholic University of Korea, Seoul, Korea 131-700 and Research Institute of Biomedical Engineering, Catholic University of Korea, Seoul, 131-700 (Korea, Republic of); Department of Radiation Oncology, Stanford University, Stanford, California 94305 (United States); Department of Radiation Oncology, Stanford University, Stanford, California 94305 (United States) and Department of Radiation Oncology, Asan Medical Center, Seoul, 138-736 (Korea, Republic of); Department of Biomedical Engineering, College of Medicine, Catholic University of Korea, Seoul, 131-700 and Research Institute of Biomedical Engineering, Catholic University of Korea, Seoul, 131-700 (Korea, Republic of); Department of Radiation Oncology, Stanford University, Stanford, California 94305 (United States) and Radiation Physics Laboratory, Sydney Medical School, University of Sydney, 2006 (Australia)

    2011-07-15

    Purpose: In dynamic multileaf collimator (MLC) motion tracking with complex intensity-modulated radiation therapy (IMRT) fields, target motion perpendicular to the MLC leaf travel direction can cause beam holds, which increase beam delivery time by up to a factor of 4. As a means to balance delivery efficiency and accuracy, a moving average algorithm was incorporated into a dynamic MLC motion tracking system (i.e., moving average tracking) to account for target motion perpendicular to the MLC leaf travel direction. The experimental investigation of the moving average algorithm compared with real-time tracking and no compensation beam delivery is described. Methods: The properties of the moving average algorithm were measured and compared with those of real-time tracking (dynamic MLC motion tracking accounting for both target motion parallel and perpendicular to the leaf travel direction) and no compensation beam delivery. The algorithm was investigated using a synthetic motion trace with a baseline drift and four patient-measured 3D tumor motion traces representing regular and irregular motions with varying baseline drifts. Each motion trace was reproduced by a moving platform. The delivery efficiency, geometric accuracy, and dosimetric accuracy were evaluated for conformal, step-and-shoot IMRT, and dynamic sliding window IMRT treatment plans using the synthetic and patient motion traces. The dosimetric accuracy was quantified via a {gamma}-test with a 3%/3 mm criterion. Results: The delivery efficiency ranged from 89 to 100% for moving average tracking, 26%-100% for real-time tracking, and 100% (by definition) for no compensation. The root-mean-square geometric error ranged from 3.2 to 4.0 mm for moving average tracking, 0.7-1.1 mm for real-time tracking, and 3.7-7.2 mm for no compensation. The percentage of dosimetric points failing the {gamma}-test ranged from 4 to 30% for moving average tracking, 0%-23% for real-time tracking, and 10%-47% for no compensation

  13. Brain Activation during Spatial Updating and Attentive Tracking of Moving Targets

    Science.gov (United States)

    Jahn, Georg; Wendt, Julia; Lotze, Martin; Papenmeier, Frank; Huff, Markus

    2012-01-01

    Keeping aware of the locations of objects while one is moving requires the updating of spatial representations. As long as the objects are visible, attentional tracking is sufficient, but knowing where objects out of view went in relation to one's own body involves an updating of spatial working memory. Here, multiple object tracking was employed…

  14. Learning the trajectory of a moving visual target and evolution of its tracking in the monkey.

    Science.gov (United States)

    Bourrelly, Clara; Quinet, Julie; Cavanagh, Patrick; Goffart, Laurent

    2016-12-01

    An object moving in the visual field triggers a saccade that brings its image onto the fovea. It is followed by a combination of slow eye movements and catch-up saccades that try to keep the target image on the fovea as long as possible. The accuracy of this ability to track the "here-and-now" location of a visual target contrasts with the spatiotemporally distributed nature of its encoding in the brain. We show in six experimentally naive monkeys how this performance is acquired and gradually evolves during successive daily sessions. During the early exposure, the tracking is mostly saltatory, made of relatively large saccades separated by low eye velocity episodes, demonstrating that accurate (here and now) pursuit is not spontaneous and that gaze direction lags behind its location most of the time. Over the sessions, while the pursuit velocity is enhanced, the gaze is more frequently directed toward the current target location as a consequence of a 25% reduction in the number of catch-up saccades and a 37% reduction in size (for the first saccade). This smoothing is observed at several scales: during the course of single trials, across the set of trials within a session, and over successive sessions. We explain the neurophysiological processes responsible for this combined evolution of saccades and pursuit in the absence of stringent training constraints. More generally, our study shows that the oculomotor system can be used to discover the neural mechanisms underlying the ability to synchronize a motor effector with a dynamic external event.

  15. Speed and accuracy of a beam tracking system for treatment of moving targets with scanned ion beams

    Energy Technology Data Exchange (ETDEWEB)

    Saito, Nami; Bert, Christoph; Chaudhri, Naved; Gemmel, Alexander; Schardt, Dieter; Durante, Marco; Rietzel, Eike [GSI Helmholtz Centre for Heavy Ion Research GmbH, Planckstrasse 1, 64291 Darmstadt (Germany)], E-mail: n.saito@gsi.de

    2009-08-21

    The technical performance of an integrated three-dimensional carbon ion pencil beam tracking system that was developed at GSI was investigated in phantom studies. Aim of the beam tracking system is to accurately treat tumours that are subject to respiratory motion with scanned ion beams. The current system provides real-time control of ion pencil beams to track a moving target laterally using the scanning magnets and longitudinally with a dedicated range shifter. The system response time was deduced to be approximately 1 ms for lateral beam tracking. The range shifter response time has been measured for various range shift amounts. A value of 16 {+-} 2 ms was achieved for a water equivalent shift of 5 mm. An additional communication delay of 11 {+-} 2 ms was taken into account in the beam tracking process via motion prediction. Accuracy of the lateral beam tracking was measured with a multi-wire position detector to {<=}0.16 mm standard deviation. Longitudinal beam tracking accuracy was parameterized based on measured responses of the range shifter and required time durations to maintain a specific particle range. For example, 5 mm water equivalence (WE) longitudinal beam tracking results in accuracy of 1.08 and 0.48 mm WE in root mean square for time windows of 10 and 50 ms, respectively.

  16. Eye Tracking of Occluded Self-Moved Targets: Role of Haptic Feedback and Hand-Target Dynamics.

    Science.gov (United States)

    Danion, Frederic; Mathew, James; Flanagan, J Randall

    2017-01-01

    Previous studies on smooth pursuit eye movements have shown that humans can continue to track the position of their hand, or a target controlled by the hand, after it is occluded, thereby demonstrating that arm motor commands contribute to the prediction of target motion driving pursuit eye movements. Here, we investigated this predictive mechanism by manipulating both the complexity of the hand-target mapping and the provision of haptic feedback. Two hand-target mappings were used, either a rigid (simple) one in which hand and target motion matched perfectly or a nonrigid (complex) one in which the target behaved as a mass attached to the hand by means of a spring. Target animation was obtained by asking participants to oscillate a lightweight robotic device that provided (or not) haptic feedback consistent with the target dynamics. Results showed that as long as 7 s after target occlusion, smooth pursuit continued to be the main contributor to total eye displacement (∼60%). However, the accuracy of eye-tracking varied substantially across experimental conditions. In general, eye-tracking was less accurate under the nonrigid mapping, as reflected by higher positional and velocity errors. Interestingly, haptic feedback helped to reduce the detrimental effects of target occlusion when participants used the nonrigid mapping, but not when they used the rigid one. Overall, we conclude that the ability to maintain smooth pursuit in the absence of visual information can extend to complex hand-target mappings, but the provision of haptic feedback is critical for the maintenance of accurate eye-tracking performance.

  17. Application of Hybrid Along-Track Interferometry/Displaced Phase Center Antenna Method for Moving Human Target Detection in Forest Environments

    Science.gov (United States)

    2016-10-01

    Antenna Method for Moving Human Target Detection in Forest Environments by DaHan Liao Approved for public release...Research Laboratory Application of Hybrid Along-Track Interferometry/Displaced Phase Center Antenna Method for Moving Human Target Detection...Phase Center Antenna Method for Moving Human Target Detection in Forest Environments 5a. CONTRACT NUMBER 5b. GRANT NUMBER 5c. PROGRAM ELEMENT

  18. Dynamic MLC tracking of moving targets with a single kV imager for 3D conformal and IMRT treatments

    Energy Technology Data Exchange (ETDEWEB)

    Poulsen, Per R. (Dept. of Oncology, Aarhus Univ. Hospital (Denmark)), E-mail: perpolse@rm.dk; Cho, Byungchul; Sawant, Amit; Ruan, Dan; Keall, Paul J. (Dept. of Radiation Oncology, Stanford Univ., Stanford (United States))

    2010-10-15

    Background. Tumor motion during radiotherapy is a major challenge for accurate dose delivery, in particular for hypofractionation and dose painting. The motion may be compensated by dynamic multileaf collimator (DMLC) tracking. Previous work has demonstrated that a single kV imager can accurately localize moving targets for DMLC tracking during rotational delivery, however this method has not been investigated for the static gantry geometry used for conformal and IMRT treatments. In this study we investigate the accuracy of single kV-imager based DMLC tracking for static-gantry delivery. Material and methods. A 5-field treatment plan with circular field shape and 200 MU per field was delivered in 20 s per field to a moving phantom with an embedded gold marker. Fluoroscopic kV images were acquired at 5 Hz perpendicular to the treatment beam axis during a 120 deg pre-treatment gantry rotation, during treatment delivery, and during inter-field gantry rotations. The three-dimensional marker position was estimated from the kV images and used for MLC adaptation. Experiments included 12 thoracic/abdominal tumor trajectories and five prostate trajectories selected from databases with 160 and 548 trajectories, respectively. The tracking error was determined as the mismatch between the marker position and the MLC aperture center in portal images. Simulations extended the study to all trajectories in the databases and to treatments with prolonged duration of 60 s per field. Results. In the experiments, the mean root-mean-square (rms) tracking error was 0.9 mm (perpendicular to MLC) and 1.1 mm (parallel to MLC) for thoracic/abdominal tumor trajectories and 0.6 mm (perpendicular) and 0.5 mm (parallel) for prostate trajectories. Simulations of these experiments agreed to within 0.1 mm. Simulations of all trajectories in the databases resulted in mean rms tracking errors of 0.6 mm (perpendicular) and 0.9 mm (parallel) for thorax/abdomen tumors and 0.4 mm (perpendicular) and 0

  19. Moving Target Defense

    CERN Document Server

    Jajodia, Sushil; Swarup, Vipin; Wang, Cliff; Wang, X Sean

    2011-01-01

    Moving Target Defense: Creating Asymmetric Uncertainty for Cyber Threats was developed by a group of leading researchers. It describes the fundamental challenges facing the research community and identifies new promising solution paths. Moving Target Defense which is motivated by the asymmetric costs borne by cyber defenders takes an advantage afforded to attackers and reverses it to advantage defenders. Moving Target Defense is enabled by technical trends in recent years, including virtualization and workload migration on commodity systems, widespread and redundant network connectivity, instr

  20. A Real-Time High Performance Computation Architecture for Multiple Moving Target Tracking Based on Wide-Area Motion Imagery via Cloud and Graphic Processing Units

    Directory of Open Access Journals (Sweden)

    Kui Liu

    2017-02-01

    Full Text Available This paper presents the first attempt at combining Cloud with Graphic Processing Units (GPUs in a complementary manner within the framework of a real-time high performance computation architecture for the application of detecting and tracking multiple moving targets based on Wide Area Motion Imagery (WAMI. More specifically, the GPU and Cloud Moving Target Tracking (GC-MTT system applied a front-end web based server to perform the interaction with Hadoop and highly parallelized computation functions based on the Compute Unified Device Architecture (CUDA©. The introduced multiple moving target detection and tracking method can be extended to other applications such as pedestrian tracking, group tracking, and Patterns of Life (PoL analysis. The cloud and GPUs based computing provides an efficient real-time target recognition and tracking approach as compared to methods when the work flow is applied using only central processing units (CPUs. The simultaneous tracking and recognition results demonstrate that a GC-MTT based approach provides drastically improved tracking with low frame rates over realistic conditions.

  1. A Real-Time High Performance Computation Architecture for Multiple Moving Target Tracking Based on Wide-Area Motion Imagery via Cloud and Graphic Processing Units.

    Science.gov (United States)

    Liu, Kui; Wei, Sixiao; Chen, Zhijiang; Jia, Bin; Chen, Genshe; Ling, Haibin; Sheaff, Carolyn; Blasch, Erik

    2017-02-12

    This paper presents the first attempt at combining Cloud with Graphic Processing Units (GPUs) in a complementary manner within the framework of a real-time high performance computation architecture for the application of detecting and tracking multiple moving targets based on Wide Area Motion Imagery (WAMI). More specifically, the GPU and Cloud Moving Target Tracking (GC-MTT) system applied a front-end web based server to perform the interaction with Hadoop and highly parallelized computation functions based on the Compute Unified Device Architecture (CUDA©). The introduced multiple moving target detection and tracking method can be extended to other applications such as pedestrian tracking, group tracking, and Patterns of Life (PoL) analysis. The cloud and GPUs based computing provides an efficient real-time target recognition and tracking approach as compared to methods when the work flow is applied using only central processing units (CPUs). The simultaneous tracking and recognition results demonstrate that a GC-MTT based approach provides drastically improved tracking with low frame rates over realistic conditions.

  2. A Real-Time High Performance Computation Architecture for Multiple Moving Target Tracking Based on Wide-Area Motion Imagery via Cloud and Graphic Processing Units

    Science.gov (United States)

    Liu, Kui; Wei, Sixiao; Chen, Zhijiang; Jia, Bin; Chen, Genshe; Ling, Haibin; Sheaff, Carolyn; Blasch, Erik

    2017-01-01

    This paper presents the first attempt at combining Cloud with Graphic Processing Units (GPUs) in a complementary manner within the framework of a real-time high performance computation architecture for the application of detecting and tracking multiple moving targets based on Wide Area Motion Imagery (WAMI). More specifically, the GPU and Cloud Moving Target Tracking (GC-MTT) system applied a front-end web based server to perform the interaction with Hadoop and highly parallelized computation functions based on the Compute Unified Device Architecture (CUDA©). The introduced multiple moving target detection and tracking method can be extended to other applications such as pedestrian tracking, group tracking, and Patterns of Life (PoL) analysis. The cloud and GPUs based computing provides an efficient real-time target recognition and tracking approach as compared to methods when the work flow is applied using only central processing units (CPUs). The simultaneous tracking and recognition results demonstrate that a GC-MTT based approach provides drastically improved tracking with low frame rates over realistic conditions. PMID:28208684

  3. Retrodirective tracking of a moving target using phase conjugate light generated in a Fabry-Pérot Nd:YAG laser

    Science.gov (United States)

    Kawakami, K.; Komurasaki, K.; Okamura, H.

    2017-03-01

    This report describes the retrodirective tracking of a target moving at a constant speed using a Fabry-Pérot laser resonator-type self-starting phase conjugator. Three-dimensional pointing ability was confirmed with this system: the generated phase conjugate light can focus at a target position. To track the moving targets, target-reflected light is Doppler-shifted, which causes wash-out of the gain grating. To address this problem, numerical analysis and experiments showed that shortening the pulse width is an efficient means of eliminating the gain grating wash-out effect. For the measured target speeds of 0-80 mm/s, the phase conjugate light output is unaffected when the pulse width of 18 ns was used, in contrast to the case of 400 μs pulse width, where the phase conjugate light output rapidly decreased as the target speed approached 10 mm/s. Numerical simulation revealed that phase conjugate light can even be generated for fast-moving targets such as space debris in low-earth-orbit with pulses of several tens of picoseconds. Unlike conventional mechanical gimbal steering methods, this system is applicable for wireless energy transfer to rapidly moving objects.

  4. Tumor-tracking radiotherapy of moving targets; verification using 3D polymer gel, 2D ion-chamber array and biplanar diode array

    Energy Technology Data Exchange (ETDEWEB)

    Ceberg, Sofie; Falk, Marianne; Af Rosenschoeld, Per Munck; Cattell, Herbert; Gustafsson, Helen; Keall, Paul; Korreman, Stine S; Medin, Joakim; Nordstroem, Fredrik; Persson, Gitte; Sawant, Amit; Svatos, Michelle; Zimmerman, Jens; Baeck, Sven AJ, E-mail: sofie.ceberg@med.lu.s

    2010-11-01

    The aim of this study was to carry out a dosimetric verification of a dynamic multileaf collimator (DMLC)-based tumor-tracking delivery during respiratory-like motion. The advantage of tumor-tracking radiation delivery is the ability to allow a tighter margin around the target by continuously following and adapting the dose delivery to its motion. However, there are geometric and dosimetric uncertainties associated with beam delivery system constraints and output variations, and several investigations have to be accomplished before a clinical integration of this tracking technique. Two types of delivery were investigated in this study I) a single beam perpendicular to a target with a one dimensional motion parallel to the MLC moving direction, and II) an intensity modulated arc delivery (RapidArc (registered)) with a target motion diagonal to the MLC moving direction. The feasibility study (I) was made using an 2D ionisation chamber array and a true 3D polymer gel. The arc delivery (II) was verified using polymer gel and a biplanar diode array. Good agreement in absorbed dose was found between delivery to a static target and to a moving target with DMLC tracking using all three detector systems. However, due to the limited spatial resolution of the 2D array a detailed comparison was not possible. The RapidArc (registered) plan delivery was successfully verified using the biplanar diode array and true 3D polymer gel, and both detector systems could verify that the DMLC-based tumor-tracking delivery system has a very good ability to account for respiratory target motion.

  5. Research on Moving target tracking Under Similar Backgrounds%相似背景下的运动目标自动跟综问题研究

    Institute of Scientific and Technical Information of China (English)

    杨华庆

    2011-01-01

    研究视频图像中准确实现运动目标跟踪问题,要求在视频图像中找到目标确切位置,并反馈给跟踪系统.针对传统基于特征匹配的跟踪,当被跟踪物体所处环境中存在颜色、形状接近的物体时,会出现像素特征误匹配,造成运动目标跟踪错误率较高.提出基于Markov Chain Monte Carlo数据关联的运动目标跟综方法.通过建立像素概率模型,将运动日标跟踪问题公式化,运用MCMC方法对后验概率进行采样估计,避免了,模型匹配像素点的不确定性.实验证明,运动目标跟踪方法实现了在与自身相似背景下的准确跟踪,有效降低了跟踪错误率,取得了满意的效果.%Researching the target tracking of the video images. In traditional feature matching based tracking method, when the tracked object is similar in colors and shapes to other objects in the environment,, the pixel features mismatch can appear, which causes higher target tracking error rates. This paper puts forward a moving object tracking method based on Markov Chain Monte Carlo data relating. By establishing pixel probability model, moving target tracking is formulazed, and by using the method of MCMC to estimate the posteriori probability, the uncertainty of model matching pixel is avoided. Experiments have proved that this moving object tracking method can realize accurate tracking under the background similar to the moving object, reduce the tracking error rate, and achieve satisfactory results.

  6. A fast Fourier transform (FFT)-based along track interferometry (ATI) approach to SAR-based ground moving target indication (GMTI)

    Science.gov (United States)

    Thomas, Daniel D.; Zhang, Yuhong

    2014-06-01

    Along-track interferometry (ATI) is used to detect ground moving targets against a stationary background in synthetic aperture radar (SAR) imagery. In this paper, we present a novel approach to multi-channel ATI wherein clutter cancellation is applied to each pixel of the multiple SAR images, followed by a Fourier transform to estimate range rate (Doppler). Range rate estimates allow us to compensate for the cross-range offset of the target, thus geo-locating the targets. We then present a number of benefits to this approach.

  7. The research of moving objects behavior detection and tracking algorithm in aerial video

    Science.gov (United States)

    Yang, Le-le; Li, Xin; Yang, Xiao-ping; Li, Dong-hui

    2015-12-01

    The article focuses on the research of moving target detection and tracking algorithm in Aerial monitoring. Study includes moving target detection, moving target behavioral analysis and Target Auto tracking. In moving target detection, the paper considering the characteristics of background subtraction and frame difference method, using background reconstruction method to accurately locate moving targets; in the analysis of the behavior of the moving object, using matlab technique shown in the binary image detection area, analyzing whether the moving objects invasion and invasion direction; In Auto Tracking moving target, A video tracking algorithm that used the prediction of object centroids based on Kalman filtering was proposed.

  8. A Moving Human Tracking Approach Based on Semantic Interaction

    Institute of Scientific and Technical Information of China (English)

    ZHOU Ning; FANG Bao-hong; SUN Fu-liang

    2007-01-01

    In order to deal with partical occlusion, a semantic interaction based moving human tracking approach is put forward. Firstly human is modeled as moving blobs which are described as blob descriptions. Then moving blobs are updated and verified by projecting these descriptions. The approach exploits improved fast gauss transform and chooses source and target samples to reduce compute cost. Multi-moving human can be tracked simply and part occlusion can be done well.

  9. 基于OpenCV的运动目标检测与跟踪%OpenCV-based moving target detection and tracking

    Institute of Scientific and Technical Information of China (English)

    吴昊; 刘海波

    2014-01-01

    OpenCV是一个基于(开源)发行的跨平台计算机视觉库,实现了图像处理和计算机视觉方面的很多通用算法。本文主要简述了基于OPENCV开源代码库的运动目标的检测与跟踪的原理及算法实现。在VC++6.0编译环境下,用C++语言编写,利用USB摄像头作为视频采集器,实现了对可疑目标的持续跟踪。%OpenCV is based on (open) issued a cross-platform computer vision library that implements many common algorithms of image processing and computer vision.This paper outlines the principles and algorithms of OpenCV-based moving target detection and tracking. Compiled under VC + +6.0 environment, using C + + language,using USB camera as a video capture device, to achieve a continuous tracking of suspicious targets.

  10. Intercepting accelerated moving targets: effects of practice on movement performance.

    Science.gov (United States)

    Fialho, João V A P; Tresilian, James R

    2017-02-14

    When performing a rapid manual interception, targets moving under constant motion are often intercepted with greater accuracy when compared to targets moving under accelerated motion. Usually, accelerated targets are timed too late and decelerating ones too early. The present experiment sought to investigate whether these differences in performance when intercepting targets moving under constant and accelerated motions change after a short period of practice. The task involved striking targets that moved along a straight track by moving forward a manipulandum that moved along a slide perpendicular to the target's motion. Participants were allocated to one of the three experimental groups, defined according to the type of motion of the moving targets: constant speed, constant acceleration, and constant deceleration. Results showed that after some practice participants were able to intercept (positive and negative) accelerating moving targets as accurately as constant speed targets. These results suggest that people might be able to learn how to intercept accelerating targets, corroborating the results of some recent studies.

  11. Issues in Target Tracking

    Science.gov (United States)

    2010-05-01

    the CUSUM (Page) test yields the quickest detection of a change of distribution for the case of i.i.d. observations [3]. In fact, in a (highly...11. Autocorrelation of the CUSUM increments, sn, under H1 (target present). Issues in Target Tracking RTO-EN-SET-157(2010...restrictive condition that the increments of the cumulative sum, sn, be i.i.d. [3], [22]. Fig. 11 plots the autocorrelation of the CUSUM increments as a

  12. Moving target tracking based on image cutting under illumination-variant condition%光照变动条件下基于图切割算法的运动目标跟踪

    Institute of Scientific and Technical Information of China (English)

    侯明正; 冯子亮; 刘艳丽; 王棣

    2012-01-01

    为解决光照大范围变动条件下跟踪运动目标丢失问题,本文基于光照估计的算法建立光照模型,对跟踪视频中的光照进行估计,然后结合图切割算法计算出运动目标的光流向量,利用光流向量进行目标跟踪。实验表明,本文算法对光照的改变具有一定的适应性,可以准确地跟踪目标,提高了跟踪算法的鲁棒性。%Tracking moving targets under variant illumination in a large range is still a hard problem in computer vision.In order to solve it,the illumination model is established based on the outdoor light source estimation,which is used to estimate the illumiation in tracking vision.Then the optical flow vector of the moving target is computed combining the image cutting algorithm,so the moving target is tracked.Experimental results indicate that the proposed scheme is adaptive to illumination changes,can track the moving target accurately,and improves the algorithm′s robustness.

  13. Recognition and tracking of moving objects

    Science.gov (United States)

    El-Konyaly, El-Sayed H.; Enab, Yehia M.; Soltan, Hesham

    1991-03-01

    A sequence of image frames after processing them digitally was used to detect classify locate track and evaluate orientation and size of moving objects. The workspace area is limited and constrained to be perpendicular to the camera axis. The calibration for the real locations and real lengthes relative to the image plane ones is done taking these constraints in account. No a priori knowledge about path of motion texture and stationary or non-stationary components of the analyzed image is assumed. A sequence of processing stages to extract the moving objects separate them code thin and fill the disconnections of the extracted moving object boundary is developed. Recognition and classification of the object is performed using Walsh-Hadamard transformation of its detected boundary. Thus the amount of computations required for this purpose is reduced.

  14. Small moving target detection and tracking based on multi-view aerial video registration%基于多视角航拍配准的运动小目标检测与跟踪

    Institute of Scientific and Technical Information of China (English)

    易盟; 楚岩

    2016-01-01

    针对存在3D场景遮挡的航拍视频运动小目标跟踪问题,提出一种基于多视角航拍配准的运动小目标检测和跟踪算法。该算法首先对图像序列间隔采样,利用Harris检测器提取全局特征点,通过Delaunay三角网对待配准图像实现初始匹配,然后利用整合变换模型计算差分图像,并利用累积能量检测出目标,最后通过卡尔曼运动滤波消除运动目标跟踪的抖动。实验结果表明,该算法对城市和郊区场景的航拍视频可以检测出最小30个像素的缓慢运动目标。%In view of small moving target tracking problem on aerial video with existing of 3D scene occlusion, a small moving target detection and tracking method based on multi-view aerial video registration is proposed. Firstly the image sequence is sampled interval, and Harris detector is utilized to extract the feature points, the initial matching is achieved using Delaunay triangulation registration, then the differential images are calculated by integrated transformation model, and then it detects the target by calculating the accumulated energy. At last, the Kalman filtering is used to eliminate jitter of moving target tracking. Experimental results show that the algorithm can detect the minimum 30 pixels of slow moving targets on aerial video of urban and suburban scene.

  15. Particle therapy of moving targets-the strategies for tumour motion monitoring and moving targets irradiation.

    Science.gov (United States)

    Kubiak, Tomasz

    2016-10-01

    Particle therapy of moving targets is still a great challenge. The motion of organs situated in the thorax and abdomen strongly affects the precision of proton and carbon ion radiotherapy. The motion is responsible for not only the dislocation of the tumour but also the alterations in the internal density along the beam path, which influence the range of particle beams. Furthermore, in case of pencil beam scanning, there is an interference between the target movement and dynamic beam delivery. This review presents the strategies for tumour motion monitoring and moving target irradiation in the context of hadron therapy. Methods enabling the direct determination of tumour position (fluoroscopic imaging of implanted radio-opaque fiducial markers, electromagnetic detection of inserted transponders and ultrasonic tumour localization systems) are presented. Attention is also drawn to the techniques which use external surrogate motion for an indirect estimation of target displacement during irradiation. The role of respiratory-correlated CT [four-dimensional CT (4DCT)] in the determination of motion pattern prior to the particle treatment is also considered. An essential part of the article is the review of the main approaches to moving target irradiation in hadron therapy: gating, rescanning (repainting), gated rescanning and tumour tracking. The advantages, drawbacks and development trends of these methods are discussed. The new accelerators, called "cyclinacs", are presented, because their application to particle therapy will allow making a breakthrough in the 4D spot scanning treatment of moving organs.

  16. Cooperative tracking of ground moving target using unmanned aerial vehicles in cluttered environment%复杂环境下多无人机协作式地面移动目标跟踪

    Institute of Scientific and Technical Information of China (English)

    王林; 彭辉; 朱华勇; 沈林成

    2011-01-01

    针对多无人机(UAV)协同地面移动目标跟踪问题展开研究.提出一种基于主动感知的问题求解框架,建立多UAV协同目标跟踪问题模型;在此基础上,采用分布式无色信息滤波实现目标状态融合估计与预测;然后,基于预测目标状态,结合滚动时域控制与遗传算法设计一种多UAV在线协同航迹规划算法.仿真结果表明:结合预测目标状态在线优化UAV航迹能够获得更好的目标跟踪性能.%We investigate the cooperative tracking of a ground moving target in a cluttered environment by using unmanned aerial vehicles(UAV). Firstly, a model the cooperative target tracking by UAV is developed based on active sensing;secondly, a distributed unscented information filter is built for the estimation fusion and the prediction of target states. Finally, an online trajectory planning algorithm based on the receding horizon control and the genetic algorithm is designed and implemented, with the predicted target states as the inputs to this planning algorithm. Numerical simulations demonstrate that the proposed method effectively improves the performance of target tracking.

  17. The models and Methods of Video Image Enhancement and Moving Target Tracking in Fog%雾天视频图像增强与运动目标跟踪模型及方法

    Institute of Scientific and Technical Information of China (English)

    钟锦; 吴昊

    2013-01-01

    About multi-objective optimization problem detection for video image.Aim at foggy day video image target feature and the background constantly changing.The problem of the fog image degradation into a non-linear relationship with the scene depth question.Proposed for accurately complete real-time background modeling framework for image clarity methods of fog moving target detection.And create a new target tracking mathematical model and corresponding method with incremental learning ability.To accommodate tracking process of tget feature and the background changing.Building a kind of robust object tracking algorithm with incremental learning capability.Improved method effective solution to the moving target tracking robustness in foggy conditions.%关于视频图像多目标检测优化问题,针对雾天视频图像目标特征和背景不断地变化,雾天图像的退化程度跟场景深度成非线性关系的问题,提出用于准确完成雾天运动目标检测的实时背景建模框架的图像清晰化方法,并创建一种新的具有增量集成学习能力的目标跟踪计算模型和相应的方法,以适应跟踪过程中目标特征和背景的不断变化,构建一种具有增量学习能力的稳健的目标跟踪算法,改进方法有效地解决了雾天条件下运动目标跟踪的稳健性.

  18. 基于时差定位算法的空间三站跟踪海洋动目标方法研究%Research on Space 3-station Moving Maritime Target Tracking Method Based on TDOA Location Algorithm

    Institute of Scientific and Technical Information of China (English)

    李悦; 冯新建; 宋庆雷; 秦洋

    2015-01-01

    This paper is focused on the multi‐orientation tracking of moving maritime target by the space moving three‐points TDOA location .A tracking algorithm based on KF (Kalman Filter) and a single/double TDOA tracking algorithm based on SR‐UKF (square root‐nonlinear Kalman filter) are given .The measure method of the initial anchor point and the initial covariance matrix w hich affect the filtering effect is also given .T he simulation re‐sults show that SR‐UKF tracking method is better under the TDOA data missing (single TDOA data) conditions .%研究了运动三站对海洋移动目标多次定位的跟踪滤波问题,给出基于卡尔曼滤波(KF)的定位点跟踪算法和基于平方根‐非线性卡尔曼滤波(SR‐UKF)的单/双时差跟踪算法,对于影响滤波效果的初始定位点和初始协方差阵,给出了计算方法,最后通过仿真验证了时差残缺(单时差)的观测条件下,SR‐UKF跟踪方法更优。

  19. Moving object detection and tracking in videos through turbulent medium

    Science.gov (United States)

    Halder, Kalyan Kumar; Tahtali, Murat; Anavatti, Sreenatha G.

    2016-06-01

    This paper addresses the problem of identifying and tracking moving objects in a video sequence having a time-varying background. This is a fundamental task in many computer vision applications, though a very challenging one because of turbulence that causes blurring and spatiotemporal movements of the background images. Our proposed approach involves two major steps. First, a moving object detection algorithm that deals with the detection of real motions by separating the turbulence-induced motions using a two-level thresholding technique is used. In the second step, a feature-based generalized regression neural network is applied to track the detected objects throughout the frames in the video sequence. The proposed approach uses the centroid and area features of the moving objects and creates the reference regions instantly by selecting the objects within a circle. Simulation experiments are carried out on several turbulence-degraded video sequences and comparisons with an earlier method confirms that the proposed approach provides a more effective tracking of the targets.

  20. Application of Fuzzy Theory to Moving Target Tracking under Occlusion%模糊理论在遮挡情况下目标跟踪算法中的应用

    Institute of Scientific and Technical Information of China (English)

    刘颖

    2016-01-01

    Occlusion is one of the difficult problems in target tracking algorithm. Using fuzzy algorithm to simulate the human memory process,combined with the temporal correlation and spatial correlation of image sequences,fuzzy analysis is employed to traclc moving object dynamically,and good result is achieved. It case of the target being partially occluded or false target jamming etc. ,a target tracking algorithm is put forward by combination of hierarchical template matching and fuzzy tracking. Simulation experiments are carried out in MATLAB software environment. The experimental results show that the algorithm realizes stable and real-time target tracking process in the presence of occlusion,pseudo target interference.%遮挡问题是目标跟踪算法中的难点问题之一。用模糊算法模拟人脑的记忆过程,结合图像序列的时间相关性和空间相关性,采用模糊分析方法实现对运动目标的动态跟踪,取得了很好的效果。本文针对目标被局部遮挡或者伪目标干扰等情况,提出了基于分层模板匹配与模糊跟踪相结合的目标跟踪算法。该算法在matlab软件环境下进行了仿真实验。实验结果表明:算法实现了跟踪过程中目标存在遮挡问题、伪目标干扰时的稳定的、实时的跟踪。

  1. 低空运动目标的多传感器自动识别和实时跟踪%Automatic identification and real-time tracking based on multiple sensors for low-altitude moving targets

    Institute of Scientific and Technical Information of China (English)

    张作楠; 刘国栋; 娄建

    2011-01-01

    This paper discussed a method for low altitude moving target detection and tracking in TV tracking system. In order to increase the ability of automatic tracking and anti-interferene, based on a variety of sensors and electronic measuring devices, such as acoustic sensors, image sensors and laser range finder,proposed a multi-sensor integrated automatic identification and real-time servo algorithm. Firstly located the target initially by the positive acoustic localization technology, secondly used the dynamic and static image features as well as the sound source characteristics of the target in target classification and recognition. According to video tracking and trajectory prediction algorithm, the desired target error signal control servo for precise tracking was used to control the servo mechanism to track precisely. Experiments show thattthe algorithm is simple and effective to achieve enough precision and reliability, and also validate the feasibility for multiple sensors being used in full-automatic intelligent tracking system.%讨论了一种用于低空运动目标检测和跟踪的电视跟踪系统.为了提高系统自动跟踪和抗干扰能力,基于声—光—电多种传感器和测量装置如声波传感器、图像传感器和激光测距仪等,提出一种多传感器综合的自动目标识别和实时跟踪算法.该方法将被动声定位技术用于目标初定位,结合目标图像动静态特征和目标声源特征用于目标的特征提取和自动识别,根据视频跟踪和轨迹预测算法,得出期望的目标误差信号控制伺服机构进行精确跟踪.实验结果表明该算法简捷有效、精度和可靠性达到要求,验证了多传感器应用于全自动智能跟踪系统的可行性.

  2. Detection and Tracking of Moving Object: A Survey

    Directory of Open Access Journals (Sweden)

    Hemangi R. Patil

    2015-11-01

    Full Text Available Object tracking is the process of locating moving object or multiple objects in sequence of frames. Object tracking is basically a challenging problem. Difficulties in tracking of an object may arise due to abrupt changes in environment, motion of object, noise etc. To overcome such problems different tracking algorithms have been proposed. This paper presents various techniques related to object detection and tracking..The goal of this paper is to present a survey of these techniques.

  3. Infrared small moving target detection and tracking based on OpenCV%基于OpenCV的红外弱小运动目标检测与跟踪

    Institute of Scientific and Technical Information of China (English)

    黎志华; 李新国

    2013-01-01

    针对信噪比低、背景和噪声干扰严重的红外图像,根据图像序列中运动目标的帧间相关特性以及噪声的不相关理论,基于OpenCV(Open Soure Computer Vision Library)计算机视觉库,提出了一种弱小目标的检测算法,并对检测到的目标进行了跟踪。采用能量累积的方法得到背景,然后从原始图像中去除背景,提高信噪比;利用目标的帧间相关特性以及运动信息去除噪声;最后通过Kalman滤波算法来对检测到的目标进行跟踪。实验结果表明:该检测算法能有效地从序列图像中提取出弱小运动目标,跟踪算法也能实时地进行跟踪并在目标被遮挡时准确地预测出目标位置。%For infrared image which is characterized by low SNR and serious background and noise disturbance, according to the correlation of moving target frame-to-frame and the irrelevance of noise in sequential images, based on Open Source Computer Vision Library, a detection algorithm for small target was proposed and the detected target was tracked. By using energy accumulation method, background of image was got and then removed from original image, image SNR was improved. Noise was removed via the correlation of target frame-to-frame and the movement information. At last, the detected target was tracked by Kalman filter algorithm. The experimental results show that this detection algorithm can effectively find small moving target from sequential images, the tracking algorithm can track in real time and forecast the position accurately when target is covered.

  4. Information security : the moving target

    CSIR Research Space (South Africa)

    Dlamini, MT

    2009-01-01

    Full Text Available it is today and the direction in which it is moving. It is argued that information security is not about looking at the past in anger of an attack once faced; neither is it about looking at the present in fear of being attacked; nor about looking at the future...

  5. Target Tracking In Wireless Sensor Networks

    Directory of Open Access Journals (Sweden)

    Sunita Gola

    2012-09-01

    Full Text Available The problem being tackled here relates to the problem of target tracking in wireless sensor networks. It is a specific problem in localization. Localization primarily refers to the detection of spatial coordinates of a node or an object. Target tracking deals with finding spatial coordinates of a moving object and being able to track its movements. In the tracking scheme illustrated, sensors are deployed in a triangular fashion in a hexagonal mesh such that the hexagon is divided into a number of equilateral triangles. The technique used for detection is the trilateration technique in which intersection of three circles is used to determine the object location. While the object is being tracked by three sensors, distance to it from a fourth sensor is also being calculated simultaneously. The difference is that closest three sensors detect at a frequency of one second while the fourth sensor detects the object location at twice the frequency. Using the distance information from the fourth sensor and a simple mathematical technique, location of object ispredicted for every half second as well. The key thing to note is that the forth sensor node is not used for detection but only for estimation of the object at half second intervals and hence does not utilize much power. Using this technique, tracking capability of the system is increased.

  6. 基于SVM的WSN运动目标位置跟踪预测方法研究%Moving target localization track method for wirless sensor networks based on SVM

    Institute of Scientific and Technical Information of China (English)

    谌友仁; 廖兵

    2013-01-01

    To research the location track prediction method for moving target in wireless sensor network , a target location prediction method based on support vector regression machine is proposed in the paper. Using node location information and network connectivity information as training samples, it establishes a support vector regression techniques to the mapping function of the location of the node, thus completing the moving target known time location estimation. Finally, it predicts the location of moving target node by using support vector regression prediction model. Simulation results show that this method effectively improves the target node position estimation accuracy.%针对无线传感器网络中运动目标位置跟踪预测方法的研究,提出了一种基于支持向量回归机( SVM )的目标位置预测方法。利用节点位置信息和网络连通信息作为训练样本,建立支持向量回归技术到节点位置的映射函数,从而完成运动目标已知时刻位置估计。最后,利用支持向量回归预测模型对运动目标节点进行位置预测。仿真结果表明,该方法有效地提高了目标节点位置预测准确率。

  7. The improved Camshift algorithm used for moving target tracking based on feather point matching algorithm of ORB%基于ORB特征点匹配的改进Camshift运动目标跟踪算法

    Institute of Scientific and Technical Information of China (English)

    谢红; 原博; 解武

    2016-01-01

    At present, Camshift is widely used in the field of moving object tracking. Aiming at the problem that the target may lose in tracking, this paper proposes an improved Camshift algorithm based on feature point matching al⁃gorithm of ORB ( oriented brief) . In the Camshift algorithm, a back⁃projection image is obtained from the color his⁃togram model of each image frame, the size of searching window is adjusted adaptively according to the object size, and the center position of window is computed iteratively, so as to extend the searching window's size adaptively. However, this algorithm lacks of the mechanisms to regain the missed target when the phenomenon that the tracking object is missing occurs. This problem is solved by introducing the ORB algorithm to match the moving target. The experimental results show that, the tracking performance of the improved algorithm is better than the original one. The improved algorithm can achieve the sustained tracking.%在运动目标跟踪方面,当前比较常用的算法就是Camshift算法。针对该算法容易产生目标丢失的情况,在本文中提出一种基于ORB( oriented brief)特征点匹配的Camshift改进算法。原Camshift算法可以从目标的颜色直方图模型得到每帧图像的反向投影图,根据目标的大小自适应地调整搜索窗口尺寸,并迭代计算各目标窗口的质心位置,从而自适应地扩展搜索窗口。但是当发生目标丢失的情况时,缺少重新寻找得到目标的机制。本文通过引入ORB算法对运动目标进行匹配从而解决了这个问题。仿真实验结果表明,改进算法相对原算法具有良好的跟踪效果,可以实现持续跟踪。

  8. Performance Simulations of Moving Target Search Algorithms

    Directory of Open Access Journals (Sweden)

    Peter K. K. Loh

    2009-01-01

    Full Text Available The design of appropriate moving target search (MTS algorithms for computer-generated bots poses serious challenges as they have to satisfy stringent requirements that include computation and execution efficiency. In this paper, we investigate the performance and behaviour of existing moving target search algorithms when applied to search-and-capture gaming scenarios. As part of the investigation, we also introduce a novel algorithm known as abstraction MTS. We conduct performance simulations with a game bot and moving target within randomly generated mazes of increasing sizes and reveal that abstraction MTS exhibits competitive performance even with large problem spaces.

  9. Salient Points for Tracking Moving Objects in Video

    Energy Technology Data Exchange (ETDEWEB)

    Kamath, C; Gezahegne, A; Newsam, S; Roberts, G M

    2004-12-20

    Detection and tracking of moving objects is important in the analysis of video data. One approach is to maintain a background model of the scene and subtract it from each frame to detect the moving objects which can then be tracked using Kalman or particle filters. In this paper, we consider simple techniques based on salient points to identify moving objects which are tracked using motion correspondence. We focus on video with a large field of view, such as a traffic intersection with several buildings nearby. Such scenes can contain several salient points, not all of which move between frames. Using public domain video and two types of salient points, we consider how to make these techniques computationally efficient for detection and tracking. Our early results indicate that salient regions obtained using the Lowe keypoints algorithm and the Scale-Saliency algorithm can be used successfully to track vehicles in moderate resolution video.

  10. A Tracking Sun Photometer Without Moving Parts

    Science.gov (United States)

    Strawa, Anthony W.

    2012-01-01

    This innovation is small, lightweight, and consumes very little electricity as it measures the solar energy attenuated by gases and aerosol particles in the atmosphere. A Sun photometer is commonly used on the Earth's surface, as well as on aircraft, to determine the solar energy attenuated by aerosol particles in the atmosphere and their distribution of sizes. This information is used to determine the spatial and temporal distribution of gases and aerosols in the atmosphere, as well as their distribution sizes. The design for this Sun photometer uses a combination of unique optics and a charge coupled device (CCD) array to eliminate moving parts and make the instrument more reliable. It could be selfcalibrating throughout the year. Data products would be down-welling flux, the direct-diffuse flux ratio, column abundance of gas phase constituents, aerosol optical depth at multiple-wavelengths, phase functions, cloud statistics, and an estimate of the representative size of atmospheric particles. These measurements can be used to obtain an estimate of aerosol size distribution, refractive index, and particle shape. Incident light is received at a light-reflecting (inner) surface, which is a truncated paraboloid. Light arriving from a hemispheric field of view (solid angle 2 steradians) enters the reflecting optic at an entrance aperture at, or adjacent to, the focus of the paraboloid, and is captured by the optic. Most of this light is reflected from an inner surface. The light proceeds substantially parallel to the paraboloid axis, and is detected by an array detector located near an exit aperture. Each of the entrance and exit apertures is formed by the intersection of the paraboloid with a plane substantially perpendicular to the paraboloid axis. Incident (non-reflected) light from a source of limited extent (the Sun) illuminates a limited area on the detector array. Both direct and diffuse illumination may be reflected, or not reflected, before being received on

  11. Research on the Mean Shift Algorithm in the Moving Target Detection and Tracking%Mean Shift算法在运动目标检测与跟踪中的研究

    Institute of Scientific and Technical Information of China (English)

    李国强; 陈蒲阳

    2015-01-01

    运动行人的检测与跟踪技术已经成为智能视频监控中的关键性技术,是计算机视觉领域研究的一个重要领域。传统的视频监控技术应用虽然广泛,但是智能性不足、应用效率较低。针对摄像头固定情况下的运动行人跟踪进行研究,引入一种应用效果较好的Mean Shift算法,与目标区域灰度直方图结合,进行运动目标的检测跟踪,在Visual Studio 2010和OpenCV 2.4.4中对本算法进行仿真,从仿真结果中得出系统可以较好地实现对运动行人的检测与跟踪。%Motion pedestrian detection and tracking technology has become crucial in intelligent video surveillance technology, is an important area of research in computer vision. Although the traditional video surveillance technology are widely used , but less intelligent, less applica-tion efficiency. Aims at the tracking study of the movement of pedestrians in case of a fixed camera, introduces a better application of Mean Shift algorithm, combined with target area gray histogram , moving target detection and tracking, the simulation results obtained from the Visual Studio 2010 and OpenCV 2.4.4 can achieve better movement of pedestrian detection and tracking.

  12. Artifacts in Radar Imaging of Moving Targets

    Science.gov (United States)

    2012-09-01

    leads to the wrong object localization and defocusing on the image. For SAR , a moving target’s physical location varies throughout the imaging...Imaging, Synthetic Aperture Radar, Bistatic Radar, Multistatic Radar, Moving Targets, Backprojection 15. NUMBER OF PAGES 133 16. PRICE CODE 17...broadening and range errors were introduced by target motion. This leads to incorrect object localization and defocusing on the image. For SAR , a

  13. Dynamic programming algorithm for detecting dim infrared moving targets

    Science.gov (United States)

    He, Lisha; Mao, Liangjing; Xie, Lijun

    2009-10-01

    Infrared (IR) target detection is a key part of airborne infrared weapon system, especially the detection of poor dim moving IR target embedded in complex context. This paper presents an improved Dynamic Programming (DP) algorithm in allusion to low Signal to Noise Ratio (SNR) infrared dim moving targets under cluttered context. The algorithm brings the dim target to prominence by accumulating the energy of pixels in the image sequence, after suppressing the background noise with a mathematical morphology preprocessor. As considering the continuity and stabilization of target's energy and forward direction, this algorithm has well solved the energy scattering problem that exists in the original DP algorithm. An effective energy segmentation threshold is given by a Contrast-Limited Adaptive Histogram Equalization (CLAHE) filter with a regional peak extraction algorithm. Simulation results show that the improved DP tracking algorithm performs well in detecting poor dim targets.

  14. Radar Imaging for Moving Targets

    Science.gov (United States)

    2009-06-01

    solution as scatt (x)  Gk (x ’, x)(x ’)D  inc (x ’)  scatt (x ’) d 3x ’ (3.3) This is a Lippmann- Schwinger equation. It can be observed...boundary conditions for a known target. It is also important to note that there are several aspects to the Lippmann- Schwinger equation: 27 (1...can also be approached using the Lippmann- Schwinger equation as a model for scatt . B. LINEARIZED DATA MODEL (TIME-VARYING SYSTEMS) Besides using

  15. The Bering Target Tracking Instrumentation

    DEFF Research Database (Denmark)

    Denver, Troelz; Jørgensen, John Leif; Betto, Maurizio

    2003-01-01

    The key science instrument on the Bering satellite mission is a relative small telescope with an entrance aperture of 300 mm and a focal length between 500 and 1000 mm. The detection of potential targets is performed by one of the target scanning advanced stellar compasses (ASCs). This procedure...... results in a simple prioritized list of right ascension, declination, proper motion and intensity of each prospective target. The telescope itself has a dedicated ASC Camera Head Unit (CHU) mounted on the secondary mirror, largely co-aligned with the telescope. This CHU accurately determines the telescope......'s pointing direction. To achieve fast tracking over a large solid angle, the telescope pointing is achieved by means of a folding mirror in the optical pathway. When a prospective target approaches the telescope FOV, the ASC on the secondary will guide the folding mirror into position such that the target...

  16. Detecting and tracking moving objects from a moving platform using epipolar constraints

    Science.gov (United States)

    McBride, Jonah C.; Ostapchenko, Andrey; Schultz, Howard; Snorrason, Magnus S.

    2010-04-01

    One of the principal challenges in autonomous navigation for mobile ground robots is collision avoidance, especially in dynamic environments featuring both moving and non-moving (static) obstacles. Detecting and tracking moving objects (such as vehicles and pedestrians) presents a particular challenge because all points in the scene are in motion relative to a moving platform. We present a solution for detecting and robustly tracking moving objects from a moving platform. We use a novel epipolar Hough transform to identify points in the scene which do not conform to the geometric constraints of a static scene when viewed from a moving camera. These points can then be analyzed in three different domains: image space, Hough space and world space, allowing redundant clustering and tracking of moving objects. We use a particle filter to model uncertainty in the tracking process and a multiple-hypothesis tracker with lifecycle management to maintain tracks through occlusions and stop-start conditions. The result is a set of detected objects whose position and estimated trajectory are continuously updated for use by path planning and collision avoidance systems. We present results from experiments using a mobile test robot with a forward looking stereo camera navigating among multiple moving objects.

  17. Automatic target tracking on multi-resolution terrain

    Institute of Scientific and Technical Information of China (English)

    WAN Ming; ZHANG Wei; MURRAY Marie O.; KAUFMAN Arie

    2006-01-01

    We propose a high-performance path planning algorithm for automatic target tracking in the applications of real-time simulation and visualization of large-scale terrain datasets, with a large number of moving objects (such as vehicles) tracking multiple moving targets. By using a modified Dijkstra's algorithm, an optimal path between each vehicle-target pair over a weighted grid-presented terrain is computed and updated to eliminate the problem of local minima and losing of tracking. Then, a dynamic path re-planning strategy using multi-resolution representation of a dynamic updating region is proposed to achieve high-performance by trading-off precision for efficiency, while guaranteeing accuracy. Primary experimental results showed that our algorithm successfully achieved 10 to 96 frames per second interactive path-replanning rates during a terrain simulation scenario with 10 to 100 vehicles and multiple moving targets.

  18. Tracking Moving Objects with Few Handovers

    CERN Document Server

    Eppstein, David; Löffler, Maarten

    2011-01-01

    We study the online problem of assigning a moving point to a base-station region that contains it. For instance, the moving object could represent a cellular phone and the base station could represent the coverage zones of cell towers. Our goal is to minimize the number of handovers that occur when the point moves outside its assigned region and must be assigned to a new region. We study this problem in terms of competitive analysis and we measure the competitive ratio of our algorithms as a function of the ply of the system of regions, that is, the maximum number of regions that cover any single point. In the offline version of this problem, when object motions are known in advance, a simple greedy strategy suffices to determine an optimal assignment of objects to base stations, with as few handovers as possible. For the online version of this problem for moving points in one dimension, we present a deterministic algorithm that achieves a competitive ratio of O(log ply) with respect to the optimal algorithm,...

  19. Realism and Effectiveness of Robotic Moving Targets

    Science.gov (United States)

    2017-04-01

    Likert -type scale with four response options (‘Strongly Disagree’, ‘Disagree’, ‘Agree’, and ‘Strongly Agree’). Soldiers were also asked to indicate...and one improvement to be made to RHTTs. The Moving Target Skills Questionnaire (Appendix C) asked Soldiers to indicate on a 4- point Likert ...type scale their confidence in their ability to execute 15 marksman skills including determining range and hitting a variety of moving and stationary

  20. Dual Tracking Method for Real Time Object Tracking using Moving Camera

    Directory of Open Access Journals (Sweden)

    Shyam Lal

    2013-04-01

    Full Text Available This study presents dual tracking method for real time object tracking using a moving camera. A real time object tracking using self aligning servo mechanism with webcam, dual tracking and effective localization of object is presented. The proposed dual tracking method works in two phases: In first phase tracking is done by joint color texture histogram with mean shift and in second phase tracking is done by servo setup. The proposed dual tracking method enjoys the benefit of double tracking feature, not only tracking but also to find out the coordinates of the tracking object which is of particular interest. The coordinates of a moving object enable us to estimates the real time location of the object which is helpful in surveillance and shooting purposes of suspected person in security area. The tracking of some specific objects in real life is of particular interest. Due to its enhanced automation the proposed dual tracking method can be applied in public security, surveillance, robotics and traffic control etc. The experimental results demonstrate that the proposed dual tracking method improves greatly the tracking area with accuracy and efficiency and also successfully find the coordinates of moving object.

  1. 随机占优精英裂变算法用于空中移动目标跟踪%Airborne Moving Target Tracking Based on Stochastic Dominance Elite Fission Algorithm

    Institute of Scientific and Technical Information of China (English)

    熊娟

    2013-01-01

    针对粒子群算法跟踪空中目标的缺点,提出随机占优精英裂变算法.首先对父体大权值粒子裂变,形成子代个体空间,覆盖小权值粒子;接着采用精英策略,计算个体在选择过程中被选中的概率,使大部分较优个体参与进化,用极小欧几里德距离计算拥挤距离;然后采用分布函数来确定采样数据的随机占优关系;最后给出了空中目标运动模型.实验仿真表明,滤波轨迹接近空中运动目标的轨迹,在整个观测区域内具有很好的跟踪效果,位置误差标准值小.%Considering the disadvantages of particle swarm optimization algorithm in aerial target tracking, stochastic dominance elite fission algorithm was proposed. After the fission of the parent body weight value particle, individual space was formed, which covered with small weight particle. Then, the elitist strategy was adopted for calculating the probability of an individual being selected, made the most of fine individuals participate in evolution. The crowding distance was calculated out with minimum Euclidean distance, and the distribution function was used to determine the sampling data of stochastic dominance relation. Finally, the aerial target motion model was given. The experimental simulation showed that: 1 ) the filtering trajectoriy is approximate to the aerial target moving trajectory; and 2) the tracking effect is satisfactory during the entire observation area.

  2. Camouflage, detection and identification of moving targets

    Science.gov (United States)

    Hall, Joanna R.; Cuthill, Innes C.; Baddeley, Roland; Shohet, Adam J.; Scott-Samuel, Nicholas E.

    2013-01-01

    Nearly all research on camouflage has investigated its effectiveness for concealing stationary objects. However, animals have to move, and patterns that only work when the subject is static will heavily constrain behaviour. We investigated the effects of different camouflages on the three stages of predation—detection, identification and capture—in a computer-based task with humans. An initial experiment tested seven camouflage strategies on static stimuli. In line with previous literature, background-matching and disruptive patterns were found to be most successful. Experiment 2 showed that if stimuli move, an isolated moving object on a stationary background cannot avoid detection or capture regardless of the type of camouflage. Experiment 3 used an identification task and showed that while camouflage is unable to slow detection or capture, camouflaged targets are harder to identify than uncamouflaged targets when similar background objects are present. The specific details of the camouflage patterns have little impact on this effect. If one has to move, camouflage cannot impede detection; but if one is surrounded by similar targets (e.g. other animals in a herd, or moving background distractors), then camouflage can slow identification. Despite previous assumptions, motion does not entirely ‘break’ camouflage. PMID:23486439

  3. Cooperative ground moving target track method using two unmanned aerial vehicles%一种双无人机协同跟踪地面移动目标方法

    Institute of Scientific and Technical Information of China (English)

    符小卫; 侯建永; 高晓光; 刘重

    2013-01-01

    This paper investigated the cooperative tracking of a ground moving target using two unmanned aerial vehicles under communication delay,and constructed an algorithm model.Considering the communication delay,it proposed a data fusion method combined with the recursive least squares filtering and the weighted least squres.Then it built the recursive least squares filtering for the prediction of target states,designed a trajectory planning algorithm based on receding horizon and the distributed genetic algorithm to implement the task of cooperative target tracking using two unmanned aerial vehicles.The fitness function consisted of several components including the distance of vehicles and target,the communication distance of vehicles,the communication angle of vehicles.Simulation studies show the cooperative track algorithm can implement the track task well;compared to one vehicle track the target,the position error decreases obviously,the position error during to the communication delay can decrease.%针对通信延时情况下双无人机协同跟踪地面移动目标问题进行研究,构建了基于分布式遗传算法和滚动时域优化结合的目标跟踪航迹规划算法模型.考虑到通信延时会增加目标状态信息数据融合时的误差,导致无人机跟踪任务效果变差,结合递推最小二乘滤波和加权最小二乘估计设计了融合方法,来融合处理目标状态信息;考虑到无人机对目标的观测效果与未来时刻的目标状态信息密切相关,采用递推最小二乘滤波预测目标的状态信息,结合分布式遗传算法和滚动时域优化设计了双无人机目标跟踪航迹规划算法.适应度函数考虑了无人机和目标之间的距离、无人机之间的通信距离、无人机之间的通信角度.仿真结果表明:该协同跟踪方法能够较好地完成跟踪任务;与一架无人机跟踪相比误差明显减小,并且可以减小通信延时带来的跟踪误差.

  4. TRAX - Real-World Tracking of Moving Objects

    DEFF Research Database (Denmark)

    Jensen, Christian Søndergaard; Pakalnis, Stardas

    2007-01-01

    accuracy. This paper presents the TRAX tracking system that supports several techniques capable of tracking the current positions of moving objects with guaranteed accuracies at low update and communication costs in real-world settings. The techniques are readily relevant for practical applications......Range of mobile services rely on knowing the current positions of populations of so-called moving objects. In the ideal setting, the positions of all objects are known always and exactly. While this is not possible in practice, it is possible to know each object's position with a certain guaranteed......, but they also have implications for continued research. The tracking techniques offer a realistic setting for existing query processing techniques that assume that it is possible to always know the exact positions of moving objects. The techniques enable studies of trade-offs between querying and update...

  5. Moving Vehicle Detection and Tracking Algorithm in Traffic Video

    Directory of Open Access Journals (Sweden)

    Shisong Zhu

    2013-06-01

    Full Text Available Aiming at the defects and shortages of traditional moving vehicles detection algorithms, by the analysis and comparison of the existing detection algorithms, we propose an algorithm that combined with frames with symmetric difference and background difference to detect moving vehicle in this paper. First, two different difference images by using frames with symmetric difference and background difference are gained respectively and two binary images can be gained by the appropriate threshold, then the contour of moving vehicles can be extracted by applying OR operation in the two binary images. Finally, the precise moving vehicles will be gained by mathematic morphological methods. In this paper we use Harris operator, Feature Points such as edges and corners are extracted, followed by block-matching to track the Feature Points in successive viedo frames. Many vehicles can be tracked at the same time automatically since  the  information is obtained from video sequences.

  6. Performance evaluation software moving object detection and tracking in videos

    CERN Document Server

    Karasulu, Bahadir

    2013-01-01

    Performance Evaluation Software: Moving Object Detection and Tracking in Videos introduces a software approach for the real-time evaluation and performance comparison of the methods specializing in moving object detection and/or tracking (D&T) in video processing. Digital video content analysis is an important item for multimedia content-based indexing (MCBI), content-based video retrieval (CBVR) and visual surveillance systems. There are some frequently-used generic algorithms for video object D&T in the literature, such as Background Subtraction (BS), Continuously Adaptive Mean-shift (CMS),

  7. The Categorical Distinction Between Targets and Distractors Facilitates Tracking in Multiple Identity Tracking Task.

    Science.gov (United States)

    Wei, Liuqing; Zhang, Xuemin; Lyu, Chuang; Li, Zhen

    2016-01-01

    This study investigates the tracking facilitation effect during categorical distinction between targets and distractors in the Multiple Identity Tracking task. We asked observers to track four targets in a total of eight moving objects, and manipulated categorical distinctions of targets and distractors across four experiments, with different combinations of inter-category and intra-category differences. Results show that tracking performance was significantly better when the targets and distractors were inter-category different, compared to when the targets and distractors were identical or intra-category distinctive. As the inter-category distinction between targets and distractors narrowed, tracking performance improved, but the inter-category facilitation effect decreased. These results may indicate a category-based grouping effect: the observers organized the targets within the same semantic category into one group and made the targets more easily and accurately rediscovered when lost during tracking. Furthermore, the tracking facilitation of categorical distinction diminished when all the objects were inverted. This proved that besides their visual distinctiveness, objects' semantic category information also played an important role during tracking.

  8. Track Processing Approach for Bearing-Only Target Tracking

    Directory of Open Access Journals (Sweden)

    Hui Chen

    2009-10-01

    Full Text Available This paper mainly studies angle-measurement based track processing approach to overcome the existing problems in the applications of traditional approaches for bearing-only target locating and tracking system. First, this paper gives suited data association algorithms including track initiation and point-track association. Moreover, a new tracking filtering association gate method is presented through analysis of the target motion characteristics in polar coordinates for improving bearing-only measurement confirming efficiency of real target and limiting false track overextension with the dense clutter. Then, by analyzing the feasibility of using multi-model technology, the IMM is adopt as filtering algorithm to solve existing problem in bearing-only tracking for complicated target motion in two dimensional angle plane. As the results, the two dimensional bearing-only tracking accuracy of real target is improved and false tracking is greatly limited. Moreover, computation cost of IMM is analyzed in view of the real-time demand of bearing-only tracking. Finally, this paper gives some concrete summary of multi-model choosing principle. The application of the proposed approach in a simulation system proves its effectiveness and practicability.

  9. Application of VNIIRS for target tracking

    Science.gov (United States)

    Blasch, Erik; Kahler, Bart

    2015-05-01

    The Motion Imagery Standards Board (MISB) has created the Video National Imagery Interpretability Rating Scale (VNIIRS). VNIIRS extends NIIRS to scene characterization from streaming video to include object recognition of various targets for a given size. To apply VNIIRs for target tracking, there is a need to understand the operating conditions of the sensor type, environmental phenomenon, and target behavior (SET). In this paper, we explore VNIIRS for target tracking given the sensor resolution to support the relative tracking performance using track success. The relative assessment can be used in relation to the absolute target size associated with the VNIIRS. In a notional analysis, we determine the issues and capabilities of using VNIIRS video quality ratings to determine track success. The outcome of the trade study is an experiment to understand how to use VNIIRS can support target tracking evaluation.

  10. Moving Targets Virtually Via Composite Optical Transformation

    OpenAIRE

    Jiang, Wei Xiang; Cui, Tie Jun

    2009-01-01

    We propose a composite optical transformation to design an illusion device which can move the image of a target from one place to another place. Enclosed by such an illusion device, an arbitrary object located at one place appears to be at another place virtually. Different from the published shifted-position cloak which is composed of the left-handed materials with simultaneously negative permittivity and permeability, the illusion device proposed in this letter has positive permittivity and...

  11. Mapping and tracking of moving objects in dynamic environments

    CSIR Research Space (South Africa)

    Pancham, A

    2012-10-01

    Full Text Available In order for mobile robots to operate in dynamic or real world environments they must be able to localise themselves while building a map of the environment, and detect and track moving objects. This work involves the research and implementation...

  12. A NOVEL FAST MOVING OBJECT CONTOUR TRACKING ALGORITHM

    Institute of Scientific and Technical Information of China (English)

    An Guocheng; Yang Hao; Wu Zhenyang

    2009-01-01

    If a somewhat fast moving object exists in a complicated tracking environment, snake's nodes may fall into the inaccurate local minima. We propose a mean shift snake algorithm to solve this problem. However, if the object goes beyond the limits of mean shift snake module operation in successive sequences, mean shift snake's nodes may also fall into the local minima in their moving to the new object position. This paper presents a motion compensation strategy by using particle filter; therefore a new Particle Filter Mean Shift Snake (PFMSS) algorithm is proposed which combines particle filter with mean shift snake to fulfill the estimation of the fast moving object contour. Firstly, the fast moving object is tracked by particle filter to create a coarse position which is used to initialize the mean shift algorithm. Secondly, the whole relevant motion information is used to compensate the snake's node positions. Finally, snake algorithm is used to extract the exact object contour and the useful information of the object is fed back. Some real world sequences are tested and the results show that the novel tracking method have a good performance with high accuracy in solving the fast moving problems in cluttered background.

  13. Human Target Tracking in Multistatic Ultra-Wideband Radar

    NARCIS (Netherlands)

    He, Y.

    2014-01-01

    Multistatic ultra-wideband radar is acknowledged to be useful for human tracking in indoor surveillance. In this thesis, a global signal processing chain for detection and localization of moving human targets using a multistatic ultra-wideband radar system is proposed. The design options for the sys

  14. Head Tracking of Auditory, Visual, and Audio-Visual Targets.

    Science.gov (United States)

    Leung, Johahn; Wei, Vincent; Burgess, Martin; Carlile, Simon

    2015-01-01

    The ability to actively follow a moving auditory target with our heads remains unexplored even though it is a common behavioral response. Previous studies of auditory motion perception have focused on the condition where the subjects are passive. The current study examined head tracking behavior to a moving auditory target along a horizontal 100° arc in the frontal hemisphere, with velocities ranging from 20 to 110°/s. By integrating high fidelity virtual auditory space with a high-speed visual presentation we compared tracking responses of auditory targets against visual-only and audio-visual "bisensory" stimuli. Three metrics were measured-onset, RMS, and gain error. The results showed that tracking accuracy (RMS error) varied linearly with target velocity, with a significantly higher rate in audition. Also, when the target moved faster than 80°/s, onset and RMS error were significantly worst in audition the other modalities while responses in the visual and bisensory conditions were statistically identical for all metrics measured. Lastly, audio-visual facilitation was not observed when tracking bisensory targets.

  15. Head Tracking of Auditory, Visual and Audio-Visual Targets

    Directory of Open Access Journals (Sweden)

    Johahn eLeung

    2016-01-01

    Full Text Available The ability to actively follow a moving auditory target with our heads remains unexplored even though it is a common behavioral response. Previous studies of auditory motion perception have focused on the condition where the subjects are passive. The current study examined head tracking behavior to a moving auditory target along a horizontal 100° arc in the frontal hemisphere, with velocities ranging from 20°/s to 110°/s. By integrating high fidelity virtual auditory space with a high-speed visual presentation we compared tracking responses of auditory targets against visual-only and audio-visual bisensory stimuli. Three metrics were measured – onset, RMS and gain error. The results showed that tracking accuracy (RMS error varied linearly with target velocity, with a significantly higher rate in audition. Also, when the target moved faster than 80°/s, onset and RMS error were significantly worst in audition the other modalities while responses in the visual and bisensory conditions were statistically identical for all metrics measured. Lastly, audio-visual facilitation was not observed when tracking bisensory targets.

  16. Forward Models for Following a Moving Target with the Puma 560 Robot Manipulator

    Directory of Open Access Journals (Sweden)

    Daniel Fernando Tello Gamarra

    2015-12-01

    Full Text Available This paper describes how a forward model could be applied in a manipulator robot to accomplish the task of following a moving target. The forward model has been implemented in the puma 560 robot manipulator in simulation after a babbling motor phase using ANFIS neural networks. The forward model delivers a rough estimation of the position in the operational space of a moving target. Using this information a Cartesian controller tracks the moving target. An implementation of the proposed architecture and the Piepmeir algorithm for the problem of following a moving target is also shown in the paper. The control architecture proposed in this paper was also tested with MLP and RBF neural networks. Results and simulations are shown to demonstrate the applicability of our proposed architecture for tracking a moving target.

  17. Research on target tracking in coal mine based on optical flow method

    Science.gov (United States)

    Xue, Hongye; Xiao, Qingwei

    2015-03-01

    To recognize, track and count the bolting machine in coal mine video images, a real-time target tracking method based on the Lucas-Kanade sparse optical flow is proposed in this paper. In the method, we judge whether the moving target deviate from its trajectory, predicate and correct the position of the moving target. The method solves the problem of failure to track the target or lose the target because of the weak light, uneven illumination and blocking. Using the VC++ platform and Opencv lib we complete the recognition and tracking. The validity of the method is verified by the result of the experiment.

  18. Vibration characteristics of frozen soil under moving track loads

    Institute of Scientific and Technical Information of China (English)

    AiPing Tang; AnPing Zhao; AiHua Wen

    2015-01-01

    Vibration due to moving traffic loads is an important factor which induces frozen soil damage; this paper analyzed these vibration characteristics of frozen soil foundation under track loads. Firstly, seismic observation array (SOA) technology was applied to monitor the three dimensional dynamic characteristics of frozen soil under movable track load in a per-mafrost region and seasonal frozen soil area. Secondly, a numerical simulation for the response of frozen soil under movable track load was performed based on finite element analysis (FEA). The results show that dynamic characteristics of frozen soil in perpendicular and parallel direction of the track are obviously different. In the direction perpendicular to the track, the vertical acceleration amplitude had an abrupt increase in the 9–10 m from the track line. In the direction parallel to the track, the acceleration in vertical and horizontal direction had a quick attenuation compared to the other direction. Lastly, various parameters were analyzed for the purpose of controlling the dynamic response of frozen soil and the vibration attenuation in frozen soil layer.

  19. Video Based Moving Object Tracking by Particle Filter

    Directory of Open Access Journals (Sweden)

    Md. Zahidul Islam

    2009-03-01

    Full Text Available Usually, the video based object tracking deal with non-stationary image stream that changes over time. Robust and Real time moving object tracking is a problematic issue in computer vision research area. Most of the existing algorithms are able to track only inpredefined and well controlled environment. Some cases, they don’t consider non-linearity problem. In our paper, we develop such a system which considers color information, distance transform (DT based shape information and also nonlinearity. Particle filtering has been proven very successful for non-gaussian and non-linear estimation problems. We examine the difficulties of video based tracking and step by step we analyze these issues. In our firstapproach, we develop the color based particle filter tracker that relies on the deterministic search of window, whose color content matches a reference histogram model. A simple HSV histogram-based color model is used to develop this observation system. Secondly, wedescribe a new approach for moving object tracking with particle filter by shape information. The shape similarity between a template and estimated regions in the video scene is measured by their normalized cross-correlation of distance transformed images. Our observation system of particle filter is based on shape from distance transformed edge features. Template is created instantly by selecting any object from the video scene by a rectangle. Finally, inthis paper we illustrate how our system is improved by using both these two cues with non linearity.

  20. Parameter Estimation of a Ground Moving Target Using Image Sharpness Optimization.

    Science.gov (United States)

    Yu, Jing; Li, Yaan

    2016-06-30

    Motion parameter estimation of a ground moving target is an important issue in synthetic aperture radar ground moving target indication (SAR-GMTI) which has significant applications for civilian and military. The SAR image of a moving target may be displaced and defocused due to the radial and along-track velocity components, respectively. The sharpness cost function presents a measure of the degree of focus of the image. In this work, a new ground moving target parameter estimation algorithm based on the sharpness optimization criterion is proposed. The relationships between the quadratic phase errors and the target's velocity components are derived. Using two-dimensional searching of the sharpness cost function, we can obtain the velocity components of the target and the focused target image simultaneously. The proposed moving target parameter estimation method and image sharpness metrics are analyzed in detail. Finally, numerical results illustrate the effective and superior velocity estimation performance of the proposed method when compared to existing algorithms.

  1. Target tracking based on frequency spectrum amplitude

    Institute of Scientific and Technical Information of China (English)

    Guo Huidong; Zhang Xinhua; Xia Zhijun

    2006-01-01

    The amplitude of frequency spectrum can be integrated with probabilistic data association (PDA) to distinguish the target with clutter echoes, especially in low SNR underwater environment. A new target-tracking algorithm is presented which adopts the amplitude of frequency spectrum to improve target tracking in clutter. The probabilistic density distribution of frequency spectrum amplitude is analyzed. By simulation, the results show that the algorithm is superior to PDA. This approach enhances stability for the association probability and increases the performance of target tracking.

  2. CART III: improved camouflage assessment using moving target indication

    Science.gov (United States)

    Müller, Thomas; Honke, Thomas; Müller, Markus

    2009-05-01

    In order to facilitate systematic, computer aided improvements of camouflage and concealment assessment methods, the software system CART (Camouflage Assessment in Real-Time) was built up for the camouflage assessment of objects in image sequences (see contributions to SPIE 2007 and SPIE 2008 [1], [2]). It works with visual-optical, infrared and SAR image sequences. The system comprises a semi-automatic annotation functionality for marking target objects (ground truth generation) including a propagation of those markings over the image sequence for static as well as moving scene objects, where the recording camera may be static or moving. The marked image regions are evaluated by applying user-defined feature extractors, which can easily be defined and integrated into the system via a generic software interface. This article presents further systematic enhancements made in the recent year and addresses particularly the task of the detection of moving vehicles by latest image exploitation methods for objective camouflage assessment in these cases. As a main topic, the loop was closed between the two natural opposites of reconnaissance and camouflage, which was realized by incorporating ATD (Automatic Target Detection) algorithms into the computer aided camouflage assessment. Since object (and sensor) movement is an important feature for many applications, different image-based MTI (Moving Target Indication) algorithms were included in the CART system, which rely on changes in the image plane from an image to the successive one (after camera movements are automatically compensated). Additionally, the MTI outputs over time are combined in a certain way which we call "snail track" algorithm. The results show that their output provides a valuable measurement for the conspicuity of moving objects and therefore is an ideal component in the camouflage assessment. It is shown that image-based MTI improvements lead to improvements in the camouflage assessment process.

  3. Eye-Hand Synergy and Intermittent Behaviors during Target-Directed Tracking with Visual and Non-visual Information

    OpenAIRE

    2012-01-01

    Visual feedback and non-visual information play different roles in tracking of an external target. This study explored the respective roles of the visual and non-visual information in eleven healthy volunteers who coupled the manual cursor to a rhythmically moving target of 0.5 Hz under three sensorimotor conditions: eye-alone tracking (EA), eye-hand tracking with visual feedback of manual outputs (EH tracking), and the same tracking without such feedback (EHM tracking). Tracking error, kinem...

  4. Pixel Intensity Based Cumulative Features for Moving Object Tracking (MOT) in Darkness

    Science.gov (United States)

    Saba, Tanzila

    2016-06-01

    Moving Object Tracking (MOT) is one of the frequent used tasks in computer vision systems and on the same time a challenging issue particularly in darkness. Vehicle tracking involves finding new position of vehicles in consecutive frames. This paper presents MOT algorithm that is developed for advanced driver safety applications like automatic high beam control, forward collision warning. Accordingly, the proposed approach targets vehicle tracking in the dark environment. Hence, a camera is mounted on the host vehicle to capture video frames of the traffic ahead. The scope involves tracking of both oncoming and preceding vehicles. The vehicles are tracked in consecutive frames using grayscale information and robust structure features. The features representation of the vehicle region is based on cumulative pixel intensity information. The implementation for feature extraction is optimized by using a dynamic programming approach to meet the constraints of a real time application. Simulation results thus obtained are promising in state of the art.

  5. Area Variation Based Color Snake Algorithm for Moving Object Tracking

    Institute of Scientific and Technical Information of China (English)

    Shoum-ik ROYCHOUDHURY; Young-joon HAN

    2010-01-01

    A snake algorithm has been known that it has a strong point in extracting the exact contour of an object.But it is apt to be influenced by scattered edges around the control points.Since the shape of a moving object in 2D image changes a lot due ta its rotation and translation in the 3D space,the conventional algorithm that takes into account slowly moving objects cannot provide an appropriate solution.To utilize the advantages of the snake algrithm while minimizing the drawbacks,this paper proposes the area variation based color snake algorithm for moving object tracking.The proposed algorithm includes a new energy term which is used for preserving the shape of an object between two consecutive inages.The proposed one can also segment precisely interesting objects on complex image since it is based on color information.Experiment results show that the proposed algorithm is very effective in various environments.

  6. A Laboratory for Characterizing the Efficacy of Moving Target Defense

    Science.gov (United States)

    2016-10-25

    SECURITY CLASSIFICATION OF: Under ARO funded BAA project entitled “Modeling and Analysis of Moving Target Defense Mechanisms in MANET ”, we at College...Efficacy of Moving Target Defense Report Title Under ARO funded BAA project entitled “Modeling and Analysis of Moving Target Defense Mechanisms in MANET ...Defense 1 Statement of the Problem Under ARO funded BAA project entitled “Modeling and Analysis of Moving Target Defense Mechanisms in MANET ”, we

  7. Hypersonic sliding target tracking in near space

    Directory of Open Access Journals (Sweden)

    Xiang-yu Zhang

    2015-12-01

    Full Text Available To improve the tracking accuracy of hypersonic sliding target in near space, the influence of target hypersonic movement on radar detection and tracking is analyzed, and an IMM tracking algorithm is proposed based on radial velocity compensating and cancellation processing of high dynamic biases under the earth centered earth fixed (ECEF coordinate. Based on the analysis of effect of target hypersonic movement, a measurement model is constructed to reduce the filter divergence which is caused by the model mismatch. The high dynamic biases due to the target hypersonic movement are approximately compensated through radial velocity estimation to achieve the hypersonic target tracking at low systematic biases in near space. The high dynamic biases are further eliminated by the cancellation processing of different radars, in which the track association problem can be solved when the dynamic biases are low. An IMM algorithm based on constant acceleration (CA, constant turning (CT and Singer models is used to achieve the hypersonic sliding target tracking in near space. Simulation results show that the target tracking in near space can be achieved more effectively by using the proposed algorithm.

  8. A Target Tracking System for Applications in Hydraulic Engineering

    Institute of Scientific and Technical Information of China (English)

    SHEN Qiaonan; AN Xuehui

    2008-01-01

    A new type of digital video monitoring system (DVMS) named user defined target tracking system (UDTTS), was developed based on the digital image processing (DIP) technology and the practice demands of construction site management in hydraulic engineering. The position, speed, and track of moving targets such as humans and vehicles, which could be calculated by their locations at anytime in images basically, were required for management. The proposed algorithm, dependent on the context-sensitive moving infor- mation of image sequences which was much more than one or two images provided, compared the blobs' properties in current frame to the trajectories of targets in the previous frames and then corresponded them. The processing frame rate is about 10fps with the image 240-by-120 pixels. Experimental results show that position, direction, and speed measurements have an accuracy level compatible with the manual work. The user-define process makes the UDTTS available to the public whenever appropriate.

  9. Automatic identification and real-time tracking based on multiple sensors for low-altitude moving targets%一种多传感器反直升机智能雷伺服跟踪系统

    Institute of Scientific and Technical Information of China (English)

    张作楠; 刘国栋; 王婷婷

    2011-01-01

    讨论一种基于多传感器的反直升机智能雷AHM(Anti-Helicopter Mine)系统.为了提高智能雷的全自动智能跟踪能力和打击精度,在传统的被动声探测技术的基础上,结合图像传感器的视觉信息和激光测距仪的深度信息,提出一种基于声-光-电多传感器联合的自动目标探测、识别、跟踪算法.首先将五元十字声源定位技术用于低空目标探测和初始定位,然后对目标进行图像处理与特征提取,最后基于图像特征的视觉伺服跟踪算法得出伺服机构的旋转角以实现精确跟踪.%Discussed a tracking system for anti-helicopter mine (AHM) tracking system based on multi-sensors, in order to increase the ability of automatic tracking and the higher firing accuracy. Based on the traditional passive acoustic localization technology, a multi-sensor integrated automatic detection and real-time tracking algorithm is proposed with a variety of sensors and electronic measuring devices, such as acoustic sensors, image sensors and laser range finder. Firstly the target is initially located by the positive acoustic localization technology, then attract the target image feature by image processing, According to based-on-image visual servoing algorithm, the desired target error signal for precise tracking is used to control the servo mechanism to track precisely.

  10. Target-tracking algorithm for omnidirectional vision

    Science.gov (United States)

    Cai, Chengtao; Weng, Xiangyu; Fan, Bing; Zhu, Qidan

    2017-05-01

    Omnidirectional vision with the advantage of a large field-of-view overcomes the problem that a target is easily lost due to the narrow sight of perspective vision. We improve a target-tracking algorithm based on discriminative tracking features in several aspects and propose a target-tracking algorithm for an omnidirectional vision system. (1) An elliptical target window expression model is presented to represent the target's outline, which can adapt to the deformation of an object and reduce background interference. (2) The background-weighted linear RGB histogram target feature is introduced, which decreases the weight of the background feature. (3) The Bhattacharyya coefficients-based feature identification method is employed, which reduces the computation time of the tracking algorithm. (4) An adaptive target scale and orientation measurement method is applied to adapt to severe deformations of the target's outline. (5) A model update strategy is put forward, which is based on similarity measurements to achieve an effective and accurate model update. The experimental results show the proposed algorithm can achieve better performance than the state-of-the-art algorithms when using omnidirectional vision to perform long-term target-tracking tasks.

  11. Bayesian target tracking based on particle filter

    Institute of Scientific and Technical Information of China (English)

    2005-01-01

    For being able to deal with the nonlinear or non-Gaussian problems, particle filters have been studied by many researchers. Based on particle filter, the extended Kalman filter (EKF) proposal function is applied to Bayesian target tracking. Markov chain Monte Carlo (MCMC) method, the resampling step, etc novel techniques are also introduced into Bayesian target tracking. And the simulation results confirm the improved particle filter with these techniques outperforms the basic one.

  12. Automatically tracking neurons in a moving and deforming brain

    CERN Document Server

    Nguyen, Jeffrey P; Plummer, George S; Shaevitz, Joshua W; Leifer, Andrew M

    2016-01-01

    Advances in optical neuroimaging techniques now allow neural activity to be recorded with cellular resolution in awake and behaving animals. Brain motion in these recordings pose a unique challenge. The location of individual neurons must be tracked in 3D over time to accurately extract single neuron activity traces. Recordings from small invertebrates like C. elegans are especially challenging because they undergo very large brain motion and deformation during animal movement. Here we present an automated computer vision pipeline to reliably track populations of neurons with single neuron resolution in the brain of a freely moving C. elegans undergoing large motion and deformation. 3D volumetric fluorescent images of the animal's brain are straightened, aligned and registered, and the locations of neurons in the images are found via segmentation. Each neuron is then assigned an identity using a new time-independent machine-learning approach we call Neuron Registration Vector Encoding. In this approach, non-r...

  13. Tracking Target and Spiral Waves

    DEFF Research Database (Denmark)

    Jensen, Flemming G.; Sporring, Jon; Nielsen, Mads

    2002-01-01

    A new algorithm for analyzing the evolution of patterns of spiral and target waves in large aspect ratio chemical systems is introduced. The algorithm does not depend on finding the spiral tip but locates the center of the pattern by a new concept, called the spiral focus, which is defined...... by the evolutes of the actual spiral or target wave. With the use of Gaussian smoothing, a robust method is developed that permits the identification of targets and spirals foci independently of the wave profile. Examples of an analysis of long image sequences from experiments with the Belousov...

  14. Tracking Target and Spiral Waves

    DEFF Research Database (Denmark)

    Jensen, Flemming G.; Sporring, Jon; Nielsen, Mads;

    2002-01-01

    A new algorithm for analyzing the evolution of patterns of spiral and target waves in large aspect ratio chemical systems is introduced. The algorithm does not depend on finding the spiral tip but locates the center of the pattern by a new concept, called the spiral focus, which is defined...... by the evolutes of the actual spiral or target wave. With the use of Gaussian smoothing, a robust method is developed that permits the identification of targets and spirals foci independently of the wave profile. Examples of an analysis of long image sequences from experiments with the Belousov...

  15. Radar Detection for Dim Moving Target Using DP Algorithm

    Institute of Scientific and Technical Information of China (English)

    MOLi; WUSiliang; MAOErke

    2004-01-01

    A lot of work has been done for applying Dynamic programming (DP) algorithm in weak moving target detection and tracking. Most of them are based on IR image sequence and a constant target velocity is assumed. The goal of this paper is to apply DP algorithm to radar Doppler detection problems. Radar returns from multiple range cells are arranged as a set of Doppler-range images to fit in DP imagery detection model. Trajectories in image sequence are modeled as states sets. Then De algorithm is applied to integrate measurements along possible target trajectories, returning as possible targets those trajectories for which the measurement sum, or merit function, exceeds a threshold. Low SNR target that maneuvers among several range cells can be detected through such long-term integration. Under a practical set of radar parameters, good detection performances are presented that at about 10070 detection probability, about 7dB SNR gain is achieved through 15-frame DP non-coherent integration.

  16. Taylor Series-based Tracking Algorithm for Through-Wall Tracking of a Moving Person

    Directory of Open Access Journals (Sweden)

    Mária Švecová

    2010-04-01

    Full Text Available Target tracking using time of arrival measurements belongs to the primary taskssolved within radar signal processing. In this paper, the Taylor series-based trackingalgorithm that uses time of arrival measurements for through wall tracking of the movingtarget is introduced. The proposed algorithm is derived from the Taylor series methodapplied for target localization. In contrast to the Taylor series method, the Taylor seriesbasedtracking algorithm exploits for target positioning not only actual time of arrivalmeasurements, but also the target position estimated in the previous time instant. In orderto improve the tracking ability of the proposed algorithm, a suitable weighting of the inputdata of the algorithm is applied. The performance of the Taylor series-based trackingalgorithm will be compared with the performance of the direct calculation method andlinear Kalman filtering. For that purpose, two real scenarios of through wall tracking of amoving person will be analysed. The obtained results will show very clearly that the newTaylor series based tracking algorithm introduced in this paper can provide the betterestimate of the target trajectory than the other tested localization and tracking algorithms.

  17. Target Tracking in 3-D Using Estimation Based Nonlinear Control Laws for UAVs

    National Research Council Canada - National Science Library

    Mousumi Ahmed; Kamesh Subbarao

    2016-01-01

    ...) to track a moving target in 3-D space. A ground-based sensor or an onboard seeker antenna provides range, azimuth angle, and elevation angle measurements to a chaser UAV that implements an extended Kalman filter (EKF...

  18. Target Tracking and Interception by Aggressive Honeybees

    Science.gov (United States)

    2010-08-01

    targets can hinder, prevent or endanger attacks to the centrally-located targets. Figure 15. Percentage of strikes (totalling 100%) to each of the...adjusted, 53  to minimize the drag that is produced by the medium through which they move. For example, 54  sharks , tuna and mackerel possess fusiform shapes

  19. Comparative analysis of multiple target tracking methods

    Directory of Open Access Journals (Sweden)

    Michael Kamaraj Devadoss

    2016-07-01

    Full Text Available Many applications such as intelligent transportation, video surveillance, robotics of computer vision mainly depend on task of multiple object tracking. It includes the process of detection, classifications and tracking. The main focus of the study is to develop an efficient and effective multiple target tracking methods to solve the issues of illumination changes, occlusions and affinity matching. Accordingly, the various multiple target tracking methods are tested and evaluated using the metrics on publicly available datasets from which it is obvious that the outcome of the global energy minimization and optimization techniques is comparatively better than any other existing techniques in all aspects. This comparative study work will also help in better understanding of the problem, knowledge of the methods and experimental evaluation skill for further research works.

  20. Evaluating Moving Target Defense with PLADD

    Energy Technology Data Exchange (ETDEWEB)

    Jones, Stephen T. [Sandia National Laboratories (SNL-NM), Albuquerque, NM (United States); Outkin, Alexander V. [Sandia National Laboratories (SNL-NM), Albuquerque, NM (United States); Gearhart, Jared Lee [Sandia National Laboratories (SNL-NM), Albuquerque, NM (United States); Hobbs, Jacob Aaron [Sandia National Laboratories (SNL-NM), Albuquerque, NM (United States); Siirola, John Daniel [Sandia National Laboratories (SNL-NM), Albuquerque, NM (United States); Phillips, Cynthia A. [Sandia National Laboratories (SNL-NM), Albuquerque, NM (United States); Verzi, Stephen Joseph [Sandia National Laboratories (SNL-NM), Albuquerque, NM (United States); Tauritz, Daniel [Sandia National Laboratories (SNL-NM), Albuquerque, NM (United States); Mulder, Samuel A. [Sandia National Laboratories (SNL-NM), Albuquerque, NM (United States); Naugle, Asmeret Bier [Sandia National Laboratories (SNL-NM), Albuquerque, NM (United States)

    2015-09-15

    This project evaluates the effectiveness of moving target defense (MTD) techniques using a new game we have designed, called PLADD, inspired by the game FlipIt [28]. PLADD extends FlipIt by incorporating what we believe are key MTD concepts. We have analyzed PLADD and proven the existence of a defender strategy that pushes a rational attacker out of the game, demonstrated how limited the strategies available to an attacker are in PLADD, and derived analytic expressions for the expected utility of the game’s players in multiple game variants. We have created an algorithm for finding a defender’s optimal PLADD strategy. We show that in the special case of achieving deterrence in PLADD, MTD is not always cost effective and that its optimal deployment may shift abruptly from not using MTD at all to using it as aggressively as possible. We believe our effort provides basic, fundamental insights into the use of MTD, but conclude that a truly practical analysis requires model selection and calibration based on real scenarios and empirical data. We propose several avenues for further inquiry, including (1) agents with adaptive capabilities more reflective of real world adversaries, (2) the presence of multiple, heterogeneous adversaries, (3) computational game theory-based approaches such as coevolution to allow scaling to the real world beyond the limitations of analytical analysis and classical game theory, (4) mapping the game to real-world scenarios, (5) taking player risk into account when designing a strategy (in addition to expected payoff), (6) improving our understanding of the dynamic nature of MTD-inspired games by using a martingale representation, defensive forecasting, and techniques from signal processing, and (7) using adversarial games to develop inherently resilient cyber systems.

  1. Moving Target Techniques: Cyber Resilience throught Randomization, Diversity, and Dynamism

    Science.gov (United States)

    2017-03-03

    cyber resilience that attempts to rebalance the cyber landscape is known as cyber moving target (MT) (or just moving target) techniques. Moving target...needed in the area of evaluation and assessment of MT techniques. For cyber security to transition from a craft to a science, it is important to have...security and can be used to evaluate the absolute security offered by an MT technique and a comparative assessment of it against other techniques

  2. Visual Servoing for a Quadrotor UAV in Target Tracking Applications

    Science.gov (United States)

    Popova, Marinela Georgieva

    This research study investigates the design and implementation of position-based and image-based visual servoing techniques for controlling the motion of quadrotor unmanned aerial vehicles (UAVs). The primary applications considered are tracking stationary and moving targets. A novel position-based tracking law is developed and integrated with inner loop proportional-integral-derivative control algorithm. A theoretical proof for the stability of the proposed method is provided and numerical simulations are performed to validate the performance of the closed-loop system. A classical image-based visual servoing technique is also implemented and a modification of the classical method is suggested to reduce the undesirable effects due to the underactuated quadrotor system. Finally, the case when the quadrotor loses sight of the target is investigated and several solutions are proposed to help maintain the view of the target.

  3. Research on infrared small-target tracking technology under complex background

    Science.gov (United States)

    Liu, Lei; Wang, Xin; Chen, Jilu; Pan, Tao

    2012-10-01

    In this paper, some basic principles and the implementing flow charts of a series of algorithms for target tracking are described. On the foundation of above works, a moving target tracking software base on the OpenCV is developed by the software developing platform MFC. Three kinds of tracking algorithms are integrated in this software. These two tracking algorithms are Kalman Filter tracking method and Camshift tracking method. In order to explain the software clearly, the framework and the function are described in this paper. At last, the implementing processes and results are analyzed, and those algorithms for tracking targets are evaluated from the two aspects of subjective and objective. This paper is very significant in the application of the infrared target tracking technology.

  4. Tracking algorithms for the active target MAYA

    CERN Document Server

    Roger, T; Demonchy, C E; Mittig, W; Savajols, H; Tanihata, I

    2010-01-01

    The MAYA detector is a Time-Charge Projection Chamber based on the concept of active target. These type of devices use a part of the detection system, the filling gas in this case, in the role of reaction target. The MAYA detector performs three-dimensional tracking, in order to determine physical observables of the reactions occurring inside the detector. The reconstruction algorithms of the tracking use the information from a two-dimensional projection on the segmented cathode, and, in general, they need to be adapted for the different experimental settings of the detector. This work presents some of the most relevant solutions developed for the MAYA detector.

  5. Real-Time Motion Tracking for Indoor Moving Sphere Objects with a LiDAR Sensor

    Directory of Open Access Journals (Sweden)

    Lvwen Huang

    2017-08-01

    Full Text Available Object tracking is a crucial research subfield in computer vision and it has wide applications in navigation, robotics and military applications and so on. In this paper, the real-time visualization of 3D point clouds data based on the VLP-16 3D Light Detection and Ranging (LiDAR sensor is achieved, and on the basis of preprocessing, fast ground segmentation, Euclidean clustering segmentation for outliers, View Feature Histogram (VFH feature extraction, establishing object models and searching matching a moving spherical target, the Kalman filter and adaptive particle filter are used to estimate in real-time the position of a moving spherical target. The experimental results show that the Kalman filter has the advantages of high efficiency while adaptive particle filter has the advantages of high robustness and high precision when tested and validated on three kinds of scenes under the condition of target partial occlusion and interference, different moving speed and different trajectories. The research can be applied in the natural environment of fruit identification and tracking, robot navigation and control and other fields.

  6. Real-Time Motion Tracking for Indoor Moving Sphere Objects with a LiDAR Sensor.

    Science.gov (United States)

    Huang, Lvwen; Chen, Siyuan; Zhang, Jianfeng; Cheng, Bang; Liu, Mingqing

    2017-08-23

    Object tracking is a crucial research subfield in computer vision and it has wide applications in navigation, robotics and military applications and so on. In this paper, the real-time visualization of 3D point clouds data based on the VLP-16 3D Light Detection and Ranging (LiDAR) sensor is achieved, and on the basis of preprocessing, fast ground segmentation, Euclidean clustering segmentation for outliers, View Feature Histogram (VFH) feature extraction, establishing object models and searching matching a moving spherical target, the Kalman filter and adaptive particle filter are used to estimate in real-time the position of a moving spherical target. The experimental results show that the Kalman filter has the advantages of high efficiency while adaptive particle filter has the advantages of high robustness and high precision when tested and validated on three kinds of scenes under the condition of target partial occlusion and interference, different moving speed and different trajectories. The research can be applied in the natural environment of fruit identification and tracking, robot navigation and control and other fields.

  7. Infrared small target's detection and identification with moving platform based on motion features

    Science.gov (United States)

    Jia, Yan; Zou, Xu; Zhong, Sheng; Lu, Hongqiang

    2015-10-01

    The infrared small target's detection and tracking are important parts of the automatic target recognition. When the camera platform equipped with an infrared camera moves, the small target's position change in the imaging plane is affected by the composite motion of the small target and the camera platform. Traditional detection and tracking algorithms may lose the small target and make the follow-up detection and tracking fail because of not considering the camera platform's movement. Moreover, when there exist small targets with different motion features in the camera's view, some detection and tracking algorithms can't recognize different targets based on their motion features because there are no trajectories in a unified coordinate system, which may lead to the true small targets undetected or detected incorrectly . To solve those problems, we present a method under the condition of moving camera platform. Firstly, get the camera platform's motion information from the inertial measurement values, and then decouple to remove the motion of the camera platform itself by means of coordinate transformation. Next, estimate the trajectories of the small targets with different motion features based on their position changes in the same imaging plane coordinate system. Finally, recognize different small targets preliminarily based on their different trajectories. Experimental results show that this method can improve the small target's detection probability. Furthermore, when the camera platform fails to track the small target, it's possible to predict the position of the small target in the next frame based on the fitted motion equation and realize sustained and stable tracking.

  8. Development of an autonomous target tracking system

    Science.gov (United States)

    Gidda, Venkata Ramaiah

    In recent years, surveillance and border patrol have become one of the key research areas in UAV research. Increase in the computational capability of the computers and embedded electronics, coupled with compatibility of various commercial vision algorithms and commercial off the shelf (COTS) embedded electronics, and has further fuelled the research. The basic task in these applications is perception of environment through the available visual sensors like camera. Visual tracking, as the name implies, is tracking of objects using a camera. The process of autonomous target tracking starts with the selection of the target in a sequence of video frames transmitted from the on-board camera. We use an improved fast dynamic template matching algorithm coupled with Kalman Filter to track the selected target in consecutive video frames. The selected target is saved as a reference template. On the ground station computer, the reference template is overlaid on the live streaming video from the on-board system, starting from the upper left corner of the video frame. The template is slid pixel by pixel over the entire source image. A comparison of the pixels is performed between the template and source image. A confidence value R of the match is calculated at each pixel. Based on the method used to perform the template matching, the best match pixel location is found according to the highest or lowest confidence value R. The best match pixel location is communicated to the on-board gimbal controller over the wireless Xbee network. The software on the controller actuates the pan-tilt servos to continuously to hold the selected target at the center of the video frame. The complete system is a portable control system assembled from commercial off the shelf parts. The tracking system is tested on a target having several motion patterns.

  9. Orbital Evasive Target Tracking and Sensor Management

    Science.gov (United States)

    2012-03-30

    orbits to simulate the space resource management for situation awareness. We adopted NASA’s General Mission Analysis Tool ( GMAT ) for space target...realistic satellite orbits to simulate the space resource management for situation awareness. We adopted NASA’s General Mission Analysis Tool ( GMAT ...Analysis Tool ( GMAT ) for space target tracking with multiple space borne observers. The results indicate that the game theoretic approach is more effective

  10. MOVING TARGETS PATTERN RECOGNITION BASED ON THE WAVELET NEURAL NETWORK

    Institute of Scientific and Technical Information of China (English)

    Ge Guangying; Chen Lili; Xu Jianjian

    2005-01-01

    Based on pattern recognition theory and neural network technology, moving objects automatic detection and classification method integrating advanced wavelet analysis are discussed in detail. An algorithm of moving targets pattern recognition on the combination of inter-frame difference and wavelet neural network is presented. The experimental results indicate that the designed BP wavelet network using this algorithm can recognize and classify moving targets rapidly and effectively.

  11. Neural fuzzy inference network approach to maneuvering target tracking

    Institute of Scientific and Technical Information of China (English)

    韩红; 刘允才; 韩崇昭; 朱洪艳; 文戎

    2004-01-01

    In target tracking study, the fast target maneuver detecting and highly accurate tracking are very important.And it is difficult to be solved. For the radar/infrared image fused tracking system, a extend Kalman filter combines with a neural fuzzy inference network to be used in maneuvering target tracking. The features related to the target maneuver are extracted from radar, infrared measurements and outputs of tracking filter, and are sent into the neural fuzzy inference network as inputs firstly, and then the target's maneuver inputs are estimated, so that, the accurate tracking is achieved. The simulation results indicate that the new method is valuable for maneuvering target tracking.

  12. Continuous psychophysics: Target-tracking to measure visual sensitivity.

    Science.gov (United States)

    Bonnen, Kathryn; Burge, Johannes; Yates, Jacob; Pillow, Jonathan; Cormack, Lawrence K

    2015-03-20

    We introduce a novel framework for estimating visual sensitivity using a continuous target-tracking task in concert with a dynamic internal model of human visual performance. Observers used a mouse cursor to track the center of a two-dimensional Gaussian luminance blob as it moved in a random walk in a field of dynamic additive Gaussian luminance noise. To estimate visual sensitivity, we fit a Kalman filter model to the human tracking data under the assumption that humans behave as Bayesian ideal observers. Such observers optimally combine prior information with noisy observations to produce an estimate of target position at each time step. We found that estimates of human sensory noise obtained from the Kalman filter fit were highly correlated with traditional psychophysical measures of human sensitivity (R2 > 97%). Because each frame of the tracking task is effectively a "minitrial," this technique reduces the amount of time required to assess sensitivity compared with traditional psychophysics. Furthermore, because the task is fast, easy, and fun, it could be used to assess children, certain clinical patients, and other populations that may get impatient with traditional psychophysics. Importantly, the modeling framework provides estimates of decision variable variance that are directly comparable with those obtained from traditional psychophysics. Further, we show that easily computed summary statistics of the tracking data can also accurately predict relative sensitivity (i.e., traditional sensitivity to within a scale factor).

  13. Moving target imaging using ultrawideband synthetic aperture radar

    Science.gov (United States)

    Guo, Hanwei; Liang, Diannong; Wan, Yan; Huang, Xiaotao; Dong, Zhen

    2003-09-01

    Moving Target High Resolution Imaging of Foliage Penetrate Ultra-Wide Band Synthetic Aperture Radar (FOPEN UWB SAR) is of great significance for battlefield awareness of concealed target. Great range migration and strong clutter make moving target detection and imaging difficult, especially the Signal to Clutter Ration(SCR) some times is so low that the moving targets is invisible in FOPEN UWB SAR imagery. To improve SCR, the clean technique is used in range compressed data domain. The clean technique and data reconstruction help single channel of FOPEN UWB SAR suppress strong tree clutter and stationary target signal from region of interest. A new definition called General Key-Stone Transform is given, which can correct any order of range migration. FOPEN UWB SAR has long integrated time. The plane and target moving in long time lead to complex range migration. To obtain high resolution imagery of moving target, General Key-Stone transform are applied to remove the range migration and realize multiple moving target data segment. Both General Key-Stone Transform and Clean Technique are applied in real data processing of FOPEN UWB SAR. The result shows that multiple moving targets in the trees are clearly detected and high resolution imagery is formed.

  14. MANEUVERING TARGET TRACKING USING FUZZY COMPENSATOR

    Institute of Scientific and Technical Information of China (English)

    1998-01-01

    A new approach is provided to estimate the state of arbitrarily maneuvering target. In this approach a fuzzy compensator is used to tackle the uncertainty which results from the targets arbitrarily maneuvering. To design the observer of the nonlinear system, the fuzzy T-S model and the receding horizon control strategy are employed. Besides, the design depends on tracking the output error of the model. Compared with the technique used in other articles, the errors between the first estimated value and the true state value of the estimated variable are not strictly required. Numerical simulating results show that the proposed approach can estimate the states of the random maneuvering targets on-line so as to obtain the exact tracking of the target.

  15. Efficient characterization of labeling uncertainty in closely-spaced targets tracking

    NARCIS (Netherlands)

    Moreno Leon, Carlos; Moreno Leon, Carlos; Driessen, Hans; Mandal, Pranab K.

    2016-01-01

    In this paper we propose a novel solution to the labeled multi-target tracking problem. The method presented is specially effective in scenarios where the targets have once moved in close proximity. When this is the case, disregarding the labeling uncertainty present in a solution (after the targets

  16. Error Analysis of Fast Moving Target Geo-location in Wide Area Surveillance Ground Moving Target Indication Mode

    Directory of Open Access Journals (Sweden)

    Zheng Shi-chao

    2013-12-01

    Full Text Available As an important mode in airborne radar systems, Wide Area Surveillance Ground Moving Target Indication (WAS-GMTI mode has the ability of monitoring a large area in a short time, and then the detected moving targets can be located quickly. However, in real environment, many factors introduce considerable errors into the location of moving targets. In this paper, a fast location method based on the characteristics of the moving targets in WAS-GMTI mode is utilized. And in order to improve the location performance, those factors that introduce location errors are analyzed and moving targets are relocated. Finally, the analysis of those factors is proved to be reasonable by simulation and real data experiments.

  17. Detection of Moving Targets Using Soliton Resonance Effect

    Science.gov (United States)

    Kulikov, Igor K.; Zak, Michail

    2013-01-01

    The objective of this research was to develop a fundamentally new method for detecting hidden moving targets within noisy and cluttered data-streams using a novel "soliton resonance" effect in nonlinear dynamical systems. The technique uses an inhomogeneous Korteweg de Vries (KdV) equation containing moving-target information. Solution of the KdV equation will describe a soliton propagating with the same kinematic characteristics as the target. The approach uses the time-dependent data stream obtained with a sensor in form of the "forcing function," which is incorporated in an inhomogeneous KdV equation. When a hidden moving target (which in many ways resembles a soliton) encounters the natural "probe" soliton solution of the KdV equation, a strong resonance phenomenon results that makes the location and motion of the target apparent. Soliton resonance method will amplify the moving target signal, suppressing the noise. The method will be a very effective tool for locating and identifying diverse, highly dynamic targets with ill-defined characteristics in a noisy environment. The soliton resonance method for the detection of moving targets was developed in one and two dimensions. Computer simulations proved that the method could be used for detection of singe point-like targets moving with constant velocities and accelerations in 1D and along straight lines or curved trajectories in 2D. The method also allows estimation of the kinematic characteristics of moving targets, and reconstruction of target trajectories in 2D. The method could be very effective for target detection in the presence of clutter and for the case of target obscurations.

  18. Fast infrared dim and small target tracking

    Science.gov (United States)

    Qian, Kun; Zhou, Huixin; Rong, Shenghui; Wang, Bingjian; Yin, Shiming; Zeng, Qingjie

    2015-10-01

    The target tracking by the spatio-temporal learning is a kind of online tracking algorithm based on Bayesian framework. But it has the excursion problem when applied in the infrared dim target. Based on the principle of the spatio-temporal learning algorithm, the excursion problem was analyzed and a new robust algorithm for infrared dim target tracking is proposed in this paper. Firstly, the Guide Image Filter was adopted to process the input image to preserve edges and eliminate the noise of the image. Secondly, the ideal spatial context model was calculated with the input image that contains little noise, which can be got by subtracting the filtering result from the original image. Simultaneously, a new weight in the context prior model was proposed to indicate that the prior is also related to the local gray level difference. The performance of the presented algorithm was tested with two infrared air image sequences, and the experimental results show that the proposed algorithm performs well in terms of efficiency, accuracy and robustness.

  19. Moving Target Indication for Multi-channel Airborne Radar Systems

    NARCIS (Netherlands)

    Lidicky, L.

    2010-01-01

    Moving target indication (MTI) using radar is of great interest in civil and military applications. Its uses include airborne or space-borne surveillance of ground moving vehicles (cars, trains) or ships at sea, for instance. Airborne (space-borne) radar offers several advantages when compared to op

  20. Moving Target Indication for Multi-channel Airborne Radar Systems

    NARCIS (Netherlands)

    Lidicky, L.

    2010-01-01

    Moving target indication (MTI) using radar is of great interest in civil and military applications. Its uses include airborne or space-borne surveillance of ground moving vehicles (cars, trains) or ships at sea, for instance. Airborne (space-borne) radar offers several advantages when compared to op

  1. Performance analysis of a modified moving shadow elimination method developed for indoor scene activity tracking

    Science.gov (United States)

    Mitra, Bhargav Kumar; Fiaz, Muhammad Kamran; Kypraios, Ioannis; Birch, Philip; Young, Rupert; Chatwin, Chris

    2008-10-01

    Moving shadow detection is an important step in automated robust surveillance systems in which a dynamic object is to be segmented and tracked. Rejection of the shadow region significantly reduces the erroneous tracking of non-target objects within the scene. A method to eliminate such shadows in indoor video sequences has been developed by the authors. The objective has been met through the use of a pixel-wise shadow search process that utilizes a computational model in the RGB colour space to demarcate the moving shadow regions from the background scene and the foreground objects. However, it has been observed that the robustness and efficiency of the method can be significantly enhanced through the deployment of a binary-mask based shadow search process. This, in turn, calls for the use of a prior foreground object segmentation technique. The authors have also automated a standard foreground object segmentation technique through the deployment of some popular statistical outlier-detection based strategies. The paper analyses the performance i.e. the effectiveness as a shadow detector, discrimination potential, and the processing time of the modified moving shadow elimination method on the basis of some standard evaluation metrics.

  2. Passive target tracking using marginalized particle filter

    Institute of Scientific and Technical Information of China (English)

    2007-01-01

    A marginalized particle filtering(MPF)approach is proposed for target tracking under the background of passive measurement.Essentially,the MPF is a combination of particle filtering technique and Kalman filter.By making full use of marginalization,the distributions of the tractable linear part of the total state variables are updated analytically using Kalman filter,and only the lower-dimensional nonlinear state variable needs to be dealt with using particle filter.Simulation studies are performed on an illustrative example,and the results show that the MPF method leads to a significant reduction of the tracking errors when compared with the direct particle implementation.Real data test results also validate the effectiveness of the presented method.

  3. Parameter Estimation of a Ground Moving Target Using Image Sharpness Optimization

    Directory of Open Access Journals (Sweden)

    Jing Yu

    2016-06-01

    Full Text Available Motion parameter estimation of a ground moving target is an important issue in synthetic aperture radar ground moving target indication (SAR-GMTI which has significant applications for civilian and military. The SAR image of a moving target may be displaced and defocused due to the radial and along-track velocity components, respectively. The sharpness cost function presents a measure of the degree of focus of the image. In this work, a new ground moving target parameter estimation algorithm based on the sharpness optimization criterion is proposed. The relationships between the quadratic phase errors and the target’s velocity components are derived. Using two-dimensional searching of the sharpness cost function, we can obtain the velocity components of the target and the focused target image simultaneously. The proposed moving target parameter estimation method and image sharpness metrics are analyzed in detail. Finally, numerical results illustrate the effective and superior velocity estimation performance of the proposed method when compared to existing algorithms.

  4. Cancer Stem Cells: A Moving Target.

    Science.gov (United States)

    Francipane, Maria Giovanna; Chandler, Julie; Lagasse, Eric

    2013-06-01

    Even though the number of anti-cancer drugs entering clinical trials and approved by the FDA has increased in recent years, many cancer patients still experience poor survival outcome. The main explanation for such a dismal prognosis is that current therapies might leave behind a population of cancer cells with the capacity for long-term self-renewal, so-called cancer stem cells (CSCs), from which most tumors are believed to be derived and fueled. CSCs might favor local and distant recurrence even many years after initial treatment, thus representing a potential target for therapies aimed at improving clinical outcome. In this review, we will address the CSC hypothesis with a particular emphasis on its current paradigms and debates, and discuss several mechanisms of CSC resistance to conventional therapies.

  5. Game theoretic sensor management for target tracking

    Science.gov (United States)

    Shen, Dan; Chen, Genshe; Blasch, Erik; Pham, Khanh; Douville, Philip; Yang, Chun; Kadar, Ivan

    2010-04-01

    This paper develops and evaluates a game-theoretic approach to distributed sensor-network management for target tracking via sensor-based negotiation. We present a distributed sensor-based negotiation game model for sensor management for multi-sensor multi-target tacking situations. In our negotiation framework, each negotiation agent represents a sensor and each sensor maximizes their utility using a game approach. The greediness of each sensor is limited by the fact that the sensor-to-target assignment efficiency will decrease if too many sensor resources are assigned to a same target. It is similar to the market concept in real world, such as agreements between buyers and sellers in an auction market. Sensors are willing to switch targets so that they can obtain their highest utility and the most efficient way of applying their resources. Our sub-game perfect equilibrium-based negotiation strategies dynamically and distributedly assign sensors to targets. Numerical simulations are performed to demonstrate our sensor-based negotiation approach for distributed sensor management.

  6. Quality of clinical trials: A moving target

    Directory of Open Access Journals (Sweden)

    Arun Bhatt

    2011-01-01

    Full Text Available Quality of clinical trials depends on data integrity and subject protection. Globalization, outsourcing and increasing complexicity of clinical trials have made the target of achieving global quality challenging. The quality, as judged by regulatory inspections of the investigator sites, sponsors/contract research organizations and Institutional Review Board, has been of concern to the US Food and Drug Administration, as there has been hardly any change in frequency and nature of common deficiencies. To meet the regulatory expectations, the sponsors need to improve quality by developing systems with specific standards for each clinical trial process. The quality systems include: personnel roles and responsibilities, training, policies and procedures, quality assurance and auditing, document management, record retention, and reporting and corrective and preventive action. With an objective to improve quality, the FDA has planned new inspection approaches such as risk-based inspections, surveillance inspections, real-time oversight, and audit of sponsor quality systems. The FDA has partnered with Duke University for Clinical Trials Transformation Initiative, which will conduct research projects on design principles, data quality and quantity including monitoring, study start-up, and adverse event reporting. These recent initiatives will go a long way in improving quality of clinical trials.

  7. Unification of automatic target tracking and automatic target recognition

    Science.gov (United States)

    Schachter, Bruce J.

    2014-06-01

    The subject being addressed is how an automatic target tracker (ATT) and an automatic target recognizer (ATR) can be fused together so tightly and so well that their distinctiveness becomes lost in the merger. This has historically not been the case outside of biology and a few academic papers. The biological model of ATT∪ATR arises from dynamic patterns of activity distributed across many neural circuits and structures (including retina). The information that the brain receives from the eyes is "old news" at the time that it receives it. The eyes and brain forecast a tracked object's future position, rather than relying on received retinal position. Anticipation of the next moment - building up a consistent perception - is accomplished under difficult conditions: motion (eyes, head, body, scene background, target) and processing limitations (neural noise, delays, eye jitter, distractions). Not only does the human vision system surmount these problems, but it has innate mechanisms to exploit motion in support of target detection and classification. Biological vision doesn't normally operate on snapshots. Feature extraction, detection and recognition are spatiotemporal. When vision is viewed as a spatiotemporal process, target detection, recognition, tracking, event detection and activity recognition, do not seem as distinct as they are in current ATT and ATR designs. They appear as similar mechanism taking place at varying time scales. A framework is provided for unifying ATT and ATR.

  8. Study on tracking technology of the moving object based on computer vision

    Science.gov (United States)

    Xu, Ranran; Xu, Zhenying; Li, Boquan

    2010-10-01

    The tracking technology of the moving object has been an active topic of the visual tracking system. In this paper, the tracking algorithms are classified into four classes: correlation-based methods, boundary-based methods, model-based methods and multifunctional methods. Based on the analysis of the advantages and disadvantages of all these algorithms, a new tracking algorithm, integrating SSDA and advanced Camshift algorithm, is put forward here.

  9. Analysis on Spiral Search Pattern for Moving Target

    Institute of Scientific and Technical Information of China (English)

    E Qun; MA Yuan-liang; ZHOU Zhou; WANG Ming-chen; WANG Lian-zhu

    2008-01-01

    The distribution function of the target moving in constant velocity and linear course and its meeting condition to the searcher are analyzed. Another proof method for spiral search pattern is presented and the mathematic model of the target possible position is established when performing the linear search. Base on them, the wrong idea about the spiral search pattern can be avoided.

  10. Target tracking during venom ‘spitting’ by cobras

    Science.gov (United States)

    Westhoff, Guido; Boetig, Melissa; Bleckmann, Horst; Young, Bruce A.

    2010-01-01

    Spitting cobras, which defend themselves by streaming venom towards the face and/or eyes of a predator, must be highly accurate because the venom they spit is only an effective deterrent if it lands on the predator's cornea. Several factors make this level of accuracy difficult to achieve; the target is moving, is frequently >1 m away from the snake and the venom stream is released in approximately 50 ms. In the present study we show that spitting cobras can accurately track the movements of a potentially threatening vertebrate, and by anticipating its subsequent (short-term) movements direct their venom to maximize the likelihood of striking the target's eye. Unlike other animals that project material, in spitting cobras the discharge orifice (the fang) is relatively fixed so directing the venom stream requires rapid movements of the entire head. The cobra's ability to track and anticipate the target's movement, and to perform rapid cephalic oscillations that coordinate with the target's movements suggest a level of neural processing that has not been attributed to snakes, or other reptiles, previously. PMID:20472765

  11. Improving Global Multi-target Tracking with Local Updates

    DEFF Research Database (Denmark)

    Milan, Anton; Gade, Rikke; Dick, Anthony;

    2014-01-01

    We propose a scheme to explicitly detect and resolve ambiguous situations in multiple target tracking. During periods of uncertainty, our method applies multiple local single target trackers to hypothesise short term tracks. These tracks are combined with the tracks obtained by a global multi......-target tracker, if they result in a reduction in the global cost function. Since tracking failures typically arise when targets become occluded, we propose a local data association scheme to maintain the target identities in these situations. We demonstrate a reduction of up to 50% in the global cost function...

  12. Sequential Monte Carlo Methods for Joint Detection and Tracking of Multiaspect Targets in Infrared Radar Images

    Directory of Open Access Journals (Sweden)

    Bruno MarceloGS

    2008-01-01

    Full Text Available We present in this paper a sequential Monte Carlo methodology for joint detection and tracking of a multiaspect target in image sequences. Unlike the traditional contact/association approach found in the literature, the proposed methodology enables integrated, multiframe target detection and tracking incorporating the statistical models for target aspect, target motion, and background clutter. Two implementations of the proposed algorithm are discussed using, respectively, a resample-move (RS particle filter and an auxiliary particle filter (APF. Our simulation results suggest that the APF configuration outperforms slightly the RS filter in scenarios of stealthy targets.

  13. Sequential Monte Carlo Methods for Joint Detection and Tracking of Multiaspect Targets in Infrared Radar Images

    Directory of Open Access Journals (Sweden)

    Anton G. Pavlov

    2008-02-01

    Full Text Available We present in this paper a sequential Monte Carlo methodology for joint detection and tracking of a multiaspect target in image sequences. Unlike the traditional contact/association approach found in the literature, the proposed methodology enables integrated, multiframe target detection and tracking incorporating the statistical models for target aspect, target motion, and background clutter. Two implementations of the proposed algorithm are discussed using, respectively, a resample-move (RS particle filter and an auxiliary particle filter (APF. Our simulation results suggest that the APF configuration outperforms slightly the RS filter in scenarios of stealthy targets.

  14. A Tracking-Based Target Locating Algorithm in Wireless Sensor Networks

    Institute of Scientific and Technical Information of China (English)

    SUN Xue-bin; ZHOU Zheng

    2004-01-01

    This paper proposes a tracking-based target locating algorithm to locate a target moving in a geographical region under the surveillance of a wireless sensor network. This algorithm first finds a sensor node that has detected the target, and then uses local messages between neighboring nodes to track the trail of the target. The authors implement this algorithm and compare it with an optimized flood-based target locating algorithm. Simulation results show that this algorithm effectively reduces the message transmission, conserves energy and consequently enhances the practicability of resource-limited wireless sensor networks.

  15. Target Response Adaptation for Correlation Filter Tracking

    KAUST Repository

    Bibi, Adel Aamer

    2016-09-16

    Most correlation filter (CF) based trackers utilize the circulant structure of the training data to learn a linear filter that best regresses this data to a hand-crafted target response. These circularly shifted patches are only approximations to actual translations in the image, which become unreliable in many realistic tracking scenarios including fast motion, occlusion, etc. In these cases, the traditional use of a single centered Gaussian as the target response impedes tracker performance and can lead to unrecoverable drift. To circumvent this major drawback, we propose a generic framework that can adaptively change the target response from frame to frame, so that the tracker is less sensitive to the cases where circular shifts do not reliably approximate translations. To do that, we reformulate the underlying optimization to solve for both the filter and target response jointly, where the latter is regularized by measurements made using actual translations. This joint problem has a closed form solution and thus allows for multiple templates, kernels, and multi-dimensional features. Extensive experiments on the popular OTB100 benchmark show that our target adaptive framework can be combined with many CF trackers to realize significant overall performance improvement (ranging from 3 %-13.5% in precision and 3.2 %-13% in accuracy), especially in categories where this adaptation is necessary (e.g. fast motion, motion blur, etc.). © Springer International Publishing AG 2016.

  16. Airborne target tracking algorithm against oppressive decoys in infrared imagery

    Science.gov (United States)

    Sun, Xiechang; Zhang, Tianxu

    2009-10-01

    This paper presents an approach for tracking airborne target against oppressive infrared decoys. Oppressive decoy lures infrared guided missile by its high infrared radiation. Traditional tracking algorithms have degraded stability even come to tracking failure when airborne target continuously throw out many decoys. The proposed approach first determines an adaptive tracking window. The center of the tracking window is set at a predicted target position which is computed based on uniform motion model. Different strategies are applied for determination of tracking window size according to target state. The image within tracking window is segmented and multi features of candidate targets are extracted. The most similar candidate target is associated to the tracking target by using a decision function, which calculates a weighted sum of normalized feature differences between two comparable targets. Integrated intensity ratio of association target and tracking target, and target centroid are examined to estimate target state in the presence of decoys. The tracking ability and robustness of proposed approach has been validated by processing available real-world and simulated infrared image sequences containing airborne targets and oppressive decoys.

  17. Parameter estimation and imaging of moving targets in bistatic synthetic aperture radar

    Science.gov (United States)

    Li, Yu; Huang, Puming; Yang, Zhimei; Lin, Chenchen

    2016-01-01

    In high-resolution bistatic synthetic aperture radar (SAR) systems, parameter estimation is essential to moving target imaging quality. However, precise parameters are difficult to obtain without priori information due to the relative along-track and across-track velocities between the moving target and platforms that change with time. A parameter estimation and imaging approach for moving targets is proposed. First, slant range and relative velocities expression are deduced based on the geometry of bistatic SAR model with one stationary configuration. Then, range curvature term are compensated skillfully by fitting the range-compressed curve in two-dimensional time domain, meanwhile, the initial estimated range walk slope can be achieved. Finally, precise Doppler centroid is estimated through searching for the maximum contrast with folding search algorithm, which is giving consideration to both searching precision and computational complexity. Thus, the proposed algorithm provides an effective way for parameter estimation and imaging of moving target without prior information and interpolation operation. Experimental results show the effectiveness of the proposed method.

  18. Moving Target Information Extraction Based on Single Satellite Image

    Directory of Open Access Journals (Sweden)

    ZHAO Shihu

    2015-03-01

    Full Text Available The spatial and time variant effects in high resolution satellite push broom imaging are analyzed. A spatial and time variant imaging model is established. A moving target information extraction method is proposed based on a single satellite remote sensing image. The experiment computes two airplanes' flying speed using ZY-3 multispectral image and proves the validity of spatial and time variant model and moving information extracting method.

  19. Eye-hand synergy and intermittent behaviors during target-directed tracking with visual and non-visual information.

    Science.gov (United States)

    Huang, Chien-Ting; Hwang, Ing-Shiou

    2012-01-01

    Visual feedback and non-visual information play different roles in tracking of an external target. This study explored the respective roles of the visual and non-visual information in eleven healthy volunteers who coupled the manual cursor to a rhythmically moving target of 0.5 Hz under three sensorimotor conditions: eye-alone tracking (EA), eye-hand tracking with visual feedback of manual outputs (EH tracking), and the same tracking without such feedback (EHM tracking). Tracking error, kinematic variables, and movement intermittency (saccade and speed pulse) were contrasted among tracking conditions. The results showed that EHM tracking exhibited larger pursuit gain, less tracking error, and less movement intermittency for the ocular plant than EA tracking. With the vision of manual cursor, EH tracking achieved superior tracking congruency of the ocular and manual effectors with smaller movement intermittency than EHM tracking, except that the rate precision of manual action was similar for both types of tracking. The present study demonstrated that visibility of manual consequences altered mutual relationships between movement intermittency and tracking error. The speed pulse metrics of manual output were linked to ocular tracking error, and saccade events were time-locked to the positional error of manual tracking during EH tracking. In conclusion, peripheral non-visual information is critical to smooth pursuit characteristics and rate control of rhythmic manual tracking. Visual information adds to eye-hand synchrony, underlying improved amplitude control and elaborate error interpretation during oculo-manual tracking.

  20. Eye-Hand Synergy and Intermittent Behaviors during Target-Directed Tracking with Visual and Non-visual Information

    Science.gov (United States)

    Huang, Chien-Ting; Hwang, Ing-Shiou

    2012-01-01

    Visual feedback and non-visual information play different roles in tracking of an external target. This study explored the respective roles of the visual and non-visual information in eleven healthy volunteers who coupled the manual cursor to a rhythmically moving target of 0.5 Hz under three sensorimotor conditions: eye-alone tracking (EA), eye-hand tracking with visual feedback of manual outputs (EH tracking), and the same tracking without such feedback (EHM tracking). Tracking error, kinematic variables, and movement intermittency (saccade and speed pulse) were contrasted among tracking conditions. The results showed that EHM tracking exhibited larger pursuit gain, less tracking error, and less movement intermittency for the ocular plant than EA tracking. With the vision of manual cursor, EH tracking achieved superior tracking congruency of the ocular and manual effectors with smaller movement intermittency than EHM tracking, except that the rate precision of manual action was similar for both types of tracking. The present study demonstrated that visibility of manual consequences altered mutual relationships between movement intermittency and tracking error. The speed pulse metrics of manual output were linked to ocular tracking error, and saccade events were time-locked to the positional error of manual tracking during EH tracking. In conclusion, peripheral non-visual information is critical to smooth pursuit characteristics and rate control of rhythmic manual tracking. Visual information adds to eye-hand synchrony, underlying improved amplitude control and elaborate error interpretation during oculo-manual tracking. PMID:23236498

  1. AN IMPLEMENTATION METHOD OF ADAPTIVE THRESHOLD TO DETECT MOVING TARGETS BASED ON ATI TECHNOLOGY

    Institute of Scientific and Technical Information of China (English)

    2007-01-01

    AT-InSAR(Along Track Interferometric SAR) is a technique to detect slow-moving targets.However, the detection performance is greatly influenced by noise and clutter. In this paper, the influence of noise and clutter on the detecting performance is analyzed. By simulating different background clutter and noise, the performances of the phase threshold and dual-threshold methods are discussed in detail, and then the adaptive-threshold method is proposed which can greatly improve the detection performance.

  2. SAR Imaging of Moving Targets via Compressive Sensing

    CERN Document Server

    Wang, Jun; Zhang, Hao; Wang, Xiqin

    2011-01-01

    An algorithm based on compressive sensing (CS) is proposed for synthetic aperture radar (SAR) imaging of moving targets. The received SAR echo is decomposed into the sum of basis sub-signals, which are generated by discretizing the target spatial domain and velocity domain and synthesizing the SAR received data for every discretized spatial position and velocity candidate. In this way, the SAR imaging problem is converted into sub-signal selection problem. In the case that moving targets are sparsely distributed in the observed scene, their reflectivities, positions and velocities can be obtained by using the CS technique. It is shown that, compared with traditional algorithms, the target image obtained by the proposed algorithm has higher resolution and lower side-lobe while the required number of measurements can be an order of magnitude less than that by sampling at Nyquist sampling rate. Moreover, multiple targets with different speeds can be imaged simultaneously, so the proposed algorithm has higher eff...

  3. Integrated long-range UAV/UGV collaborative target tracking

    Science.gov (United States)

    Moseley, Mark B.; Grocholsky, Benjamin P.; Cheung, Carol; Singh, Sanjiv

    2009-05-01

    Coordinated operations between unmanned air and ground assets allow leveraging of multi-domain sensing and increase opportunities for improving line of sight communications. While numerous military missions would benefit from coordinated UAV-UGV operations, foundational capabilities that integrate stove-piped tactical systems and share available sensor data are required and not yet available. iRobot, AeroVironment, and Carnegie Mellon University are working together, partially SBIR-funded through ARDEC's small unit network lethality initiative, to develop collaborative capabilities for surveillance, targeting, and improved communications based on PackBot UGV and Raven UAV platforms. We integrate newly available technologies into computational, vision, and communications payloads and develop sensing algorithms to support vision-based target tracking. We first simulated and then applied onto real tactical platforms an implementation of Decentralized Data Fusion, a novel technique for fusing track estimates from PackBot and Raven platforms for a moving target in an open environment. In addition, system integration with AeroVironment's Digital Data Link onto both air and ground platforms has extended our capabilities in communications range to operate the PackBot as well as in increased video and data throughput. The system is brought together through a unified Operator Control Unit (OCU) for the PackBot and Raven that provides simultaneous waypoint navigation and traditional teleoperation. We also present several recent capability accomplishments toward PackBot-Raven coordinated operations, including single OCU display design and operation, early target track results, and Digital Data Link integration efforts, as well as our near-term capability goals.

  4. State estimators for tracking sharply-maneuvering ground targets

    Science.gov (United States)

    Visina, Radu S.; Bar-Shalom, Yaakov; Willett, Peter

    2017-05-01

    This paper presents an algorithm, based on the Interacting Multiple Model Estimator, that can be used to track the state of kinematic point targets, moving in two dimensions, that are capable of making sharp heading maneuvers over short periods of time, such as certain ground vehicles moving in an open field. The targets are capable of up to 60 °/s turn rates, while polar measurements are received at 1 Hz. We introduce the Non-Zero Mean, White Noise Turn-Rate IMM (IMM-WNTR) that consists of 3 modes based on a White Noise Turn Rate (WNTR) kinematic model that contains additive, white, Gaussian turn rate process noises. Two of the modes are considered maneuvering modes, and they have opposite (left/right), non-zero mean turn rate input noise. The need for non-zero mean turn rate process noise is explained, and Monte Carlo simulations compare this novel design to the traditional (single-mode) White Noise Acceleration Kalman Filter (WNA KF) and the two-mode White Noise Acceleration/Nearly-Coordinated Turn Rate IMM (IMM-CT). Results show that the IMM-WNTR filter achieves better accuracy and real-time consistency between expected error and actual error as compared to the (single-mode) WNA KF and the IMM-CT in all simulated scenarios, making it a very accurate state estimator for targets with sharp coordinated turn capability in 2D.

  5. Chromatic Shadow Detection and Tracking for Moving Foreground Segmentation

    DEFF Research Database (Denmark)

    Huerta, Ivan; Holte, Michael Boelstoft; Moeslund, Thomas B.

    2015-01-01

    Advanced segmentation techniques in the surveillance domain deal with shadows to avoid distortions when detecting moving objects. Most approaches for shadow detection are still typically restricted to penumbra shadows and cannot cope well with umbra shadows. Consequently, umbra shadow regions...... are usually detected as part of moving objects, thus affecting the performance of the final detection. In this paper we address the detection of both penumbra and umbra shadow regions. First, a novel bottom-up approach is presented based on gradient and colour models, which successfully discriminates between...... chromatic moving cast shadow regions and those regions detected as moving objects. In essence, those regions corresponding to potential shadows are detected based on edge partitioning and colour statistics. Subsequently (i) temporal similarities between textures and (ii) spatial similarities between...

  6. INSPTRAX - The Inspection Targeting, Planning and Tracking Database

    Data.gov (United States)

    U.S. Environmental Protection Agency — The INSPTRAX System tracks Air, RCRA, and Water inspection targeting, planning and tracking information. It is used by the the Air, RCRA, and Water programs to input...

  7. Automated tracking and grasping of a moving object with a robotic hand-eye system

    Energy Technology Data Exchange (ETDEWEB)

    Allen, P.K.; Timcenko, A.; Yoshimi, B.; Michelman, P. (Columbia Univ., NY (United States). Dept. of Computer Science)

    1993-04-01

    Most robotic grasping tasks assume a stationary or fixed object. In this paper, the authors explore the requirements for tracking and grasping a moving object. The focus of the work is to achieve a high level of interaction between a real-time vision system capable of tracking moving objects in 3-D and a robot arm with gripper that can be used to pick up a moving object. There is an interest in exploring the interplay of hand--eye coordination for dynamic grasping takes such as grasping of parts on a moving conveyor system, assembly of articulated parts, or for grasping from a mobile robotic system. Coordination between an organisms sensing modalities and motor control system is a hallmark of intelligent behavior, and they are pursuing the goal of building an integrated sensing and actuation system that can operate in dynamic as opposed to static environments. The system they have built addresses three distinct problems in robotic hand--eye coordination for grasping moving objects: fast computation of 3-D motion parameters from vision, predictive control of a moving robotic arm to track a moving object, and interception and grasping. The system is able to operate at approximately human arm movement rates, and experimental results in which a moving model train is tracked is presented, stably grasped, and picked up by the system. The algorithms they have developed that relate sensing to actuation are quite general and applicable to a variety of complex robotic tasks that require visual feedback for arm and hand control.

  8. Efficient Fourier based Algorithm Development for Airborne Moving Target Indication

    NARCIS (Netherlands)

    Lidicky, L.; Hoogeboom, P.

    2009-01-01

    This paper shows how the signal model that is commonly used as a starting point in multi-channel Space Time Adaptive Processing (STAP) for airborne Moving Target Indication (MTI) formally corresponds to a model that can be derived from a bi-static Synthetic Aperture Radar (SAR) model extended for

  9. Efficient Tracking of Moving Objects with Precision Guarantees

    DEFF Research Database (Denmark)

    Civilis, Alminas; Jensen, Christian Søndergaard; Nenortaite, Jovita;

    2004-01-01

    Sustained advances in wireless communications, geo-positioning, and consumer electronics pave the way to a kind of location-based service that relies on the tracking of the continuously changing positions of an entire population of service users. This type of service is characterized by large vol...

  10. A Target Tracking Method Based on Dynamic Salient Features

    Directory of Open Access Journals (Sweden)

    H. C. Ke

    2015-06-01

    Full Text Available Given that dealing with blocking of traditional target tracking algorithm is not enough, a target tracking method fused into dynamic salient features is proposed by simulating human visual mechanism to ensure accuracy and efficiency. First, the salient features of the bottom layer image, such as color, intensity, orientation, and motion, are extracted. These features are considered feature vectors fused into target tracking algorithm. An improved target tracking algorithm is proposed because local regional histogram of target is influenced by the background pixels of the background region. Experiment results show that the proposed target tracking algorithm is more accurate than the traditional tracking algorithm in dealing with blocking, thereby meeting the needs of complex scenes.

  11. Tracking Multiple Video Targets with an Improved GM-PHD Tracker

    Directory of Open Access Journals (Sweden)

    Xiaolong Zhou

    2015-12-01

    Full Text Available Tracking multiple moving targets from a video plays an important role in many vision-based robotic applications. In this paper, we propose an improved Gaussian mixture probability hypothesis density (GM-PHD tracker with weight penalization to effectively and accurately track multiple moving targets from a video. First, an entropy-based birth intensity estimation method is incorporated to eliminate the false positives caused by noisy video data. Then, a weight-penalized method with multi-feature fusion is proposed to accurately track the targets in close movement. For targets without occlusion, a weight matrix that contains all updated weights between the predicted target states and the measurements is constructed, and a simple, but effective method based on total weight and predicted target state is proposed to search the ambiguous weights in the weight matrix. The ambiguous weights are then penalized according to the fused target features that include spatial-colour appearance, histogram of oriented gradient and target area and further re-normalized to form a new weight matrix. With this new weight matrix, the tracker can correctly track the targets in close movement without occlusion. For targets with occlusion, a robust game-theoretical method is used. Finally, the experiments conducted on various video scenarios validate the effectiveness of the proposed penalization method and show the superior performance of our tracker over the state of the art.

  12. Tracking Multiple Video Targets with an Improved GM-PHD Tracker.

    Science.gov (United States)

    Zhou, Xiaolong; Yu, Hui; Liu, Honghai; Li, Youfu

    2015-12-03

    Tracking multiple moving targets from a video plays an important role in many vision-based robotic applications. In this paper, we propose an improved Gaussian mixture probability hypothesis density (GM-PHD) tracker with weight penalization to effectively and accurately track multiple moving targets from a video. First, an entropy-based birth intensity estimation method is incorporated to eliminate the false positives caused by noisy video data. Then, a weight-penalized method with multi-feature fusion is proposed to accurately track the targets in close movement. For targets without occlusion, a weight matrix that contains all updated weights between the predicted target states and the measurements is constructed, and a simple, but effective method based on total weight and predicted target state is proposed to search the ambiguous weights in the weight matrix. The ambiguous weights are then penalized according to the fused target features that include spatial-colour appearance, histogram of oriented gradient and target area and further re-normalized to form a new weight matrix. With this new weight matrix, the tracker can correctly track the targets in close movement without occlusion. For targets with occlusion, a robust game-theoretical method is used. Finally, the experiments conducted on various video scenarios validate the effectiveness of the proposed penalization method and show the superior performance of our tracker over the state of the art.

  13. Cooperative distributed target tracking algorithm in mobile wireless sensor networks

    Institute of Scientific and Technical Information of China (English)

    2011-01-01

    The paper proposes a cooperative distributed target tracking algorithm in mobile wireless sensor networks.There are two main components in the algorithm:distributed sensor-target assignment and sensor motion control.In the key idea of the sensor-target assignment,sensors are considered as autonomous agents and the defined objective function of each sensor concentrates on two fundamental factors:the tracking accuracy and the tracking cost.Compared with the centralized algorithm and the noncooperative distrib...

  14. A Brownian Bridge Movement Model to Track Mobile Targets

    Science.gov (United States)

    2016-09-01

    BRIDGE MOVEMENT MODEL TO TRACK MOBILE TARGETS by Chun Chieh Cheng September 2016 Thesis Advisor: Dashi I. Singham Second Reader: Michael P...DATES COVERED Master’s thesis 4. TITLE AND SUBTITLE A BROWNIAN BRIDGE MOVEMENT MODEL TO TRACK MOBILE TARGETS 5. FUNDING NUMBERS 6. AUTHOR(S...Approved for public release. Distribution is unlimited. A BROWNIAN BRIDGE MOVEMENT MODEL TO TRACK MOBILE TARGETS Chun Chieh Cheng Major

  15. An indirect adaptive neural control of a visual-based quadrotor robot for pursuing a moving target.

    Science.gov (United States)

    Shirzadeh, Masoud; Amirkhani, Abdollah; Jalali, Aliakbar; Mosavi, Mohammad R

    2015-11-01

    This paper aims to use a visual-based control mechanism to control a quadrotor type aerial robot which is in pursuit of a moving target. The nonlinear nature of a quadrotor, on the one hand, and the difficulty of obtaining an exact model for it, on the other hand, constitute two serious challenges in designing a controller for this UAV. A potential solution for such problems is the use of intelligent control methods such as those that rely on artificial neural networks and other similar approaches. In addition to the two mentioned problems, another problem that emerges due to the moving nature of a target is the uncertainty that exists in the target image. By employing an artificial neural network with a Radial Basis Function (RBF) an indirect adaptive neural controller has been designed for a quadrotor robot in search of a moving target. The results of the simulation for different paths show that the quadrotor has efficiently tracked the moving target.

  16. Research of maneuvering target prediction and tracking technology based on IMM algorithm

    Science.gov (United States)

    Cao, Zheng; Mao, Yao; Deng, Chao; Liu, Qiong; Chen, Jing

    2016-09-01

    Maneuvering target prediction and tracking technology is widely used in both military and civilian applications, the study of those technologies is all along the hotspot and difficulty. In the Electro-Optical acquisition-tracking-pointing system (ATP), the primary traditional maneuvering targets are ballistic target, large aircraft and other big targets. Those targets have the features of fast velocity and a strong regular trajectory and Kalman Filtering and polynomial fitting have good effects when they are used to track those targets. In recent years, the small unmanned aerial vehicles developed rapidly for they are small, nimble and simple operation. The small unmanned aerial vehicles have strong maneuverability in the observation system of ATP although they are close-in, slow and small targets. Moreover, those vehicles are under the manual operation, therefore, the acceleration of them changes greatly and they move erratically. So the prediction and tracking precision is low when traditional algorithms are used to track the maneuvering fly of those targets, such as speeding up, turning, climbing and so on. The interacting multiple model algorithm (IMM) use multiple models to match target real movement trajectory, there are interactions between each model. The IMM algorithm can switch model based on a Markov chain to adapt to the change of target movement trajectory, so it is suitable to solve the prediction and tracking problems of the small unmanned aerial vehicles because of the better adaptability of irregular movement. This paper has set up model set of constant velocity model (CV), constant acceleration model (CA), constant turning model (CT) and current statistical model. And the results of simulating and analyzing the real movement trajectory data of the small unmanned aerial vehicles show that the prediction and tracking technology based on the interacting multiple model algorithm can get relatively lower tracking error and improve tracking precision

  17. Coupled Finite Element/Boundary Element Analysis of a Vehicle Moving Along a Railway Track

    DEFF Research Database (Denmark)

    Andersen, Lars; Nielsen, Søren R. K.

    2004-01-01

    Trains running in build-up areas are a source to ground-borne noise. A careful design of the track structure may be one way of minimizing the vibrations in the surroundings. For example, open or in-filled trenches may be constructed along the track, or the soil underneath the track may be improved....... In this work, analyses are carried out with the aim of investigating the influence of the track design and properties on the level of ground vibration due to a vehicle moving with subsonic speed. A coupled finite element and boundary element model of the track and subsoil is employed, adopting a formulation...... in the moving frame of reference following the vehicle. The computations are carried out in the frequency domain, and various combinations of the vehicle speed and the excitation frequency are analysed. The analyses indicate that open trenches are generally more efficient than in-filled trenches or soil...

  18. Tracking of Moving Objects in Video Through Invariant Features in Their Graph Representation

    Directory of Open Access Journals (Sweden)

    O. Miller

    2008-08-01

    Full Text Available The paper suggests a contour-based algorithm for tracking moving objects in video. The inputs are segmented moving objects. Each segmented frame is transformed into region adjacency graphs (RAGs. The object's contour is divided into subcurves. Contour's junctions are derived. These junctions are the unique “signature” of the tracked object. Junctions from two consecutive frames are matched. The junctions' motion is estimated using RAG edges in consecutive frames. Each pair of matched junctions may be connected by several paths (edges that become candidates that represent a tracked contour. These paths are obtained by the k-shortest paths algorithm between two nodes. The RAG is transformed into a weighted directed graph. The final tracked contour construction is derived by a match between edges (subcurves and candidate paths sets. The RAG constructs the tracked contour that enables an accurate and unique moving object representation. The algorithm tracks multiple objects, partially covered (occluded objects, compounded object of merge/split such as players in a soccer game and tracking in a crowded area for surveillance applications. We assume that features of topologic signature of the tracked object stay invariant in two consecutive frames. The algorithm's complexity depends on RAG's edges and not on the image's size.

  19. Tracking of Moving Objects in Video Through Invariant Features in Their Graph Representation

    Directory of Open Access Journals (Sweden)

    Averbuch A

    2008-01-01

    Full Text Available Abstract The paper suggests a contour-based algorithm for tracking moving objects in video. The inputs are segmented moving objects. Each segmented frame is transformed into region adjacency graphs (RAGs. The object's contour is divided into subcurves. Contour's junctions are derived. These junctions are the unique “signature� of the tracked object. Junctions from two consecutive frames are matched. The junctions' motion is estimated using RAG edges in consecutive frames. Each pair of matched junctions may be connected by several paths (edges that become candidates that represent a tracked contour. These paths are obtained by the -shortest paths algorithm between two nodes. The RAG is transformed into a weighted directed graph. The final tracked contour construction is derived by a match between edges (subcurves and candidate paths sets. The RAG constructs the tracked contour that enables an accurate and unique moving object representation. The algorithm tracks multiple objects, partially covered (occluded objects, compounded object of merge/split such as players in a soccer game and tracking in a crowded area for surveillance applications. We assume that features of topologic signature of the tracked object stay invariant in two consecutive frames. The algorithm's complexity depends on RAG's edges and not on the image's size.

  20. An Improved Moving Multi-Human Target Detection Algorithm

    Directory of Open Access Journals (Sweden)

    Liang Feng-Mei

    2013-07-01

    Full Text Available In the detection of moving multi-human targets, the major problems existing lie in the detection speed and precision. Fortunately, the HOG feature presents a very considerable effect on the detection accuracy. However, the problem of low detecting speed caused by its large amount of calculation prevents the HOG feature from being well applied in scenes where the real-time requirements are needed. Given this problem, this paper presents a method which combines the Gaussian mixture background model and HOG feature. This method solved firstly by the Gaussian mixture background model to detect the moving foreground in the video. And then use HOG+SVM to handle the moving foreground that has been detected. As a result, the amount of computation is reduced considerably and the real-time performance of the HOG algorithm is improved greatly. Verified by the experiment, the detection accuracy of this algorithm can reach 94%.

  1. Infrared moving small target detection based on saliency extraction and image sparse representation

    Science.gov (United States)

    Zhang, Xiaomin; Ren, Kan; Gao, Jin; Li, Chaowei; Gu, Guohua; Wan, Minjie

    2016-10-01

    Moving small target detection in infrared image is a crucial technique of infrared search and tracking system. This paper present a novel small target detection technique based on frequency-domain saliency extraction and image sparse representation. First, we exploit the features of Fourier spectrum image and magnitude spectrum of Fourier transform to make a rough extract of saliency regions and use a threshold segmentation system to classify the regions which look salient from the background, which gives us a binary image as result. Second, a new patch-image model and over-complete dictionary were introduced to the detection system, then the infrared small target detection was converted into a problem solving and optimization process of patch-image information reconstruction based on sparse representation. More specifically, the test image and binary image can be decomposed into some image patches follow certain rules. We select the target potential area according to the binary patch-image which contains salient region information, then exploit the over-complete infrared small target dictionary to reconstruct the test image blocks which may contain targets. The coefficients of target image patch satisfy sparse features. Finally, for image sequence, Euclidean distance was used to reduce false alarm ratio and increase the detection accuracy of moving small targets in infrared images due to the target position correlation between frames.

  2. Method of target tracking with Doppler blind zone constraint

    Institute of Scientific and Technical Information of China (English)

    Wei Han; Ziyue Tang; Zhenbo Zhu

    2013-01-01

    Doppler blind zone (DBZ) has a bad influence on the airborne early warning radar, although it has good detection per-formance for low altitude targets with pulse Doppler (PD) techno-logy. In target tracking, the blind zone can cause target tracking breakage easily. In order to solve this problem, a paral el parti-cle filter (PF) algorithm based on multi-hypothesis motion models (MHMMs) is proposed. The algorithm produces multiple possible target motion models according to the DBZ constraint. Particles are updated with the constraint in each motion model. Once the first measurement from the target which reappears from DBZ fal s into the particle cloud formed by any model, the measurement-track association succeeds and track breakage is avoided. The simulation results show that on the condition of different DBZ ranges, a high association ratio can be got for targets with different maneuverability levels, which accordingly improves the tracking quality.

  3. Tracking data management using topology of moving object database system for moving object constrained trajectory in LBS application

    Institute of Scientific and Technical Information of China (English)

    LEE Hyun-jin; SIM Tai-jung; JANG Yong-ll; PARK Soon-young; BAE Hae-young

    2004-01-01

    Advances in wireless technologies and positioning technologies and spread of wireless devices, an interest in LBS (Location Based Service) is arising. To provide location based service, tracking data should have been stored in moving object database management system (called MODBMS) with proper policies and managed efficiently. So the methods which acquire the location information at regular time intervals then, store and manage have been studied. In this paper, we suggest tracking data management techniques using topology that is corresponding to the moving path of moving object. In our techniques, we update the MODBMS when moving object arrived at a street intersection or a curved road which is represented as the node in topology and predict the location at past and future with attribute of topology and linear function. In this technique, location data that are corresponding to the node in topology are stored, thus reduce the number of update and amount of data. Also in case predicting the location,because topology are used as well as existing location information, accuracy for prediction is increased than applying linear function or spline function.

  4. Real time visual tracking of targets in six dimensions

    Science.gov (United States)

    Walsh, Peter M.; Shawaga, Larry

    1990-01-01

    Six dimensional target information is produced by a target tracking vision system for use in real time target tracking by a robotic system. The vision system described in this paper produces three axes of position data and three axes of orientation data using a single camera which views a three dimensional target. The system performs target detection, target discrimination and determines the target position and orientation relative to the camera. As the target information is determined, it is communicated to a computer which is controlling the robot motion in real time. Details of the image processing algorithms and image processing hardware used in the vision system are discussed in the paper.

  5. Target tracking in infrared imagery using a novel particle filter

    Institute of Scientific and Technical Information of China (English)

    Fanglin Wang; Erqi Liu; Jie Yang; Shengyang Yu; Yue Zhou

    2009-01-01

    To address two challenging problems in infrared target tracking, target appearance changes and unpre-dictable abrupt motions, a novel particle filtering based tracking algorithm is introduced. In this method, a novel saliency model is proposed to distinguish the salient target from background, and the eigenspace model is invoked to adapt target appearance changes. To account for the abrupt motions efficiently, a two-step sampling method is proposed to combine the two observation models. The proposed tracking method is demonstrated through two real infrared image sequences, which include the changes of luminance and size, and the drastic abrupt motions of the target.

  6. Detecting Moving Targets by Use of Soliton Resonances

    Science.gov (United States)

    Zak, Michael; Kulikov, Igor

    2003-01-01

    A proposed method of detecting moving targets in scenes that include cluttered or noisy backgrounds is based on a soliton-resonance mathematical model. The model is derived from asymptotic solutions of the cubic Schroedinger equation for a one-dimensional system excited by a position-and-time-dependent externally applied potential. The cubic Schroedinger equation has general significance for time-dependent dispersive waves. It has been used to approximate several phenomena in classical as well as quantum physics, including modulated beams in nonlinear optics, and superfluids (in particular, Bose-Einstein condensates). In the proposed method, one would take advantage of resonant interactions between (1) a soliton excited by the position-and-time-dependent potential associated with a moving target and (2) eigen-solitons, which represent dispersive waves and are solutions of the cubic Schroedinger equation for a time-independent potential.

  7. Passive synthetic aperture radar imaging of ground moving targets

    Science.gov (United States)

    Wacks, Steven; Yazici, Birsen

    2012-05-01

    In this paper we present a method for imaging ground moving targets using passive synthetic aperture radar. A passive radar imaging system uses small, mobile receivers that do not radiate any energy. For these reasons, passive imaging systems result in signicant cost, manufacturing, and stealth advantages. The received signals are obtained by multiple airborne receivers collecting scattered waves due to illuminating sources of opportunity such as commercial television, radio, and cell phone towers. We describe a novel forward model and a corresponding ltered-backprojection type image reconstruction method combined with entropy optimization. Our method determines the location and velocity of multiple targets moving at dierent velocities. Furthermore, it can accommodate arbitrary imaging geometries. we present numerical simulations to verify the imaging method.

  8. Target tracking in glint noise using a MCMC particle filter

    Institute of Scientific and Technical Information of China (English)

    Hu Hongtao; Jing Zhongliang; Li Anping; Hu Shiqiang; Tian Hongwei

    2005-01-01

    In radar target tracking application, the observation noise is usually non-Gaussian, which is also referred as glint noise. The performances of conventional trackers degra de severely in the presence of glint noise. An improved particle filter, Markov chain Monte Carlo particle filter (MCMC-PF), is applied to cope with radar target tracking when the measurements are perturbed by glint noise. Tracking performance of the filter is demonstrated in the present of glint noise by computer simulation.

  9. Moving target detection for frequency agility radar by sparse reconstruction

    Science.gov (United States)

    Quan, Yinghui; Li, YaChao; Wu, Yaojun; Ran, Lei; Xing, Mengdao; Liu, Mengqi

    2016-09-01

    Frequency agility radar, with randomly varied carrier frequency from pulse to pulse, exhibits superior performance compared to the conventional fixed carrier frequency pulse-Doppler radar against the electromagnetic interference. A novel moving target detection (MTD) method is proposed for the estimation of the target's velocity of frequency agility radar based on pulses within a coherent processing interval by using sparse reconstruction. Hardware implementation of orthogonal matching pursuit algorithm is executed on Xilinx Virtex-7 Field Programmable Gata Array (FPGA) to perform sparse optimization. Finally, a series of experiments are performed to evaluate the performance of proposed MTD method for frequency agility radar systems.

  10. Investigations of Tracking Phenomena in Silicone Rubber Using Moving Average Current Technique

    Institute of Scientific and Technical Information of China (English)

    R. Sarathi; S. Chandrasekar

    2004-01-01

    In the present work, tracking phenomenon in Silicone rubber material has been studied under AC and DC voltage, with ammonium chloride as a contaminant. It is observed that the tracking is more severe under the DC voltages. The tracking time is less under negative DC compared to the positive DC voltage. The tracking mechanism is explained in detail. The leakage current during the tracking studies was as measured and the moving average technique was adopted to understand the trend in current flow. The leakage current magnitude is high with thermally aged specimens compared to the virgin specimen, irrespective of the type of applied voltage. It is realized that the tracking time and the leakage current magnitude shows an inverse relationship.

  11. Tracking of Maneuvering Target in Glint Noise Environment

    Institute of Scientific and Technical Information of China (English)

    ZUODongguang; BIANShutan; HANChongzhao; ZHENGLin; ZHUHongyan

    2005-01-01

    This paper presents a tracking algorithm for maneuvering target in the presence of glint noise. In radar target tracking system, because of the random wandering of the target position, the measurement noise is clearly non-Gaussian distribution, called as glint noise, which has a considerable influence on conventional linear estimates. In this paper, the glint noise is modeled via the mixture of Gaussian distribution and Laplace distribution, and tackled with two model sets. The tracking algorithm for maneuvering target is derived detailedly when the model sets is interacting in the presence of glint noise. The Monte Carlo simulation results express its better performance in comparison with the IMM algorithm.

  12. A-Track: A new approach for detection of moving objects in FITS images

    Science.gov (United States)

    Atay, T.; Kaplan, M.; Kilic, Y.; Karapinar, N.

    2016-10-01

    We have developed a fast, open-source, cross-platform pipeline, called A-Track, for detecting the moving objects (asteroids and comets) in sequential telescope images in FITS format. The pipeline is coded in Python 3. The moving objects are detected using a modified line detection algorithm, called MILD. We tested the pipeline on astronomical data acquired by an SI-1100 CCD with a 1-meter telescope. We found that A-Track performs very well in terms of detection efficiency, stability, and processing time. The code is hosted on GitHub under the GNU GPL v3 license.

  13. Spot Weight Adaptation for Moving Target in Spot Scanning Proton Therapy

    Directory of Open Access Journals (Sweden)

    Paul eMorel

    2015-05-01

    Full Text Available Purpose: This study describes a real-time spot weight adaptation method in spot-scanning proton therapy for moving target or moving patient, so that the resultant dose distribution closely matches the planned dose distribution. Materials and Methods: The method proposed in this study adapts the weight (MU of the delivering pencil beam to that of the target spot it will actually hit during patient/target motion. The target spot a certain delivering pencil beam may hit relies on patient monitoring and/or motion modeling using four-dimensional (4D CT. After the adapted delivery, the required total weight (MU for this target spot is then subtracted from the planned value. With continuous patient motion and continuous spot scanning, the planned doses to all target spots will eventually be all fulfilled. In a proof-of-principle test, a lung case was presented with realistic temporal and motion parameters; the resultant dose distribution using spot weight adaptation was compared to that without using this method. The impact of the real-time patient/target position tracking or prediction was also investigated.Results: For moderate motion (i.e., mean amplitude 0.5 cm, D95% to the planning target volume (PTV was only 81.5% of the prescription (RX dose; with spot weight adaptation PTV D95% achieves 97.7%RX. For large motion amplitude (i.e., 1.5 cm, without spot weight adaptation PTV D95% is only 42.9% of RX; with spot weight adaptation, PTV D95% achieves 97.7%RX. Larger errors in patient/target position tracking or prediction led to worse final target coverage; an error of 3mm or smaller in patient/target position tracking is preferred. Conclusion: The proposed spot weight adaptation method was able to deliver the planned dose distribution and maintain target coverage when patient motion was involved. The successful implementation of this method would rely on accurate monitoring or prediction of patient/target motion.

  14. Model emulates human smooth pursuit system producing zero-latency target tracking.

    Science.gov (United States)

    Bahill, A T; McDonald, J D

    1983-01-01

    Humans can overcome the 150 ms time delay of the smooth pursuit eye movement system and track smoothly moving visual targets with zero-latency. Our target-selective adaptive control model can also overcome an inherent time delay and produce zero-latency tracking. No other model or man-made system can do this. Our model is physically realizable and physiologically realistic. The technique used in our model should be useful for analyzing other time-delay systems, such as man-machine systems and robots.

  15. Neuronal correlates of multiple top-down signals during covert tracking of moving objects in macaque prefrontal cortex.

    Science.gov (United States)

    Matsushima, Ayano; Tanaka, Masaki

    2012-10-01

    Resistance to distraction is a key component of executive functions and is strongly linked to the prefrontal cortex. Recent evidence suggests that neural mechanisms exist for selective suppression of task-irrelevant information. However, neuronal signals related to selective suppression have not yet been identified, whereas nonselective surround suppression, which results from attentional enhancement for relevant stimuli, has been well documented. This study examined single neuron activities in the lateral PFC when monkeys covertly tracked one of randomly moving objects. Although many neurons responded to the target, we also found a group of neurons that exhibited a selective response to the distractor that was visually identical to the target. Because most neurons were insensitive to an additional distractor that explicitly differed in color from the target, the brain seemed to monitor the distractor only when necessary to maintain internal object segregation. Our results suggest that the lateral PFC might provide at least two top-down signals during covert object tracking: one for enhancement of visual processing for the target and the other for selective suppression of visual processing for the distractor. These signals might work together to discriminate objects, thereby regulating both the sensitivity and specificity of target choice during covert object tracking.

  16. Quantification of interplay effects of scanned particle beams and moving targets.

    Science.gov (United States)

    Bert, Christoph; Grözinger, Sven O; Rietzel, Eike

    2008-05-07

    Scanned particle beams and target motion interfere. This interplay leads to deterioration of the dose distribution. Experiments and a treatment planning study were performed to investigate interplay. Experiments were performed with moving radiographic films for different motion parameters. Resulting dose distributions were analyzed for homogeneity and dose coverage. The treatment planning study was based on the time-resolved computed tomography (4DCT) data of five lung tumor patients. Treatment plans with margins to account for respiratory motion were optimized, and resulting dose distributions for 108 different motion parameters for each patient were calculated. Data analysis for a single fraction was based on dose-volume histograms and the volume covered with 95% of the planned dose. Interplay deteriorated dose conformity and homogeneity (1-standard deviation/mean) in the experiments as well as in the treatment-planning study. The homogeneity on radiographic films was below approximately 80% for motion amplitudes of approximately 15 mm. For the treatment-planning study based on patient data, the target volume receiving at least 95% of the prescribed dose was on average (standard deviation) 71.0% (14.2%). Interplay of scanned particle beams and moving targets has severe impact on the resulting dose distributions. Fractionated treatment delivery potentially mitigates at least parts of these interplay effects. However, especially for small fraction numbers, e.g. hypo-fractionation, treatment of moving targets with scanned particle beams requires motion mitigation techniques such as rescanning, gating, or tracking.

  17. Connectivity and Set Tracking of Multi-agent Systems Guided by Multiple Moving Leaders

    CERN Document Server

    Shi, Guodong; Johansson, K H

    2011-01-01

    In this paper, we investigate distributed multi-agent tracking of a convex set specified by multiple moving leaders with unmeasurable velocities. Various jointly-connected interaction topologies of the follower agents with uncertainties are considered in the study of set tracking. Based on the connectivity of the time-varying multi-agent system, necessary and sufficient conditions are obtained for set input-to-state stability and set integral input-to-state stability for a nonlinear neighbor-based coordination rule with switching directed topologies. Conditions for asymptotic set tracking are also proposed with respect to the polytope spanned by the leaders.

  18. DEALING WITH MOVINGS AND COLLISIONS OF ARBITRARY MANY DISCONTINUITIES IN CONSERVATIVE FRONT-TRACKING METHOD

    Institute of Scientific and Technical Information of China (English)

    LIU Yan; MAO De-kang

    2006-01-01

    An approach to deal with movings and collisions of arbitrary many disconti nuities in the conservative front tracking method is developed. Using this approach one may develop an "all-purposed and robust" front-tracking algorithm. The algorithm with this approach may have some inconsistency and thus will have O(1) magnitude errors in some grid cells at sometimes. Nevertheless, these errors will be eliminated by the conservation-preserving property of the front-tracking method in the following computation. Numerical examples are presented to illustrate the efficiency of the approach.

  19. Coupled Finite Element/Boundary Element Analysis of a Vehicle Moving Along a Railway Track

    DEFF Research Database (Denmark)

    Andersen, Lars; Nielsen, Søren R. K.

    2004-01-01

    Trains running in build-up areas are a source to ground-borne noise. A careful design of the track structure may be one way of minimizing the vibrations in the surroundings. For example, open or in-filled trenches may be constructed along the track, or the soil underneath the track may be improved....... In this work, analyses are carried out with the aim of investigating the influence of the track design and properties on the level of ground vibration due to a vehicle moving with subsonic speed. A coupled finite element and boundary element model of the track and subsoil is employed, adopting a formulation...... stiffening?even at low frequencies. However, for high-speed vehicles rubber chip barriers may be a promising means of vibration screening...

  20. Active Multimodal Sensor System for Target Recognition and Tracking.

    Science.gov (United States)

    Qu, Yufu; Zhang, Guirong; Zou, Zhaofan; Liu, Ziyue; Mao, Jiansen

    2017-06-28

    High accuracy target recognition and tracking systems using a single sensor or a passive multisensor set are susceptible to external interferences and exhibit environmental dependencies. These difficulties stem mainly from limitations to the available imaging frequency bands, and a general lack of coherent diversity of the available target-related data. This paper proposes an active multimodal sensor system for target recognition and tracking, consisting of a visible, an infrared, and a hyperspectral sensor. The system makes full use of its multisensor information collection abilities; furthermore, it can actively control different sensors to collect additional data, according to the needs of the real-time target recognition and tracking processes. This level of integration between hardware collection control and data processing is experimentally shown to effectively improve the accuracy and robustness of the target recognition and tracking system.

  1. Sequential stratified sampling belief propagation for multiple targets tracking

    Institute of Scientific and Technical Information of China (English)

    2006-01-01

    Rather than the difficulties of highly non-linear and non-Gaussian observation process and the state distribution in single target tracking, the presence of a large, varying number of targets and their interactions place more challenge on visual tracking. To overcome these difficulties, we formulate multiple targets tracking problem in a dynamic Markov network which consists of three coupled Markov random fields that model the following: a field for joint state of multi-target, one binary process for existence of individual target, and another binary process for occlusion of dual adjacent targets. By introducing two robust functions, we eliminate the two binary processes, and then apply a novel version of belief propagation called sequential stratified sampling belief propagation algorithm to obtain the maximum a posteriori (MAP) estimation in the dynamic Markov network. By using stratified sampler, we incorporate bottom-up information provided by a learned detector (e.g. SVM classifier) and belief information for the messages updating. Other low-level visual cues (e.g. color and shape) can be easily incorporated in our multi-target tracking model to obtain better tracking results. Experimental results suggest that our method is comparable to the state-of-the-art multiple targets tracking methods in several test cases.

  2. Multiple operating system rotation environment moving target defense

    Science.gov (United States)

    Evans, Nathaniel; Thompson, Michael

    2016-03-22

    Systems and methods for providing a multiple operating system rotation environment ("MORE") moving target defense ("MTD") computing system are described. The MORE-MTD system provides enhanced computer system security through a rotation of multiple operating systems. The MORE-MTD system increases attacker uncertainty, increases the cost of attacking the system, reduces the likelihood of an attacker locating a vulnerability, and reduces the exposure time of any located vulnerability. The MORE-MTD environment is effectuated by rotation of the operating systems at a given interval. The rotating operating systems create a consistently changing attack surface for remote attackers.

  3. Algorithm of search and track of static and moving large-scale objects

    Directory of Open Access Journals (Sweden)

    Kalyaev Anatoly

    2017-01-01

    Full Text Available We suggest an algorithm for processing of a sequence, which contains images of search and track of static and moving large-scale objects. The possible software implementation of the algorithm, based on multithread CUDA processing, is suggested. Experimental analysis of the suggested algorithm implementation is performed.

  4. Interacting with target tracking algorithms in a gaze-enhanced motion video analysis system

    Science.gov (United States)

    Hild, Jutta; Krüger, Wolfgang; Heinze, Norbert; Peinsipp-Byma, Elisabeth; Beyerer, Jürgen

    2016-05-01

    Motion video analysis is a challenging task, particularly if real-time analysis is required. It is therefore an important issue how to provide suitable assistance for the human operator. Given that the use of customized video analysis systems is more and more established, one supporting measure is to provide system functions which perform subtasks of the analysis. Recent progress in the development of automated image exploitation algorithms allow, e.g., real-time moving target tracking. Another supporting measure is to provide a user interface which strives to reduce the perceptual, cognitive and motor load of the human operator for example by incorporating the operator's visual focus of attention. A gaze-enhanced user interface is able to help here. This work extends prior work on automated target recognition, segmentation, and tracking algorithms as well as about the benefits of a gaze-enhanced user interface for interaction with moving targets. We also propose a prototypical system design aiming to combine both the qualities of the human observer's perception and the automated algorithms in order to improve the overall performance of a real-time video analysis system. In this contribution, we address two novel issues analyzing gaze-based interaction with target tracking algorithms. The first issue extends the gaze-based triggering of a target tracking process, e.g., investigating how to best relaunch in the case of track loss. The second issue addresses the initialization of tracking algorithms without motion segmentation where the operator has to provide the system with the object's image region in order to start the tracking algorithm.

  5. Improved motion information-based infrared dim target tracking algorithms

    Science.gov (United States)

    Lei, Liu; Zhijian, Huang

    2014-11-01

    Accurate and fast tracking of infrared (IR) dim target has very important meaning for infrared precise guidance, early warning, video surveillance, etc. However, under complex backgrounds, such as clutter, varying illumination, and occlusion, the traditional tracking method often converges to a local maximum and loses the real infrared target. To cope with these problems, three improved tracking algorithm based on motion information are proposed in this paper, namely improved mean shift algorithm, improved Optical flow method and improved Particle Filter method. The basic principles and the implementing procedure of these modified algorithms for target tracking are described. Using these algorithms, the experiments on some real-life IR and color images are performed. The whole algorithm implementing processes and results are analyzed, and those algorithms for tracking targets are evaluated from the two aspects of subjective and objective. The results prove that the proposed method has satisfying tracking effectiveness and robustness. Meanwhile, it has high tracking efficiency and can be used for real-time tracking.

  6. FPGA-Based Real-Time Moving Target Detection System for Unmanned Aerial Vehicle Application

    Directory of Open Access Journals (Sweden)

    Jia Wei Tang

    2016-01-01

    Full Text Available Moving target detection is the most common task for Unmanned Aerial Vehicle (UAV to find and track object of interest from a bird’s eye view in mobile aerial surveillance for civilian applications such as search and rescue operation. The complex detection algorithm can be implemented in a real-time embedded system using Field Programmable Gate Array (FPGA. This paper presents the development of real-time moving target detection System-on-Chip (SoC using FPGA for deployment on a UAV. The detection algorithm utilizes area-based image registration technique which includes motion estimation and object segmentation processes. The moving target detection system has been prototyped on a low-cost Terasic DE2-115 board mounted with TRDB-D5M camera. The system consists of Nios II processor and stream-oriented dedicated hardware accelerators running at 100 MHz clock rate, achieving 30-frame per second processing speed for 640 × 480 pixels’ resolution greyscale videos.

  7. Detection of Ground Moving Targets for Two-Channel Spaceborne SAR-ATI

    Directory of Open Access Journals (Sweden)

    Diannong Liang

    2010-01-01

    Full Text Available Many present spaceborne synthetic aperture radar (SAR systems are constrained to only two channels for ground moving target indication (GMTI. Along-track interferometry (ATI technique is currently exploited to detect slowly moving targets and measure their radial velocity and azimuth real position. In this paper, based on the joint probability density function (PDF of interferogram's phase and amplitude and the two hypotheses “clutter” and “clutter plus signal”, several constant false alarm rate (CFAR detection criteria are analyzed for their capabilities and limitations under low signal-to-clutter ratio (SCR and low clutter-to-noise ratio (CNR conditions. The CFAR detectors include one-step CFAR detector with interferometric phase, two-step CFAR detectors, and two-dimensional (2D CFAR detector. The likelihood ratio test (LRT based on the Neyman-Pearson (NP criterion is exploited as an upper bound for the performance of the other CFAR detectors. Performance analyses demonstrate the superiority of the 2D CFAR techniques to detect dim slowly moving targets for spaceborne system.

  8. A novel fast target tracking method for UAV aerial image

    Directory of Open Access Journals (Sweden)

    Jianfang Liu

    2017-06-01

    Full Text Available Unmanned aerial vehicles (UAV are able to achieve autonomous flight without drivers, and UAV has been a key tool to extract space data. Therefore, how to detect the trajectories of targets from UAV aerial image sequences is of great importance. Because local features are suitable to detect target tracking, we exploit scaleinvariant feature transform (SIFT features to describe the interesting keypoints of targets. The main innovation of this paper is to utilize Multiple hypothesis tracking (MHT algorithm to track an object (target in a series of image sequences. Particularly, we develop a MHT framework based on a multidimensional assignment formulation and a sliding time window policy. To obtain target tracking from UAV aerial image sequences, three steps should be done, that is, 1 Breaking each track set into tracklet at a specific time, 2 Estimating the association cost of each track set, 3 Merging trajectory fragments to a longer one iteratively. Finally, we collect several UAV aerial image sequences with different target density to construct a dataset, and experimental results demonstrate the effectiveness of the proposed algorithm.

  9. A novel fast target tracking method for UAV aerial image

    Science.gov (United States)

    Jianfang, Liu; Hao, Zheng; Jingli, Gao

    2017-06-01

    Unmanned aerial vehicles (UAV) are able to achieve autonomous flight without drivers, and UAV has been a key tool to extract space data. Therefore, how to detect the trajectories of targets from UAV aerial image sequences is of great importance. Because local features are suitable to detect target tracking, we exploit scaleinvariant feature transform (SIFT) features to describe the interesting keypoints of targets. The main innovation of this paper is to utilize Multiple hypothesis tracking (MHT) algorithm to track an object (target) in a series of image sequences. Particularly, we develop a MHT framework based on a multidimensional assignment formulation and a sliding time window policy. To obtain target tracking from UAV aerial image sequences, three steps should be done, that is, 1) Breaking each track set into tracklet at a specific time, 2) Estimating the association cost of each track set, 3) Merging trajectory fragments to a longer one iteratively. Finally, we collect several UAV aerial image sequences with different target density to construct a dataset, and experimental results demonstrate the effectiveness of the proposed algorithm.

  10. Radar tracking and classification of littoral targets

    Science.gov (United States)

    Silvious, Jerry; Tahmoush, Dave

    2012-06-01

    Radar can provide inexpensive wide-area surveillance of river and port traffic for both security and emergency response. We demonstrate the tracking of multiple vessels as well as the micro-Doppler signatures of different classes of small vessels, including kayaks and zodiacs. The pattern of life of a river is analyzed over several days and can be used to easily identify suspicious or unusual cases.

  11. Coordinated Target Tracking via a Hybrid Optimization Approach

    Science.gov (United States)

    Wang, Yin; Cao, Yan

    2017-01-01

    Recent advances in computer science and electronics have greatly expanded the capabilities of unmanned aerial vehicles (UAV) in both defense and civil applications, such as moving ground object tracking. Due to the uncertainties of the application environments and objects’ motion, it is difficult to maintain the tracked object always within the sensor coverage area by using a single UAV. Hence, it is necessary to deploy a group of UAVs to improve the robustness of the tracking. This paper investigates the problem of tracking ground moving objects with a group of UAVs using gimbaled sensors under flight dynamic and collision-free constraints. The optimal cooperative tracking path planning problem is solved using an evolutionary optimization technique based on the framework of chemical reaction optimization (CRO). The efficiency of the proposed method was demonstrated through a series of comparative simulations. The results show that the cooperative tracking paths determined by the newly developed method allows for longer sensor coverage time under flight dynamic restrictions and safety conditions. PMID:28264425

  12. Coordinated Target Tracking via a Hybrid Optimization Approach

    Directory of Open Access Journals (Sweden)

    Yin Wang

    2017-02-01

    Full Text Available Recent advances in computer science and electronics have greatly expanded the capabilities of unmanned aerial vehicles (UAV in both defense and civil applications, such as moving ground object tracking. Due to the uncertainties of the application environments and objects’ motion, it is difficult to maintain the tracked object always within the sensor coverage area by using a single UAV. Hence, it is necessary to deploy a group of UAVs to improve the robustness of the tracking. This paper investigates the problem of tracking ground moving objects with a group of UAVs using gimbaled sensors under flight dynamic and collision-free constraints. The optimal cooperative tracking path planning problem is solved using an evolutionary optimization technique based on the framework of chemical reaction optimization (CRO. The efficiency of the proposed method was demonstrated through a series of comparative simulations. The results show that the cooperative tracking paths determined by the newly developed method allows for longer sensor coverage time under flight dynamic restrictions and safety conditions.

  13. The Quadrotor Dynamic Modeling and Indoor Target Tracking Control Method

    Directory of Open Access Journals (Sweden)

    Dewei Zhang

    2014-01-01

    Full Text Available A reliable nonlinear dynamic model of the quadrotor is presented. The nonlinear dynamic model includes actuator dynamic and aerodynamic effect. Since the rotors run near a constant hovering speed, the dynamic model is simplified at hovering operating point. Based on the simplified nonlinear dynamic model, the PID controllers with feedback linearization and feedforward control are proposed using the backstepping method. These controllers are used to control both the attitude and position of the quadrotor. A fully custom quadrotor is developed to verify the correctness of the dynamic model and control algorithms. The attitude of the quadrotor is measured by inertia measurement unit (IMU. The position of the quadrotor in a GPS-denied environment, especially indoor environment, is estimated from the downward camera and ultrasonic sensor measurements. The validity and effectiveness of the proposed dynamic model and control algorithms are demonstrated by experimental results. It is shown that the vehicle achieves robust vision-based hovering and moving target tracking control.

  14. KARMA: Kalman-based autoregressive moving average modeling and inference for formant and antiformant tracking

    CERN Document Server

    Mehta, Daryush D; Wolfe, Patrick J

    2011-01-01

    Vocal tract resonance characteristics in acoustic speech signals are classically tracked using frame-by-frame point estimates of formant frequencies followed by candidate selection and smoothing using dynamic programming methods that minimize ad hoc cost functions. The goal of the current work is to provide both point estimates and associated uncertainties of center frequencies and bandwidths in a statistically principled state-space framework. Extended Kalman (K) algorithms take advantage of a linearized mapping to infer formant and antiformant parameters from frame-based estimates of autoregressive moving average (ARMA) cepstral coefficients. Error analysis of KARMA, WaveSurfer, and Praat is accomplished in the all-pole case using a manually marked formant database and synthesized speech waveforms. KARMA formant tracks exhibit lower overall root-mean-square error relative to the two benchmark algorithms, with third formant tracking more challenging. Antiformant tracking performance of KARMA is illustrated u...

  15. Low cost, robust and real time system for detecting and tracking moving objects to automate cargo handling in port terminals

    NARCIS (Netherlands)

    Vaquero, V.; Repiso, E.; Sanfeliu, A.; Vissers, J.; Kwakkernaat, M.

    2016-01-01

    The presented paper addresses the problem of detecting and tracking moving objects for autonomous cargo handling in port terminals using a perception system which input data is a single layer laser scanner. A computationally low cost and robust Detection and Tracking Moving Objects (DATMO) algorithm

  16. Low cost, robust and real time system for detecting and tracking moving objects to automate cargo handling in port terminals

    NARCIS (Netherlands)

    Vaquero, V.; Repiso, E.; Sanfeliu, A.; Vissers, J.; Kwakkernaat, M.

    2016-01-01

    The presented paper addresses the problem of detecting and tracking moving objects for autonomous cargo handling in port terminals using a perception system which input data is a single layer laser scanner. A computationally low cost and robust Detection and Tracking Moving Objects (DATMO) algorithm

  17. DMPD: Fifty years of interferon research: aiming at a moving target. [Dynamic Macrophage Pathway CSML Database

    Lifescience Database Archive (English)

    Full Text Available 16979566 Fifty years of interferon research: aiming at a moving target. Vilcek J. I...mmunity. 2006 Sep;25(3):343-8. (.png) (.svg) (.html) (.csml) Show Fifty years of interferon research: aiming... at a moving target. PubmedID 16979566 Title Fifty years of interferon research: aiming at a moving target.

  18. Bayesian tracking of multiple point targets using expectation maximization

    DEFF Research Database (Denmark)

    Selvan, Raghavendra

    The range of applications where target tracking is useful has grown well beyond the classical military and radar-based tracking applications. With the increasing enthusiasm in autonomous solutions for vehicular and robotics navigation, much of the maneuverability can be provided based on solutions...... the measurements from sensors to choose the best data association hypothesis, from which the estimates of target trajectories can be obtained. In an ideal world, we could maintain all possible data association hypotheses from observing all measurements, and pick the best hypothesis. But, it turns out the number...... joint density is maximized over the data association variables, or over the target state variables, two EM-based algorithms for tracking multiple point targets are derived, implemented and evaluated. In the first algorithm, the data association variable is integrated out, and the target states...

  19. New detection algorithm for dim point moving target in IR-image sequence based on an image frames transformation

    Science.gov (United States)

    Mohamed, M. A.; Li, Hongzuo

    2013-09-01

    In this paper we follow the concept of the track before detect (TBD) category in order to perform a simple, fast and adaptive detection and tracking processes of dim pixel size moving targets in IR images sequence. We present two new algorithms based on an image frames transformation, the first algorithm is a recursive algorithm to measure the image background Baseline which help in assigning an adaptive threshold, while the second is an adaptive recursive statistical spatio-temporal algorithm for detecting and tracking the target. The results of applying the proposed algorithms on a set of frames having a simple single pixel target performing a linear motion shows a high efficiency and validity in the detecting of the motion, and the measurement of the background baseline.

  20. Moving target imaging using sparse and low-rank structure

    Science.gov (United States)

    Mason, Eric; Yazici, Birsen

    2016-05-01

    In this paper we present a method for passive radar detection of ground moving targets using sparsely distributed apertures. We assume the scene is illuminated by a source of opportunity and measure the backscattered signal. We correlate measurements from two different receivers, then form a linear forward model that operates on a rank one, positive semi-definite (PSD) operator, formed by taking the tensor product of the phase-space reflectivity function with its self. Utilizing this structure, image formation and velocity estimation are defined in a constrained optimization framework. Additionally, image formation and velocity estimation are formulated as separate optimization problems, this results in computational savings. Position estimation is posed as a rank one PSD constrained least squares problem. Then, velocity estimation is performed as a cardinality constrained least squares problem, solved using a greedy algorithm. We demonstrate the performance of our method with numerical simulations, demonstrate improvement over back-projection imaging, and evaluate the effect of spatial diversity.

  1. Embodied Moving-Target Seeking with Prediction and Planning

    Science.gov (United States)

    Oses, Noelia; Hoffmann, Matej; Koene, Randal A.

    We present a bio-inspired control method for moving-target seeking with a mobile robot, which resembles a predator-prey scenario. The motor repertoire of a simulated Khepera robot was restricted to a discrete number of 'gaits'. After an exploration phase, the robot automatically synthesizes a model of its motor repertoire, acquiring a forward model. Two additional components were introduced for the task of catching a prey robot. First, an inverse model to the forward model, which is used to determine the action (gait) needed to reach a desired location. Second, while hunting the prey, a model of the prey's behavior is learned online by the hunter robot. All the models are learned ab initio, without assumptions, work in egocentric coordinates, and are probabilistic in nature. Our architecture can be applied to robots with any physical constraints (or embodiment), such as legged robots.

  2. Adaptive modified hough transform track initiator for HFSWR tracking of fast and small targets

    Institute of Scientific and Technical Information of China (English)

    Guo Rujiang; Yuan Yeshu; Quan Taifan

    2005-01-01

    High frequency surface wave radar (HFSWR)is well proved to have over the horizon (OTH) detection capability to weak aerial targets, such as concealed airplanes or cruise missiles. The most important problem of detection of fast and small targets using HFSWR is earlier warning, i.e. enlargement of detection range oftargets. Therefore, the detection threshold should be decreased as low as possible, but numerous false alarms are brought about at the same time.On this condition, conventional track initiation techniques, which normally require the probability of false alarm to be at the level of 10-6, will initiate enormous false tracks and lead to abnormaloperation of tracking system. An adaptive modified hough transform (AMHT) track initiator is proposed accordingly and the relation of detection range to the performance of track initiator is analyzed in this paper. Simulations are performed to confirm the capability of track initiation to fast and small targets in dense clutter by AMHT track initiator. The tolerable probability of false alarm of detector can reach the level of 10-3. And it performs better than track initiator based on modified hough transform (MHT).

  3. Analyses of Creepages and Their Sensitivities for a Single Wheelset Moving on a Tangent Track

    Institute of Scientific and Technical Information of China (English)

    Jin Xuesong; Zhang Weihua

    1996-01-01

    Creep forces depend greatly on creepages in the contact area forming between wheel and rail. The creepages are completely determined by the state of a wheelset moving on a track. In this paper the contact state of a single rigid wheelset moving on a tangent rigid rail ,creepages and their sensitivities to some parameters of contact geometry are analyzed by semi-analytical method and numerical method, respectively. Some important ideas will be provided for the studies done on the interactions between wheels and rails at high speed.

  4. Tracking target objects orbiting earth using satellite-based telescopes

    Energy Technology Data Exchange (ETDEWEB)

    De Vries, Willem H; Olivier, Scot S; Pertica, Alexander J

    2014-10-14

    A system for tracking objects that are in earth orbit via a constellation or network of satellites having imaging devices is provided. An object tracking system includes a ground controller and, for each satellite in the constellation, an onboard controller. The ground controller receives ephemeris information for a target object and directs that ephemeris information be transmitted to the satellites. Each onboard controller receives ephemeris information for a target object, collects images of the target object based on the expected location of the target object at an expected time, identifies actual locations of the target object from the collected images, and identifies a next expected location at a next expected time based on the identified actual locations of the target object. The onboard controller processes the collected image to identify the actual location of the target object and transmits the actual location information to the ground controller.

  5. Tracking target signal strengths on a grid using sparsity

    NARCIS (Netherlands)

    Farahmand, S.; Giannakis, G.B.; Leus, G.J.T.; Tian, Z.

    2014-01-01

    Multi-target tracking is mainly challenged by the nonlinearity present in the measurement equation and the difficulty in fast and accurate data association. To overcome these challenges, the present paper introduces a grid-based model in which the state captures target signal strengths on a known sp

  6. Real-time tumor tracking: Automatic compensation of target motion using the Siemens 160 MLC

    Energy Technology Data Exchange (ETDEWEB)

    Tacke, Martin B.; Nill, Simeon; Krauss, Andreas; Oelfke, Uwe [Department of Medical Physics in Radiation Oncology, German Cancer Research Center, Im Neuenheimer Feld 280, D-69120 Heidelberg (Germany)

    2010-02-15

    Purpose: Advanced high quality radiation therapy techniques such as IMRT require an accurate delivery of precisely modulated radiation fields to the target volume. Interfractional and intrafractional motion of the patient's anatomy, however, may considerably deteriorate the accuracy of the delivered dose to the planned dose distributions. In order to compensate for these potential errors, a dynamic real-time capable MLC control system was designed. Methods: The newly developed adaptive MLC control system contains specialized algorithms which are capable of continuous optimization and correction of the aperture of the MLC according to the motion of the target volume during the dose delivery. The algorithms calculate the new leaf positions based on target information provided online to the system. The algorithms were implemented in a dynamic target tracking control system designed for a Siemens 160 MLC. To assess the quality of the new target tracking system in terms of dosimetric accuracy, experiments with various types of motion patterns using different phantom setups were performed. The phantoms were equipped with radiochromic films placed between solid water slabs. Dosimetric results of exemplary deliveries to moving targets with and without dynamic MLC tracking applied were compared in terms of the gamma criterion to the reference dose delivered to a static phantom. Results: Our measurements indicated that dose errors for clinically relevant two-dimensional target motion can be compensated by the new control system during the dose delivery of open fields. For a clinical IMRT dose distribution, the gamma success rate was increased from 19% to 77% using the new tracking system. Similar improvements were achieved for the delivery of a complete IMRT treatment fraction to a moving lung phantom. However, dosimetric accuracy was limited by the system's latency of 400 ms and the finite leaf width of 5 mm in the isocenter plane. Conclusions: Different

  7. Visual Target Tracking on the Mars Exploration Rovers

    Science.gov (United States)

    Kim, Won; Biesiadecki, Jeffrey; Ali, Khaled

    2008-01-01

    Visual target tracking (VTT) software has been incorporated into Release 9.2 of the Mars Exploration Rover (MER) flight software, now running aboard the rovers Spirit and Opportunity. In the VTT operation (see figure), the rover is driven in short steps between stops and, at each stop, still images are acquired by actively aimed navigation cameras (navcams) on a mast on the rover (see artistic rendition). The VTT software processes the digitized navcam images so as to track a target reliably and to make it possible to approach the target accurately to within a few centimeters over a 10-m traverse.

  8. Visual Target Tracking in the Presence of Unknown Observer Motion

    Science.gov (United States)

    Williams, Stephen; Lu, Thomas

    2009-01-01

    Much attention has been given to the visual tracking problem due to its obvious uses in military surveillance. However, visual tracking is complicated by the presence of motion of the observer in addition to the target motion, especially when the image changes caused by the observer motion are large compared to those caused by the target motion. Techniques for estimating the motion of the observer based on image registration techniques and Kalman filtering are presented and simulated. With the effects of the observer motion removed, an additional phase is implemented to track individual targets. This tracking method is demonstrated on an image stream from a buoy-mounted or periscope-mounted camera, where large inter-frame displacements are present due to the wave action on the camera. This system has been shown to be effective at tracking and predicting the global position of a planar vehicle (boat) being observed from a single, out-of-plane camera. Finally, the tracking system has been extended to a multi-target scenario.

  9. Multiple extended target tracking algorithm based on Gaussian surface matrix

    Institute of Scientific and Technical Information of China (English)

    Jinlong Yang; Peng Li; Zhihua Li; Le Yang

    2016-01-01

    In this paper, we consider the problem of irregular shapes tracking for multiple extended targets by introducing the Gaussian surface matrix (GSM) into the framework of the random finite set (RFS) theory. The Gaussian surface function is constructed first by the measurements, and it is used to define the GSM via a mapping function. We then integrate the GSM with the probability hypothesis density (PHD) filter, the Bayesian recursion formulas of GSM-PHD are derived and the Gaussian mixture implementation is employed to obtain the closed-form solutions. Moreover, the estimated shapes are designed to guide the measurement set sub-partition, which can cope with the problem of the spatialy close target tracking. Simulation results show that the proposed algorithm can effectively estimate irregular target shapes and exhibit good robustness in cross extended target tracking.

  10. Comparisons of Online Reading Paradigms: Eye Tracking, Moving-Window, and Maze

    Science.gov (United States)

    Witzel, Naoko; Witzel, Jeffrey; Forster, Kenneth

    2012-01-01

    This study compares four methodologies used to examine online sentence processing during reading. Specifically, self-paced, non-cumulative, moving-window reading (Just et al. in "J Exp Psychol Gen" 111:228-238, 1982), eye tracking (see e.g., Rayner in "Q J Exp Psychol" 62:1457-1506, 2009), and two versions of the maze task (Forster et al. in…

  11. Comparisons of Online Reading Paradigms: Eye Tracking, Moving-Window, and Maze

    Science.gov (United States)

    Witzel, Naoko; Witzel, Jeffrey; Forster, Kenneth

    2012-01-01

    This study compares four methodologies used to examine online sentence processing during reading. Specifically, self-paced, non-cumulative, moving-window reading (Just et al. in "J Exp Psychol Gen" 111:228-238, 1982), eye tracking (see e.g., Rayner in "Q J Exp Psychol" 62:1457-1506, 2009), and two versions of the maze task (Forster et al. in…

  12. Models and Algorithms for Tracking Target with Coordinated Turn Motion

    Directory of Open Access Journals (Sweden)

    Xianghui Yuan

    2014-01-01

    Full Text Available Tracking target with coordinated turn (CT motion is highly dependent on the models and algorithms. First, the widely used models are compared in this paper—coordinated turn (CT model with known turn rate, augmented coordinated turn (ACT model with Cartesian velocity, ACT model with polar velocity, CT model using a kinematic constraint, and maneuver centered circular motion model. Then, in the single model tracking framework, the tracking algorithms for the last four models are compared and the suggestions on the choice of models for different practical target tracking problems are given. Finally, in the multiple models (MM framework, the algorithm based on expectation maximization (EM algorithm is derived, including both the batch form and the recursive form. Compared with the widely used interacting multiple model (IMM algorithm, the EM algorithm shows its effectiveness.

  13. VIDEO MULTI-TARGET TRACKING BASED ON PROBABILISTIC GRAPHICAL MODEL

    Institute of Scientific and Technical Information of China (English)

    Xu Feng; Huang Chenrong; Wu Zhengjun; Xu Lizhong

    2011-01-01

    In the technique of video multi-target tracking,the common particle filter can not deal well with uncertain relations among multiple targets.To solve this problem,many researchers use data association method to reduce the multi-target uncertainty.However,the traditional data association method is difficult to track accurately when the target is occluded.To remove the occlusion in the video,combined with the theory of data association,this paper adopts the probabilistic graphical model for multi-target modeling and analysis of the targets relationship in the particle filter framework.Experimental results show that the proposed algorithm can solve the occlusion problem better compared with the traditional algorithm.

  14. Designs and Algorithms to Map Eye Tracking Data with Dynamic Multielement Moving Objects

    Science.gov (United States)

    Mandal, Saptarshi

    2016-01-01

    Design concepts and algorithms were developed to address the eye tracking analysis issues that arise when (1) participants interrogate dynamic multielement objects that can overlap on the display and (2) visual angle error of the eye trackers is incapable of providing exact eye fixation coordinates. These issues were addressed by (1) developing dynamic areas of interests (AOIs) in the form of either convex or rectangular shapes to represent the moving and shape-changing multielement objects, (2) introducing the concept of AOI gap tolerance (AGT) that controls the size of the AOIs to address the overlapping and visual angle error issues, and (3) finding a near optimal AGT value. The approach was tested in the context of air traffic control (ATC) operations where air traffic controller specialists (ATCSs) interrogated multiple moving aircraft on a radar display to detect and control the aircraft for the purpose of maintaining safe and expeditious air transportation. In addition, we show how eye tracking analysis results can differ based on how we define dynamic AOIs to determine eye fixations on moving objects. The results serve as a framework to more accurately analyze eye tracking data and to better support the analysis of human performance. PMID:27725830

  15. Designs and Algorithms to Map Eye Tracking Data with Dynamic Multielement Moving Objects

    Directory of Open Access Journals (Sweden)

    Ziho Kang

    2016-01-01

    Full Text Available Design concepts and algorithms were developed to address the eye tracking analysis issues that arise when (1 participants interrogate dynamic multielement objects that can overlap on the display and (2 visual angle error of the eye trackers is incapable of providing exact eye fixation coordinates. These issues were addressed by (1 developing dynamic areas of interests (AOIs in the form of either convex or rectangular shapes to represent the moving and shape-changing multielement objects, (2 introducing the concept of AOI gap tolerance (AGT that controls the size of the AOIs to address the overlapping and visual angle error issues, and (3 finding a near optimal AGT value. The approach was tested in the context of air traffic control (ATC operations where air traffic controller specialists (ATCSs interrogated multiple moving aircraft on a radar display to detect and control the aircraft for the purpose of maintaining safe and expeditious air transportation. In addition, we show how eye tracking analysis results can differ based on how we define dynamic AOIs to determine eye fixations on moving objects. The results serve as a framework to more accurately analyze eye tracking data and to better support the analysis of human performance.

  16. Target Tracking, Approach, and Camera Handoff for Automated Instrument Placement

    Science.gov (United States)

    Bajracharya, Max; Diaz-Calderon, Antonio; Robinson, Matthew; Powell, Mark

    2005-01-01

    This paper describes the target designation, tracking, approach, and camera handoff technologies required to achieve accurate, single-command autonomous instrument placement for a planetary rover. It focuses on robust tracking integrated with obstacle avoidance during the approach phase, and image-based camera handoff to allow vision-based instrument placement. It also provides initial results from a complete system combining these technologies with rover base placement to maximize arm manipulability and image-based instrument placement.

  17. In-frame and inter-frame information based infrared moving small target detection under complex cloud backgrounds

    Science.gov (United States)

    Wan, Minjie; Gu, Guohua; Cao, Ercong; Hu, Xiaobo; Qian, Weixian; Ren, Kan

    2016-05-01

    Infrared moving small target detection under complex cloud backgrounds is one of the key techniques of infrared search and track (IRST) systems. This paper proposes a novel method based on in-frame inter-frame information to detect infrared moving small targets accurately. For a single frame, in the spatial domain, a directional max-median filter is developed to make a pre-processing and a background suppression filtering template is utilized on the denoised image to highlight target. Then, targets in cloud regions and non-cloud regions are extracted by different thresholds according to a cloud discrimination method so that a spatial domain map (SDM) is acquired. In the frequency domain, we design an α-DoB band-pass filter to conduct coarse saliency detection and make an amplitude transformation with smoothing processing which is the so-called elaborate saliency detection. Furthermore, a frequency domain map (FDM) is acquired by an adaptive binary segmentation method. Lastly, candidate targets in single frame are extracted by a discrimination based on intensity and spatial distance criteria. For consecutive frames, a false alarm suppression is conducted on account of differences of motion features between moving target and false alarms to improve detection accuracy again. Large numbers of experiments demonstrate that the proposed method has satisfying detection effectiveness and robustness for infrared moving small target detection under complex cloud backgrounds.

  18. Multiple-target tracking and track management for an FMCW radar network

    Science.gov (United States)

    Kim, Dae-Bong; Hong, Sun-Mog

    2013-12-01

    A multiple-target tracking problem for a frequency-modulated continuous-wave (FMCW) radar network is formulated and an integrated track management system is presented to solve the tracking problem in the presence of clutter. The FMCW radar network obtains beat frequency measurements with multiple collocated radars, each transmitting a sequence of chirps. The beat frequency measurements are associated to tracks directly in the beat frequency measurement space. The direct association eliminates range/range-rate calculations and multilateration processing, and it allows to process beat frequency measurements sequentially on a chirp by chirp basis. The sequential processing effectively decomposes the measurement-to-track association problem into a series of two-dimensional assignment problems that can be solved with much less computational effort. The solution to the measurement-to-track association problem is utilized to initiate and form new tracks and to update or delete existing tracks. Monte Carlo simulations were performed to evaluate the performance of the track management system.

  19. Target Tracking in 3-D Using Estimation Based Nonlinear Control Laws for UAVs

    Directory of Open Access Journals (Sweden)

    Mousumi Ahmed

    2016-02-01

    Full Text Available This paper presents an estimation based backstepping like control law design for an Unmanned Aerial Vehicle (UAV to track a moving target in 3-D space. A ground-based sensor or an onboard seeker antenna provides range, azimuth angle, and elevation angle measurements to a chaser UAV that implements an extended Kalman filter (EKF to estimate the full state of the target. A nonlinear controller then utilizes this estimated target state and the chaser’s state to provide speed, flight path, and course/heading angle commands to the chaser UAV. Tracking performance with respect to measurement uncertainty is evaluated for three cases: (1 stationary white noise; (2 stationary colored noise and (3 non-stationary (range correlated white noise. Furthermore, in an effort to improve tracking performance, the measurement model is made more realistic by taking into consideration range-dependent uncertainties in the measurements, i.e., as the chaser closes in on the target, measurement uncertainties are reduced in the EKF, thus providing the UAV with more accurate control commands. Simulation results for these cases are shown to illustrate target state estimation and trajectory tracking performance.

  20. On the implementation of SAC in target tracking loop

    Science.gov (United States)

    Rusnak, Ilan; Weiss, Haim

    2017-01-01

    The existing SAC architecture requires the knowledge of a model whose output is followed by the controlled system. This control architecture is suitable for motion control applications where the required trajectory of the controller plant is known. The Simple Adaptive Control (SAC) algorithm uses the input of a trajectory generator, its state and its output to drive the tracking error to zero. However, when tracking a target, e.g. by a radar, neither the target's "input", nor its state are available. Thus the existing SAC architecture cannot be implemented per se. The paper proposes that the model to be tracked is the estimated state model generated by the target state estimator/observer.

  1. Target tracking using a 2D radar

    CSIR Research Space (South Africa)

    Kriel, M

    2012-08-01

    Full Text Available is omitted. This can be an important consideration as aircraft altitude limits the attack pro�les a target can��y [1]. 33.2 HEIGHT ESTIMATION The current literature regarding height estimation restricts itself to computations involving two or more 2D... is instrumental in determining the aircraft altitude. The accuracy to which these speeds are known is directly pro- portional to the accuracy to which the altitude can be determined. Knowledge of aircraft speed can be obtained in a variety of ways. For example...

  2. A System based on Adaptive Background Subtraction Approach for Moving Object Detection and Tracking in Videos

    Directory of Open Access Journals (Sweden)

    Bahadır KARASULU

    2013-04-01

    Full Text Available Video surveillance systems are based on video and image processing research areas in the scope of computer science. Video processing covers various methods which are used to browse the changes in existing scene for specific video. Nowadays, video processing is one of the important areas of computer science. Two-dimensional videos are used to apply various segmentation and object detection and tracking processes which exists in multimedia content-based indexing, information retrieval, visual and distributed cross-camera surveillance systems, people tracking, traffic tracking and similar applications. Background subtraction (BS approach is a frequently used method for moving object detection and tracking. In the literature, there exist similar methods for this issue. In this research study, it is proposed to provide a more efficient method which is an addition to existing methods. According to model which is produced by using adaptive background subtraction (ABS, an object detection and tracking system’s software is implemented in computer environment. The performance of developed system is tested via experimental works with related video datasets. The experimental results and discussion are given in the study

  3. CamShift Tracking Method Based on Target Decomposition

    Directory of Open Access Journals (Sweden)

    Chunbo Xiu

    2015-01-01

    Full Text Available In order to avoid the inaccurate location or the failure tracking caused by the occlusion or the pose variation, a novel tracking method is proposed based on CamShift algorithm by decomposing the target into multiple subtargets for location separately. Distance correlation matrices are constructed by the subtarget sets in the template image and the scene image to evaluate the correctness of the location results. The error locations of the subtargets can be corrected by resolving the optimization function constructed according to the relative positions among the subtargets. The directions and sizes of the correctly located subtargets with CamShift algorithm are updated to reduce the disturbance of the background in the tracking progress. Simulation results show that the method can perform the location and tracking of the target and has better adaptability to the scaling, translation, rotation, and occlusion. Furthermore, the computational cost of the method increases slightly, and its average tracking computational time of the single frame is less than 25 ms, which can meet the real-time requirement of the TV tracking system.

  4. Moving Object Tracking and Avoidance Algorithm for Differential Driving AGV Based on Laser Measurement Technology

    Directory of Open Access Journals (Sweden)

    Pandu Sandi Pratama

    2012-12-01

    Full Text Available This paper proposed an algorithm to track the obstacle position and avoid the moving objects for differential driving Automatic Guided Vehicles (AGV system in industrial environment. This algorithm has several abilities such as: to detect the moving objects, to predict the velocity and direction of moving objects, to predict the collision possibility and to plan the avoidance maneuver. For sensing the local environment and positioning, the laser measurement system LMS-151 and laser navigation system NAV-200 are applied. Based on the measurement results of the sensors, the stationary and moving obstacles are detected and the collision possibility is calculated. The velocity and direction of the obstacle are predicted using Kalman filter algorithm. Collision possibility, time, and position can be calculated by comparing the AGV movement and obstacle prediction result obtained by Kalman filter. Finally the avoidance maneuver using the well known tangent Bug algorithm is decided based on the calculation data. The effectiveness of proposed algorithm is verified using simulation and experiment. Several examples of experiment conditions are presented using stationary obstacle, and moving obstacles. The simulation and experiment results show that the AGV can detect and avoid the obstacles successfully in all experimental condition. [Keywords— Obstacle avoidance, AGV, differential drive, laser measurement system, laser navigation system].

  5. Error-space estimate method for generalized synergic target tracking

    Institute of Scientific and Technical Information of China (English)

    Ming CEN; Chengyu FU; Ke CHEN; Xingfa LIU

    2009-01-01

    To improve the tracking accuracy and stability of an optic-electronic target tracking system,the concept of generalized synergic target and an algorithm named error-space estimate method is presented.In this algo-rithm,the motion of target is described by guide data and guide errors,and then the maneuver of the target is separated into guide data and guide errors to reduce the maneuver level.Then state estimate is implemented in target state-space and error-space respectively,and the prediction data of target position are acquired by synthe-sizing the filtering data from target state-space according to kinematic model and the prediction data from error-space according to guide error model.Differing from typ-ical multi-model method,the kinematic and guide error models work concurrently rather than switch between models.Experiment results show that the performance of the algorithm is better than Kalman filter and strong tracking filter at the same maneuver level.

  6. Development of target-tracking algorithms using neural network

    Energy Technology Data Exchange (ETDEWEB)

    Park, Dong Sun; Lee, Joon Whaoan; Yoon, Sook; Baek, Seong Hyun; Lee, Myung Jae [Chonbuk National University, Chonjoo (Korea)

    1998-04-01

    The utilization of remote-control robot system in atomic power plants or nuclear-related facilities grows rapidly, to protect workers form high radiation environments. Such applications require complete stability of the robot system, so that precisely tracking the robot is essential for the whole system. This research is to accomplish the goal by developing appropriate algorithms for remote-control robot systems. A neural network tracking system is designed and experimented to trace a robot Endpoint. This model is aimed to utilized the excellent capabilities of neural networks; nonlinear mapping between inputs and outputs, learning capability, and generalization capability. The neural tracker consists of two networks for position detection and prediction. Tracking algorithms are developed and experimented for the two models. Results of the experiments show that both models are promising as real-time target-tracking systems for remote-control robot systems. (author). 10 refs., 47 figs.

  7. Measuring coseismic displacements with point-like targets offset tracking

    KAUST Repository

    Hu, Xie

    2014-01-01

    Offset tracking is an important complement to measure large ground displacements in both azimuth and range dimensions where synthetic aperture radar (SAR) interferometry is unfeasible. Subpixel offsets can be obtained by searching for the cross-correlation peak calculated from the match patches uniformly distributed on two SAR images. However, it has its limitations, including redundant computation and incorrect estimations on decorrelated patches. In this letter, we propose a simple strategy that performs offset tracking on detected point-like targets (PT). We first detect image patches within bright PT by using a sinc-like template from a single SAR image and then perform offset tracking on them to obtain the pixel shifts. Compared with the standard method, the application on the 2010 M 7.2 El Mayor-Cucapah earthquake shows that the proposed PT offset tracking can significantly increase the cross-correlation and thus result in both efficiency and reliability improvements. © 2013 IEEE.

  8. A target group tracking algorithm for wireless sensor networks using azimuthal angle of arrival information

    Institute of Scientific and Technical Information of China (English)

    Zhang Chun; Fei Shu-Min; Zhou Xing-Peng

    2012-01-01

    In this paper,we explore the technology of tracking a group of targets with correlated motions in a wireless sensor network.Since a group of targets moves collectively and is restricted within a limited region,it is not worth consuming scarce resources of sensors in computing the trajectory of each single target.Hence,in this paper,the problem is modeled as tracking a geographical continuous region covered by all targets.A tracking algorithm is proposed to estimate the region covered by the target group in each sampling period.Based on the locations of sensors and the azimuthal angle of arrival (AOA) information,the estimated region covering all the group members is obtained.Algorithm analysis provides the fundamental limits to the accuracy of localizing a target group.Simulation results show that the proposed algorithm is superior to the existing hull algorithm due to the reduction in estimation crror,which is between 10% and 40% of the hull algorithm,with a similar density of sensors.And when the density of sensors increases,the localization accuracy of the proposed algorithm improves dramatically.

  9. Collaborative In-Network Processing for Target Tracking

    Directory of Open Access Journals (Sweden)

    Juan Liu

    2003-03-01

    Full Text Available This paper presents a class of signal processing techniques for collaborative signal processing in ad hoc sensor networks, focusing on a vehicle tracking application. In particular, we study two types of commonly used sensors—acoustic-amplitude sensors for target distance estimation and direction-of-arrival sensors for bearing estimation—and investigate how networks of such sensors can collaborate to extract useful information with minimal resource usage. The information-driven sensor collaboration has several advantages: tracking is distributed, and the network is energy-efficient, activated only on a when-needed basis. We demonstrate the effectiveness of the approach to target tracking using both simulation and field data.

  10. Event-triggered cooperative target tracking in wireless sensor networks

    Institute of Scientific and Technical Information of China (English)

    Lu Kelin; Zhou Rui; Li Hao

    2016-01-01

    Since the issues of low communication bandwidth supply and limited battery capacity are very crucial for wireless sensor networks, this paper focuses on the problem of event-triggered cooperative target tracking based on set-membership information filtering. We study some fundamental properties of the set-membership information filter with multiple sensor measure-ments. First, a sufficient condition is derived for the set-membership information filter, under which the boundedness of the outer ellipsoidal approximation set of the estimation means is guaranteed. Second, the equivalence property between the parallel and sequential versions of the set-membership information filter is presented. Finally, the results are applied to a 1D event-triggered target tracking scenario in which the negative information is exploited in the sense that the measurements that do not satisfy the triggering conditions are modelled as set-membership mea-surements. The tracking performance of the proposed method is validated with extensive Monte Carlo simulations.

  11. Event-triggered cooperative target tracking in wireless sensor networks

    Directory of Open Access Journals (Sweden)

    Lu Kelin

    2016-10-01

    Full Text Available Since the issues of low communication bandwidth supply and limited battery capacity are very crucial for wireless sensor networks, this paper focuses on the problem of event-triggered cooperative target tracking based on set-membership information filtering. We study some fundamental properties of the set-membership information filter with multiple sensor measurements. First, a sufficient condition is derived for the set-membership information filter, under which the boundedness of the outer ellipsoidal approximation set of the estimation means is guaranteed. Second, the equivalence property between the parallel and sequential versions of the set-membership information filter is presented. Finally, the results are applied to a 1D event-triggered target tracking scenario in which the negative information is exploited in the sense that the measurements that do not satisfy the triggering conditions are modelled as set-membership measurements. The tracking performance of the proposed method is validated with extensive Monte Carlo simulations.

  12. Big brown bats (Eptesicus fuscus) reveal diverse strategies for sonar target tracking in clutter.

    Science.gov (United States)

    Mao, Beatrice; Aytekin, Murat; Wilkinson, Gerald S; Moss, Cynthia F

    2016-09-01

    Bats actively adjust the acoustic features of their sonar calls to control echo information specific to a given task and environment. A previous study investigated how bats adapted their echolocation behavior when tracking a moving target in the presence of a stationary distracter at different distances and angular offsets. The use of only one distracter, however, left open the possibility that a bat could reduce the interference of the distracter by turning its head. Here, bats tracked a moving target in the presence of one or two symmetrically placed distracters to investigate adaptive echolocation behavior in a situation where vocalizing off-axis would result in increased interference from distracter echoes. Both bats reduced bandwidth and duration but increased sweep rate in more challenging distracter conditions, and surprisingly, made more head turns in the two-distracter condition compared to one, but only when distracters were placed at large angular offsets. However, for most variables examined, subjects showed distinct strategies to reduce clutter interference, either by (1) changing spectral or temporal features of their calls, or (2) producing large numbers of sonar sound groups and consistent head-turning behavior. The results suggest that individual bats can use different strategies for target tracking in cluttered environments.

  13. Postural sway and gaze can track the complex motion of a visual target.

    Directory of Open Access Journals (Sweden)

    Vassilia Hatzitaki

    Full Text Available Variability is an inherent and important feature of human movement. This variability has form exhibiting a chaotic structure. Visual feedback training using regular predictive visual target motions does not take into account this essential characteristic of the human movement, and may result in task specific learning and loss of visuo-motor adaptability. In this study, we asked how well healthy young adults can track visual target cues of varying degree of complexity during whole-body swaying in the Anterior-Posterior (AP and Medio-Lateral (ML direction. Participants were asked to track three visual target motions: a complex (Lorenz attractor, a noise (brown and a periodic (sine moving target while receiving online visual feedback about their performance. Postural sway, gaze and target motion were synchronously recorded and the degree of force-target and gaze-target coupling was quantified using spectral coherence and Cross-Approximate entropy. Analysis revealed that both force-target and gaze-target coupling was sensitive to the complexity of the visual stimuli motions. Postural sway showed a higher degree of coherence with the Lorenz attractor than the brown noise or sinusoidal stimulus motion. Similarly, gaze was more synchronous with the Lorenz attractor than the brown noise and sinusoidal stimulus motion. These results were similar regardless of whether tracking was performed in the AP or ML direction. Based on the theoretical model of optimal movement variability tracking of a complex signal may provide a better stimulus to improve visuo-motor adaptation and learning in postural control.

  14. Data aggregation for target tracking in wireless sensor networks

    NARCIS (Netherlands)

    Lageweg, C.R; Janssen, J.A.A.J.; Ditzel, M.

    2006-01-01

    This paper presents the results of a study on the effects of data aggregation for target tracking in wireless sensor networks. In these networks energy, computing power and communication bandwidth are scarce. A novel approach towards data aggregation is proposed. It is tested in a simulation environ

  15. The time domain moving Green function of a railway track and its application to wheel-rail interactions

    Science.gov (United States)

    Sheng, X.; Xiao, X.; Zhang, S.

    2016-09-01

    When dealing with wheel-rail interactions for a high-speed train using the time domain Green function of a railway track, it would be more reasonable to use the moving Green function associated with a reference frame moving with the train, since observed from this frame wheel/rail forces are stationary. In this paper, the time domain moving Green function of a railway track as an infinitely long periodic structure is defined, derived, discussed and applied. The moving Green function is defined as the Fourier transform, from the load frequency domain to the time domain, of the response of the rail due to a moving harmonic load. The response of the rail due to a moving harmonic load is calculated using the Fourier transform-based method. A relationship is established between the moving Green function and the conventional impulse response function of the track. Properties of the moving Green function are then explored which can largely simplify the calculation of the Green function. And finally, the moving Green function is applied to deal with interactions between wheels and a track with or without rail dampers, allowing non-linearity in wheel-rail contact and demonstrating the effect of the rail dampers.

  16. Terrestrial carbon storage dynamics: Chasing a moving target

    Science.gov (United States)

    Luo, Y.; Shi, Z.; Jiang, L.; Xia, J.; Wang, Y.; Kc, M.; Liang, J.; Lu, X.; Niu, S.; Ahlström, A.; Hararuk, O.; Hastings, A.; Hoffman, F. M.; Medlyn, B. E.; Rasmussen, M.; Smith, M. J.; Todd-Brown, K. E.; Wang, Y.

    2015-12-01

    Terrestrial ecosystems have been estimated to absorb roughly 30% of anthropogenic CO2 emissions. Past studies have identified myriad drivers of terrestrial carbon storage changes, such as fire, climate change, and land use changes. Those drivers influence the carbon storage change via diverse mechanisms, which have not been unified into a general theory so as to identify what control the direction and rate of terrestrial carbon storage dynamics. Here we propose a theoretical framework to quantitatively determine the response of terrestrial carbon storage to different exogenous drivers. With a combination of conceptual reasoning, mathematical analysis, and numeric experiments, we demonstrated that the maximal capacity of an ecosystem to store carbon is time-dependent and equals carbon input (i.e., net primary production, NPP) multiplying by residence time. The capacity is a moving target toward which carbon storage approaches (i.e., the direction of carbon storage change) but usually does not attain. The difference between the capacity and the carbon storage at a given time t is the unrealized carbon storage potential. The rate of the storage change is proportional to the magnitude of the unrealized potential. We also demonstrated that a parameter space of NPP, residence time, and carbon storage potential can well characterize carbon storage dynamics quantified at six sites ranging from tropical forests to tundra and simulated by two versions (carbon-only and coupled carbon-nitrogen) of the Australian Community Atmosphere-Biosphere Land Ecosystem (CABLE) Model under three climate change scenarios (CO2 rising only, climate warming only, and RCP8.5). Overall this study reveals the unified mechanism unerlying terrestrial carbon storage dynamics to guide transient traceability analysis of global land models and synthesis of empirical studies.

  17. Moving target defense:state of the art and characteristics

    Institute of Scientific and Technical Information of China (English)

    Gui-lin CAI; Bao-sheng WANG; Wei HU; Tian-zuo WANG

    2016-01-01

    Moving target defense (MTD) has emerged as one of the game-changing themes to alter the asymmetric situation between attacks and defenses in cyber-security. Numerous related works involving several facets of MTD have been published. However, comprehensive analyses and research on MTD are still absent. In this paper, we present a survey on MTD technologies to scientifi cally and systematically introduce, categorize, and summarize the existing research works in this fi eld. First, a new security model is introduced to describe the changes in the traditional defense paradigm and security model caused by the introduction of MTD. A function-and-movement model is provided to give a panoramic overview on different perspectives for understanding the existing MTD research works. Then a systematic interpretation of published literature is presented to describe the state of the art of the three main areas in the MTD fi eld, namely, MTD theory, MTD strategy, and MTD evaluation. Specifi cally, in the area of MTD strategy, the common characteristics shared by the MTD strategies to improve system security and effectiveness are identifi ed and extrapolated. Thereafter, the methods to implement these characteristics are concluded. Moreover, the MTD strategies are classifi ed into three types according to their specifi c goals, and the necessary and sufficient conditions of each type to create effective MTD strategies are then summarized, which are typically one or more of the aforementioned characteristics. Finally, we provide a number of observations for the future direction in this fi eld, which can be helpful for subsequent researchers.

  18. Detection and Imaging of Moving Targets with LiMIT SAR Data

    Science.gov (United States)

    2017-03-03

    1 Detection and Imaging of Moving Targets with LiMIT SAR Data Michael Newey, Gerald Benitz, David Barrett MIT Lincoln Laboratory Lexington...sandeep.mishra@baesystems.com Abstract Detecting moving targets in SAR imagery has recently gained a lot of interest as a way to replace optical...moving target detection and classification in adverse (e.g. cloudy) weather conditions. This can be particularly important for small radar antennas

  19. Eye movements in chameleons are not truly independent - evidence from simultaneous monocular tracking of two targets.

    Science.gov (United States)

    Katz, Hadas Ketter; Lustig, Avichai; Lev-Ari, Tidhar; Nov, Yuval; Rivlin, Ehud; Katzir, Gadi

    2015-07-01

    Chameleons perform large-amplitude eye movements that are frequently referred to as independent, or disconjugate. When prey (an insect) is detected, the chameleon's eyes converge to view it binocularly and 'lock' in their sockets so that subsequent visual tracking is by head movements. However, the extent of the eyes' independence is unclear. For example, can a chameleon visually track two small targets simultaneously and monocularly, i.e. one with each eye? This is of special interest because eye movements in ectotherms and birds are frequently independent, with optic nerves that are fully decussated and intertectal connections that are not as developed as in mammals. Here, we demonstrate that chameleons presented with two small targets moving in opposite directions can perform simultaneous, smooth, monocular, visual tracking. To our knowledge, this is the first demonstration of such a capacity. The fine patterns of the eye movements in monocular tracking were composed of alternating, longer, 'smooth' phases and abrupt 'step' events, similar to smooth pursuits and saccades. Monocular tracking differed significantly from binocular tracking with respect to both 'smooth' phases and 'step' events. We suggest that in chameleons, eye movements are not simply 'independent'. Rather, at the gross level, eye movements are (i) disconjugate during scanning, (ii) conjugate during binocular tracking and (iii) disconjugate, but coordinated, during monocular tracking. At the fine level, eye movements are disconjugate in all cases. These results support the view that in vertebrates, basic monocular control is under a higher level of regulation that dictates the eyes' level of coordination according to context. © 2015. Published by The Company of Biologists Ltd.

  20. Detection of a faint fast-moving near-Earth asteroid using the synthetic tracking technique

    Energy Technology Data Exchange (ETDEWEB)

    Zhai, Chengxing; Shao, Michael; Nemati, Bijan; Werne, Thomas; Zhou, Hanying; Turyshev, Slava G.; Sandhu, Jagmit [Jet Propulsion Laboratory, California Institute of Technology, 4800 Oak Grove Drive, Pasadena, CA 91109 (United States); Hallinan, Gregg; Harding, Leon K., E-mail: chengxing.zhai@jpl.nasa.gov [Department of Astronomy, California Institute of Technology, 1200 East California Boulevard, Pasadena, CA 91125 (United States)

    2014-09-01

    We report a detection of a faint near-Earth asteroid (NEA) using our synthetic tracking technique and the CHIMERA instrument on the Palomar 200 inch telescope. With an apparent magnitude of 23 (H = 29, assuming detection at 20 lunar distances), the asteroid was moving at 6.°32 day{sup –1} and was detected at a signal-to-noise ratio (S/N) of 15 using 30 s of data taken at a 16.7 Hz frame rate. The detection was confirmed by a second observation 77 minutes later at the same S/N. Because of its high proper motion, the NEA moved 7 arcsec over the 30 s of observation. Synthetic tracking avoided image degradation due to trailing loss that affects conventional techniques relying on 30 s exposures; the trailing loss would have degraded the surface brightness of the NEA image on the CCD down to an approximate magnitude of 25 making the object undetectable. This detection was a result of our 12 hr blind search conducted on the Palomar 200 inch telescope over two nights, scanning twice over six (5.°3 × 0.°046) fields. Detecting only one asteroid is consistent with Harris's estimates for the distribution of the asteroid population, which was used to predict a detection of 1.2 NEAs in the H-magnitude range 28-31 for the two nights. The experimental design, data analysis methods, and algorithms are presented. We also demonstrate milliarcsecond-level astrometry using observations of two known bright asteroids on the same system with synthetic tracking. We conclude by discussing strategies for scheduling observations to detect and characterize small and fast-moving NEAs using the new technique.

  1. Temporal clustering in the multi-target tracking environment

    Science.gov (United States)

    Kelso, Thomas S.

    1988-08-01

    In multi-target tracking problems such as those found in high-energy particle physics, fluid mechanics, and ballistic missile defense, the common objective is to separate the data into observations associated with individual targets and to use this data to estimate the targets' trajectories. In defense related applications, it is necessary to have algorithms which are computationally efficient, robust, and minimize data storage requirements. Recently developed approaches in the field of multi-target tracking, however, have been shown to have significant computational disadvantages. In this study, non-hierarchical clustering methods are combined with computationally efficient algorithms such as those used to solve assignment and quadratic programming problems to provide an integrated procedure which is computationally efficient, minimizes data storage requirements, and gives a reasonable estimate of the number of targets. Combined with a sequential estimation filter such as the extended Kalman filter, the procedure can provide estimates of a target's state and state covariance after three observations and continuously maintain updated target state estimates in real time. Empirical results based on 100 targets in ballistic trajectories have demonstrated this method's effectiveness by properly clustering data with four measurement attributes (range, range rate, azimuth, and elevation) in over 98 percent of the cases.

  2. Online RFC-PRM method for infrared target tracking

    Science.gov (United States)

    Zhou, Xiao; Hu, Ruolan; Xu, Yaming; Zhang, Guilin

    2009-10-01

    A novel online tracking method is proposed based on the response of feature combination (RFC) and relative position map (RPM). First, large numbers of features around the target are achieved after some designed filtering, then a suboptimal feature combination obtained by a given feature selection criteria can be used for next frame. The distinction between the target and background is maximized in the result image. Based on this distinction the target can be segmented out easily. While around the target there always exists some similar regions and will be residue left after filtering. To depress these clutters, the position relationship of local maximal response points cased by the similar regions is recorded as RPM and compared to the last frame. At last, the new feature combination is updated based on the new background around the target. The experiment using small infrared target sequence with different background texture conditions demonstrates the robustness of the new method.

  3. Mobile Target Tracking Based on Hybrid Open-Loop Monocular Vision Motion Control Strategy

    Directory of Open Access Journals (Sweden)

    Cao Yuan

    2015-01-01

    Full Text Available This paper proposes a new real-time target tracking method based on the open-loop monocular vision motion control. It uses the particle filter technique to predict the moving target’s position in an image. Due to the properties of the particle filter, the method can effectively master the motion behaviors of the linear and nonlinear. In addition, the method uses the simple mathematical operation to transfer the image information in the mobile target to its real coordinate information. Therefore, it requires few operating resources. Moreover, the method adopts the monocular vision approach, which is a single camera, to achieve its objective by using few hardware resources. Firstly, the method evaluates the next time’s position and size of the target in an image. Later, the real position of the objective corresponding to the obtained information is predicted. At last, the mobile robot should be controlled in the center of the camera’s vision. The paper conducts the tracking test to the L-type and the S-type and compares with the Kalman filtering method. The experimental results show that the method achieves a better tracking effect in the L-shape experiment, and its effect is superior to the Kalman filter technique in the L-type or S-type tracking experiment.

  4. Moving Human Path Tracking Based on Video Surveillance in 3d Indoor Scenarios

    Science.gov (United States)

    Zhou, Yan; Zlatanova, Sisi; Wang, Zhe; Zhang, Yeting; Liu, Liu

    2016-06-01

    Video surveillance systems are increasingly used for a variety of 3D indoor applications. We can analyse human behaviour, discover and avoid crowded areas, monitor human traffic and so forth. In this paper we concentrate on use of surveillance cameras to track and reconstruct the path a person has followed. For the purpose we integrated video surveillance data with a 3D indoor model of the building and develop a single human moving path tracking method. We process the surveillance videos to detected single human moving traces; then we match the depth information of 3D scenes to the constructed 3D indoor network model and define the human traces in the 3D indoor space. Finally, the single human traces extracted from multiple cameras are connected with the help of the connectivity provided by the 3D network model. Using this approach, we can reconstruct the entire walking path. The provided experiments with a single person have verified the effectiveness and robustness of the method.

  5. Detection of a faint fast-moving near-Earth asteroid using synthetic tracking technique

    CERN Document Server

    Zhai, Chengxing; Nemati, Bijan; Werne, Thomas A; Zhou, Hanying; Turyshev, Slava G; Sandhu, Jagmit; Hallinan, Gregg W; Harding, Leon K

    2014-01-01

    We report a detection of a faint near-Earth asteroid (NEA), which was done using our synthetic tracking technique and the CHIMERA instrument on the Palomar 200-inch telescope. This asteroid, with apparent magnitude of 23, was moving at 5.97 degrees per day and was detected at a signal-to-noise ratio (SNR) of 15 using 30 sec of data taken at a 16.7 Hz frame rate. The detection was confirmed by a second observation one hour later at the same SNR. The asteroid moved 7 arcseconds in sky over the 30 sec of integration time because of its high proper motion. The synthetic tracking using 16.7 Hz frames avoided the trailing loss suffered by conventional techniques relying on 30-sec exposure, which would degrade the surface brightness of image on CCD to an approximate magnitude of 25. This detection was a result of our 12-hour blind search conducted on the Palomar 200-inch telescope over two nights on September 11 and 12, 2013 scanning twice over six 5.0 deg x 0.043 deg fields. The fact that we detected only one NEA, ...

  6. Automated cell identification and tracking using nanoparticle moving-light-displays.

    Directory of Open Access Journals (Sweden)

    James A Tonkin

    Full Text Available An automated technique for the identification, tracking and analysis of biological cells is presented. It is based on the use of nanoparticles, enclosed within intra-cellular vesicles, to produce clusters of discrete, point-like fluorescent, light sources within the cells. Computational analysis of these light ensembles in successive time frames of a movie sequence, using k-means clustering and particle tracking algorithms, provides robust and automated discrimination of live cells and their motion and a quantitative measure of their proliferation. This approach is a cytometric version of the moving light display technique which is widely used for analyzing the biological motion of humans and animals. We use the endocytosis of CdTe/ZnS, core-shell quantum dots to produce the light displays within an A549, epithelial, lung cancer cell line, using time-lapse imaging with frame acquisition every 5 minutes over a 40 hour time period. The nanoparticle moving light displays provide simultaneous collection of cell motility data, resolution of mitotic traversal dynamics and identification of familial relationships allowing construction of multi-parameter lineage trees.

  7. Automated cell identification and tracking using nanoparticle moving-light-displays.

    Science.gov (United States)

    Tonkin, James A; Rees, Paul; Brown, Martyn R; Errington, Rachel J; Smith, Paul J; Chappell, Sally C; Summers, Huw D

    2012-01-01

    An automated technique for the identification, tracking and analysis of biological cells is presented. It is based on the use of nanoparticles, enclosed within intra-cellular vesicles, to produce clusters of discrete, point-like fluorescent, light sources within the cells. Computational analysis of these light ensembles in successive time frames of a movie sequence, using k-means clustering and particle tracking algorithms, provides robust and automated discrimination of live cells and their motion and a quantitative measure of their proliferation. This approach is a cytometric version of the moving light display technique which is widely used for analyzing the biological motion of humans and animals. We use the endocytosis of CdTe/ZnS, core-shell quantum dots to produce the light displays within an A549, epithelial, lung cancer cell line, using time-lapse imaging with frame acquisition every 5 minutes over a 40 hour time period. The nanoparticle moving light displays provide simultaneous collection of cell motility data, resolution of mitotic traversal dynamics and identification of familial relationships allowing construction of multi-parameter lineage trees.

  8. Alternatives to an extended Kalman Filter for target image tracking

    Science.gov (United States)

    Leuthauser, P. R.

    1981-12-01

    Four alternative filters are compared to an extended Kalman filter (EKF) algorithm for tracking a distributed (elliptical) source target in a closed loop tracking problem, using outputs from a forward looking (FLIR) sensor as measurements. These were (1) an EKF with (second order) bias correction term, (2) a constant gain EKF, (3) a constant gain EKF with bias correction term, and (4) a statistically linearized filter. Estimates are made of both actual target motion and of apparent motion due to atmospheric jitter. These alternative designs are considered specifically to address some of the significant biases exhibited by an EKF due to initial acquisition difficulties, unmodelled maneuvering by the target, low signal-to-noise ratio, and real world conditions varying significantly from those assumed in the filter design (robustness). Filter performance was determined with a Monte Carlo study under both ideal and non ideal conditions for tracking targets on a constant velocity cross range path, and during constant acceleration turns of 5G, 10G, and 20G.

  9. Target tracking for multistatic radar with transmitter uncertainty

    Science.gov (United States)

    Choi, Sora; Berger, Christian R.; Crouse, David; Willett, Peter; Zhou, Shengli

    2009-08-01

    We present a target tracking system for a specific sort of passive radar, that using a Digital Audio/Video Broadcast (DAB/DVB) network for illuminators of opportunity. The system can measure bi-static range and range-rate. Angular information is assumed here unavailable. The DAB/DVB network operates in a single frequency mode; this means the same data stream is broadcast from multiple senders in the same frequency band. This supplies multiple measurements of each target using just one receiver, but introduces an additional ambiguity, as the signals from each sender are indistinguishable. This leads to a significant data association problem: as well as the usual target/measurement uncertainty there is additional "list" of illuminators that must be contended with. Our intention is to provide tracks directly in the geographic space, as opposed to a two-step procedure of formation of tracks in (bi-static) range and range-rate space to fuse these onto a map. We offer two solutions: one employing joint probabilistic data association (JPDA) based on an Extended Kalman Filter (EKF), and the other a particle filter. For the former, we explain a "super-target" approach to bring what might otherwise be a three-dimensional assignment list down to the two dimensions the JPDAF needs. The latter approach would seem prohibitive in computation even with these; as such, we discuss the use of a PMHT-like measurement model that greatly reduces the numerical load.

  10. Tracking 3D Moving Objects Based on GPS/IMU Navigation Solution, Laser Scanner Point Cloud and GIS Data

    Directory of Open Access Journals (Sweden)

    Siavash Hosseinyalamdary

    2015-07-01

    Full Text Available Monitoring vehicular road traffic is a key component of any autonomous driving platform. Detecting moving objects, and tracking them, is crucial to navigating around objects and predicting their locations and trajectories. Laser sensors provide an excellent observation of the area around vehicles, but the point cloud of objects may be noisy, occluded, and prone to different errors. Consequently, object tracking is an open problem, especially for low-quality point clouds. This paper describes a pipeline to integrate various sensor data and prior information, such as a Geospatial Information System (GIS map, to segment and track moving objects in a scene. We show that even a low-quality GIS map, such as OpenStreetMap (OSM, can improve the tracking accuracy, as well as decrease processing time. A bank of Kalman filters is used to track moving objects in a scene. In addition, we apply non-holonomic constraint to provide a better orientation estimation of moving objects. The results show that moving objects can be correctly detected, and accurately tracked, over time, based on modest quality Light Detection And Ranging (LiDAR data, a coarse GIS map, and a fairly accurate Global Positioning System (GPS and Inertial Measurement Unit (IMU navigation solution.

  11. Low frame rate video target localization and tracking testbed

    Science.gov (United States)

    Pang, Yu; Shen, Dan; Chen, Genshe; Liang, Pengpeng; Pham, Khanh; Blasch, Erik; Wang, Zhonghai; Ling, Haibin

    2013-05-01

    Traditional tracking frameworks are challenged by low video frame rate scenarios, because the appearances and locations of the target may change considerably in consecutive frames. Our paper presents a saliency-based temporal association dependency (STAD) framework to deal with such a low frame rate scenario and demonstrate good results in our robot testbed. We first use median filter to create a background of the scene, then apply background subtraction to every new frame to decide the rough position of the target. With the help of the markers on the robots, we use a gradient voting algorithm to detect the high responses of the directions of the robots. Finally, a template matching with branch pruning is used to obtain the finer estimation of the pose of the robots. To make the tracking-by-detection framework stable, we further introduce the temporal constraints using a previously detected result as well as an association technique. Our experiments show that our method can achieve a very stable tracking result and outperforms some state-of-the-art trackers such as Meanshift, Online-AdaBoosting, Mulitple-Instance-Learning, Tracking-Learning-Detection etc. Also. we demonstrate that our algorithm provides near real-time solutions given the low frame rate requirement.

  12. Three-dimensional tracking of multiple skin-colored regions by a moving stereoscopic system.

    Science.gov (United States)

    Argyros, Antonis A; Lourakis, Manolis I A

    2004-01-10

    A system that performs three-dimensional (3D) tracking of multiple skin-colored regions (SCRs) in images acquired by a calibrated, possibly moving stereoscopic rig is described. The system consists of a collection of techniques that permit the modeling and detection of SCRs, the determination of their temporal association in monocular image sequences, the establishment of their correspondence between stereo images, and the extraction of their 3D positions in a world-centered coordinate system. The development of these techniques has been motivated by the need for robust, near-real-time tracking performance. SCRs are detected by use of a Bayesian classifier that is trained with the aid of a novel technique. More specifically, the classifier is bootstrapped with a small set of training data. Then, as new images are being processed, an iterative training procedure is employed to refine the classifier. Furthermore, a technique is proposed to enable the classifier to cope with changes in illumination. Tracking of SCRs in time as well as matching of SCRs in the images of the employed stereo rig is performed through computationally inexpensive and robust techniques. One of the main characteristics of the skin-colored region tracker (SCRT) instrument is its ability to report the 3D positions of SCRs in a world-centered coordinate system by employing a possibly moving stereo rig with independently verging CCD cameras. The system operates on images of dimensions 640 x 480 pixels at a rate of 13 Hz on a conventional Pentium 4 processor at 1.8 GHz. Representative experimental results from the application of the SCRT to image sequences are also provided.

  13. Location Tracking of Moving Crew Members for Effective Damage Control in an Emergency

    Directory of Open Access Journals (Sweden)

    Hee Jin Kang

    2011-01-01

    Full Text Available In an emergency, the commanding officer may have limited information, and crew members may behave differently compared to how they behaved during training. In an emergency situation, if the commanding officer is aware of each crew member's location and role in that situation, he can disseminate orders expeditiously and precisely. To realise a faster and more precise dissemination of orders through better awareness of each crew member's location and role, real-time crew member tracking is needed. The technical feasibility of a real time crew-tracking system based on a wireless sensor network has been studied, with the intent to improve effective commanding in an emergency. Herein, location tracking was achieved using instrumentation consisting of ZigBee tags, routers, and gateways, which were used to record the location and role data of moving crew members on a full-scale ship.Defence Science Journal, 2011, 61(1, pp.57-61, DOI:http://dx.doi.org/10.14429/dsj.61.503

  14. Applying the decision moving window to risky choice: Comparison of eye-tracking and mousetracing methods

    Directory of Open Access Journals (Sweden)

    Ana M. Franco-Watkins

    2011-12-01

    Full Text Available Currently, a disparity exists between the process-level models decision researchers use to describe and predict decision behavior and the methods implemented and metrics collected to test these models. The current work seeks to remedy this disparity by combining the advantages of work in decision research (mouse-tracing paradigms with contingent information display and cognitive psychology (eye-tracking paradigms from reading and scene perception. In particular, we introduce a new decision moving-window paradigm that presents stimulus information contingent on eye fixations. We provide data from the first application of this method to risky decision making, and show how it compares to basic eye-tracking and mouse-tracing methods. We also enumerate the practical, theoretical, and analytic advantages this method offers above and beyond both mouse-tracing with occlusion and basic eye tracking of information without occlusion. We include the use of new metrics that offer more precision than those typically calculated on mouse-tracing data as well as those not possible or feasible within the mouse-tracing paradigm.

  15. Target Tracking Approximation Algorithms with Particle Filter Optimization and Fault-Tolerant Analysis in Wireless Sensor Networks

    Directory of Open Access Journals (Sweden)

    Xiang Gao

    2012-05-01

    Full Text Available In order to process target tracking approximation with unknown motion state models beforehand in a two-dimensional field of binary proximity sensors, the algorithms based on cost functions of particle filters and near-linear curve simple optimization are proposed in this paper. Through moving target across detecting intersecting fields of sensor nodes sequentially, cost functions are introduced to solve target tracking approximation and velocity estimation which is not similar to traditional particle filters that rely on probabilistic assumptions about the motion states. Then a near-linear curve geometric approach is used to simplify and easily describe target trajectories that are below a certain error measure. Because there maybe some sensor nodes invalid in practice, so a fault-tolerant detection is applied to avoid the nodes’ reporting fault and also improve accuracy of tracking at the same time. The validity of our algorithms is demonstrated through simulation results.

  16. Adaptive Beamforming for Moving Targets Using Genetic AlgorithmsFormación de Haz Adaptativo para Objetos Móviles usando Algoritmos Genéticos

    Directory of Open Access Journals (Sweden)

    Diego Fernando Burgos Beltrán

    2016-05-01

    Conclusions: The simulation results confirm that the GA is able to obtain a convergent and accurate tool for beamforming and tracking of moving targets, given a reference signal. Hence, GA turns to be promising in replacing LMS on Smart Antenna Systems for increasing channel capacity.

  17. The development of Advanced robotic technology - Development of target-tracking algorithm for remote-control robot system

    Energy Technology Data Exchange (ETDEWEB)

    Park, Dong Sun; Lee, Joon Whan; Kim, Hyong Suk; Yoon, Sook; Lee, Jin Ho; Han, Jeong Soo; Baek, Seong Hyun; Choi, Gap Chu [Chonbuk National University, Chonju (Korea, Republic of)

    1996-07-01

    The utilization of remote-control robot system in atomic power plants or nuclear-related facilities grows rapidly, to protect workers from high radiation environments. Such applications require complete stability of the robot system, then precisely tracking the robot is essential for the whole system. This research is to accomplish the goal by developing appropriate algorithms for remote-control robot systems. The research consists of two different approaches: target-tracking systems using kalman filters and neural networks. The tracking system under study uses vision sensors to obtain features of targets. A kalman filter model using the moving-position estimation technique is designed, and tested for tracking an object with a circle movement. Attributions of the tracking object are investigated and best features are extracted from the input imagery for the kalman filter model. A neural network tracking system is designed and experimented to trace a robot endeffector. This model is aimed to utilize the excellent capabilities of neural networks; nonlinear mapping between inputs and outputs, learning capability, and generalization capability. The neural tracker consists of two networks for position detection and prediction. Tracking algorithms are developed and experimented for the two models. Results to the experiments show that both models are promising as real-time target-tracking systems for remote-control robot systems. 20 refs., 34 figs. (author)

  18. Performance evaluation of a high-speed multileaf collimator in real-time IMRT delivery to moving targets.

    Science.gov (United States)

    Li, Fang; Ye, Peiqing; Zhang, Hui

    2016-03-01

    Multileaf collimator (MLC) tracking can be used for motion management. However, on account of mechanical constraints, it is a crucial challenge for conventional MLCs (3-4 cm/s in leaf speed) to track fast targets, especially moving in 2D in the beam's eye view (BEV). Our group has recently developed a "high-speed" MLC (HS-MLC) prototype with a maximum leaf speed of 40 cm/s, which makes it possible to track the vast majority of moving targets without violation of mechanical constraints. The major innovation of the HS-MLC design is that it employs linear motors instead of rotary motors to drive leaves. This paper mainly aims to evaluate the performance of the HS-MLC in real-time intensity-modulated radiation therapy delivery to targets moving in 2D in the BEV. A 2D real-time tracking algorithm was proposed first based on a previous superimposing leaf sequencing method. Then, simulations were performed to evaluate the delivery performance including fluence accuracy, efficiency, delivery time, and number of monitor units under various settings of limiting coefficient and dose rate for four clinical fluence maps and two target speeds. The comparisons between the HS-MLC with a "medium-speed" MLC (MS-MLC, 10 cm/s) and a "low-speed" MLC (LS-MLC, 5 cm/s) were also made. For validation, experiments were carried out on the HS-MLC prototype in the lab environment. A camera-based measurement system was set up to detect actual leaf trajectories. Simulation results indicate that a limiting coefficient of 0.5 and a dose rate of 400 MU/min are "optimal" in the sense of getting best compromise between delivery time and number of monitor units. Under the optimal parameters, the HS-MLC achieved 100% in efficiency, 18.1 s in delivery time, and 121.2 MU in number of monitor units on average for the "fast" target speed, compared to 94%, 20.6 s, and 129.9 MU with the MS-MLC, and to 53%, 40.2 s, and 141.1 MU with the LS-MLC. The benefits of increased leaf speed were demonstrated. The

  19. High-speed ground moving target detection research using triangular modulation FMCW

    Institute of Scientific and Technical Information of China (English)

    Yi LIANG; Long ZHANG; Mengdao XING; Zheng BAO

    2009-01-01

    The frequency modulated continuous wave (FMCW) radar has the characteristics of low probability of interception, good hidden property and the ability to counter anti-radiation missiles. This paper proposes a new method for high-speed ground moving target detection (GMTD) using triangular modulation FMCW. According to the characteristic of the opposite range shift induced by the upslope and downslope modulation FMCW, the upslope and downslope are imaged, respectively. After compensation of continuous motion of the platform and time difference between upslope and downslope signals for imaging, the moving target can be detected through displaced phase center antenna (DPCA) technology.When the moving target is detected, the moving target image is extracted, and correlation processing is used to obtain the range shift, which can be used to estimate the target radial velocity, and further to find the real position of the target. The effectiveness of this method is verified by the result of computer simulation.

  20. Infrared moving point target detection based on spatial-temporal local contrast filter

    Science.gov (United States)

    Deng, Lizhen; Zhu, Hu; Tao, Chao; Wei, Yantao

    2016-05-01

    Infrared moving point target detection is a challenging task. In this paper, we define a novel spatial local contrast (SLC) and a novel temporal local contrast (TLC) to enhance the target's contrast. Based on the defined spatial local contrast and temporal local contrast, we propose a simple but powerful spatial-temporal local contrast filter (STLCF) to detect moving point target from infrared image sequences. In order to verify the performance of spatial-temporal local contrast filter on detecting moving point target, different detection methods are used to detect the target from several infrared image sequences for comparison. The experimental results show that the proposed spatial-temporal local contrast filter has great superiority in moving point target detection.

  1. Inertial fusion energy target injection, tracking, and beam pointing

    Energy Technology Data Exchange (ETDEWEB)

    Petzoldt, Ronald Wayne [Univ. of California, Davis, CA (United States)

    1995-03-07

    Several cryogenic targets must be injected each second into a reaction chamber. Required target speed is about 100 m/s. Required accuracy of the driver beams on target is a few hundred micrometers. Fuel strength is calculated to allow acceleration in excess of 10,000 m/s2 if the fuel temperature is less than 17 K. A 0.1 μm thick dual membrane will allow nearly 2,000 m/s2 acceleration. Acceleration is gradually increased and decreased over a few membrane oscillation periods (a few ms), to avoid added stress from vibrations which could otherwise cause a factor of two decrease in allowed acceleration. Movable shielding allows multiple targets to be in flight toward the reaction chamber at once while minimizing neutron heating of subsequent targets. The use of multiple injectors is recommended for redundancy which increases availability and allows a higher pulse rate. Gas gun, rail gun, induction accelerator, and electrostatic accelerator target injection devices are studied, and compared. A gas gun is the preferred device for indirect-drive targets due to its simplicity and proven reliability. With the gas gun, the amount of gas required for each target (about 10 to 100 mg) is acceptable. A revolver loading mechanism is recommended with a cam operated poppet valve to control the gas flow. Cutting vents near the muzzle of the gas gun barrel is recommended to improve accuracy and aid gas pumping. If a railgun is used, we recommend an externally applied magnetic field to reduce required current by an order of magnitude. Optical target tracking is recommended. Up/down counters are suggested to predict target arrival time. Target steering is shown to be feasible and would avoid the need to actively point the beams. Calculations show that induced tumble from electrostatically steering the target is not excessive.

  2. Moving targets-costs-effective climate policy under scientific uncertainty

    NARCIS (Netherlands)

    Gerlagh, Reyer; Michielsen, Thomas

    2015-01-01

    The IPCC’s fifth assessment report of Working Group III has just come out. It pays special attention to the 2 °C temperature target and tells us that the window of opportunity to prevent such climate change is rapidly closing. Yet, the report also presents a portfolio of stabilization targets,

  3. Target and PADC Track Detectors for Rare Isotope Studies

    Directory of Open Access Journals (Sweden)

    J. Bermudez

    2011-01-01

    Full Text Available A higher yield of rare isotope production methods, for example, isotope separation on-line (ISOL, is expected to be developed for the EURISOL facility. In this paper as a part of the ongoing project, high power-target assembly and passive detector inclusion are given. Theoretical calculations of several configurations were done using Monte Carlo code FLUKA aimed to produce 1015 fiss/s on LEU-Cx target. The proposed radioactive ion beam (RIB production relies on a high-power (4 MW multibody target; a complete target design is given. Additionally we explore the possibility to employ PADC passive detector as a complementary system for RIB characterization, since these already demonstrated their importance in nuclear interactions phenomenology. In fact, information and recording rare and complex reaction product or short-lived isotope detection is obtained in an integral form through latent track formation. Some technical details on track formation and PADC detector etching conditions complete this study.

  4. Electric eels use high-voltage to track fast-moving prey.

    Science.gov (United States)

    Catania, Kenneth C

    2015-10-20

    Electric eels (Electrophorus electricus) are legendary for their ability to incapacitate fish, humans, and horses with hundreds of volts of electricity. The function of this output as a weapon has been obvious for centuries but its potential role for electroreception has been overlooked. Here it is shown that electric eels use high-voltage simultaneously as a weapon and for precise and rapid electrolocation of fast-moving prey and conductors. Their speed, accuracy, and high-frequency pulse rate are reminiscent of bats using a 'terminal feeding buzz' to track insects. Eel's exhibit 'sensory conflict' when mechanosensory and electrosensory cues are separated, striking first toward mechanosensory cues and later toward conductors. Strikes initiated in the absence of conductors are aborted. In addition to providing new insights into the evolution of strongly electric fish and showing electric eels to be far more sophisticated than previously described, these findings reveal a trait with markedly dichotomous functions.

  5. Noninvasive telemetric gaze tracking in freely-moving socially-housed prosimian primates

    Science.gov (United States)

    Shepherd, Stephen V.; Platt, Michael L.

    2006-01-01

    Behavioral and neurophysiological studies strongly suggest that visual orienting reflects the integration of sensory, motor, and motivational variables with behavioral goals. Relatively little is known, however, regarding the goals that govern visual orienting of animals in their natural environments. Field observations suggest that most nonhuman primates orient to features of their natural environments whose salience is dictated by the visual demands of foraging, locomotion and social interaction. This hypothesis is difficult to test quantitatively, however, in part because accurate gaze-tracking technology has not been employed in field studies. We here report the implementation of a new, telemetric, infrared-video gaze-tracker (ISCAN) to measure visual orienting in freely-moving, socially-housed prosimian primates (Lemur catta). Two male lemurs tolerated the system at approximately ¼ body weight, permitting successful measurements of gaze behavior during spontaneous locomotion through both terrestrial and arboreal landscapes, and in both social and asocial environments. PMID:16431130

  6. Group Targets Tracking Using Multiple Models GGIW-CPHD Based on Best-Fitting Gaussian Approximation and Strong Tracking Filter

    Directory of Open Access Journals (Sweden)

    Yun Wang

    2016-01-01

    Full Text Available Gamma Gaussian inverse Wishart cardinalized probability hypothesis density (GGIW-CPHD algorithm was always used to track group targets in the presence of cluttered measurements and missing detections. A multiple models GGIW-CPHD algorithm based on best-fitting Gaussian approximation method (BFG and strong tracking filter (STF is proposed aiming at the defect that the tracking error of GGIW-CPHD algorithm will increase when the group targets are maneuvering. The best-fitting Gaussian approximation method is proposed to implement the fusion of multiple models using the strong tracking filter to correct the predicted covariance matrix of the GGIW component. The corresponding likelihood functions are deduced to update the probability of multiple tracking models. From the simulation results we can see that the proposed tracking algorithm MM-GGIW-CPHD can effectively deal with the combination/spawning of groups and the tracking error of group targets in the maneuvering stage is decreased.

  7. On-orbit target tracking and inspection by satellite formation

    Institute of Scientific and Technical Information of China (English)

    Guang Zhai; Jingrui Zhang; Zhicheng Zhou

    2013-01-01

    A new type of estimator is developed for the satel-lite formation to track and inspect on-orbit targets. The fol ower satel ite in the formation works without relative sensors, and its target pointing commands are derived based on relative orbital dynamics. The centralized estimator based on truth measurement is designed, however, this estimator is proved unstable because of the lack of necessary measurement information. After that, an alternative estimator based on pseudo measurement is designed, and its observability and control ability are analyzed to qualitatively evaluate the convergence performance. Final y, an on-orbit target inspection scenario is numerical y simulated to verify the perfor-mance of the estimator based on pseudo measurement.

  8. Binocular visual tracking and grasping of a moving object with a 3D trajectory predictor

    Directory of Open Access Journals (Sweden)

    J. Fuentes‐Pacheco

    2009-12-01

    Full Text Available This paper presents a binocular eye‐to‐hand visual servoing system that is able to track and grasp a moving object in real time.Linear predictors are employed to estimate the object trajectory in three dimensions and are capable of predicting futurepositions even if the object is temporarily occluded. For its development we have used a CRS T475 manipulator robot with sixdegrees of freedom and two fixed cameras in a stereo pair configuration. The system has a client‐server architecture and iscomposed of two main parts: the vision system and the control system. The vision system uses color detection to extract theobject from the background and a tracking technique based on search windows and object moments. The control system usesthe RobWork library to generate the movement instructions and to send them to a C550 controller by means of the serial port.Experimental results are presented to verify the validity and the efficacy of the proposed visual servoing system.

  9. Target tracking and surveillance by fusing stereo and RFID information

    Science.gov (United States)

    Raza, Rana H.; Stockman, George C.

    2012-06-01

    Ensuring security in high risk areas such as an airport is an important but complex problem. Effectively tracking personnel, containers, and machines is a crucial task. Moreover, security and safety require understanding the interaction of persons and objects. Computer vision (CV) has been a classic tool; however, variable lighting, imaging, and random occlusions present difficulties for real-time surveillance, resulting in erroneous object detection and trajectories. Determining object ID via CV at any instance of time in a crowded area is computationally prohibitive, yet the trajectories of personnel and objects should be known in real time. Radio Frequency Identification (RFID) can be used to reliably identify target objects and can even locate targets at coarse spatial resolution, while CV provides fuzzy features for target ID at finer resolution. Our research demonstrates benefits obtained when most objects are "cooperative" by being RFID tagged. Fusion provides a method to simplify the correspondence problem in 3D space. A surveillance system can query for unique object ID as well as tag ID information, such as target height, texture, shape and color, which can greatly enhance scene analysis. We extend geometry-based tracking so that intermittent information on ID and location can be used in determining a set of trajectories of N targets over T time steps. We show that partial-targetinformation obtained through RFID can reduce computation time (by 99.9% in some cases) and also increase the likelihood of producing correct trajectories. We conclude that real-time decision-making should be possible if the surveillance system can integrate information effectively between the sensor level and activity understanding level.

  10. Postural control of elderly: moving to predictable and unpredictable targets.

    NARCIS (Netherlands)

    Jongman, Vera; Lamoth, Claudine J C; van Keeken, Helco; Caljouw, Simone R

    2012-01-01

    Impaired postural control with muscle weakness is an important predictor of falls within the elderly population.Particular daily activities that require weight shifting in order to be able to reach a specific target (a cup on a table) require continuous adjustments to keep the body's center of mass

  11. Description and Performance Evaluation of the Moving Target Detector

    Science.gov (United States)

    1977-03-08

    either processor provides target doppler information. Through direct comparison it has been found that a simple three-pulse can- celler witho.it feedback ...samples with sign extended). 164 RDR QIUAD/VIDEO ADs SAMPLED COMPLEX TIME SERIES OFT RE-NSETCOR l IER RCR~ EFLE EEAO IPA Fig. ~ ~ ~ NV A-i

  12. Precision targeting with a tracking adaptive optics scanning laser ophthalmoscope

    Science.gov (United States)

    Hammer, Daniel X.; Ferguson, R. Daniel; Bigelow, Chad E.; Iftimia, Nicusor V.; Ustun, Teoman E.; Noojin, Gary D.; Stolarski, David J.; Hodnett, Harvey M.; Imholte, Michelle L.; Kumru, Semih S.; McCall, Michelle N.; Toth, Cynthia A.; Rockwell, Benjamin A.

    2006-02-01

    Precise targeting of retinal structures including retinal pigment epithelial cells, feeder vessels, ganglion cells, photoreceptors, and other cells important for light transduction may enable earlier disease intervention with laser therapies and advanced methods for vision studies. A novel imaging system based upon scanning laser ophthalmoscopy (SLO) with adaptive optics (AO) and active image stabilization was designed, developed, and tested in humans and animals. An additional port allows delivery of aberration-corrected therapeutic/stimulus laser sources. The system design includes simultaneous presentation of non-AO, wide-field (~40 deg) and AO, high-magnification (1-2 deg) retinal scans easily positioned anywhere on the retina in a drag-and-drop manner. The AO optical design achieves an error of third generation retinal tracking system achieves a bandwidth of greater than 1 kHz allowing acquisition of stabilized AO images with an accuracy of ~10 μm. Normal adult human volunteers and animals with previously-placed lesions (cynomolgus monkeys) were tested to optimize the tracking instrumentation and to characterize AO imaging performance. Ultrafast laser pulses were delivered to monkeys to characterize the ability to precisely place lesions and stimulus beams. Other advanced features such as real-time image averaging, automatic highresolution mosaic generation, and automatic blink detection and tracking re-lock were also tested. The system has the potential to become an important tool to clinicians and researchers for early detection and treatment of retinal diseases.

  13. Tracking a maneuvering target in clutter with out-of-sequence measurements for airborne radar

    Institute of Scientific and Technical Information of China (English)

    Weihua Wu; Jing Jiang; Yang Wan

    2015-01-01

    There are many proposed optimal or suboptimal al-gorithms to update out-of-sequence measurement(s) (OoSM(s)) for linear-Gaussian systems, but few algorithms are dedicated to track a maneuvering target in clutter by using OoSMs. In order to address the nonlinear OoSMs obtained by the airborne radar located on a moving platform from a maneuvering target in clut-ter, an interacting multiple model probabilistic data association (IMMPDA) algorithm with the OoSM is developed. To be practical, the algorithm is based on the Earth-centered Earth-fixed (ECEF) coordinate system where it considers the effect of the platform’s attitude and the curvature of the Earth. The proposed method is validated through the Monte Carlo test compared with the perfor-mance of the standard IMMPDA algorithm ignoring the OoSM, and the conclusions show that using the OoSM can improve the track-ing performance, and the shorter the lag step is, the greater degree the performance is improved, but when the lag step is large, the performance is not improved any more by using the OoSM, which can provide some references for engineering application.

  14. Glycemic control in critically ill: A moving target

    Directory of Open Access Journals (Sweden)

    Subhash Todi

    2014-01-01

    Full Text Available Glycemic control targets in intensive care units (ICUs have three distinct domains. Firstly, excessive hyperglycemia needs to be avoided. The upper limit of this varies depending on the patient population studied and diabetic status of the patients. Surgical patients particularly cardiac surgery patients tend to benefit from a lower upper limit of glycemic control, which is not evident in medically ill patient. Patient with premorbid diabetic status tends to tolerate higher blood sugar level better than normoglycemics. Secondly, hypoglycemia is clearly detrimental in all groups of critically ill patient and all measures to avoid this catastrophe need to be a part of any glycemic control protocol. Thirdly, glycemic variability has increasingly been shown to be detrimental in this patient population. Glycemic control protocols need to take this into consideration and target to reduce any of the available metrics of glycemic variability. Newer technologies including continuous glucose monitoring techniques will help in titrating all these three domains within a desirable range.

  15. Upgrade of the SOFIA target acquisition and tracking cameras

    Science.gov (United States)

    Wolf, Jürgen; Wiedemann, Manuel; Pfüller, Enrico; Lachenmann, Michael; Hall, Helen J.; Röser, Hans-Peter

    2014-07-01

    The Stratospheric Observatory for Infrared Astronomy (SOFIA) uses three visible range CCD cameras with different optics for target acquisition and tracking. The Wide Field Imager (WFI with 68mm f/2.0 optics) and the Fine Field Imager (FFI with 254mm f/2.8 optics) are mounted on the telescope front ring and are therefore exposed to stratospheric conditions in flight. The Focal Plane Imager (FPI) receives visible light from the 2.5m Cassegrain/Nasmyth telescope via a dichroic tertiary mirror and is mounted inside the pressurized aircraft cabin at typically +20°C. An upgrade of these three imagers is currently in progress. The new FPI was integrated in February 2013 and is operating as SOFIA's main tracking camera since then. The new FFI and WFI are planned to be integrated in summer of 2015. Andor iXonEM+ DU- 888 cameras will be used in all three imagers to significantly increase the sensitivity compared to the previous CCD sensors. This will allow for tracking on fainter stars, e.g. the new FPI can track on a 16mag star with an integration time of 2 sec. While the FPI uses a commercial off the shelf camera, the cameras for FFI and WFI are extensively modified to withstand the harsh stratospheric environment. The two front ring imagers will also receive new optics to improve the image quality and to provide a stable focus position throughout the temperature range that SOFIA operates in. In this paper we will report on the results of the new FPI and the status of the FFI/WFI upgrade work. This includes the selection and design of the new optics and the design and testing of a prototype camera for the stratosphere. We will also report on preparations to make the new FPI available for scientific measurements.

  16. Schema generation in recurrent neural nets for intercepting a moving target.

    Science.gov (United States)

    Fleischer, Andreas G

    2010-06-01

    The grasping of a moving object requires the development of a motor strategy to anticipate the trajectory of the target and to compute an optimal course of interception. During the performance of perception-action cycles, a preprogrammed prototypical movement trajectory, a motor schema, may highly reduce the control load. Subjects were asked to hit a target that was moving along a circular path by means of a cursor. Randomized initial target positions and velocities were detected in the periphery of the eyes, resulting in a saccade toward the target. Even when the target disappeared, the eyes followed the target's anticipated course. The Gestalt of the trajectories was dependent on target velocity. The prediction capability of the motor schema was investigated by varying the visibility range of cursor and target. Motor schemata were determined to be of limited precision, and therefore visual feedback was continuously required to intercept the moving target. To intercept a target, the motor schema caused the hand to aim ahead and to adapt to the target trajectory. The control of cursor velocity determined the point of interception. From a modeling point of view, a neural network was developed that allowed the implementation of a motor schema interacting with feedback control in an iterative manner. The neural net of the Wilson type consists of an excitation-diffusion layer allowing the generation of a moving bubble. This activation bubble runs down an eye-centered motor schema and causes a planar arm model to move toward the target. A bubble provides local integration and straightening of the trajectory during repetitive moves. The schema adapts to task demands by learning and serves as forward controller. On the basis of these model considerations the principal problem of embedding motor schemata in generalized control strategies is discussed.

  17. ALGORITHMS FOR TRACKING MANEUVERING TARGET WITH PHASED ARRAY RADAR

    Institute of Scientific and Technical Information of China (English)

    1998-01-01

    Several typical algorithms for tracking maneuvering target with phased array radar are studied in this paper. The constant gain filter with multiple models is analyzed. A typical method for adaptively controlling the sampling interval is modified. The performance of the single model and multiple model estimator with uniform and variable sampling interval are evaluated and compared. It is shown by the simulation results that it is necessary to apply the adaptive sampling policy based on the multiple model method when the maneuvering targets are tracked by the phased array radar since saving radar resources is more important. The adaptive algorithms of variable sampling interval are better than the algorithms of variable model. The adaptive policy to determine the sampling interval based on multiple model are superior than those based on the single-model filter, because IMM estimator can adapt to the maneuver more quickly and the prediction covariance of IMM is the more sensitive and more reliable index than residual to determine the sampling interval. With IMM-based method, lower sampling interval is required for a certain accuracy.

  18. Distributed Particle Filter for Target Tracking: With Reduced Sensor Communications

    Directory of Open Access Journals (Sweden)

    Tadesse Ghirmai

    2016-09-01

    Full Text Available For efficient and accurate estimation of the location of objects, a network of sensors can be used to detect and track targets in a distributed manner. In nonlinear and/or non-Gaussian dynamic models, distributed particle filtering methods are commonly applied to develop target tracking algorithms. An important consideration in developing a distributed particle filtering algorithm in wireless sensor networks is reducing the size of data exchanged among the sensors because of power and bandwidth constraints. In this paper, we propose a distributed particle filtering algorithm with the objective of reducing the overhead data that is communicated among the sensors. In our algorithm, the sensors exchange information to collaboratively compute the global likelihood function that encompasses the contribution of the measurements towards building the global posterior density of the unknown location parameters. Each sensor, using its own measurement, computes its local likelihood function and approximates it using a Gaussian function. The sensors then propagate only the mean and the covariance of their approximated likelihood functions to other sensors, reducing the communication overhead. The global likelihood function is computed collaboratively from the parameters of the local likelihood functions using an average consensus filter or a forward-backward propagation information exchange strategy.

  19. Robust infrared target tracking using discriminative and generative approaches

    Science.gov (United States)

    Asha, C. S.; Narasimhadhan, A. V.

    2017-09-01

    The process of designing an efficient tracker for thermal infrared imagery is one of the most challenging tasks in computer vision. Although a lot of advancement has been achieved in RGB videos over the decades, textureless and colorless properties of objects in thermal imagery pose hard constraints in the design of an efficient tracker. Tracking of an object using a single feature or a technique often fails to achieve greater accuracy. Here, we propose an effective method to track an object in infrared imagery based on a combination of discriminative and generative approaches. The discriminative technique makes use of two complementary methods such as kernelized correlation filter with spatial feature and AdaBoost classifier with pixel intesity features to operate in parallel. After obtaining optimized locations through discriminative approaches, the generative technique is applied to determine the best target location using a linear search method. Unlike the baseline algorithms, the proposed method estimates the scale of the target by Lucas-Kanade homography estimation. To evaluate the proposed method, extensive experiments are conducted on 17 challenging infrared image sequences obtained from LTIR dataset and a significant improvement of mean distance precision and mean overlap precision is accomplished as compared with the existing trackers. Further, a quantitative and qualitative assessment of the proposed approach with the state-of-the-art trackers is illustrated to clearly demonstrate an overall increase in performance.

  20. Real-time WAMI streaming target tracking in fog

    Science.gov (United States)

    Chen, Yu; Blasch, Erik; Chen, Ning; Deng, Anna; Ling, Haibin; Chen, Genshe

    2016-05-01

    Real-time information fusion based on WAMI (Wide-Area Motion Imagery), FMV (Full Motion Video), and Text data is highly desired for many mission critical emergency or security applications. Cloud Computing has been considered promising to achieve big data integration from multi-modal sources. In many mission critical tasks, however, powerful Cloud technology cannot satisfy the tight latency tolerance as the servers are allocated far from the sensing platform, actually there is no guaranteed connection in the emergency situations. Therefore, data processing, information fusion, and decision making are required to be executed on-site (i.e., near the data collection). Fog Computing, a recently proposed extension and complement for Cloud Computing, enables computing on-site without outsourcing jobs to a remote Cloud. In this work, we have investigated the feasibility of processing streaming WAMI in the Fog for real-time, online, uninterrupted target tracking. Using a single target tracking algorithm, we studied the performance of a Fog Computing prototype. The experimental results are very encouraging that validated the effectiveness of our Fog approach to achieve real-time frame rates.

  1. Refocusing of Moving Targets in SAR Images via Parametric Sparse Representation

    Directory of Open Access Journals (Sweden)

    Yichang Chen

    2017-08-01

    Full Text Available In this paper, a parametric sparse representation (PSR method is proposed for refocusing of moving targets in synthetic aperture radar (SAR images. In regular SAR images, moving targets are defocused due to unknown motion parameters. Refocusing of moving targets requires accurate phase compensation of echo data. In the proposed method, the region of interest (ROI data containing the moving targets are extracted from the complex SAR image and represented in a sparse fashion through a parametric transform, which is related to the phase compensation parameter. By updating the reflectivities of moving target scatterers and the parametric transform in an iterative fashion, the phase compensation parameter can be accurately estimated and the SAR images of moving targets can be refocused well. The proposed method directly operates on small-size defocused ROI data, which helps to reduce the computational burden and suppress the clutter. Compared to other existing ROI-based methods, the proposed method can suppress asymmetric side-lobes and improve the image quality. Both simulated data and real SAR data collected by GF-3 satellite are used to validate the effectiveness of the proposed method.

  2. Check the special moves Halftone a central sun sunspot different angles using local correlation tracking

    Directory of Open Access Journals (Sweden)

    Monireh Askarikhah

    2016-03-01

    Full Text Available Sunspots, solar magnetic field effect on a large scale are outstanding. In this research field study of surface movement (special move in a Lightening Solar Shade Halftone sphere central angle of the sun in three different here. The evolution of current research and special horizontal movement in a sunspot on the basis of time-series observations imaging data in the blue spectral range with a wavelength continuum Central line spots active area of 4504 angstroms During the 3 day 10933NOAA dated 7 January (9.0 hours (UT 12:35 until (UT 12: 56, 8 January (8.0 hours (UT 06: 00 to (UT 06 21, Jan 9 (6/0 of the time (UT 05: 00 to (UT 05: 21, 2007 were obtained by using LCT (local correlation tracking has studied. Halftone stains in the three-averaged (averaged over 10 consecutive images and averaged over 20 consecutive images flow rate for each of the three categories Map angles (total 9 speed stream map obtained, as well as a lot of speed graph speed on the map, each of which is for an angle we examined. What is clear in some parts of the maps quickly climb (eruption in plasma and in some places fall (collapse plasma-level Halftone be observed. The maps quickly, the (current intensity Halftone patterns toward the inner penumbra shadow and movement patterns foreign to the outside strongly suggest Halftone That resulted in the dismissal of this shift is the dividing line that location is reached. Due to the frequency graph maps quickly we realized all three angles to this topic Slick passing moves quickly, especially given that the three angles of the half shadow has fallen. As well as speed of movement of the intensity of the Halftone patterns of the dividing line within the shadows of the reductions in external Halftone dividing line toward the photosphere increases.

  3. Normal families of meromorphic mappings of several complex variables into PN(C) for moving targets

    Institute of Scientific and Technical Information of China (English)

    TU; Zhenhan; LI; Pingli

    2005-01-01

    Motivated by Ru and Stoll's accomplishment of the second main theorem in higher dimension with moving targets, many authors studied the moving target problems in value distribution theory and related topics. But thereafter up to the present, all of researches about normality criteria for families of meromorphic mappings of several complex variables into PN(C) have been still restricted to the hyperplane case. In this paper, we prove some normality criteria for families of meromorphic mappings of several complex variables into PN(C) for moving hyperplanes, related to Nochka's Picard-type theorems.The new normality criteria greatly extend earlier related results.

  4. Boron neutron capture therapy: Moving toward targeted cancer therapy

    Directory of Open Access Journals (Sweden)

    Hamid Reza Mirzaei

    2016-01-01

    Full Text Available Boron neutron capture therapy (BNCT occurs when a stable isotope, boton-10, is irradiated with low-energy thermal neutrons to yield stripped down helium-4 nuclei and lithium-7 nuclei. It is a binary therapy in the treatment of cancer in which a cytotoxic event is triggered when an atom placed in a cancer cell. Here, we provide an overview on the application of BNCT in cancer therapy as well as current preclinical and clinical evidence on the efficacy of BNCT in the treatment of melanoma, brain tumors, head and neck cancer, and thyroid cancer. Several studies have shown that BNCT is effective in patients who had been treated with a full dose of conventional radiotherapy, because of its selectivity. In addition, BNCT is dependent on the normal/tumor tissue ratio of boron distribution. Increasing evidence has shown that BNCT can be combined with different drug delivery systems to enhance the delivery of boron to cancer cells. The flexibility of BNCT to be used in combination with different tumor-targeting approaches has made this strategy a promising option for cancer therapy. This review aims to provide a state-of-the-art overview of the recent advances in the use of BNCT for targeted therapy of cancer.

  5. Moving Beyond Motive-based categories of Targeted Violence

    Energy Technology Data Exchange (ETDEWEB)

    Weine, Stevan [Univ. of Illinois, Chicago, IL (United States); Cohen, John [Rutgers Univ., New Brunswick, NJ (United States); Brannegan, David [Argonne National Lab. (ANL), Argonne, IL (United States)

    2015-10-01

    Today’s categories for responding to targeted violence are motive-based and tend to drive policies, practices, training, media coverage, and research. These categories are based on the assumption that there are significant differences between ideological and non-ideological actors and between domestic and international actors. We question the reliance on these categories and offer an alternative way to frame the response to multiple forms of targeted violence. We propose adopting a community-based multidisciplinary approach to assess risk and provide interventions that are focused on the pre-criminal space. We describe four capabilities that should be implemented locally by establishing and maintaining multidisciplinary response teams that combine community and law-enforcement components: (1) community members are educated, making them better able to identify and report patterns associated with elevated risk for violence; (2) community-based professionals are trained to assess the risks for violent behavior posed by individuals; (3) community-based professionals learn to implement strategies that directly intervene in causal factors for those individuals who are at elevated risk; and (4) community-based professionals learn to monitor and assess an individual’s risk for violent behaviors on an ongoing basis. Community-based multidisciplinary response teams have the potential to identify and help persons in the pre-criminal space and to reduce barriers that have traditionally impeded community/law-enforcement collaboration.

  6. Multi-agent system for target-adaptive radar tracking

    Science.gov (United States)

    O'Connor, Alan C.

    2012-06-01

    Sensor systems such as distributed sensor networks and radar systems are potentially agile - they have parameters that can be adjusted in real-time to improve the quality of data obtained for state-estimation and decision-making. The integration of such sensors with cyber systems involving many users or agents permits greater flexibility in choosing measurement actions. This paper considers the problem of selecting radar waveforms to minimize uncertainty about the state of a tracked target. Past work gave a tractable method for optimizing the choice of measurements when an accurate dynamical model is available. However, prior knowledge about a system is often not precise, for example, if the target under observation is an adversary. A multiple agent system is proposed to solve the problem in the case of uncertain target dynamics. Each agent has a different target model and the agents compete to explain past data and select the parameters of future measurements. Collaboration or competition between these agents determines which obtains access to the limited physical sensing resources. This interaction produces a self-aware sensor that adapts to changing information requirements.

  7. Graph theoretic framework based cooperative control and estimation of multiple UAVs for target tracking

    Science.gov (United States)

    Ahmed, Mousumi

    Designing the control technique for nonlinear dynamic systems is a significant challenge. Approaches to designing a nonlinear controller are studied and an extensive study on backstepping based technique is performed in this research with the purpose of tracking a moving target autonomously. Our main motivation is to explore the controller for cooperative and coordinating unmanned vehicles in a target tracking application. To start with, a general theoretical framework for target tracking is studied and a controller in three dimensional environment for a single UAV is designed. This research is primarily focused on finding a generalized method which can be applied to track almost any reference trajectory. The backstepping technique is employed to derive the controller for a simplified UAV kinematic model. This controller can compute three autopilot modes i.e. velocity, ground heading (or course angle), and flight path angle for tracking the unmanned vehicle. Numerical implementation is performed in MATLAB with the assumption of having perfect and full state information of the target to investigate the accuracy of the proposed controller. This controller is then frozen for the multi-vehicle problem. Distributed or decentralized cooperative control is discussed in the context of multi-agent systems. A consensus based cooperative control is studied; such consensus based control problem can be viewed from the algebraic graph theory concepts. The communication structure between the UAVs is represented by the dynamic graph where UAVs are represented by the nodes and the communication links are represented by the edges. The previously designed controller is augmented to account for the group to obtain consensus based on their communication. A theoretical development of the controller for the cooperative group of UAVs is presented and the simulation results for different communication topologies are shown. This research also investigates the cases where the communication

  8. SAR moving target imaging using sparse and low-rank decomposition

    Science.gov (United States)

    Ni, Kang-Yu; Rao, Shankar

    2014-05-01

    We propose a method to image a complex scene with spotlight synthetic aperture radar (SAR) despite the presence of multiple moving targets. Many recent methods use sparsity-based reconstruction coupled with phase error corrections of moving targets to reconstruct stationary scenes. However, these methods rely on the assumption that the scene itself is sparse and thus unfortunately cannot handle realistic SAR scenarios with complex backgrounds consisting of more than just a few point targets. Our method makes use of sparse and low-rank (SLR) matrix decomposition, an efficient method for decomposing a low-rank matrix and sparse matrix from their sum. For detecting the moving targets and reconstructing the stationary background, SLR uses a convex optimization model that penalizes the nuclear norm of the low rank background structure and the L1 norm of the sparse moving targets. We propose an L1-norm regularization reconstruction method to form the input data matrix, which is grossly corrupted by the moving targets. Each column of the input matrix is a reconstructed SAR image with measurements from a small number of azimuth angles. The use of the L1-norm regularization and a sparse transform permits us to reconstruct the scene with significantly fewer measurements so that moving targets are approximately stationary. We demonstrate our SLR-based approach using simulations adapted from the GOTCHA Volumetric SAR data set. These simulations show that SLR can accurately image multiple moving targets with different individual motions in complex scenes where methods that assume a sparse scene would fail.

  9. Approach for moving small target detection in infrared image sequence based on reinforcement learning

    Science.gov (United States)

    Wang, Chuanyun; Qin, Shiyin

    2016-09-01

    Addressing the problems of moving small target detection in infrared image sequence caused by background clutter and target size variation with time, an approach for moving small target detection is proposed under a pipeline framework with an optimization strategy based on reinforcement learning. The pipeline framework is composed by pipeline establishment, target-background images separation, and target confirmation, in which the pipeline is established by designating several successive images with temporal sliding window, target-background images separation is dealt with low-rank and sparse matrix decomposition via robust principal component analysis, and target confirmation is achieved by employing a voting mechanism over more than one separated target images of the same input image. For unremitting optimization of target-background images separation, the weighting parameter of low-rank and sparse matrix decomposition is dynamically regulated by the way of reinforcement learning in consecutive detection, in which the complexity evaluation from sequential infrared images and results assessment of moving small target detection are integrated. The experiment results over four infrared small target image sequences with different cloudy sky backgrounds demonstrate the effectiveness and advantages of the proposed approach in both background clutter suppression and small target detection.

  10. Energy-balanced multiple-sensor collaborative scheduling for maneuvering target tracking in wireless sensor networks

    Institute of Scientific and Technical Information of China (English)

    2011-01-01

    An energy-balanced multiple-sensor collaborative scheduling is proposed for maneuvering target tracking in wireless sensor networks (WSNs). According to the position of the maneuvering target, some sensor nodes in WSNs are awakened to form a sensor cluster for target tracking collaboratively. In the cluster, the cluster head node is selected to implement tracking task with changed sampling interval. The distributed interactive multiple model (IMM) filter is employed to estimate the target state. The estimat...

  11. A moving mesh interface tracking method for simulation of liquid-liquid systems

    Science.gov (United States)

    Charin, A. H. L. M.; Tuković, Ž.; Jasak, H.; Silva, L. F. L. R.; Lage, P. L. C.

    2017-04-01

    This manuscript presents a moving mesh interface tracking procedure, with a novel treatment for phase coupling. The new coupling strategy allows accurate predictions for the interface behaviour in a wide range of macroscopic properties with great potential to explore liquid-liquid systems. In this approach, governing equations are applied to each phase individually while the interface is represented by a zero-thickness surface that contemplates inter-phase jumps. These equations are described in an arbitrary Lagrangian-Eulerian finite volume framework. Computations consider the pressure-corrector PISO method. The new treatment for phase coupling incorporates the interfacial jump updates within the pressure/velocity calculations. Additionally, cell-centred values from both phases are considered when calculating convective and diffusive terms at the interface. The employment of GGI (Generalized Grid-Interface) interpolation provides conservative data mapping between surfaces for non-conformal meshes. The prediction capability of the new formulation is evaluated under different dominant effects governing interface motion. Simulated cases include gravity and capillary waves in a sloshing tank, three-dimensional drop oscillation for liquid-liquid systems and drop deformation due to shear flow. The numerical results show good agreement with analytical transient profiles of interface position. The procedure is able to successfully represent systems with similar macroscopic properties, i.e. density and viscosity ratios approaching unity, and a broad range of interfacial tensions.

  12. Modeling and simulation of adaptive multimodal optical sensors for target tracking in the visible to near infrared

    Science.gov (United States)

    Presnar, Michael D.

    This work investigates an integrated aerial remote sensor design approach to address moving target detection and tracking problems within highly cluttered, dynamic ground-based scenes. Sophisticated simulation methodologies and scene phenomenology validations have resulted in advancements in artificial multimodal truth video synthesis. Complex modeling of novel micro-opto-electro-mechanical systems (MOEMS) devices, optical systems, and detector arrays has resulted in a proof of concept for a state-of-the-art imaging spectropolarimeter sensor model that does not suffer from typical multimodal image registration problems. Test methodology developed for this work provides the ability to quantify performance of a target tracking application with varying ground scenery, flight characteristics, or sensor specifications. The culmination of this research is an end-to-end simulated demonstration of multimodal aerial remote sensing and target tracking. Deeply hidden target recognition is shown to be enhanced through the fusing of panchromatic, hyperspectral, and polarimetric image modalities. The Digital Imaging and Remote Sensing Image Generation model was leveraged to synthesize truth spectropolarimetric sensor-reaching radiance image cubes comprised of coregistered Stokes vector bands in the visible to near-infrared. An intricate synthetic urban scene containing numerous moving vehicular targets was imaged from a virtual sensor aboard an aerial platform encircling a stare point. An adaptive sensor model was designed with a superpixel array of MOEMS devices fabricated atop a division of focal plane detector. Degree of linear polarization (DoLP) imagery is acquired by combining three adjacent micropolarizer outputs within each 2x2 superpixel whose respective transmissions vary with wavelength, relative angle of polarization, and wire-grid spacing. A novel micromirror within each superpixel adaptively relays light between a panchromatic imaging channel and a hyperspectral

  13. Moving scanning emitter tracking by a single observer using time of interception: Observability analysis and algorithm

    Directory of Open Access Journals (Sweden)

    Yifei ZHANG

    2017-06-01

    Full Text Available The target motion analysis (TMA for a moving scanning emitter with known fixed scan rate by a single observer using the time of interception (TOI measurements only is investigated in this paper. By transforming the TOI of multiple scan cycles into the direction difference of arrival (DDOA model, the observability analysis for the TMA problem is performed. Some necessary conditions for uniquely identifying the scanning emitter trajectory are obtained. This paper also proposes a weighted instrumental variable (WIV estimator for the scanning emitter TMA, which does not require any initial solution guess and is closed-form and computationally attractive. More importantly, simulations show that the proposed algorithm can provide estimation mean square error close to the Cramer-Rao lower bound (CRLB at moderate noise levels with significantly lower estimation bias than the conventional pseudo-linear least square (PLS estimator.

  14. SAR Ground Moving Target Indication Based on Relative Residue of DPCA Processing.

    Science.gov (United States)

    Xu, Jia; Huang, Zuzhen; Yan, Liang; Zhou, Xu; Zhang, Furu; Long, Teng

    2016-10-12

    For modern synthetic aperture radar (SAR), it has much more urgent demands on ground moving target indication (GMTI), which includes not only the point moving targets like cars, truck or tanks but also the distributed moving targets like river or ocean surfaces. Among the existing GMTI methods, displaced phase center antenna (DPCA) can effectively cancel the strong ground clutter and has been widely used. However, its detection performance is closely related to the target's signal-to-clutter ratio (SCR) as well as radial velocity, and it cannot effectively detect the weak large-sized river surfaces in strong ground clutter due to their low SCR caused by specular scattering. This paper proposes a novel method called relative residue of DPCA (RR-DPCA), which jointly utilizes the DPCA cancellation outputs and the multi-look images to improve the detection performance of weak river surfaces. Furthermore, based on the statistics analysis of the RR-DPCA outputs on the homogenous background, the cell average (CA) method can be well applied for subsequent constant false alarm rate (CFAR) detection. The proposed RR-DPCA method can well detect the point moving targets and distributed moving targets simultaneously. Finally, the results of both simulated and real data are provided to demonstrate the effectiveness of the proposed SAR/GMTI method.

  15. High-resolution Sparse Representation and Its Applications in Radar Moving Target Detection

    Directory of Open Access Journals (Sweden)

    Chen Xiaolong

    2017-06-01

    Full Text Available To address difficulties in radar signal processing, the effective and efficient detection of lowobservable moving targets in complex environments is an ongoing research hotspot. On the one hand, a signal may be extremely weak due to strong clutter and the complex motion of a target, making it hard to separate them in the time and frequency domains. On the other hand, complex coherent integration methods and the heavy computational burden of long-time integration represent challenges for improving radar detection performance with limited resources. High-resolution sparse representation can separate clutter from a moving target with respect to signal sparsity, and can be regarded as an extension of traditional transform-based moving target detection methods. This method has promising application prospects due to the advantages of its high time-frequency resolution, anti-noise property, robustness, and suitability for the analysis of multi-signals. In this paper, we systematically review conventional radar moving target detection methods. Then, we summarize their applications, including sparse representation in clutter property analysis, suppression, moving target detection, signature extraction, and time-frequency analysis. Next, we consider future developments. Finally, we provide some results based on real datasets and existing research.

  16. Performance Enhancement of Underwater Target Tracking by Fusing Data of Array of Global Positioning System Sonobuoys

    Directory of Open Access Journals (Sweden)

    Ahmed El-Shafie

    2009-01-01

    Full Text Available Problem statement: An accurate knowledge of geographic positions of sonobuoys is critical for the conduct of antisubmarine warfare operations and detected target localization. Deployed from an airborne platform or a surface vessel, arrays of sonobuoys could be used to efficiently track and localize submarines. Lastly, some sonobuoys were being equipped with GPS for improving system accuracy and potentially allowing networked Sonobuoy positioning. However, the computation of the range using the propagation loss profile and the data of one sonobuoy usually leads to inaccurate target localization due to several effects and uncertainties. It was, alternatively, reported that if the target is within the detection rage of two or more sonobuoys, greatly improved target localization can be achieved. Approach: Aim of this research was to investigate the feasibility of fusing data from a distributed field of GPS sonobuoys to create an Artificial Intelligence (AI based model for the error of the range computation in case of the target being detected by only one sonobuoy. Proposed module was designed utilizing Adaptive Neuron-Fuzzy Inference Systems (ANFIS to estimate the range error associated with the computation using the propagation loss profile when the target is within the detection range of only one sonobuoy. The architecture of the proposed ANFIS system had two unique features. First was the real-time cross-validation applied during the update (training procedure of the ANFIS-based module while the target was detected by two sonobuoys and the range was computed. Second feature was the use of non-overlapping and moving window for the real-time implementation of the ANFIS-based data fusion module. Results: Performance of the proposed system was examined with simulation data considering different scenarios for both the array of GPS sonobuoys and the target. Results showed that the corrected positioning by one sonobuoy is completely following the

  17. Auto Target Tracking Robot Design Based on Smartphone

    Directory of Open Access Journals (Sweden)

    Shuen De Wu

    2016-03-01

    Full Text Available This paper describes a robot tracking control design based on a smartphone using a commercial microprocessor. The system hardware consists of four major parts: an Android smartphone with an embedded camera, a Microchip microprocessor, a motor driver circuit and an Attacknid robot. First, an image of the surrounding environment is captured by the high definition camera embedded in the smartphone. The target is then recognized from the image using an algorithm developed in Android OS and OpenCV library. Third, motion control and laser activation strategies are achieved using the proposed algorithm implemented in Java. Fourth, the motion commands are delivered to the microchip processor through a USB interface. Finally, the processor produces a pulse width modulation (PWM voltage to control the robot’s motion and activate the laser diode according commands sent from the smart phone. Experimental results demonstrate the feasibility of this proposed architecture.

  18. Real-time Non-linear Target Tracking Control of Wheeled Mobile Robots

    Institute of Scientific and Technical Information of China (English)

    YU Wenyong

    2006-01-01

    A control strategy for real-time target tracking for wheeled mobile robots is presented. Using a modified Kalman filter for environment perception, a novel tracking control law derived from Lyapunov stability theory is introduced. Tuning of linear velocity and angular velocity with mechanical constraints is applied. The proposed control system can simultaneously solve the target trajectory prediction, real-time tracking, and posture regulation problems of a wheeled mobile robot. Experimental results illustrate the effectiveness of the proposed tracking control laws.

  19. Target tracking by distributed autonomous vessels using the derivative-free nonlinear Kalman filter

    Science.gov (United States)

    Rigatos, Gerasimos; Siano, Pierluigi; Raffo, Guilerme

    2015-12-01

    In this paper a distributed control problem for unmanned surface vessels (USVs) is formulated as follows: there are N USVs which pursue another vessel (moving target). At each time instant each USV can obtain measurements of the target's cartesian coordinates. The objective is to make the USVs converge in a synchronized manner towards the target, while avoiding collisions between them and avoiding collisions with obstacles in their motion plane. A distributed control law is developed for the USVs which enables not only convergence of the USVs to the goal position, but also makes possible to maintain the cohesion of the USVs fleet. Moreover, distributed filtering is performed, so as to obtain an estimate of the target vessel's state vector. This provides the desirable state vector to be tracked by each one of the USVs. To this end, a new distributed nonlinear filtering method of improved accuracy and computation speed is introduced. This filtering approach, under the name Derivative-free distributed nonlinear Kalman Filter is based on differential flatness theory and on an exact linearization of the target vessel's dynamic/kinematic model.

  20. Cooperative enclosing control for multiple moving targets by a group of agents

    Science.gov (United States)

    Shi, Y. J.; Li, R.; Teo, K. L.

    2015-01-01

    In this paper, the enclosing control problem of second-order multi-agent systems is considered, where the targets can be either stationary or moving. The objective is to achieve an equidistant circular formation for a group of agents to enclose a team of targets. In order to do so, we first introduce a formal definition explaining certain basic properties of the exploring relation between the agents and the targets. We then construct the estimator of the centre of the targets, which is used to build the control protocol to achieve equidistant circular enclosing. Using a Lyapunov function and Lasalle's Invariance Principle, the convergency of the estimator and control protocol are, respectively, established. We then construct a smooth function to approximate the discontinuous term in the estimator. Finally, the simulations for stationary targets and moving targets are given to verify the validity of the results obtained.

  1. SAR Ground Moving Target Indication Based on Relative Residue of DPCA Processing

    Directory of Open Access Journals (Sweden)

    Jia Xu

    2016-10-01

    Full Text Available For modern synthetic aperture radar (SAR, it has much more urgent demands on ground moving target indication (GMTI, which includes not only the point moving targets like cars, truck or tanks but also the distributed moving targets like river or ocean surfaces. Among the existing GMTI methods, displaced phase center antenna (DPCA can effectively cancel the strong ground clutter and has been widely used. However, its detection performance is closely related to the target’s signal-to-clutter ratio (SCR as well as radial velocity, and it cannot effectively detect the weak large-sized river surfaces in strong ground clutter due to their low SCR caused by specular scattering. This paper proposes a novel method called relative residue of DPCA (RR-DPCA, which jointly utilizes the DPCA cancellation outputs and the multi-look images to improve the detection performance of weak river surfaces. Furthermore, based on the statistics analysis of the RR-DPCA outputs on the homogenous background, the cell average (CA method can be well applied for subsequent constant false alarm rate (CFAR detection. The proposed RR-DPCA method can well detect the point moving targets and distributed moving targets simultaneously. Finally, the results of both simulated and real data are provided to demonstrate the effectiveness of the proposed SAR/GMTI method.

  2. Kinematic property of target motion conditions gaze behavior and eye-hand synergy during manual tracking.

    Science.gov (United States)

    Huang, Chien-Ting; Hwang, Ing-Shiou

    2013-12-01

    This study investigated how frequency demand and motion feedback influenced composite ocular movements and eye-hand synergy during manual tracking. Fourteen volunteers conducted slow and fast force-tracking in which targets were displayed in either line-mode or wave-mode to guide manual tracking with target movement of direct position or velocity nature. The results showed that eye-hand synergy was a selective response of spatiotemporal coupling conditional on target rate and feedback mode. Slow and line-mode tracking exhibited stronger eye-hand coupling than fast and wave-mode tracking. Both eye movement and manual action led the target signal during fast-tracking, while the latency of ocular navigation during slow-tracking depended on the feedback mode. Slow-tracking resulted in more saccadic responses and larger pursuit gains than fast-tracking. Line-mode tracking led to larger pursuit gains but fewer and shorter gaze fixations than wave-mode tracking. During slow-tracking, incidences of saccade and gaze fixation fluctuated across a target cycle, peaking at velocity maximum and the maximal curvature of target displacement, respectively. For line-mode tracking, the incidence of smooth pursuit was phase-dependent, peaking at velocity maximum as well. Manual behavior of slow or line-mode tracking was better predicted by composite eye movements than that of fast or wave-mode tracking. In conclusion, manual tracking relied on versatile visual strategies to perceive target movements of different kinematic properties, which suggested a flexible coordinative control for the ocular and manual sensorimotor systems. Copyright © 2013 Elsevier B.V. All rights reserved.

  3. The Research and Application of Visual Saliency and Adaptive Support Vector Machine in Target Tracking Field

    Directory of Open Access Journals (Sweden)

    Yuantao Chen

    2013-01-01

    Full Text Available The efficient target tracking algorithm researches have become current research focus of intelligent robots. The main problems of target tracking process in mobile robot face environmental uncertainty. They are very difficult to estimate the target states, illumination change, target shape changes, complex backgrounds, and other factors and all affect the occlusion in tracking robustness. To further improve the target tracking’s accuracy and reliability, we present a novel target tracking algorithm to use visual saliency and adaptive support vector machine (ASVM. Furthermore, the paper’s algorithm has been based on the mixture saliency of image features. These features include color, brightness, and sport feature. The execution process used visual saliency features and those common characteristics have been expressed as the target’s saliency. Numerous experiments demonstrate the effectiveness and timeliness of the proposed target tracking algorithm in video sequences where the target objects undergo large changes in pose, scale, and illumination.

  4. Accuracy analysis of a mobile tracking system for angular position determination of flying targets

    Science.gov (United States)

    Walther, Andreas; Buske, Ivo; Riede, Wolfgang

    2016-10-01

    Lasers arouse an increasing interest in remote sensing applications. In order to deliver as much as possible of the available laser power onto a flying object the subsystems of a beam control system have to operate precisely together. One important subsystem is responsible for determination of the target's angular position. Here, we focus on an optical system for measuring precisely the angular position of flying objects. We designed this subunit of a beam control system exclusively from readily available commercial-off-the-shelf components. Two industrial cameras were used for angle measuring and for guiding the system to the position of the flying object. Both cameras are mounted on a modified astronomical mount with high-precision angle encoders. To achieve a high accuracy we temporally synchronize the acquisition of the angle from the pan tilt unit with the exposure of the camera. Therefore, a FPGA-based readout device for the rotary encoders was designed and implemented. Additionally, we determined and evaluated the influence of the distortion of the lenses to the measurement. We investigated various scenarios to determine the accuracy and the limitations of our system for angular position determination of flying targets. Performance tests were taken indoor and outdoor at our test sites. A target can be mounted on a fast moving linear stage. The position of this linear stage is continuously read out by a high resolution encoder so we know the target's position with a dynamic accuracy in the range of a few μm. With this setup we evaluated the spatial resolution of our tracking system. We showed that the presented system can determine the angular position of fast flying objects with an uncertainty of only 2 μrad RMS. With this mobile tracking system for angular position determination of flying targets we designed an accurate cost-efficient opportunity for further developments.

  5. Sensor management for multiple target tracking with heterogeneous sensor models

    Science.gov (United States)

    Williams, Jason L.; Fisher, John W., III; Willsky, Alan S.

    2006-05-01

    Modern sensors are able to rapidly change mode of operation and steer between physically separated objects. While control of such sensors over a rolling planning horizon can be formulated as a dynamic program, the optimal solution is inevitably intractable. In this paper, we consider the control problem under a restricted family of policies and show that the essential sensor control trade-offs are still captured. The advantage of this approach is that one can obtain the optimal policy within the restricted class in a tractable fashion, in this case by using the auction algorithm. The approach is well-suited for problems in which a single sensor (or group of sensors) is being used to track many targets using a heterogeneous sensor model, i.e., where the quality of observations varies with object state, such as due to obscuration. Our algorithm efficiently weighs the rewards achievable by observing each target at each time to find the best sensor plan within the restricted set. We extend this approach using a roll-out algorithm, to handle additional cases such as when observations take different amounts of time to complete.

  6. SMALL TARGET TRACKING TECHNIQUE WITH DATA FUSION OF DISTRIBUTED SENSOR NET

    Institute of Scientific and Technical Information of China (English)

    1998-01-01

    A method is derived to fuse the data of small target.Considering small target detection is always at the cost of a dense clutters because of the low detection threshold, this method includes track initiation for the case of small target in clutter and modified joint probabilistic data association and tracking algorithm.Special attention is paid to track initiation with Hough Tranform for the association algorithm.Simulation test and results are also given in the paper.

  7. Research on Aerospace Cooperative Continuation Observation Strategy for Maritime Moving Target

    Directory of Open Access Journals (Sweden)

    LiangXingxing

    2016-01-01

    Full Text Available Maritime moving targets continuation observation has important implications to maintain the safety of the navigation barrier. Existing methods either rely on satellite observations, or only rely on UAV observations. Even though the two cooperative observations, it confined to a simple task allocation. They did not solve the problem of maritime moving targets continuation observation. On the basis of difference between satellites observation and UAV observation, we constructed the aerospace collaborative continuation observation model for maritime moving target, and put forward aerospace collaborative continuation observation strategy (ACCOS to reduce the complexity of solving the model. According to the spatial and temporal characteristics of the task, ACCOS extracted five sub problems to solve the model: Satellite planning, UAV flight plan, UAV observation sequence, target potential area and distribution probability density prediction, UAV path planning. In order to realize the optimization goal of the model, the five sub problems are modelled and solved in turn. Finally, the simulation results show that the proposed method can greatly reduce the average observation period of the target, and effectively solve the problem of the continuous observation of maritime moving target.

  8. Ground moving target signal model and power calculation in forward scattering micro radar

    Institute of Scientific and Technical Information of China (English)

    LONG Teng; HU Cheng; MIKHAIL Cherniakov

    2009-01-01

    Forward scattering micro radar is used for situation awareness;its operational range is relatively short because of the battery power and local horizon,the free space propagation model is not appropriate.The ground moving targets,such as humans,cars and tanks,have only comparable size with the transmitted signal wavelength;the point target model and the linear change of observation angle are not applicable.In this paper,the signal model of ground moving target is developed based on the case of forward scattering micro radar,considering the two-ray propagation model and area target model,and nonlinear change of observation angle as well as high order phase error.Furthermore,the analytical form of the received power from moving target has been obtained.Using the simulated forward scattering radar cross section,the received power of theoretical calculation is near to that of measured data.In addition,the simulated signal model of ground moving target is perfectly matched with the experimented data.All these results show the correctness of analytical calculation completely.

  9. SURVEILLANCE OF MOVING TARGET BEHIND PARTITIONS USING A UWB-TWDR

    Institute of Scientific and Technical Information of China (English)

    Li Yu; Huang Chunlin; Su Yi

    2005-01-01

    This paper firstly analyzes the property of the low frequency electromagnetic wave,which can penetrate many types of non-metallic materials, and the ability of Ultra-Wide Band (UWB) impulse signal which has high range resolution. Then the methods are discussed for conducting surveillance through walls, detecting and locating the moving persons behind the partitions. The schematic diagram of Through-Wall Detecting Radar (TWDR) and the models of moving target are shown and the principle of detecting the moving target is also proyided with coherent superimposing technique on a range gate. Finally an algorithm for estimating the location of targets is given. The performance of TWDR is validated by the experiments of penetrating a wood block, a red brick wall and a reinforced concrete wall.

  10. Theory of Waveform-Diverse Moving-Target Spotlight Synthetic-Aperture Radar

    CERN Document Server

    Cheney, Margaret

    2011-01-01

    We develop a theory for waveform-diverse moving-target synthetic-aperture radar, in the case in which a single moving antenna is used for both transmitting and receiving. We assume that the targets (scattering objects) are moving linearly, but we allow an arbitrary, known flight path for the antenna and allow it to transmit a sequence of arbitrary, known waveforms. A formula for phase space (position and velocity) imaging is developed, and we provide a formula for the point-spread function of the corresponding imaging system. This point-spread function is expressed in terms of the ordinary radar ambiguity function. As an example, we show how the theory can be applied to the problem of estimating the errors that arise when target and antenna motion is neglected during the transit time of each pulse.

  11. Moving Target Parameters Estimation in Non-Coherent MIMO Radar Systems

    CERN Document Server

    Hassanien, Aboulnasr; Gershman, Alex B

    2012-01-01

    The problem of estimating the parameters of a moving target in multiple-input multiple-output (MIMO) radar is considered and a new approach for estimating the moving target parameters by making use of the phase information associated with each transmit-receive path is introduced. It is required for this technique that different receive antennas have the same time reference, but no synchronization of initial phases of the receive antennas is needed and, therefore, the estimation process is non-coherent. We model the target motion within a certain processing interval as a polynomial of general order. The first three coefficients of such a polynomial correspond to the initial location, velocity, and acceleration of the target, respectively. A new maximum likelihood (ML) technique for estimating the target motion coefficients is developed. It is shown that the considered ML problem can be interpreted as the classic "overdetermined" nonlinear least-squares problem. The proposed ML estimator requires multi-dimensio...

  12. Technical Note: Motion-perturbation method applied to dosimetry of dynamic MLC target tracking--A proof-of-concept.

    Science.gov (United States)

    Feygelman, Vladimir; Tonner, Brian; Stambaugh, Cassandra; Hunt, Dylan; Zhang, Geoffrey; Moros, Eduardo; Nelms, Benjamin E

    2015-11-01

    Previous studies show that dose to a moving target can be estimated using 4D measurement-guided dose reconstruction based on a process called virtual motion simulation, or VMS. A potential extension of VMS is to estimate dose during dynamic multileaf collimator (MLC)-tracking treatments. The authors introduce a modified VMS method and quantify its performance as proof-of-concept for tracking applications. Direct measurements with a moving biplanar diode array were used to verify accuracy of the VMS dose estimates. A tracking environment for variably sized circular MLC apertures was simulated by sending preprogrammed control points to the MLC while simultaneously moving the accelerator treatment table. Sensitivity of the method to simulated tracking latency (0-700 ms) was also studied. Potential applicability of VMS to fast changing beam apertures was evaluated by modeling, based on the demonstrated dependence of the cumulative dose on the temporal dose gradient. When physical and virtual latencies were matched, the agreement rates (2% global/2 mm gamma) between the VMS and the biplanar dosimeter were above 96%. When compared to their own reference dose (0 induced latency), the agreement rates for VMS and biplanar array track closely up to 200 ms of induced latency with 10% low-dose cutoff threshold and 300 ms with 50% cutoff. Time-resolved measurements suggest that even in the modulated beams, the error in the cumulative dose introduced by the 200 ms VMS time resolution is not likely to exceed 0.5%. Based on current results and prior benchmarks of VMS accuracy, the authors postulate that this approach should be applicable to any MLC-tracking treatments where leaf speeds do not exceed those of the current Varian accelerators.

  13. Wideband Radar Echo Frequency-domain Simulation and Analysis for High Speed Moving Targets

    Directory of Open Access Journals (Sweden)

    Ning Chao

    2014-04-01

    Full Text Available A frequency-domain method is proposed for wideband radar echo simulation of high-speed moving targets. Based on the physical process of electromagnetic waves observing a moving target, a frequency-domain echo model of wideband radar is constructed, and the block diagram of the radar echo simulation in frequency-domain is presented. Then, the impacts of radial velocity and slant range on the matching filtering of LFM radar are analyzed, and some quantitative conclusions on the shift and expansion of the radar profiles are obtained. Simulation results illustrate the correctness and efficiency of the proposed method.

  14. MONO-PULSE RADAR 3-D IMAGING TECHNIQUES FOR TARGET IN STEPPED TRACKING MODE

    Institute of Scientific and Technical Information of China (English)

    Zhang Tao; Ma Changzheng; Zhang Qun; Zhang Shouhong

    2002-01-01

    A method for mono-pulse radar 3-D imaging in stepped tracking mode is presented and the amplitude linear modulation of error signals in stepped tracking mode is analyzed with its compensation method followed, so the problem of precisely tracking of target is solved. Finally the validity of these methods is proven by the simulation results.

  15. MONO-PULSE RADAR 3-D IMAGING TECHNIQUES FOR TARGET IN STEPPED TRACKING MODE

    Institute of Scientific and Technical Information of China (English)

    2002-01-01

    A method for mono-pulse radar 3-D imaging in stepped tracking mode is presented and the amplitude linear modulation of error signals in stepped tracking mode is analyzed with its compensation method followes,so the problem of precisely tracking of target is solved.Finally the validity of these methods is proven by the simulation results.

  16. A Bayesian solution to multi-target tracking problems with mixed labelling

    NARCIS (Netherlands)

    Aoki, E.H.; Boers, Y.; Svensson, Lennart; Mandal, Pranab K.; Bagchi, Arunabha

    In Multi-Target Tracking (MTT), the problem of assigning labels to tracks (track labelling) is vastly covered in literature and has been previously formulated using Bayesian recursion. However, the existing literature lacks an appropriate measure of uncertainty related to the assigned labels which

  17. Distributed Cooperative Search Control Method of Multiple UAVs for Moving Target

    Directory of Open Access Journals (Sweden)

    Chang-jian Ru

    2015-01-01

    Full Text Available To reduce the impact of uncertainties caused by unknown motion parameters on searching plan of moving targets and improve the efficiency of UAV’s searching, a novel distributed Multi-UAVs cooperative search control method for moving target is proposed in this paper. Based on detection results of onboard sensors, target probability map is updated using Bayesian theory. A Gaussian distribution of target transition probability density function is introduced to calculate prediction probability of moving target existence, and then target probability map can be further updated in real-time. A performance index function combining with target cost, environment cost, and cooperative cost is constructed, and the cooperative searching problem can be transformed into a central optimization problem. To improve computational efficiency, the distributed model predictive control method is presented, and thus the control command of each UAV can be obtained. The simulation results have verified that the proposed method can avoid the blindness of UAV searching better and improve overall efficiency of the team effectively.

  18. Automatic target recognition of moving target based on empirical mode decomposition and genetic algorithm support vector machine

    Institute of Scientific and Technical Information of China (English)

    张军; 欧建平; 占荣辉

    2015-01-01

    In order to improve measurement accuracy of moving target signals, an automatic target recognition model of moving target signals was established based on empirical mode decomposition (EMD) and support vector machine (SVM). Automatic target recognition process on the nonlinear and non-stationary of Doppler signals of military target by using automatic target recognition model can be expressed as follows. Firstly, the nonlinearity and non-stationary of Doppler signals were decomposed into a set of intrinsic mode functions (IMFs) using EMD. After the Hilbert transform of IMF, the energy ratio of each IMF to the total IMFs can be extracted as the features of military target. Then, the SVM was trained through using the energy ratio to classify the military targets, and genetic algorithm (GA) was used to optimize SVM parameters in the solution space. The experimental results show that this algorithm can achieve the recognition accuracies of 86.15%, 87.93%, and 82.28%for tank, vehicle and soldier, respectively.

  19. Detecting slowly moving infrared targets using temporal filtering and association strategy

    Institute of Scientific and Technical Information of China (English)

    Jing-li GAO; Cheng-lin WEN; Zhe-jing BAO; Mei-qin LIU

    2016-01-01

    The special characteristics of slowly moving infrared targets, such as containing only a few pixels, shapeless edge, low signal-to-clutter ratio, and low speed, make their detection rather difficult, especially when immersed in complex backgrounds. To cope with this problem, we propose an effective infrared target detection algorithm based on temporal target detection and association strategy. First, a temporal target detection model is developed to segment the interested targets. This model contains mainly three stages, i.e., temporal fi ltering, temporal target fusion, and cross-product fi ltering. Then a graph matching model is presented to associate the targets obtained at different times. The association relies on the motion characteristics and appearance of targets, and the association operation is performed many times to form continuous trajectories which can be used to help disambiguate targets from false alarms caused by random noise or clutter. Experimental results show that the proposed method can detect slowly moving infrared targets in complex backgrounds accurately and robustly, and has superior detection performance in comparison with several recent methods.

  20. Tracking a Time-Varying Number of Targets with Radio-Frequency Tomography

    Institute of Scientific and Technical Information of China (English)

    Xiao He肖贺; Liu Hang刘航; Xu Jun徐俊; Men Aidong门爱东

    2015-01-01

    Radio-frequency (RF) tomography is an emerging technology which derives targets location informa-tion by analyzing the changes of received signal strength (RSS) in wireless links. This paper presents and evaluates a novel RF tomography system which is capable of detecting and tracking a time-varying number of targets in a cluttered indoor environment. The system incorporates an observation model based on RSS attenuation histogram and a multi-target tracking-by-detection filtering approach based on probability hypothesis density (PHD) filter. In addition, the sequential Monte Carlo method is applied to implement the multi-target filtering. To evaluate the tracking system, the experiments involving up to 3 targets were performed within an obstructed indoor area of 70 m2. The experimental results indicate that the proposed tracking system is capable of tracking a time-varying num-ber of targets.

  1. Moving Target Focusing with Normalized Relative Speed in Azimuth-Invarian Bistatic Sar

    OpenAIRE

    Vu, Viet Thuy; Sjögren, Thomas; Pettersson, Mats

    2013-01-01

    Focusing moving targets with Normalized Relative Speed (NRS) for bistatic synthetic aperture radar (SAR) is discussed in this paper. The discussion concentrates on azimuth invariant bistatic geometry. The focusing approach for azimuth-invariant bistatic geometry is derived analytically. The validity of the proposed approach for other bistatic geometry like azimuth-variant is also investigated.

  2. Technology on the Move: Recent and Forthcoming Innovations for Tracking Migratory Birds

    DEFF Research Database (Denmark)

    Bridge, Eli S.; Thorup, Kasper; Bowlin, Melissa S.

    2011-01-01

    animals as they travel over continental-scale distances is a difficult logistical and engineering challenge. Although no tracking system works well with all species, improvements to traditional technologies, such as satellite tracking, along with innovations related to global positioning systems, cellular...

  3. Ground moving target geo-location from monocular camera mounted on a micro air vehicle

    Science.gov (United States)

    Guo, Li; Ang, Haisong; Zheng, Xiangming

    2011-08-01

    The usual approaches to unmanned air vehicle(UAV)-to-ground target geo-location impose some severe constraints to the system, such as stationary objects, accurate geo-reference terrain database, or ground plane assumption. Micro air vehicle(MAV) works with characteristics including low altitude flight, limited payload and onboard sensors' low accuracy. According to these characteristics, a method is developed to determine the location of ground moving target which imaged from the air using monocular camera equipped on MAV. This method eliminates the requirements for terrain database (elevation maps) and altimeters that can provide MAV's and target's altitude. Instead, the proposed method only requires MAV flight status provided by its inherent onboard navigation system which includes inertial measurement unit(IMU) and global position system(GPS). The key is to get accurate information on the altitude of the ground moving target. First, Optical flow method extracts background static feature points. Setting a local region around the target in the current image, The features which are on the same plane with the target in this region are extracted, and are retained as aided features. Then, inverse-velocity method calculates the location of these points by integrated with aircraft status. The altitude of object, which is calculated by using position information of these aided features, combining with aircraft status and image coordinates, geo-locate the target. Meanwhile, a framework with Bayesian estimator is employed to eliminate noise caused by camera, IMU and GPS. Firstly, an extended Kalman filter(EKF) provides a simultaneous localization and mapping solution for the estimation of aircraft states and aided features location which defines the moving target local environment. Secondly, an unscented transformation(UT) method determines the estimated mean and covariance of target location from aircraft states and aided features location, and then exports them for the

  4. Multi-target camera tracking, hand-off and display LDRD 158819 final report

    Energy Technology Data Exchange (ETDEWEB)

    Anderson, Robert J. [Sandia National Lab. (SNL-NM), Albuquerque, NM (United States)

    2014-10-01

    Modern security control rooms gather video and sensor feeds from tens to hundreds of cameras. Advanced camera analytics can detect motion from individual video streams and convert unexpected motion into alarms, but the interpretation of these alarms depends heavily upon human operators. Unfortunately, these operators can be overwhelmed when a large number of events happen simultaneously, or lulled into complacency due to frequent false alarms. This LDRD project has focused on improving video surveillance-based security systems by changing the fundamental focus from the cameras to the targets being tracked. If properly integrated, more cameras shouldn't lead to more alarms, more monitors, more operators, and increased response latency but instead should lead to better information and more rapid response times. For the course of the LDRD we have been developing algorithms that take live video imagery from multiple video cameras, identifies individual moving targets from the background imagery, and then displays the results in a single 3D interactive video. In this document we summarize the work in developing this multi-camera, multi-target system, including lessons learned, tools developed, technologies explored, and a description of current capability.

  5. Multi-Target Camera Tracking, Hand-off and Display LDRD 158819 Final Report

    Energy Technology Data Exchange (ETDEWEB)

    Anderson, Robert J. [Sandia National Lab. (SNL-NM), Albuquerque, NM (United States). Robotic and Security Systems Dept.

    2014-10-01

    Modern security control rooms gather video and sensor feeds from tens to hundreds of cameras. Advanced camera analytics can detect motion from individual video streams and convert unexpected motion into alarms, but the interpretation of these alarms depends heavily upon human operators. Unfortunately, these operators can be overwhelmed when a large number of events happen simultaneously, or lulled into complacency due to frequent false alarms. This LDRD project has focused on improving video surveillance-based security systems by changing the fundamental focus from the cameras to the targets being tracked. If properly integrated, more cameras shouldn’t lead to more alarms, more monitors, more operators, and increased response latency but instead should lead to better information and more rapid response times. For the course of the LDRD we have been developing algorithms that take live video imagery from multiple video cameras, identify individual moving targets from the background imagery, and then display the results in a single 3D interactive video. In this document we summarize the work in developing this multi-camera, multi-target system, including lessons learned, tools developed, technologies explored, and a description of current capability.

  6. Multi-Target Camera Tracking, Hand-off and Display LDRD 158819 Final Report

    Energy Technology Data Exchange (ETDEWEB)

    Anderson, Robert J. [Sandia National Lab. (SNL-NM), Albuquerque, NM (United States). Robotic and Security Systems Dept.

    2014-10-01

    Modern security control rooms gather video and sensor feeds from tens to hundreds of cameras. Advanced camera analytics can detect motion from individual video streams and convert unexpected motion into alarms, but the interpretation of these alarms depends heavily upon human operators. Unfortunately, these operators can be overwhelmed when a large number of events happen simultaneously, or lulled into complacency due to frequent false alarms. This LDRD project has focused on improving video surveillance based security systems by changing the fundamental focus from the cameras to the targets being tracked. If properly integrated, more cameras shouldn’t lead to more alarms, more monitors, more operators, and increased response latency but instead should lead to better information and more rapid response times. For the course of the LDRD we have been developing algorithms that takes live video imagery from multiple video cameras, identifies individual moving targets from the background imagery, and then displays the results in a single 3D interactive video. In this document we summarize the work in developing this multi-camera, multi-target system, including lessons learned, tools developed, technologies explored, and a description of currently capability.

  7. Multi-target camera tracking, hand-off and display LDRD 158819 final report

    Energy Technology Data Exchange (ETDEWEB)

    Anderson, Robert J. [Sandia National Lab. (SNL-NM), Albuquerque, NM (United States)

    2014-10-01

    Modern security control rooms gather video and sensor feeds from tens to hundreds of cameras. Advanced camera analytics can detect motion from individual video streams and convert unexpected motion into alarms, but the interpretation of these alarms depends heavily upon human operators. Unfortunately, these operators can be overwhelmed when a large number of events happen simultaneously, or lulled into complacency due to frequent false alarms. This LDRD project has focused on improving video surveillance-based security systems by changing the fundamental focus from the cameras to the targets being tracked. If properly integrated, more cameras shouldn't lead to more alarms, more monitors, more operators, and increased response latency but instead should lead to better information and more rapid response times. For the course of the LDRD we have been developing algorithms that takes live video imagery from multiple video cameras, identifies individual moving targets from the background imagery, and then displays the results in a single 3D interactive video. In this document we summarize the work in developing this multi-camera, multi-target system, including lessons learned, tools developed, technologies explored, and a description of currently capability.

  8. Evaluation of sonomyography (SMG) for control compared with electromyography (EMG) in a discrete target tracking task.

    Science.gov (United States)

    Guo, Jing-Yi; Zheng, Yong-Ping; Kenney, Laurence P; Xie, Hong-Bo

    2009-01-01

    Most of the commercial upper-limb externally powered prosthetic devices are controlled by electromyography (EMG) signals. We previously proposed using the real-time change of muscle thickness detected using ultrasound, namely sonomyography (SMG), for the control of prostheses. In this study, we compared the performance of subjects using 1-D SMG signal and surface EMG signal, using a discrete target tracking protocol involving a series of letter cancellation tasks. Each task involved using grip force, EMG or SMG from a wrist extensor muscle to move a cursor to one of 5 locations on a computer screen, at the first four of which were located a letter and last of which was a word of "NEXT". The target was defined by the location showing the letter "E" and, once the subject reached this target, they were instructed to "cancel" the E from the screen, using a button operated by the contralateral hand. A paired t-test revealed that the percentage of letters correctly cancelled with force/angle and SMG signal in isometric force control, and with SMG in wrist extension were significantly higher than with EMG (PEMG for prosthetic control.

  9. Tracking the Turn Maneuvering Target Using the Multi-Target Bayes Filter with an Adaptive Estimation of Turn Rate.

    Science.gov (United States)

    Liu, Zong-Xiang; Wu, De-Hui; Xie, Wei-Xin; Li, Liang-Qun

    2017-02-15

    Tracking the target that maneuvers at a variable turn rate is a challenging problem. The traditional solution for this problem is the use of the switching multiple models technique, which includes several dynamic models with different turn rates for matching the motion mode of the target at each point in time. However, the actual motion mode of a target at any time may be different from all of the dynamic models, because these models are usually limited. To address this problem, we establish a formula for estimating the turn rate of a maneuvering target. By applying the estimation method of the turn rate to the multi-target Bayes (MB) filter, we develop a MB filter with an adaptive estimation of the turn rate, in order to track multiple maneuvering targets. Simulation results indicate that the MB filter with an adaptive estimation of the turn rate, is better than the existing filter at tracking the target that maneuvers at a variable turn rate.

  10. A Comparison of Target Tracking Techniques for UAV%UAV目标跟踪算法仿真对比

    Institute of Scientific and Technical Information of China (English)

    李大健; 董阳霞; 刘慧霞; 席庆彪

    2013-01-01

    针对中小型UAV(Unmanned Aerial Vehicle)目标跟踪过程中常见的目标跟踪实时性不高,以及目标被遮挡易导致目标丢失问题展开研究.对比了目前现有的视频目标跟踪算法的优缺点,提出了一种M_APF算法,该算法是一种以随机性跟踪算法作为算法的主体框架,将确定性跟踪算法嵌入其中来降低跟踪时所需的样本数,提高算法的实时性,将其与Meanshift算法,APF算法等跟踪算法进行对比研究,仿真结果表明:M_APF算法在对UAV平台运动目标跟踪过程中实时性及鲁棒性优于Meanshift和APF等算法.%Research on the problems of real time target tracking and target occlusion in the UAV target tracking system, the development of the UAV target tracking methods is discussed. An M-APF Algorithm is proposed, which adopts the APF as the main framework of the tracking algorithm, then the Meanshift is applied to calculate the offset of a few auxiliary particle and move them to the local optimum position of the observed values. Simulation results show that the calculation cost and robustness of the M-APF is superior to Meanshift and APF algorithm, and satisfied the UAV target tracking requirements.

  11. A Combined PMHT and IMM Approach to Multiple-Point Target Tracking in Infrared Image Sequence

    Directory of Open Access Journals (Sweden)

    Mukesh A. Zaveri

    2007-09-01

    Full Text Available Data association and model selection are important factors for tracking multiple targets in a dense clutter environment. In this paper, we provide an effective solution to the tracking of multiple single-pixel maneuvering targets in a sequence of infrared images by developing an algorithm that combines a sequential probabilistic multiple hypothesis tracking (PMHT and interacting multiple model (IMM. We explicitly model maneuver as a change in the target's motion model and demonstrate its effectiveness in our tracking application discussed in this paper. We show that inclusion of IMM enables tracking of any arbitrary trajectory in a sequence of infrared images without any a priori special information about the target dynamics. IMM allows us to incorporate different dynamic models for the targets and PMHT helps to avoid the uncertainty about the observation origin. It operates in an iterative mode using expectation-maximization (EM algorithm. The proposed algorithm uses observation association as missing data.

  12. A Combined PMHT and IMM Approach to Multiple-Point Target Tracking in Infrared Image Sequence

    Directory of Open Access Journals (Sweden)

    Merchant SN

    2007-01-01

    Full Text Available Data association and model selection are important factors for tracking multiple targets in a dense clutter environment. In this paper, we provide an effective solution to the tracking of multiple single-pixel maneuvering targets in a sequence of infrared images by developing an algorithm that combines a sequential probabilistic multiple hypothesis tracking (PMHT and interacting multiple model (IMM. We explicitly model maneuver as a change in the target's motion model and demonstrate its effectiveness in our tracking application discussed in this paper. We show that inclusion of IMM enables tracking of any arbitrary trajectory in a sequence of infrared images without any a priori special information about the target dynamics. IMM allows us to incorporate different dynamic models for the targets and PMHT helps to avoid the uncertainty about the observation origin. It operates in an iterative mode using expectation-maximization (EM algorithm. The proposed algorithm uses observation association as missing data.

  13. Design of a real-time system of moving ship tracking on-board based on FPGA in remote sensing images

    Science.gov (United States)

    Yang, Tie-jun; Zhang, Shen; Zhou, Guo-qing; Jiang, Chuan-xian

    2015-12-01

    With the broad attention of countries in the areas of sea transportation and trade safety, the requirements of efficiency and accuracy of moving ship tracking are becoming higher. Therefore, a systematic design of moving ship tracking onboard based on FPGA is proposed, which uses the Adaptive Inter Frame Difference (AIFD) method to track a ship with different speed. For the Frame Difference method (FD) is simple but the amount of computation is very large, it is suitable for the use of FPGA to implement in parallel. But Frame Intervals (FIs) of the traditional FD method are fixed, and in remote sensing images, a ship looks very small (depicted by only dozens of pixels) and moves slowly. By applying invariant FIs, the accuracy of FD for moving ship tracking is not satisfactory and the calculation is highly redundant. So we use the adaptation of FD based on adaptive extraction of key frames for moving ship tracking. A FPGA development board of Xilinx Kintex-7 series is used for simulation. The experiments show that compared with the traditional FD method, the proposed one can achieve higher accuracy of moving ship tracking, and can meet the requirement of real-time tracking in high image resolution.

  14. Study on moving target detection to passive radar based on FM broadcast transmitter

    Institute of Scientific and Technical Information of China (English)

    2007-01-01

    Target detection by a noncooperative illuminator is a topic of general interest in the electronic warfare field.First of all,direct-path interference(DPI)suppression which is the technique of bottleneck of moving target detection by a noncooperative frequency modulation(FM) broadcast transmitter is analyzed in this article;Secondly,a space-time-frequency domain synthetic solution to this problem is introduced:Adaptive nulling array processing is considered in the space domain,DPI cancellation based on adaptive fractional delay interpolation(AFDI)technique is used in planned time domain,and long-time coherent integration is utilized in the frequency domain;Finally,an experimental system is planned by considering FM broadcast transmitter as a noncooperative illuminator,Simulation results by real collected data show that the proposed method has a better performance of moving target detection.

  15. Motion Compensation of Moving Targets for High Range Resolution Stepped-Frequency Radar

    Directory of Open Access Journals (Sweden)

    Xiqin Wang

    2008-05-01

    Full Text Available High range resolution (HRR profiling using stepped-frequency pulse trains suffers from range shift and the attenuation/dispersion of range profiles while the target of interest is moving. To overcome these two drawbacks, a new algorithm based on the maximum likelihood (ML estimation is proposed in this paper. Without altering the conventional stepped-frequency waveform, this algorithm can estimate the target velocity and thereby compensate the phase errors caused by the target’s motion. It is shown that the velocity can be accurately estimated and the range profile can be correctly reconstructed.

  16. Method of moving target detection based on sub-image cancellation for single-antenna airborne synthetic aperture radar

    Institute of Scientific and Technical Information of China (English)

    2007-01-01

    The method of moving target detection based on subimage cancellation for single-antenna airborne SAR is presented.First the subimage is obtained through frequency processing is pointed out.The imaging difference of a stationary objects and moving object in the subimage based on the frequency division is analyzed from the fundamental principle.Then the developed method combines the shear averaging algorithm to focus on the moving target in the subimage,after the clutter suppression and the focusing position in each subimage is obtained.Next the observation model and the relative movement of the moving targets between the subimages estimate the moving targets.The theoretical analysis and simulation results demonstrate that the method is effective and can not only detect the moving targets,but also estimate their motion parameters precisely.

  17. Modelling and Simulation of Multi-target Multi-sensor Data Fusion for Trajectory Tracking

    Directory of Open Access Journals (Sweden)

    A.K. Singh

    2009-05-01

    Full Text Available An implementation of track fusion using various algorthims has been demonstrated . The sensor measurements of these targets are modelled using Kalman filter (KF and interacting multiple models (IMM filter. The joint probabilistic data association filter (JPDAF and neural network fusion (NNF algorithms were used for tracking multiple man-euvring targets. Track association and fusion algorithm are executed to get the fused track data for various scenarios, two sensors tracking a single target to three sensors tracking three targets, to evaluate the effects of multiple and dispersed sensors for single target, two targets, and multiple targets. The targets chosen were distantly spaced, closely spaced and crossing. Performance of different filters was compared and fused trajectory is found to be closer to the true target trajectory as compared to that for any of the sensor measurements of that target.Defence Science Journal, 2009, 59(3, pp.205-214, DOI:http://dx.doi.org/10.14429/dsj.59.1513

  18. Tracking multiple moving vehicles under the occlusion conditions%遮挡条件下多运动车辆跟踪研究

    Institute of Scientific and Technical Information of China (English)

    杨婷婷; 陈锋

    2015-01-01

    In order to deal with the problem that the SURF algorithm can extract only a few feature points, the histogram equalization algorithm is intruduced to hold brightness characteristics and then the image features points are extracted through the reconstruction of the SURF′s scale space. In this work,the improved method is combined with Kalman filtring algorithm to track moving vehicles,and the position is approximated using the center of the feature points. The next position of the target vehicle is predicted through Kalman filtering method and the adaptive matching window is built. Our method is used to extract the feature vectors to match the targets vehicles. The results shows that our method can track moving vehicles effectively when the target vehicle has a large rotation, scaling and partial occlusion. The track speed is higher than the R-SURF algorithm by 20%. The tracking accuracy of our method is higher than that of Kalman filtering algorithm for the same vehicle speed.%针对 SURF 算法能够提取到的图像特征点较少的问题,基于保持亮度特性的双直方图均衡算法,通过重构 SURF 尺度空间提取图像特征。将这种方法与卡尔曼滤波相结合进行目标跟踪,用特征点的中心作为跟踪点;通过卡尔曼滤波预测出运动目标的位置,判断遮挡是否发生;最后,应用该方法进行目标特征向量匹配。实验结果表明,该算法对发生旋转、缩放以及遮挡的多运动目标都可进行稳定跟踪,其跟踪速度比 R-SURF 算法提高20%;在跟踪速度相当的情况下,跟踪精度要高于卡尔曼滤波跟踪算法。

  19. A Single Unexpected Change in Target- but Not Distractor Motion Impairs Multiple Object Tracking

    Directory of Open Access Journals (Sweden)

    Hauke S. Meyerhoff

    2013-02-01

    Full Text Available Recent research addresses the question whether motion information of multiple objects contributes to maintaining a selection of objects across a period of motion. Here, we investigate whether target and/or distractor motion information is used during attentive tracking. We asked participants to track four objects and changed either the motion direction of targets, the motion direction of distractors, neither, or both during a brief flash in the middle of a tracking interval. We observed that a single direction change of targets is sufficient to impair tracking performance. In contrast, changing the motion direction of distractors had no effect on performance. This indicates that target- but not distractor motion information is evaluated during tracking.

  20. Rover-based visual target tracking validation and mission infusion

    Science.gov (United States)

    Kim, Won S.; Steele, Robert D.; Ansar, Adnan I.; Ali, Khaled; Nesnas, Issa

    2005-01-01

    The Mars Exploration Rovers (MER'03), Spirit and Opportunity, represent the state of the art in rover operations on Mars. This paper presents validation experiments of different visual tracking algorithms using the rover's navigation camera.

  1. Passive Target Tracking Based on Current Statistical Model

    Institute of Scientific and Technical Information of China (English)

    DENG Xiao-long; XIE Jian-ying; YANG Yu-pu

    2005-01-01

    Bearing-only passive tracking is regarded as a nonlinear hard tracking problem. There are still no completely good solutions to this problem until now. Based on current statistical model, the novel solution to this problem utilizing particle filter (PF) and the unscented Kalman filter (UKF) is proposed. The new solution adopts data fusion from two observers to increase the observability of passive tracking. It applies the residual resampling step to reduce the degeneracy of PF and it introduces the Markov Chain Monte Carlo methods (MCMC) to reduce the effect of the "sample impoverish". Based on current statistical model, the EKF, the UKF and particle filter with various proposal distributions are compared in the passive tracking experiments with two observers. The simulation results demonstrate the good performance of the proposed new filtering methods with the novel techniques.

  2. Target Tracking of a Linear Time Invariant System under Irregular Sampling

    Directory of Open Access Journals (Sweden)

    Jin Xue-Bo

    2012-11-01

    Full Text Available Due to event-triggered sampling in a system, or maybe with the aim of reducing data storage, tracking many applications will encounter irregular sampling time. By calculating the matrix exponential using an inverse Laplace transform, this paper transforms the irregular sampling tracking problem to the problem of tracking with time-varying parameters of a system. Using the common Kalman filter, the developed method is used to track a target for the simulated trajectory and video tracking. The results of simulation experiments have shown that it can obtain good estimation performance even at a very high irregular rate of measurement sampling time.

  3. A novel spatial-temporal detection method of dim infrared moving small target

    Science.gov (United States)

    Chen, Zhong; Deng, Tao; Gao, Lei; Zhou, Heng; Luo, Song

    2014-09-01

    Moving small target detection under complex background in infrared image sequence is one of the major challenges of modern military in Early Warning Systems (EWS) and the use of Long-Range Strike (LRS). However, because of the low SNR and undulating background, the infrared moving small target detection is a difficult problem in a long time. To solve this problem, a novel spatial-temporal detection method based on bi-dimensional empirical mode decomposition (EMD) and time-domain difference is proposed in this paper. This method is downright self-data decomposition and do not rely on any transition kernel function, so it has a strong adaptive capacity. Firstly, we generalized the 1D EMD algorithm to the 2D case. In this process, the project has solved serial issues in 2D EMD, such as large amount of data operations, define and identify extrema in 2D case, and two-dimensional signal boundary corrosion. The EMD algorithm studied in this project can be well adapted to the automatic detection of small targets under low SNR and complex background. Secondly, considering the characteristics of moving target, we proposed an improved filtering method based on three-frame difference on basis of the original difference filtering in time-domain, which greatly improves the ability of anti-jamming algorithm. Finally, we proposed a new time-space fusion method based on a combined processing of 2D EMD and improved time-domain differential filtering. And, experimental results show that this method works well in infrared small moving target detection under low SNR and complex background.

  4. Automatic geolocation of targets tracked by aerial imaging platforms using satellite imagery

    OpenAIRE

    Shukla, P. K.; Goel, S.; Singh, P.; B. Lohani

    2014-01-01

    Tracking of targets from aerial platforms is an important activity in several applications, especially surveillance. Knowled ge of geolocation of these targets adds additional significant and useful information to the application. This paper determines the geolocation of a target being tracked from an aerial platform using the technique of image registration. Current approaches utilize a POS to determine the location of the aerial platform and then use the same for geolocation of the...

  5. A Synthetic Algorithm for Tracking a Moving Object in a Multiple-Dynamic Obstacles Environment Based on Kinematically Planar Redundant Manipulators

    Directory of Open Access Journals (Sweden)

    Hongzhe Jin

    2017-01-01

    Full Text Available This paper presents a synthetic algorithm for tracking a moving object in a multiple-dynamic obstacles environment based on kinematically planar manipulators. By observing the motions of the object and obstacles, Spline filter associated with polynomial fitting is utilized to predict their moving paths for a period of time in the future. Several feasible paths for the manipulator in Cartesian space can be planned according to the predicted moving paths and the defined feasibility criterion. The shortest one among these feasible paths is selected as the optimized path. Then the real-time path along the optimized path is planned for the manipulator to track the moving object in real-time. To improve the convergence rate of tracking, a virtual controller based on PD controller is designed to adaptively adjust the real-time path. In the process of tracking, the null space of inverse kinematic and the local rotation coordinate method (LRCM are utilized for the arms and the end-effector to avoid obstacles, respectively. Finally, the moving object in a multiple-dynamic obstacles environment is thus tracked via real-time updating the joint angles of manipulator according to the iterative method. Simulation results show that the proposed algorithm is feasible to track a moving object in a multiple-dynamic obstacles environment.

  6. Final Report: Non-Visible, Automated Target Acquisition and Tracking

    Energy Technology Data Exchange (ETDEWEB)

    Ziock, Klaus-Peter [Oak Ridge National Lab. (ORNL), Oak Ridge, TN (United States); Fabris, Lorenzo [Oak Ridge National Lab. (ORNL), Oak Ridge, TN (United States); Goddard, James K. [Oak Ridge National Lab. (ORNL), Oak Ridge, TN (United States); Hornback, Donald Eric [Oak Ridge National Lab. (ORNL), Oak Ridge, TN (United States); Karnowski, Thomas Paul [Oak Ridge National Lab. (ORNL), Oak Ridge, TN (United States); Newby, Jason [Oak Ridge National Lab. (ORNL), Oak Ridge, TN (United States)

    2016-10-01

    The Roadside Tracker (RST) represents a new approach to radiation portal monitors. It uses a combination of gamma-ray and visible-light imaging to localize gamma-ray radiation sources to individual vehicles in free-flowing, multi-lane traffic. Deployed as two trailers that are parked on either side of the roadway (Fig. 1); the RST scans passing traffic with two large gamma-ray imagers, one mounted in each trailer. The system compensates for vehicle motion through the imager’s fields of view by using automated target acquisition and tracking (TAT) software applied to a stream of video images. Once a vehicle has left the field of view, the radiation image of that vehicle is analyzed for the presence of a source, and if one is found, an alarm is sounded. The gamma-ray image is presented to the operator together with the video image of the traffic stream when the vehicle was approximately closest to the system (Fig. 2). The offending vehicle is identified with a bounding box to distinguish it from other vehicles that might be present at the same time. The system was developed under a previous grant from the Department of Homeland Security’s (DHS’s) Domestic Nuclear Detection Office (DNDO). This report documents work performed with follow-on funding from DNDO to further advance the development of the RST. Specifically, the primary thrust was to extend the performance envelope of the system by replacing the visible-light video cameras used by the TAT software with sensors that would allow operation at night and during inclement weather. In particular, it was desired to allow operation after dark without requiring external lighting. As part of this work, the system software was also upgraded to allow the use of 64-bit computers, the current generation operating system (OS), software development environment (Windows 7 vs. Windows XP, and current Visual Studio.Net), and improved software version controls (GIT vs. Source Safe.) With the upgraded performance allowed by

  7. Manual tracking in three dimensions.

    NARCIS (Netherlands)

    Mrotek, L.A.; Gielen, C.C.A.M.; Flanders, M.

    2006-01-01

    Little is known about the manual tracking of targets that move in three dimensions. In the present study, human subjects followed, with the tip of a hand-held pen, a virtual target moving four times (period 5 s) around a novel, unseen path. Two basic types of target paths were used: a peanut-shaped

  8. Manual tracking in three dimensions.

    NARCIS (Netherlands)

    Mrotek, L.A.; Gielen, C.C.A.M.; Flanders, M.

    2006-01-01

    Little is known about the manual tracking of targets that move in three dimensions. In the present study, human subjects followed, with the tip of a hand-held pen, a virtual target moving four times (period 5 s) around a novel, unseen path. Two basic types of target paths were used: a peanut-shaped

  9. Moving Object Tracking and Its Application to an Indoor Dual-Robot Patrol

    Directory of Open Access Journals (Sweden)

    Cheng-Han Shih

    2016-11-01

    Full Text Available This paper presents an application of image tracking using an omnidirectional wheeled mobile robot (WMR. The objective of this study is to integrate image processing of hue, saturation, and lightness (HSL for fuzzy color space, and use mean shift tracking for object detection and a Radio Frequency Identification (RFID reader for confirming destination. Fuzzy control is applied to omnidirectional WMR for indoor patrol and intruder detection. Experimental results show that the proposed control scheme can make the WMRs perform indoor security service.

  10. Designing a Clustering and Prediction-based Protocol for Target Tracking in Wireless Sensor Networks (WSNs

    Directory of Open Access Journals (Sweden)

    Vahid Hosseini

    2013-07-01

    Full Text Available Target tracking is one of the applications of wireless sensor network which is set up in the areas of field surveillance, habitat monitoring, and intruder tracking. Energy saving is one of the main challenges in target tracking sensor networks. In this paper, we present a Clustering and Prediction-Based Protocol (CPBP for Target Tracking in Wireless Sensor Networks (WSNs. Also, the Base Station (BS was exploited as a cluster formation manager and target movement predictor. Our protocol uses two parameters, distance and energy, for clustering algorithm. For evaluation, the proposed protocol was compared to a number of protocols in terms of network lifetime, number of transmitted packets and number of target miss during network lifetime. Performance of the proposed protocol was compared with cluster size 5 and 7. The simulation results represented desirable performance of the presented protocol.

  11. Tracking and recognition of airborne targets via commercial television and FM radio signals

    Science.gov (United States)

    Lanterman, Aaron D.

    1999-07-01

    We formulate a Bayesian approach to the joint tracking and recognition of airborne targets via reflected commercial television and FM radio signals measured by an array of sensors. Such passive system may remain covert, whereas traditional active systems must reveal their presence and location by their transmissions. Since the number of aircraft in the scene is not known a priori, and targets may enter and leave the scene at unknown times, the parameters space is a union of subspaces of varying dimensions as well as varying target classes. Targets tracks are parameterized via both positions and orientations, with the orientations naturally represented as elements of the special orthogonal group. A prior on target tracks is constructed from Newtonian equations of motion. This prior results in a coupling between the position and orientation estimates, yielding a coupling between the tracking and recognition problems.

  12. Research on regional intrusion prevention and control system based on target tracking

    Science.gov (United States)

    Liu, Yanfei; Wang, Jieling; Jiang, Ke; He, Yanhui; Wu, Zhilin

    2017-08-01

    In view of the fact that China’s border is very long and the border prevention and control measures are single, we designed a regional intrusion prevention and control system which based on target-tracking. The system consists of four parts: solar panel, radar, electro-optical equipment, unmanned aerial vehicle and intelligent tracking platform. The solar panel provides independent power for the entire system. The radar detects the target in real time and realizes the high precision positioning of suspicious targets, then through the linkage of electro-optical equipment, it can achieve full-time automatic precise tracking of targets. When the target appears within the range of detection, the drone will be launched to continue the tracking. The system is mainly to realize the full time, full coverage, whole process integration and active realtime control of the border area.

  13. A New Method of Small Moving Target Detection and Its Performance Analysis

    Institute of Scientific and Technical Information of China (English)

    2002-01-01

    This paper describes a new method of small moving target detection and analyzes the performance of this algo-rithm. The method is based on multi-level threshold decision-making and sliding trajectory confidence testing technology.The parameters of the algorithm are also given. Experiments have been conducted, the results show that the algorithm hasadvantages of high detection probability, simple structure, and excellent real-time performance.

  14. Bistatic Synthetic Aperture Radar Imaging of Moving Targets using Ultra-Narrowband Continuous Waveforms

    CERN Document Server

    Wang, Ling

    2013-01-01

    We consider a synthetic aperture radar (SAR) system that uses ultra-narrowband continuous waveforms (CW) as an illumination source. Such a system has many practical advantages, such as the use of relatively simple, low-cost and low-power transmitters, and in some cases, using the transmitters of opportunity, such as TV, radio stations. Additionally, ultra-narrowband CW signals are suitable for motion estimation due to their ability to acquire high resolution Doppler information. In this paper, we present a novel synthetic aperture imaging method for moving targets using a bi-static SAR system transmitting ultra-narrowband continuous waveforms. Our method exploits the high Doppler resolution provided by ultra-narrowband CW signals to image both the scene reflectivity and to determine the velocity of multiple moving targets. Starting from the first principle, we develop a novel forward model based on the temporal Doppler induced by the movement of antennas and moving targets. We form the reflectivity image of t...

  15. Passive Synthetic Aperture Hitchhiker Imaging of Ground Moving Targets - Part 2: Performance Analysis.

    Science.gov (United States)

    Wacks, Steven; Yazici, Birsen

    2014-07-08

    In Part 1 of this work, we present a passive synthetic aperture imaging and velocity estimation method for ground moving targets using a network of passive receivers. The method involves inversion of a Radon transform type forward model via a novel filtered backprojection approach combined with entropy optimization. The method is applicable to noncooperative transmitters of opportunity where the transmitter locations and transmitted waveforms are unknown. Furthermore, it can image multiple targets moving at different velocities in arbitrary imaging geometries. In this paper, we present a detailed analysis of the performance of our method. First the resolution analysis in position and velocity spaces is presented. The analysis identifies several factors that contribute positively or negativity towards position and velocity resolution. Next, we present a novel theory to analyze and predict smearing artifacts in position images due to error in velocity estimation of moving targets. Specifically, we show that small errors in the velocity estimation result in small positioning errors. We present extensive numerical simulations to demonstrate the theoretical results. While our primary interest lies in radar, the theory, methods and algorithms introduced in our work are also applicable to passive acoustic, seismic, and microwave imaging.

  16. RADAR HRR PROFILING FOR GROUND MOVING TARGET USING PHASE-CODED AND HOPPED-FREQUENCY WAVEFORMS

    Institute of Scientific and Technical Information of China (English)

    Li Yan; Wang Changming

    2007-01-01

    To obtain the radar High Range Resolution (HRR) profile of the slowly moving ground target in strong clutter background, the Phase-Coded Hopped-Frequency (PCHF) waveform is proposed. By multiple-bursts coherent processing, the HRR profile synthesis, target velocity compensation and clutter compression can be accomplished simultaneously. The new waveform is shown to have good ability to suppress ground clutter and good Electronic Counter-CounterMeasures (ECCM) ability as well. The clutter compression performance of the proposed method is verified by the numerical results.

  17. Tracking of Range and Azimuth for Continuous Imaging of Marine Target in Monopulse ISAR with Wideband Echoes

    Directory of Open Access Journals (Sweden)

    Junhao Xie

    2016-01-01

    Full Text Available Real-time tracking of maneuvering targets is the prerequisite for continuous imaging of moving targets in inverse synthetic aperture radar (ISAR. In this paper, the range and azimuth tracking (RAT method with wideband radar echoes is first presented for a mechanical scanning monopulse ISAR, which is regarded as the simplest phased array unit due to the two antenna feeds. To relieve the estimation fluctuation and poor robustness of the RAT method with a single snapshot, a modified range and azimuth tracking approach based on centroid algorithm (RATCA with forgotten factor and multiple echoes is then proposed. The performances of different forgotten factors are investigated. Both theoretical analysis and experimental results demonstrate that RATCA is superior to RAT method. Particularly, when target echo is missing occasionally, RAT method fails while RATCA still keeps good performance. The potential of continuous imaging with shipborne ISAR is verified by experimental results. With minor modification, the method proposed in this paper can be potentially applied in the phased array radar.

  18. Wearing, Thinking, and Moving: Testing the Feasibility of Fitness Tracking with Urban Youth

    Science.gov (United States)

    Schaefer, Sara E.; Ching, Cynthia Carter; Breen, Heather; German, J. Bruce

    2016-01-01

    Background: Wearable and mobile technologies are often used by people who wish to document their own health and lifestyle behaviors. The feasibility of health tracking among youth is unclear, particularly in low-resource communities where health strategies stand to have the greatest impact. Methods: Youth (n = 24) enrolled in an afterschool…

  19. Data fusion for target tracking and classification with wireless sensor network

    Science.gov (United States)

    Pannetier, Benjamin; Doumerc, Robin; Moras, Julien; Dezert, Jean; Canevet, Loic

    2016-10-01

    In this paper, we address the problem of multiple ground target tracking and classification with information obtained from a unattended wireless sensor network. A multiple target tracking (MTT) algorithm, taking into account road and vegetation information, is proposed based on a centralized architecture. One of the key issue is how to adapt classical MTT approach to satisfy embedded processing. Based on track statistics, the classification algorithm uses estimated location, velocity and acceleration to help to classify targets. The algorithms enables tracking human and vehicles driving both on and off road. We integrate road or trail width and vegetation cover, as constraints in target motion models to improve performance of tracking under constraint with classification fusion. Our algorithm also presents different dynamic models, to palliate the maneuvers of targets. The tracking and classification algorithms are integrated into an operational platform (the fusion node). In order to handle realistic ground target tracking scenarios, we use an autonomous smart computer deposited in the surveillance area. After the calibration step of the heterogeneous sensor network, our system is able to handle real data from a wireless ground sensor network. The performance of system is evaluated in a real exercise for intelligence operation ("hunter hunt" scenario).

  20. Bearings-only fusion tracking for maneuvering target with wavelet transform in three dimensional space

    Institute of Scientific and Technical Information of China (English)

    Tian Hongwei; Jing Zhongliang; Hu Shiqiang; Li Jianxun

    2005-01-01

    A new fusion tracking algorithm is presented to track maneuvering target in three-dimensional (3D) space with bearings-only measurements. With the introduction of passive location and interacting multiple model (IMM) algorithm based on multirate model, the high-rate sequence measurements of two sensors are utilized. Simulation results show that the performance of tracking has been improved. The new algorithm removes the barrier of processing high-rate bearingsonly measurements.

  1. Road Target Search and Tracking with Gimballed Vision Sensor on an Unmanned Aerial Vehicle

    Directory of Open Access Journals (Sweden)

    Fredrik Gustafsson

    2012-07-01

    Full Text Available This article considers a sensor management problem where a number of road bounded vehicles are monitored by an unmanned aerial vehicle (UAV with a gimballed vision sensor. The problem is to keep track of all discovered targets and simultaneously search for new targets by controlling the pointing direction of the vision sensor and the motion of the UAV. A planner based on a state-machine is proposed with three different modes; target tracking, known target search, and new target search. A high-level decision maker chooses among these sub-tasks to obtain an overall situational awareness. A utility measure for evaluating the combined search and target tracking performance is also proposed. By using this measure it is possible to evaluate and compare the rewards of updating known targets versus searching for new targets in the same framework. The targets are assumed to be road bounded and the road network information is used both to improve the tracking and sensor management performance. The tracking and search are based on flexible target density representations provided by particle mixtures and deterministic grids.

  2. Detection Algorithm for LFM Echo of Underwater Moving Targets Based on Discrete Fractional Fourier Transform

    Institute of Scientific and Technical Information of China (English)

    2007-01-01

    The mismatch between echo and replica caused by underwater moving target(UMT)'s radial velocity degrades the detection performance of the matched filter(MF) for the linear frequency modulation(LFM) signal. By using the focusing property of fractional Fourier transform(FRFT) to that signal, a detection algorithm for UMT's LFM echo based on the discrete fractional Fourier transform(DFRFT) is proposed. This algorithm is less affected by the target's radial velocity compared with the other MF detection algorithm utilizing zero radial velocity replica(ZRVR), and the mathematical relation between the output peak positions of these two algorithms exists in the case of existence of target echo. The algorithm can also estimate the target distance by using this relation. The simulation and experiment show that this algorithm's detection performance is better than or equivalent to that of the other MF algorithm utilizing ZRVR for the LFM echo of UMT with unknown radial velocity under reverberation noise background.

  3. Electrodynamics of Moving Conductors in Magnetic Fields: Off the Beaten Track with Paul Lorrain

    Science.gov (United States)

    Bringuier, E.

    2012-01-01

    The paper is about the appearance of space charge in an ohmic conductor moving in a magnetic field, as pointed out in this journal by Lorrain (1990 "Eur. J. Phys." 11 94-8) and earlier by van Bladel (1973 "Proc. IEEE" 61 260-8). The phenomenon is reinvestigated here in the light of energy balance considerations, in the particular case of a…

  4. Experimental validation of wavelet based solution for dynamic response of railway track subjected to a moving train

    Science.gov (United States)

    Koziol, Piotr

    2016-10-01

    New approaches allowing effective analysis of railway structures dynamic behaviour are needed for appropriate modelling and understanding of phenomena associated with train transportation. The literature highlights the fact that nonlinear assumptions are of importance in dynamic analysis of railway tracks. This paper presents wavelet based semi-analytical solution for the infinite Euler-Bernoulli beam resting on a nonlinear foundation and subjected to a set of moving forces, being representation of railway track with moving train, along with its preliminary experimental validation. It is shown that this model, although very simplified, with an assumption of viscous damping of foundation, can be considered as a good enough approximation of realistic structures behaviour. The steady-state response of the beam is obtained by applying the Galilean co-ordinate system and the Adomian's decomposition method combined with coiflet based approximation, leading to analytical estimation of transverse displacements. The applied approach, using parameters taken from real measurements carried out on the Polish Railways network for fast train Pendolino EMU-250, shows ability of the proposed method to analyse parametrically dynamic systems associated with transportation. The obtained results are in accordance with measurement data in wide range of physical parameters, which can be treated as a validation of the developed wavelet based approach. The conducted investigation is supplemented by several numerical examples.

  5. Collaborative multi-target tracking using networked micro-robotic vehicles

    Science.gov (United States)

    Biswas, Subir; Gupta, Sonny; Yu, Fan; Wu, Tao

    2007-04-01

    This paper presents a collaborative target tracking framework, in which distributed mechanisms are developed for tracking multiple mobile targets using a team of networked micro robotic vehicles. Applications of such a framework would include detection of multi-agent intrusion, network-assisted attack localization, and other collaborative search scenarios. The key idea of the developed framework is to design distributed algorithms that can be executed by tracking entities using a mobile ad hoc network. The paper comprises the following components. First, the software and hardware architectural detail of a Swarm Capable Autonomous Vehicle (SCAV) system that is used as the mobile platform in our target tracking application is presented. Second, the details of an indoor self-localization and Kalman filter based navigation system for the SCAV are presented. Third, a formal definition of the collaborative multi-target tracking problem and a heuristic based networked solution are developed. Finally, the performance of the proposed tracking framework is evaluated on a laboratory test-bed of a fleet of SCAV vehicles. A detailed system characterization in terms localization, navigation, and collaborative tracking performance is performed on the SCAV test-bed. In addition to valuable implementation insights about the localization, navigation, filtering, and ad hoc networking processes, a number of interesting conclusions about the overall tracking system are presented.

  6. Multi-agent target tracking using particle filters enhanced with context data

    CSIR Research Space (South Africa)

    Claessens, R

    2015-05-01

    Full Text Available The proposed framework for Multi-Agent Target Tracking supports i) tracking of objects and ii) search and rescue based on the fusion of very heterogeneous data. The system is based on a novel approach to fusing sensory observations, intelligence...

  7. Random Scenario Generation for a Multiple Target Tracking Environment Evaluation

    DEFF Research Database (Denmark)

    Hussain, Dil Muhammad Akbar

    2006-01-01

    The paper presents a simulation study on the generation of a random scenario for the performance of track splitting algorithm on a digital signal processor.  Much of the previous work [1] was done on specific (deterministic) scenarios. One of the reasons for considering the specific scenarios...

  8. Laser-based target tracking using principal component descriptors

    CSIR Research Space (South Africa)

    Burke, Michael G

    2010-11-01

    Full Text Available . [2] L. E. Navarro-Serment, C. Mertz, and M. Hebert, “Predictive mover detection and tracking in cluttered environments,” in Proc. of the 25th. Army Science Conference, November 2006. [3] J. Xavier, M. Pacheco, D. Castro, and A. Ruano, “Fast line...

  9. Optimal UAV Path Planning for Tracking a Moving Ground Vehicle with a Gimbaled Camera

    Science.gov (United States)

    2014-03-27

    105 vii List of Figures Figure Page 2.1. Sig Rascal 110 . . . . . . . . . . . . . . . . . . . . . . . . . . . 20 2.2. Arduino ...necessary baseline for flight testing autonomous UAV convoy tracking. Figure 2.2: Arduino Autopilot - APM 2.5 [1] The APM is an open source autopilot...a C-based programming language and comes with a cor- 21 responding programming environment called Arduino IDE [1]. Within the Arduino IDE, all of the

  10. Apatite fission track dating evidence for tectonic move-ment of Yarlung Zangbo Thrust Zone

    Institute of Scientific and Technical Information of China (English)

    2002-01-01

    Fission track geological chronology is an effective method of study on tectonic movement of fault zone.Apatite fission track (AFT) dating analyses of 9-apatite and 4-zircon samples collected from Lhasa to Langkazi,-70-kin-long in SN provide an understanding of the age and the uplifting of both sides of the Yarlung Zangbo Thrust Zone (YZTZ) in this work. The AFT ages range from -37 to 14 Ma, indicating the time of major tectono-thermal events,i.e. the continent-continent collision along the YZTZ. Based on the relationship between the AFT ages and the sample elevations, there were two tectonic active periods: -37-20Ma and 20}-14 Ma. In the first period the tectonic event did not bring on differential uplifting. Rapid differential uplifting with rapid cooling, resulting from thrusting, took place in the second period. The vertical displacement was -1020 m and total -2.9 km of overburden has been removed from the present-day surface since cooling below -ll0℃ began. The maximum cooling and denudation occurred at a rate of -7℃/Ma and -207 m/Ma respectively since -14 Ma. The zircon fission track analysis demonstrates that the temperature of tectono-thermal events did not exceed 310℃.``

  11. Compression of infrared imagery sequences containing a slow-moving point target, part II.

    Science.gov (United States)

    Huber-Shalem, Revital; Hadar, Ofer; Rotman, Stanley R; Huber-Lerner, Merav

    2013-03-10

    Infrared (IR) imagery sequences are commonly used for detecting moving targets in the presence of evolving cloud clutter or background noise. This research concentrates on slow-moving point targets that are less than one pixel in size, such as aircraft at long ranges from a sensor. Because transmitting IR imagery sequences to a base unit or storing them consumes considerable time and resources, a compression method that maintains the point-target detection capabilities is highly desirable. In our previous work, we introduced two temporal compression methods that preserve the temporal profile properties of the point target in the form of discrete cosine transform (DCT) quantization and parabola fit. In the present work, we extend the compression task method of DCT quantization by applying spatial compression over the temporally compressed coefficients, which is followed by bit encoding. We evaluate the proposed compression method using a signal-to-noise ratio (SNR)-based measure for point target detection and find that it yields better results than the compression standard H.264. Furthermore, we introduce an automatic detection algorithm that extracts the target location from the SNR scores image, which is acquired during the evaluation process and has a probability of detection and a probability of false alarm close to those of the original sequences. We previously determined that it is necessary to establish a minimal noise level in the SNR-based measure to compensate for smoothing that is induced by the compression. Here, the noise level calculation process is modified in order to allow detection of targets traversing all background types.

  12. Fuzzy Neural Network-Based Interacting Multiple Model for Multi-Node Target Tracking Algorithm

    Directory of Open Access Journals (Sweden)

    Baoliang Sun

    2016-11-01

    Full Text Available An interacting multiple model for multi-node target tracking algorithm was proposed based on a fuzzy neural network (FNN to solve the multi-node target tracking problem of wireless sensor networks (WSNs. Measured error variance was adaptively adjusted during the multiple model interacting output stage using the difference between the theoretical and estimated values of the measured error covariance matrix. The FNN fusion system was established during multi-node fusion to integrate with the target state estimated data from different nodes and consequently obtain network target state estimation. The feasibility of the algorithm was verified based on a network of nine detection nodes. Experimental results indicated that the proposed algorithm could trace the maneuvering target effectively under sensor failure and unknown system measurement errors. The proposed algorithm exhibited great practicability in the multi-node target tracking of WSNs.

  13. Measurement of slow-moving along-track displacement from an efficient multiple-aperture SAR interferometry (MAI) stacking

    Science.gov (United States)

    Jo, Min-Jeong; Jung, Hyung-Sup; Won, Joong-Sun; Poland, Michael; Miklius, Asta; Lu, Zhong

    2015-01-01

    Multiple-aperture SAR interferometry (MAI) has demonstrated outstanding measurement accuracy of along-track displacement when compared to pixel-offset-tracking methods; however, measuring slow-moving (cm/year) surface displacement remains a challenge. Stacking of multi-temporal observations is a potential approach to reducing noise and increasing measurement accuracy, but it is difficult to achieve a significant improvement by applying traditional stacking methods to multi-temporal MAI interferograms. This paper proposes an efficient MAI stacking method, where multi-temporal forward- and backward-looking residual interferograms are individually stacked before the MAI interferogram is generated. We tested the performance of this method using ENVISAT data from Kīlauea Volcano, Hawai‘i, where displacement on the order of several centimeters per year is common. By comparing results from the proposed stacking methods with displacements from GPS data, we documented measurement accuracies of about 1.03 and 1.07 cm/year for the descending and ascending tracks, respectively—an improvement of about a factor of two when compared with that from the conventional stacking approach. Three-dimensional surface-displacement maps can be constructed by combining stacked InSAR and MAI observations, which will contribute to a better understanding of a variety of geological phenomena.

  14. The operation of a track sensitive hydrogen target in a 500 l neon hydrogen bubble chamber

    CERN Document Server

    Ayres, J F; Damerell, A R; Fisher, Colin M; Fitzharris, E W; Foster, J H; Gottfeldt, P; Mack, B; Mortimer, A R; Seager, P; Stokoe, J R; Williams, P R; Leutz, H; Tischhauser, Johann; Wenninger, Horst

    1973-01-01

    A 20 l hydrogen filled track sensitive target has been successfully operated in the 1.5 m cryogenic bubble chamber at The Rutherford High Energy Laboratory. The chamber is filled with a mixture of neon and hydrogen at a concentration of 45 mol eon giving a radiation length of 860 mm. Satisfactory track quality in both target and chamber is achieved and 65000 pictures have been obtained in a 4 GeV/c pi /sup +/ beam. (7 refs).

  15. Robotics Vision-based Heuristic Reasoning for Underwater Target Tracking and Navigation

    OpenAIRE

    Chua Kia; Mohd. Rizal Arshad

    2005-01-01

    This paper presents a robotics vision-based heuristic reasoning system for underwater target tracking and navigation. This system is introduced to improve the level of automation of underwater Remote Operated Vehicles (ROVs) operations. A prototype which combines computer vision with an underwater robotics system is successfully designed and developed to perform target tracking and intelligent navigation. This study focuses on developing image processing algorithms and fuzzy inference system ...

  16. Passive target tracking with intermittent measurement based on random finite set

    Institute of Scientific and Technical Information of China (English)

    罗小波; 范红旗; 宋志勇; 付强

    2014-01-01

    In the tracking problem for the maritime radiation source by a passive sensor, there are three main difficulties, i.e., the poor observability of the radiation source, the detection uncertainty (false and missed detections) and the uncertainty of the target appearing/disappearing in the field of view. These difficulties can make the establishment or maintenance of the radiation source target track invalid. By incorporating the elevation information of the passive sensor into the automatic bearings-only tracking (BOT) and consolidating these uncertainties under the framework of random finite set (RFS), a novel approach for tracking maritime radiation source target with intermittent measurement was proposed. Under the RFS framework, the target state was represented as a set that can take on either an empty set or a singleton; meanwhile, the measurement uncertainty was modeled as a Bernoulli random finite set. Moreover, the elevation information of the sensor platform was introduced to ensure observability of passive measurements and obtain the unique target localization. Simulation experiments verify the validity of the proposed approach for tracking maritime radiation source and demonstrate the superiority of the proposed approach in comparison with the traditional integrated probabilistic data association (IPDA) method. The tracking performance under different conditions, particularly involving different existence probabilities and different appearance durations of the target, indicates that the method to solve our problem is robust and effective.

  17. Simulation of intense heating and shock hydrodynamics in free-moving liquid targets.

    Energy Technology Data Exchange (ETDEWEB)

    Hassanein, A.

    1999-08-27

    Recently, significant interest has focused on the use of free or open liquid-metal targets flowing with high velocities in various nuclear and high-energy physics applications such as the ISOLDE and muon collider projects. This is because the heat generated in solid targets due to beam bombardment cannot be removed easily and the resulting thermal shock damage is a serious problem. The behavior of a free-moving liquid mercury or gallium jet due to a proton beam deposition in a strong magnetic field has been modeled and analyzed for the muon collider project. Free liquid-metal jets offer significant advantages over conventional solid targets, particularly for the more demanding and challenging high-power applications.

  18. Estimation of direction of arrival of a moving target using subspace based approaches

    Science.gov (United States)

    Ghosh, Ripul; Das, Utpal; Akula, Aparna; Kumar, Satish; Sardana, H. K.

    2016-05-01

    In this work, array processing techniques based on subspace decomposition of signal have been evaluated for estimation of direction of arrival of moving targets using acoustic signatures. Three subspace based approaches - Incoherent Wideband Multiple Signal Classification (IWM), Least Square-Estimation of Signal Parameters via Rotation Invariance Techniques (LS-ESPRIT) and Total Least Square- ESPIRIT (TLS-ESPRIT) are considered. Their performance is compared with conventional time delay estimation (TDE) approaches such as Generalized Cross Correlation (GCC) and Average Square Difference Function (ASDF). Performance evaluation has been conducted on experimentally generated data consisting of acoustic signatures of four different types of civilian vehicles moving in defined geometrical trajectories. Mean absolute error and standard deviation of the DOA estimates w.r.t. ground truth are used as performance evaluation metrics. Lower statistical values of mean error confirm the superiority of subspace based approaches over TDE based techniques. Amongst the compared methods, LS-ESPRIT indicated better performance.

  19. Using interacting multiple model particle filter to track airborne targets hidden in blind Doppler

    Institute of Scientific and Technical Information of China (English)

    2007-01-01

    In airborne tracking, the blind Doppler makes the target undetectable, resulting in tracking difficulties. In this paper,we studied most possible blind-Doppler cases and summed them up into two types: targets' intentional tangential flying to radar and unintentional flying with large tangential speed. We proposed an interacting multiple model (IMM) particle filter which combines a constant velocity model and an acceleration model to handle maneuvering motions. We compared the IMM particle filter with a previous particle filter solution. Simulation results showed that the IMM particle filter outperforms the method in previous works in terms of tracking accuracy and continuity.

  20. COMPARATIVE EVALUATION OF FILTERS USED IN TRACKING AIR TARGETS

    Directory of Open Access Journals (Sweden)

    Y. I. Strekalovskaya

    2015-01-01

    Full Text Available Using an imitation model for a flow of heterogeneous air targets the comparative assessment of the αβ, αβγ and the Kalman filters efficiency is evaluated. In the case of slightly maneuvering target the difference in filters’ efficiency is statistically insignificant; in the case of sharp maneuvering the Kalman filter is significantly more precise.

  1. Facilitation of dragonfly target-detecting neurons by slow moving features on continuous paths

    Directory of Open Access Journals (Sweden)

    James R Dunbier

    2012-10-01

    Full Text Available Dragonflies detect and pursue targets such as other insects for feeding and conspecific interaction. They have a class of neurons highly specialised for this task in their lobula, the ‘small target motion detecting’ (STMD neurons. One such neuron, CSTMD1, reaches maximum response slowly over hundreds of milliseconds of target motion. Recording the intracellular response from CSTMD1 and a second neuron in this system, BSTMD1, we determined that for the neurons to reach maximum response levels, target motion must produce sequential local activation of elementary motion detecting elements. This facilitation effect is most pronounced when targets move at velocities slower than what was previously thought to be optimal. It is completely disrupted if targets are instantaneously displaced a few degrees from their current location. Additionally, we utilise a simple computational model to discount the parsimonious hypothesis that CSTMD1’s slow build-up to maximum response is due to it incorporating a sluggish neural delay filter. Whilst the observed facilitation may be too slow to play a role in prey pursuit flights, which are typically rapidly resolved, we hypothesise that it helps maintain elevated sensitivity during prolonged, aerobatically intricate conspecific pursuits. Since the effect seems to be localized, it most likely enhances the relative salience of the most recently ‘seen’ locations during such pursuit flights.

  2. Facilitation of dragonfly target-detecting neurons by slow moving features on continuous paths.

    Science.gov (United States)

    Dunbier, James R; Wiederman, Steven D; Shoemaker, Patrick A; O'Carroll, David C

    2012-01-01

    Dragonflies detect and pursue targets such as other insects for feeding and conspecific interaction. They have a class of neurons highly specialized for this task in their lobula, the "small target motion detecting" (STMD) neurons. One such neuron, CSTMD1, reaches maximum response slowly over hundreds of milliseconds of target motion. Recording the intracellular response from CSTMD1 and a second neuron in this system, BSTMD1, we determined that for the neurons to reach maximum response levels, target motion must produce sequential local activation of elementary motion detecting elements. This facilitation effect is most pronounced when targets move at velocities slower than what was previously thought to be optimal. It is completely disrupted if targets are instantaneously displaced a few degrees from their current location. Additionally, we utilize a simple computational model to discount the parsimonious hypothesis that CSTMD1's slow build-up to maximum response is due to it incorporating a sluggish neural delay filter. Whilst the observed facilitation may be too slow to play a role in prey pursuit flights, which are typically rapidly resolved, we hypothesize that it helps maintain elevated sensitivity during prolonged, aerobatically intricate conspecific pursuits. Since the effect seems to be localized, it most likely enhances the relative salience of the most recently "seen" locations during such pursuit flights.

  3. Methods of small slow moving targets detection in heavy sea clutter

    Directory of Open Access Journals (Sweden)

    O. D. Mrachkovsky

    2013-07-01

    Full Text Available The search for methods of small targets detection by marine radars is carried out in this paper. As a result of the sources analysis three promising group of methods are selected – adaptive methods based on the clutter amplitude spherically invariant random process representation, methods based on non stohastic clutter representation and methods based on orthogonal transformations. Separately, neural networks and clutter polarization properties are noticed. Most of researches consider compound Gaussian distribution for high resolution sea clutter data modeling. Adaptive CFAR algoritm developed by Kelly for Gaussian clutter was extended for spherical invariant random process. This algorithm can detect target in compound Gaussian clutter and ensure CFAR detection if covariance matrix is precisely known. Many researches proposed different methods of covariance matrix estimating using information from cells adjacent with cell under test. Progress in this field is moving to finding less computation cost but more precise methods of covariance matrix estimation. Further progress for small slow moving targets in heavy sea clutter detection can develop in 3 ways – improving covariance matrix estimation, exploiting not stochastic methods and finding best orthogonal transform for sea clutter Doppler spectrum describing.

  4. A novel multipitch measurement algorithm for acoustic signals of moving targets

    Science.gov (United States)

    Huang, Jingchang; Guo, Feng; Zu, Xingshui; Li, Haiyan; Liu, Huawei; Li, Baoqing

    2016-12-01

    In this paper, a novel multipitch measurement (MPM) method is proposed for acoustic signals. Starting from the analysis of moving targets' acoustic signatures, a pitch-based harmonics representation model of acoustic signal is put forward. According to the proposed harmonics model, a modified greatest common divisor (MGCD) method is developed to obtain an initial multipitch set (IMS). Subsequently, the harmonic number vector (HNV) associated with the IMS is determined by maximizing the objective function formulated as a multi-impulse-train weighted symmetric average magnitude sum function (SAMSF) of the observed signal. The frequencies of SAMSF are determined by the target acoustic signal, the periods of the multi-impulse-train are governed by the estimated IMS harmonics and the maximization of the objective function is figured out through a time-domain matching of periodicities of the multi-impulse-train with that of the SAMSF. Finally, by using the obtained IMS and its HNV, a precise fundamental frequency set is achieved. Evaluation of the algorithm performances in comparison with state-of-the-art methods indicates that MPM is practical for the multipitch extraction of moving targets.

  5. Multi-target Data Aggregation and Tracking in Wireless Sensor Networks

    Directory of Open Access Journals (Sweden)

    Maarten Ditzel

    2008-01-01

    Full Text Available This paper presents the results of a study on the effects of data aggregation for multi-target tracking in wireless sensor networks. Wireless sensor networks are normally limited in communication bandwidth. The nodes implementing the wireless sensor network are themselves limited in computing power and usually have a limited battery life. These observations are recognized and combined to come to efficient target tracking approaches. The main question to be answered is how to accurately track multiple targets crossing an area observed by a wireless sensor network, while limiting the amount of network traffic. Limiting the amount of network traffic reduces the required bandwidth and reduces the required energy. Various computing power aware data aggregation strategies are researched. They have been tested in a simulation environment and compared with each other. The results of the simulations clearly show the benefit of the new data aggregation strategies in terms of energy consumption and tracking accuracy.

  6. Comparison of various schema of filter adaptivity for the tracking of maneuvering targets

    Science.gov (United States)

    Jouan, Alexandre; Bosse, Eloi; Simard, Marc-Alain; Shahbazian, Elisa

    1998-09-01

    Tracking maneuvering targets is a complex problem which has generated a great deal of effort over the past several years. It has now been well established that in terms of tracking accuracy, the Interacting Multiple Model (IMM) algorithm, where state estimates are mixed, performs significantly better for maneuvering targets than other types of filters. However, the complexity of the IMM algorithm can prohibit its use in these applications of which similar algorithms cannot provide the necessary accuracy and which can ont afford the computational load of IMM algorithm. This paper presents the evaluation of the tracking accuracy of a multiple model track filter using three different constant-velocity models running in parallel and a maneuver detector. The output estimate is defined by selecting the model whose likelihood function is lower than a target maneuver threshold.

  7. Monocular Vision-Based Robot Localization and Target Tracking

    Directory of Open Access Journals (Sweden)

    Bing-Fei Wu

    2011-01-01

    Full Text Available This paper presents a vision-based technology for localizing targets in 3D environment. It is achieved by the combination of different types of sensors including optical wheel encoders, an electrical compass, and visual observations with a single camera. Based on the robot motion model and image sequences, extended Kalman filter is applied to estimate target locations and the robot pose simultaneously. The proposed localization system is applicable in practice because it is not necessary to have the initializing setting regarding starting the system from artificial landmarks of known size. The technique is especially suitable for navigation and target tracing for an indoor robot and has a high potential extension to surveillance and monitoring for Unmanned Aerial Vehicles with aerial odometry sensors. The experimental results present “cm” level accuracy of the localization of the targets in indoor environment under a high-speed robot movement.

  8. Pricise Target Geolocation and Tracking Based on Uav Video Imagery

    Science.gov (United States)

    Hosseinpoor, H. R.; Samadzadegan, F.; Dadrasjavan, F.

    2016-06-01

    There is an increasingly large number of applications for Unmanned Aerial Vehicles (UAVs) from monitoring, mapping and target geolocation. However, most of commercial UAVs are equipped with low-cost navigation sensors such as C/A code GPS and a low-cost IMU on board, allowing a positioning accuracy of 5 to 10 meters. This low accuracy cannot be used in applications that require high precision data on cm-level. This paper presents a precise process for geolocation of ground targets based on thermal video imagery acquired by small UAV equipped with RTK GPS. The geolocation data is filtered using an extended Kalman filter, which provides a smoothed estimate of target location and target velocity. The accurate geo-locating of targets during image acquisition is conducted via traditional photogrammetric bundle adjustment equations using accurate exterior parameters achieved by on board IMU and RTK GPS sensors, Kalman filtering and interior orientation parameters of thermal camera from pre-flight laboratory calibration process. The results of this study compared with code-based ordinary GPS, indicate that RTK observation with proposed method shows more than 10 times improvement of accuracy in target geolocation.

  9. PRICISE TARGET GEOLOCATION AND TRACKING BASED ON UAV VIDEO IMAGERY

    Directory of Open Access Journals (Sweden)

    H. R. Hosseinpoor

    2016-06-01

    Full Text Available There is an increasingly large number of applications for Unmanned Aerial Vehicles (UAVs from monitoring, mapping and target geolocation. However, most of commercial UAVs are equipped with low-cost navigation sensors such as C/A code GPS and a low-cost IMU on board, allowing a positioning accuracy of 5 to 10 meters. This low accuracy cannot be used in applications that require high precision data on cm-level. This paper presents a precise process for geolocation of ground targets based on thermal video imagery acquired by small UAV equipped with RTK GPS. The geolocation data is filtered using an extended Kalman filter, which provides a smoothed estimate of target location and target velocity. The accurate geo-locating of targets during image acquisition is conducted via traditional photogrammetric bundle adjustment equations using accurate exterior parameters achieved by on board IMU and RTK GPS sensors, Kalman filtering and interior orientation parameters of thermal camera from pre-flight laboratory calibration process. The results of this study compared with code-based ordinary GPS, indicate that RTK observation with proposed method shows more than 10 times improvement of accuracy in target geolocation.

  10. Use of motion tracking in stereotactic body radiotherapy: Evaluation of uncertainty in off-target dose distribution and optimization strategies

    Energy Technology Data Exchange (ETDEWEB)

    Casamassima, F. [Univ. di Firenze, Florence (Italy). Dept. di Fisiopatologia Clinica; Cavedon, C.; Francescon, P.; Stancanello, J.; Avanzo, M.; Cora, S.; Scalchi, P. [Ospedale S.Bortolo, Vicenza (Italy). Servizio di Fisica Sanitaria

    2006-09-15

    Spatial accuracy in extracranial radiosurgery is affected by organ motion. Motion tracking systems may be able to avoid PTV enlargement while preserving treatment times, however special attention is needed when fiducial markers are used to identify the target can move with respect to organs at risk (OARs). Ten patients treated by means of the Synchrony system were taken into account. Sparing of irradiated volume and of complication probability were estimated by calculating treatment plans with a motion tracking system (Cyberknife Synchrony, Sunnyvale, CA (US). ) and a PTV-enlargement strategy for ten patients. Six patients were also evaluated for possible inaccuracy of estimation of dose to OARs due to relative movement between PTV and OAR during respiration. Dose volume histograms (DVH) and Equivalent Uniform Dose (EUD) were calculated for the organs at risk. In the cases for which the target moved closer to the OAR (three cases of six), a small but significant increase was detected in the DVH and EUD of the OAR. In three other cases no significant variation was detected. Mean reduction in PTV volume was 38% for liver cases, 44% for lung cases and 8.5% for pancreas cases. NTCP for liver reduced from 23.1 to 14.5% on average, for lung it reduced from 2.5 to 0.1% on average. Significant uncertainty may arise from the use of a motion-tracking device in determination of dose to organs at risk due to the relative motion between PTV and OAR. However, it is possible to limit this uncertainty. The breathing phase in which the OAR is closer to the PTV should be selected for planning. A full understanding of the dose distribution would only be possible by means of a complete 4D-CT representation.

  11. Accuracy assessment of the Precise Point Positioning method applied for surveys and tracking moving objects in GIS environment

    Science.gov (United States)

    Ilieva, Tamara; Gekov, Svetoslav

    2017-04-01

    The Precise Point Positioning (PPP) method gives the users the opportunity to determine point locations using a single GNSS receiver. The accuracy of the determined by PPP point locations is better in comparison to the standard point positioning, due to the precise satellite orbit and clock corrections that are developed and maintained by the International GNSS Service (IGS). The aim of our current research is the accuracy assessment of the PPP method applied for surveys and tracking moving objects in GIS environment. The PPP data is collected by using preliminary developed by us software application that allows different sets of attribute data for the measurements and their accuracy to be used. The results from the PPP measurements are directly compared within the geospatial database to different other sets of terrestrial data - measurements obtained by total stations, real time kinematic and static GNSS.

  12. Energy-Efficient Node Scheduling Method for Cooperative Target Tracking in Wireless Sensor Networks

    Directory of Open Access Journals (Sweden)

    Weirong Liu

    2015-01-01

    Full Text Available Using the sensor nodes to achieve target tracking is a challenging problem in resource-limited wireless sensor networks. The tracking nodes are usually required to consume much energy to improve the tracking performance. In this paper, an energy-efficient node scheduling method is proposed to minimize energy consumption while ensuring the tracking accuracy. Firstly, the Kalman-consensus filter is constructed to improve the tracking accuracy and predict the target position. Based on the predicted position, an adaptive node scheduling mechanism is utilized to adjust the sample interval and the number of active nodes dynamically. Rather than using traditional search algorithm, the scheduling problem is decomposed to decouple the sample interval and number of nodes. And the node index is mapped into real domain to get closed-form solution to decide the active nodes. Thus, the NP-complete nature is avoided in the proposed method. The proposed scheduling method can keep the tracking accuracy while minimizing energy consumption. Simulation results validate its effective performance for target tracking in wireless sensor networks.

  13. SU-E-J-199: Evaluation of Motion Tracking Effects On Stereotactic Body Radiotherapy of Abdominal Targets

    Energy Technology Data Exchange (ETDEWEB)

    Monterroso, M; Dogan, N; Yang, Y [University Miami, Miami, FL (United States)

    2014-06-01

    Purpose: To evaluate the effects of respiratory motion on the delivered dose distribution of CyberKnife motion tracking-based stereotactic body radiotherapy (SBRT) of abdominal targets. Methods: Four patients (two pancreas and two liver, and all with 4DCT scans) were retrospectively evaluated. A plan (3D plan) using CyberKnife Synchrony was optimized on the end-exhale phase in the CyberKnife's MultiPlan treatment planning system (TPS), with 40Gy prescribed in 5 fractions. A 4D plan was then created following the 4D planning utility in the MultiPlan TPS, by recalculating dose from the 3D plan beams on all 4DCT phases, with the same prescribed isodose line. The other seven phases of the 4DCT were then deformably registered to the end-exhale phase for 4D dose summation. Doses to the target and organs at risk (OAR) were compared between 3D and 4D plans for each patient. The mean and maximum doses to duodenum, liver, spinal cord and kidneys, and doses to 5cc of duodenum, 700cc of liver, 0.25cc of spinal cord and 200cc of kidneys were used. Results: Target coverage in the 4D plans was about 1% higher for two patients and about 9% lower in the other two. OAR dose differences between 3D and 4D varied among structures, with doses as much as 8.26Gy lower or as much as 5.41Gy higher observed in the 4D plans. Conclusion: The delivered dose can be significantly different from the planned dose for both the target and OAR close to the target, which is caused by the relative geometry change while the beams chase the moving target. Studies will be performed on more patients in the future. The differences of motion tracking versus passive motion management with the use of internal target volumes will also be investigated.

  14. Pop-out in visual search of moving targets in the archer fish.

    Science.gov (United States)

    Ben-Tov, Mor; Donchin, Opher; Ben-Shahar, Ohad; Segev, Ronen

    2015-03-10

    Pop-out in visual search reflects the capacity of observers to rapidly detect visual targets independent of the number of distracting objects in the background. Although it may be beneficial to most animals, pop-out behaviour has been observed only in mammals, where neural correlates are found in primary visual cortex as contextually modulated neurons that encode aspects of saliency. Here we show that archer fish can also utilize this important search mechanism by exhibiting pop-out of moving targets. We explore neural correlates of this behaviour and report the presence of contextually modulated neurons in the optic tectum that may constitute the neural substrate for a saliency map. Furthermore, we find that both behaving fish and neural responses exhibit additive responses to multiple visual features. These findings suggest that similar neural computations underlie pop-out behaviour in mammals and fish, and that pop-out may be a universal search mechanism across all vertebrates.

  15. 一种基于后验概率的运动目标检测算法%A moving target detection algorithm based on maximum posterior

    Institute of Scientific and Technical Information of China (English)

    刘伟宁

    2014-01-01

    In computer vision field, the target detecting, tracking and compressing of video image requires detecting the moving target. The difficulty is the detecting and segmenting of moving target detection in complex background. So it is very important to find out an automatic and accurate segmenting algorithm for the performance of an application. A improved moving target detection algorithm based on maximum posterior is proposed. The edge characters in time and space region are adopted in the proposed algorithm, through the experiments on video images; the algorithm is proved having better moving target segmenting effects.%在计算机视觉应用领域,视频图像的目标检测、跟踪以及压缩,经常需要检测运动目标,运动目标检测的难点在于复杂图像背景条件下对运动目标的检测与分割。因此一种能够自动检测与准确分割运动目标的算法对于应用系统的性能具有重要意义。提出了一种基于后验概率的运动目标检测算法,在概率模型中采用了时域和空域边缘特征,通过在视频图像上进行的实验证明,该算法有较好的分割运动目标效果。

  16. Automatic geolocation of targets tracked by aerial imaging platforms using satellite imagery

    Science.gov (United States)

    Shukla, P. K.; Goel, S.; Singh, P.; Lohani, B.

    2014-11-01

    Tracking of targets from aerial platforms is an important activity in several applications, especially surveillance. Knowled ge of geolocation of these targets adds additional significant and useful information to the application. This paper determines the geolocation of a target being tracked from an aerial platform using the technique of image registration. Current approaches utilize a POS to determine the location of the aerial platform and then use the same for geolocation of the targets using the principle of photogrammetry. The constraints of cost and low-payload restrict the applicability of this approach using UAV platforms. This paper proposes a methodology for determining the geolocation of a target tracked from an aerial platform in a partially GPS devoid environment. The method utilises automatic feature based registration technique of a georeferenced satellite image with an ae rial image which is already stored in UAV's database to retrieve the geolocation of the target. Since it is easier to register subsequent aerial images due to similar viewing parameters, the subsequent overlapping images are registered together sequentially thus resulting in the registration of each of the images with georeferenced satellite image thus leading to geolocation of the target under interest. Using the proposed approach, the target can be tracked in all the frames in which it is visible. The proposed concept is verified experimentally and the results are found satisfactory. Using the proposed method, a user can obtain location of target of interest as well features on ground without requiring any POS on-board the aerial platform. The proposed approach has applications in surveillance for target tracking, target geolocation as well as in disaster management projects like search and rescue operations.

  17. Infrared dim target tracking based on guide filter and Bayes classification

    Science.gov (United States)

    Qian, Kun; Zhou, Hui-xin; Qin, Han-lin; Song, Shang-zhen; Zhao, Dong; Wang, Bing-jian

    2016-10-01

    An infrared dim and small tracking is proposed based on an explicit image filter - guided filter. The guided filter utilizes the structure in the guidance image and performs as an edge-preserving smoothing operator. The superior performance depending on the guidance image is critical advantage for target tracking. First, the guided filter can help to preserve the detail of the valuable templates and make the inaccurate ones blurry so that the tracker can distinguish the target from numerous bad templates easily. Besides, the filter can recover the content of the small target being influenced according to the guidance image, helping to alleviate the drifting problem effectively. Finally, the candidate samples are utilized to train an effective Bayes classifier to generate a robust tracker, which is easy to be implemented. Experimental results demonstrate that the presented method can track the target effectively, compared with several classical methods. Experimental results show that the proposed algorithm outperforms relative trackers in the accuracy and the robustness.

  18. Target acquisition and tracking based on a priori knowledge and an image sensor

    Science.gov (United States)

    Fang, Zhonghua; Chen, Tao

    2002-07-01

    When intercepting and tracking low-observable point-source or highly maneuvering big targets, the electro-optical (E-O) system will meet a fatal problem that the target lost easily. No effective method intercepts it again according to the dispersed azimuth and elevation tracking data. First, the paper gives an intelligent ATP control system architecture based on the data mart. Then an automatic real-time control algorithm is proposed, which is found on linguistic cloud model and fuzzy logic techniques. The linguistic cloud model is used to translate a linguistic term of qualitative concept into its numerical representation, such that the ATP control system can take full advantage of a priori knowledge which is always presented in natural language to refine the results of sequence images processing. The fuzzy logic technique is adopted to associate these results to target's trajectories. The paper offers an automatic reacquisition and tracking method to solve the targets lost problem.

  19. Implementation of Image Registration Algorithms for Real-time Target Tracking Through Video Sequences

    Directory of Open Access Journals (Sweden)

    Jharna Majumdar

    2002-07-01

    Full Text Available "Automatic detection and tracking of interesting targets from a sequence of images obtained from a reconnaissance platform is an interesting area of research for defence-related applications. Image registration is the basic step used in target tracking application. The paper briefly reviews some of the image registration algorithms, analyse their performance using a suitable image processing hardware, and selects the most suitable algorithm for a real-time target tracking application using cubic-spline model and spline model Kalman filter for the prediction of an occluded target. The algorithms developed are implemented in a ground-based image exploitation system (GIES developed at the Aeronautical Development Establishment for unmanned aerial vehicle application, and the results presented for the images obtained during actual flight trial.

  20. Design and implementation of random noise radar with spectral-domain correlation for moving target detection

    Science.gov (United States)

    Kim, Jeong Phill; Jeong, Chi Hyun; Kim, Cheol Hoo

    2011-06-01

    A correlation processing algorithm in the spectral domain is proposed for detecting moving targets with random noise radar. AD converted reference and Rx signals are passed through FFT block, and they are multiplied after the reference signal is complex conjugated. Now inverse FFT yields the sub-correlation results, and range and velocity information can be accurately extracted by an additional FFT processing. In this design procedure, specific considerations have to be made for correlation length, averaging number, and number of sub-correlation data for Doppler processing. The proposed algorithm was verified by Simulink (Mathworks) simulation, and its logic was implemented with Xilinx FPGA device (Vertex5 series) by System Generator block sets (Xilinx) in the Simulink environment. A CW X-band random-FM noise radar prototype with an instantaneous bandwidth of 100 MHz was designed and implemented, and laboratory and field tests were conducted to detect moving targets, and the observed results showed the validity of the proposed algorithm and the operation of implemented FPGA logics.

  1. Final Report for Bio-Inspired Approaches to Moving-Target Defense Strategies

    Energy Technology Data Exchange (ETDEWEB)

    Fink, Glenn A.; Oehmen, Christopher S.

    2012-09-01

    This report records the work and contributions of the NITRD-funded Bio-Inspired Approaches to Moving-Target Defense Strategies project performed by Pacific Northwest National Laboratory under the technical guidance of the National Security Agency’s R6 division. The project has incorporated a number of bio-inspired cyber defensive technologies within an elastic framework provided by the Digital Ants. This project has created the first scalable, real-world prototype of the Digital Ants Framework (DAF)[11] and integrated five technologies into this flexible, decentralized framework: (1) Ant-Based Cyber Defense (ABCD), (2) Behavioral Indicators, (3) Bioinformatic Clas- sification, (4) Moving-Target Reconfiguration, and (5) Ambient Collaboration. The DAF can be used operationally to decentralize many such data intensive applications that normally rely on collection of large amounts of data in a central repository. In this work, we have shown how these component applications may be decentralized and may perform analysis at the edge. Operationally, this will enable analytics to scale far beyond current limitations while not suffering from the bandwidth or computational limitations of centralized analysis. This effort has advanced the R6 Cyber Security research program to secure digital infrastructures by developing a dynamic means to adaptively defend complex cyber systems. We hope that this work will benefit both our client’s efforts in system behavior modeling and cyber security to the overall benefit of the nation.

  2. When art moves the eyes: a behavioral and eye-tracking study.

    Science.gov (United States)

    Massaro, Davide; Savazzi, Federica; Di Dio, Cinzia; Freedberg, David; Gallese, Vittorio; Gilli, Gabriella; Marchetti, Antonella

    2012-01-01

    The aim of this study was to investigate, using eye-tracking technique, the influence of bottom-up and top-down processes on visual behavior while subjects, naïve to art criticism, were presented with representational paintings. Forty-two subjects viewed color and black and white paintings (Color) categorized as dynamic or static (Dynamism) (bottom-up processes). Half of the images represented natural environments and half human subjects (Content); all stimuli were displayed under aesthetic and movement judgment conditions (Task) (top-down processes). Results on gazing behavior showed that content-related top-down processes prevailed over low-level visually-driven bottom-up processes when a human subject is represented in the painting. On the contrary, bottom-up processes, mediated by low-level visual features, particularly affected gazing behavior when looking at nature-content images. We discuss our results proposing a reconsideration of the definition of content-related top-down processes in accordance with the concept of embodied simulation in art perception.

  3. When art moves the eyes: a behavioral and eye-tracking study.

    Directory of Open Access Journals (Sweden)

    Davide Massaro

    Full Text Available The aim of this study was to investigate, using eye-tracking technique, the influence of bottom-up and top-down processes on visual behavior while subjects, naïve to art criticism, were presented with representational paintings. Forty-two subjects viewed color and black and white paintings (Color categorized as dynamic or static (Dynamism (bottom-up processes. Half of the images represented natural environments and half human subjects (Content; all stimuli were displayed under aesthetic and movement judgment conditions (Task (top-down processes. Results on gazing behavior showed that content-related top-down processes prevailed over low-level visually-driven bottom-up processes when a human subject is represented in the painting. On the contrary, bottom-up processes, mediated by low-level visual features, particularly affected gazing behavior when looking at nature-content images. We discuss our results proposing a reconsideration of the definition of content-related top-down processes in accordance with the concept of embodied simulation in art perception.

  4. The camera method, or how to track numerically a deformable particle moving in a fluid network

    CERN Document Server

    Moreau, Baptiste; Flaud, Patrice; Mauroy, Benjamin

    2012-01-01

    The goal of this work is to follow the displacement and possible deformation of a free particle in a fluid flow in 2D axi-symmetry, 2D or 3D using the classical finite elements method without the usual drawbacks finite elements bring for fluid-structure interaction, i.e. huge numerical problems and strong mesh distortions. Working with finite elements is a choice motivated by the fact that finite elements are well known by a large majority of researchers and are easy to manipulate. The method we describe in this paper, called the camera method, is well adapted to the study of a single particle in a network and most particularly when the study focuses on the particle behaviour. The camera method is based on two principles: 1/ the fluid structure interaction problem is restricted to a neighbourhood of the particle, thus reducing drastically the number of degrees of freedom of the problem; 2/ the neighbourhood mesh moves and rotates with the particle, thus avoiding most of the mesh distortions that occur in a st...

  5. Cancer immunotherapy: nanodelivery approaches for immune cell targeting and tracking

    Science.gov (United States)

    Conniot, João; Silva, Joana; Fernandes, Joana; Silva, Liana; Gaspar, Rogério; Brocchini, Steve; Florindo, Helena; Barata, Teresa

    2014-11-01

    Cancer is one of the most common diseases afflicting people globally. New therapeutic approaches are needed due to the complexity of cancer as a disease. Many current treatments are very toxic and have modest efficacy at best. Increased understanding of tumor biology and immunology has allowed the development of specific immunotherapies with minimal toxicity. It is important to highlight the performance of monoclonal antibodies, immune adjuvants, vaccines and cell-based treatments. Although these approaches have shown varying degrees of clinical efficacy, they illustrate the potential to develop new strategies. Targeted immunotherapy is being explored to overcome the heterogeneity of malignant cells and the immune suppression induced by both the tumor and its microenvironment. Nanodelivery strategies seek to minimize systemic exposure to target therapy to malignant tissue and cells. Intracellular penetration has been examined through the use of functionalized particulates. These nano-particulate associated medicines are being developed for use in imaging, diagnostics and cancer targeting. Although nano-particulates are inherently complex medicines, the ability to confer, at least in principle, different types of functionality allows for the plausible consideration these nanodelivery strategies can be exploited for use as combination medicines. The development of targeted nanodelivery systems in which therapeutic and imaging agents are merged into a single platform is an attractive strategy. Currently, several nanoplatform-based formulations, such as polymeric nanoparticles, micelles, liposomes and dendrimers are in preclinical and clinical stages of development. Herein, nanodelivery strategies presently investigated for cancer immunotherapy, cancer targeting mechanisms and nanocarrier functionalization methods will be described. We also intend to discuss the emerging nano-based approaches suitable to be used as imaging techniques and as cancer treatment options.

  6. The combined FSS-SPRT method for detection and tracking of low SNR point targets

    Institute of Scientific and Technical Information of China (English)

    ZHANG Hai-Ying; ZHANG Tian-Wen

    2007-01-01

    For the detection and tracking of dim point targets with SNR <2 dB, the combined SPRT and FSS method is given to accomplish detection in which likelihood testing are carried out twice to prune constantly.Firstly, the SPRT is developed aiming at the heuristic segments formed by correlation analysis. In order to avoid missing detection the threshold is chosen much lower. Secondly, by adding samples and choosing the one most similar to the heuristic segment to make state estimation FSS is implemented. This time we choose a higher threshold. Moreover in preprocessing the compound kernel estimation is designed to depress varying background clutter. Multiple experimental sequences validate that the method is more suitable for the dim targets detection and tracking compared with the scheme choosing the higher intensity pixel in tracking. It not only has perfect detection performance but also can greatly enhance tracking performance.

  7. An External Focus of Attention Enhances Manual Tracking of Occluded and Visible Targets

    Directory of Open Access Journals (Sweden)

    Matthew eSchlesinger

    2013-01-01

    Full Text Available The present study investigated the enhancement effects of an external focus-of-attention (FOA in the context of a manual-tracking task, in which participants tracked both visible and occluded targets. Three conditions were compared, which manipulated the distance of the FOA from the participant as well as the external/internal dimension. As expected, an external FOA resulted in lower tracking errors than an internal FOA. In addition, analyses of participants' movement patterns revealed a systematic shift toward higher-frequency movements in the external FOA condition, consistent with the idea that an external FOA exploits the natural movement dynamics available during skilled action. Finally, target visibility did not influence the effect of focused attention on tracking performance, which provides evidence for the proposal that the mechanisms that underlie FOA do not depend directly on vision.

  8. Micromotion feature extraction of radar target using tracking pulses with adaptive pulse repetition frequency adjustment

    Science.gov (United States)

    Chen, Yijun; Zhang, Qun; Ma, Changzheng; Luo, Ying; Yeo, Tat Soon

    2014-01-01

    In multifunction phased array radar systems, different activities (e.g., tracking, searching, imaging, feature extraction, recognition, etc.) would need to be performed simultaneously. To relieve the conflict of the radar resource distribution, a micromotion feature extraction method using tracking pulses with adaptive pulse repetition frequencies (PRFs) is proposed in this paper. In this method, the idea of a varying PRF is utilized to solve the frequency-domain aliasing problem of the micro-Doppler signal. With appropriate atom set construction, the micromotion feature can be extracted and the image of the target can be obtained based on the Orthogonal Matching Pursuit algorithm. In our algorithm, the micromotion feature of a radar target is extracted from the tracking pulses and the quality of the constructed image is fed back into the radar system to adaptively adjust the PRF of the tracking pulses. Finally, simulation results illustrate the effectiveness of the proposed method.

  9. Image-Based Multi-Target Tracking through Multi-Bernoulli Filtering with Interactive Likelihoods.

    Science.gov (United States)

    Hoak, Anthony; Medeiros, Henry; Povinelli, Richard J

    2017-03-03

    We develop an interactive likelihood (ILH) for sequential Monte Carlo (SMC) methods for image-based multiple target tracking applications. The purpose of the ILH is to improve tracking accuracy by reducing the need for data association. In addition, we integrate a recently developed deep neural network for pedestrian detection along with the ILH with a multi-Bernoulli filter. We evaluate the performance of the multi-Bernoulli filter with the ILH and the pedestrian detector in a number of publicly available datasets (2003 PETS INMOVE, Australian Rules Football League (AFL) and TUD-Stadtmitte) using standard, well-known multi-target tracking metrics (optimal sub-pattern assignment (OSPA) and classification of events, activities and relationships for multi-object trackers (CLEAR MOT)). In all datasets, the ILH term increases the tracking accuracy of the multi-Bernoulli filter.

  10. Image-Based Multi-Target Tracking through Multi-Bernoulli Filtering with Interactive Likelihoods

    Directory of Open Access Journals (Sweden)

    Anthony Hoak

    2017-03-01

    Full Text Available We develop an interactive likelihood (ILH for sequential Monte Carlo (SMC methods for image-based multiple target tracking applications. The purpose of the ILH is to improve tracking accuracy by reducing the need for data association. In addition, we integrate a recently developed deep neural network for pedestrian detection along with the ILH with a multi-Bernoulli filter. We evaluate the performance of the multi-Bernoulli filter with the ILH and the pedestrian detector in a number of publicly available datasets (2003 PETS INMOVE, Australian Rules Football League (AFL and TUD-Stadtmitte using standard, well-known multi-target tracking metrics (optimal sub-pattern assignment (OSPA and classification of events, activities and relationships for multi-object trackers (CLEAR MOT. In all datasets, the ILH term increases the tracking accuracy of the multi-Bernoulli filter.

  11. Node Topology Effect on Target Tracking Based on UWSNs Using Quantized Measurements.

    Science.gov (United States)

    Zhang, Qiang; Liu, Meiqin; Zhang, Senlin

    2015-10-01

    On one hand, due to the energy and bandwidth constraint of underwater wireless sensor networks (UWSNs), local data quantization/compression is not only a necessity, but also an integral part of the design of UWSNs; on the other hand, since underwater nodes provide measurements for target tracking based on UWSNs, node topology, which is made up of the underwater nodes, may affect the performance of target tracking. This paper studies the effect of node topology on the target tracking in UWSNs using quantized measurements. Firstly, by using the knowledge of geometry, the effects of four typical topologies on target tracking using quantized measurements are analyzed qualitatively. The four typical topologies include two nodes are close to each other, three nodes are close to each other, three nodes are co-linear, and three nodes form a regular triangle. Secondly, under the condition of quantized measurements, the relationship between the posterior Cramer-Rao lower bound (PCRLB) and node's position is derived to evaluate the arbitrary topology. Thirdly, our target tracking scheme consisting of the optimal topology selection scheme by minimizing PCRLB, the optimal fusion center selection scheme by minimizing energy consumption, and the multisensor particle filter with quantized measurements is designed. Last, simulation results show the effectiveness of the proposed scheme.

  12. Tracking a Swinging Target with a Robot Manipulator using Visual Sensing

    Directory of Open Access Journals (Sweden)

    Torstein A. Myhre

    2016-01-01

    Full Text Available In this paper we develop a method for loading parts onto a swinging target using an industrial robot. The orientation of the target is estimated by a particle filter using camera images as measurements. Robust and accurate tracking is achieved by using an accurate dynamic model of the target. The dynamical model is also used to compensate for the time delay between the acquisition of images and the motion response of the robot. The target dynamics is modeled as a spherical pendulum. To ensure robust visual tracking the position of the target mass center is estimated. The method is experimentally validated in a laboratory loading station with a swinging conveyor trolley as target, which is commonly used in industry.

  13. Through-Wall Multiple Targets Vital Signs Tracking Based on VMD Algorithm

    Directory of Open Access Journals (Sweden)

    Jiaming Yan

    2016-08-01

    Full Text Available Targets located at the same distance are easily neglected in most through-wall multiple targets detecting applications which use the single-input single-output (SISO ultra-wideband (UWB radar system. In this paper, a novel multiple targets vital signs tracking algorithm for through-wall detection using SISO UWB radar has been proposed. Taking advantage of the high-resolution decomposition of the Variational Mode Decomposition (VMD based algorithm, the respiration signals of different targets can be decomposed into different sub-signals, and then, we can track the time-varying respiration signals accurately when human targets located in the same distance. Intensive evaluation has been conducted to show the effectiveness of our scheme with a 0.15 m thick concrete brick wall. Constant, piecewise-constant and time-varying vital signs could be separated and tracked successfully with the proposed VMD based algorithm for two targets, even up to three targets. For the multiple targets’ vital signs tracking issues like urban search and rescue missions, our algorithm has superior capability in most detection applications.

  14. Moving epithelia: Tracking the fate of mammalian limbal epithelial stem cells.

    Science.gov (United States)

    Di Girolamo, Nick

    2015-09-01

    Lineage tracing allows the destiny of a stem cell (SC) and its progeny to be followed through time. In order to track their long-term fate, SC must be permanently marked to discern their distribution, division, displacement and differentiation. This information is essential for unravelling the mysteries that govern their replenishing activity while they remain anchored within their niche microenvironment. Modern-day lineage tracing uses inducible genetic recombination to illuminate cells within embryonic, newborn and adult tissues, and the advent of powerful high-resolution microscopy has enabled the behaviour of labelled cells to be monitored in real-time in a living organism. The simple structural organization of the mammalian cornea, including its accessibility and transparency, renders it the ideal tissue to study SC fate using lineage tracing assisted by non-invasive intravital microscopy. Despite more than a century of research devoted to understanding how this tissue is maintained and repaired, many limitations and controversies continue to plague the field, including uncertainties about the specificity of current SC markers, the number of SC within the cornea, their mode of division, their location, and importantly the signals that dictate cell migration. This communication will highlight historical discoveries as well as recent developments in the corneal SC field; more specifically how the progeny of these cells are mobilised to replenish this dynamic tissue during steady-state, disease and transplantation. Also discussed is how insights gleaned from animal studies can be used to advance our knowledge of the fundamental mechanisms that govern modelling and remodelling of the human cornea in health and disease.

  15. A new Recommender system based on target tracking: a Kalman Filter approach

    CERN Document Server

    Nowakowski, Samuel; Boyer, Anne

    2010-01-01

    In this paper, we propose a new approach for recommender systems based on target tracking by Kalman filtering. We assume that users and their seen resources are vectors in the multidimensional space of the categories of the resources. Knowing this space, we propose an algorithm based on a Kalman filter to track users and to predict the best prediction of their future position in the recommendation space.

  16. Target tracking in the recommender space: Toward a new recommender system based on Kalman filtering

    CERN Document Server

    Nowakowski, Samuel; Boyer, Anne

    2010-01-01

    In this paper, we propose a new approach for recommender systems based on target tracking by Kalman filtering. We assume that users and their seen resources are vectors in the multidimensional space of the categories of the resources. Knowing this space, we propose an algorithm based on a Kalman filter to track users and to predict the best prediction of their future position in the recommendation space.

  17. Research on video target tracking technology based on improved SIFT algorithm

    Science.gov (United States)

    Zhuang, Zhemin; Guo, Zhijie; Yuang, Ye

    2017-01-01

    A novel target tracking algorithm based on improved SIFT (Scale Invariant Feature Transform (SIFT) algorithm is proposed in this paper. In order to improve real-time performance, the processing neighborhood of SIFT has been improved to decrease the complexity of calculation, and the dimension of the SIFT vector is set from 128 to 40. Simulations and experiments show this improved algorithm brings us low computation complexity and high tracking accuracy and robustness.

  18. An Effective and Robust Decentralized Target Tracking Scheme in Wireless Camera Sensor Networks.

    Science.gov (United States)

    Fu, Pengcheng; Cheng, Yongbo; Tang, Hongying; Li, Baoqing; Pei, Jun; Yuan, Xiaobing

    2017-03-20

    In this paper, we propose an effective and robust decentralized tracking scheme based on the square root cubature information filter (SRCIF) to balance the energy consumption and tracking accuracy in wireless camera sensor networks (WCNs). More specifically, regarding the characteristics and constraints of camera nodes in WCNs, some special mechanisms are put forward and integrated in this tracking scheme. First, a decentralized tracking approach is adopted so that the tracking can be implemented energy-efficiently and steadily. Subsequently, task cluster nodes are dynamically selected by adopting a greedy on-line decision approach based on the defined contribution decision (CD) considering the limited energy of camera nodes. Additionally, we design an efficient cluster head (CH) selection mechanism that casts such selection problem as an optimization problem based on the remaining energy and distance-to-target. Finally, we also perform analysis on the target detection probability when selecting the task cluster nodes and their CH, owing to the directional sensing and observation limitations in field of view (FOV) of camera nodes in WCNs. From simulation results, the proposed tracking scheme shows an obvious improvement in balancing the energy consumption and tracking accuracy over the existing methods.

  19. Initiating 3D air target tracks from 2D naval radar sensor reports

    Science.gov (United States)

    Valin, Pierre; Aurag, Hassan; Kjiri, Mounia

    2000-07-01

    The topic studied here involves target tracking of aircraft using naval radar, and can be also used in civilian applications such as airport traffic management. The aim is to initiate a 3-D track from lower- dimensional 2-D radar contact data for 3-D track initiation and/or promotion. Because it is meant to be used at long ranges, the main assumption is that the target is performing rectilinear motion at a given altitude. The solution to this problem will facilitate track management, as all tracks will eventually be three-dimensional. The two cascaded algorithms presented here consist in first determining speed and altitude independently of the actual trajectory, then determining the actual trajectory given the best-fit value for the altitude. The algorithms are shown to work perfectly for noiseless data and adequately enough for typical naval radar parameters. The added sensory components will help resolve the association problem in multiple target scenarios by providing altitude information hidden from the sensors and revealed only through this mathematical modeling and its related algorithmic processing. In addition, the fact that one can deduce speed and altitude at the early stages of tracking permits the elimination of many platform identifications at the outset of the Multi-Sensor Data Fusion process.

  20. Multiple Maneuvering Target Tracking by Improved Particle Filter Based on Multiscan JPDA

    Directory of Open Access Journals (Sweden)

    Jing Liu

    2012-01-01

    Full Text Available The multiple maneuvering target tracking algorithm based on a particle filter is addressed. The equivalent-noise approach is adopted, which uses a simple dynamic model consisting of target state and equivalent noise which accounts for the combined effects of the process noise and maneuvers. The equivalent-noise approach converts the problem of maneuvering target tracking to that of state estimation in the presence of nonstationary process noise with unknown statistics. A novel method for identifying the nonstationary process noise is proposed in the particle filter framework. Furthermore, a particle filter based multiscan Joint Probability Data Association (JPDA filter is proposed to deal with the data association problem in a multiple maneuvering target tracking. In the proposed multiscan JPDA algorithm, the distributions of interest are the marginal filtering distributions for each of the targets, and these distributions are approximated with particles. The multiscan JPDA algorithm examines the joint association events in a multiscan sliding window and calculates the marginal posterior probability based on the multiscan joint association events. The proposed algorithm is illustrated via an example involving the tracking of two highly maneuvering, at times closely spaced and crossed, targets, based on resolved measurements.

  1. Target-Tracking Camera for a Metrology System

    Science.gov (United States)

    Liebe, Carl; Bartman, Randall; Chapsky, Jacob; Abramovici, Alexander; Brown, David

    2009-01-01

    An analog electronic camera that is part of a metrology system measures the varying direction to a light-emitting diode that serves as a bright point target. In the original application for which the camera was developed, the metrological system is used to determine the varying relative positions of radiating elements of an airborne synthetic aperture-radar (SAR) antenna as the airplane flexes during flight; precise knowledge of the relative positions as a function of time is needed for processing SAR readings. It has been common metrology system practice to measure the varying direction to a bright target by use of an electronic camera of the charge-coupled-device or active-pixel-sensor type. A major disadvantage of this practice arises from the necessity of reading out and digitizing the outputs from a large number of pixels and processing the resulting digital values in a computer to determine the centroid of a target: Because of the time taken by the readout, digitization, and computation, the update rate is limited to tens of hertz. In contrast, the analog nature of the present camera makes it possible to achieve an update rate of hundreds of hertz, and no computer is needed to determine the centroid. The camera is based on a position-sensitive detector (PSD), which is a rectangular photodiode with output contacts at opposite ends. PSDs are usually used in triangulation for measuring small distances. PSDs are manufactured in both one- and two-dimensional versions. Because it is very difficult to calibrate two-dimensional PSDs accurately, the focal-plane sensors used in this camera are two orthogonally mounted one-dimensional PSDs.

  2. Vegetated landslide monitoring: target tracking with terrestrial laser scanner

    Science.gov (United States)

    Franz, Martin; Carrea, Dario; Abellan, Antonio; Derron, Marc-Henri; Jaboyedoff, Michel

    2013-04-01

    Monitoring landslides with terrestrial LiDAR is currently a well-known technique. One problem often encountered is the vegetation that produces shadow areas on the scans. Indeed, the points behind the obstacle are hidden and are absent from the point cloud. Thereby, locations monitored with terrestrial laser scanner are mostly rock instabilities and few vegetated landslides, being difficult or even impossible to survey vegetated slopes using this method. The Peney landslide (Geneva, Switzerland) is partially vegetated by bushes and trees, and in order to monitor its displacements during the drawdown of the Verbois reservoir located at its base, which activates the movement, an alternative solution has to be found. The Goal of this study are: (1) to illustrate a technique to monitor vegetated landslides with a terrestrial laser scanner and (2) to compare the both manual and automatic methods for displacement vectors extraction. We installed 14 targets, four of which are in stable areas which are considered as references. Targets are made of expanded polystyrene, two are spherical and 12 are cubic. They were installed on metallic poles ranging between 2 to 4 meters high. The LiDAR device was located on a fixed point on a pontoon on the reservoir opposite bank. The whole area, including the targets, needed three scans to be entirely covered and was scanned 10 times along on two weeks (duration of drawdown - filling). The acquired point clouds were cleaned and georeferenced. In order to determine the displacements for every target, two methods (manual and automatic) were used. The manual method consists on manual selection of, for example, the apex of the cubes, and so to have its 3D coordinates for a comparison in time. The automatic method uses an algorithm that recognises shapes trough time series. The obtained displacements were compared with classical measurement methods (theodolite and extensometer) showing good resemblance of results, indicating the validity of

  3. Tracking Control of Autonomous Underwater Vehicles with Internal Moving Mass%自主水下航行器的变质心跟踪控制

    Institute of Scientific and Technical Information of China (English)

    李家旺; 宋保维; 邵成

    2008-01-01

    The trajectory-tracking control problem is inves-tigated for an autonomous underwater vehicle (AUV) moving in the vertical plane using an internal point mass and a rear thruster as actuators. Combined with the dynamics of the point mass, the AUV is modeled as an underactuated system. A Lyapunov-based tracking controller is proposed by using back-stepping approach to stabilize the error dynamics and forcc the position errors to a small neighborhood of thc origin. Simulation results validate the proposcd tracking approach.

  4. Coordinated Target Tracking by Distributed Unscented Information Filter in Sensor Networks with Measurement Constraints

    Directory of Open Access Journals (Sweden)

    Yintao Wang

    2013-01-01

    measurements. Our method consists of two parts. In first phase, using the unscented sigma-point transformation techniques and information filter framework, a class of algorithms denoted as unscented information filters was developed to estimate the states of a target to be tracked. These techniques exhibit robustness and accuracy of sigma-point filters for nonlinear dynamic inference while being as easily fused as the information filters. In the second phase, we proposed a novel consensus protocol which allows each sensor node to find a consistent estimate of the value of the target. Under this protocol, the final estimate of the value of the target at each time step is iteratively updated only by fusing the neighbors’ measurements when one sensor node is out of the measurement scope of the target. Performance of the distributed unscented information filter is demonstrated and discussed on a target tracking task.

  5. MULTI-TARGET VISUAL TRACKING AND OCCLUSION DETECTION BY COMBINING BHATTACHARYYA COEFFICIENT AND KALMAN FILTER INNOVATION

    Institute of Scientific and Technical Information of China (English)

    Chen Ken; Chul Gyu Jhun

    2013-01-01

    This paper introduces an approach for visual tracking of multi-target with occlusion occurrence.Based on the author's previous work in which the Overlap Coefficient (OC) is used to detect the occlusion,in this paper a method of combining Bhattacharyya Coefficient (BC) and Kalman filter innovation term is proposed as the criteria for jointly detecting the occlusion occurrence.Fragmentation of target is introduced in order to closely monitor the occlusion development.In the course of occlusion,the Kalman predictor is applied to determine the location of the occluded target,and the criterion for checking the re-appearance of the occluded target is also presented.The proposed approach is put to test on a standard video sequence,suggesting the satisfactory performance in multi-target tracking.

  6. Infrared small target tracking by discriminative classification based on Gaussian mixture model in compressive sensing domain

    Science.gov (United States)

    Wang, Chuanyun; Song, Fei; Qin, Shiyin

    2017-02-01

    Addressing the problems of infrared small target tracking in forward looking infrared (FLIR) system, a new infrared small target tracking method is presented, in which features binding of both target gray intensity and spatial relationship is implemented by compressive sensing so as to construct the Gaussian mixture model of compressive appearance distribution. Subsequently, naive Bayesian classification is carried out over testing samples acquired with non-uniform sampling probability to identify the most credible location of targets from background scene. A series of experiments are carried out over four infrared small target image sequences with more than 200 images for each sequence, the results demonstrate the effectiveness and advantages of the proposed method in both success rate and precision rate.

  7. Optimized Herschel/PACS photometer observing and data reduction strategies for moving solar system targets

    CERN Document Server

    Cs., Kiss; E., Vilenius; A., Pál; P., Santos-Sanz; E., Lellouch; G., Marton; E., Verebélyi; N., Szalai; P., Hartogh; J., Stansberry; F., Henry; A, Delsanti

    2013-01-01

    The "TNOs are Cool!: A survey of the trans-Neptunian region" is a Herschel Open Time Key Program that aims to characterize planetary bodies at the outskirts of the Solar System using PACS and SPIRE data, mostly taken as scan-maps. In this paper we summarize our PACS data reduction scheme that uses a modified version of the standard pipeline for basic data reduction, optimized for faint, moving targets. Due to the low flux density of our targets the observations are confusion noise limited or at least often affected by bright nearby background sources at 100 and 160\\,$\\mu$m. To overcome these problems we developed techniques to characterize and eliminate the background at the positions of our targets and a background matching technique to compensate for pointing errors. We derive a variety of maps as science data products that are used depending on the source flux and background levels and the scientific purpose. Our techniques are also applicable to a wealth of other Herschel solar system photometric observat...

  8. Low Complexity Moving Target Parameter Estimation for MIMO Radar using 2D-FFT

    KAUST Repository

    Jardak, Seifallah

    2017-06-16

    In multiple-input multiple-output radar, to localize a target and estimate its reflection coefficient, a given cost function is usually optimized over a grid of points. The performance of such algorithms is directly affected by the grid resolution. Increasing the number of grid points enhances the resolution of the estimator but also increases its computational complexity exponentially. In this work, two reduced complexity algorithms are derived based on Capon and amplitude and phase estimation (APES) to estimate the reflection coefficient, angular location and, Doppler shift of multiple moving targets. By exploiting the structure of the terms, the cost-function is brought into a form that allows us to apply the two-dimensional fast-Fourier-transform (2D-FFT) and reduce the computational complexity of estimation. Using low resolution 2D-FFT, the proposed algorithm identifies sub-optimal estimates and feeds them as initial points to the derived Newton gradient algorithm. In contrast to the grid-based search algorithms, the proposed algorithm can optimally estimate on- and off-the-grid targets in very low computational complexity. A new APES cost-function with better estimation performance is also discussed. Generalized expressions of the Cramér-Rao lower bound are derived to asses the performance of the proposed algorithm.

  9. Supervisory controlled operations of UAVs for tracking and surveillance of vehicle targets (SCOUTS)

    Science.gov (United States)

    Fischer, Amber; Denny, Nathan

    2008-04-01

    In this paper, we present SCOUTS, an autonomous system for the allocation of multiple small UAVs equipped with video sensors specifically geared to tracking and reacquisition of vehicle targets in urban environments. To demonstrate SCOUTS performance, we test our system in a simulation incorporating the key challenges encountered by real-time UAV tracking scenarios, including unreliable reports from poor image quality, disruption latency in communication, and temporary gaps in persistent surveillance requiring target re-acquisition strategies. The results provided in this paper establish SCOUTS as a robust approach to this challenging problem.

  10. Velocity measurement technique for high-speed targets based on digital fine spectral line tracking

    Institute of Scientific and Technical Information of China (English)

    Wen Shuliang; Yuan Qi

    2006-01-01

    Target velocity and acceleration are two of the most important features for identification of warheads and decoys in ballistic missile defense phased array radar systems. Velocity compensation is also the necessary step for one-dimensional range profile imaging. According to the high-velocity characteristics of ballistic objects and the low data rate of phased array radars with multiple target tracking, a fine spectral line digital velocity tracking frame is presented and a new method is developed to extract velocity error and resolve the velocity ambiguity in the measurement loop. Simulation results demonstrate the effectiveness of the proposed technique.

  11. Algorithm for Multi-laser-target Tracking Based on Clustering Fusion

    Institute of Scientific and Technical Information of China (English)

    ZHANG Li-qun; LI Yan-jun; ZHANG Ke

    2007-01-01

    Multi-laser-target tracking is an important subject in the field of signal processing of laser warners. A clustering method is applied to the measurement of laser warner, and the space-time fusion for measurements in the same cluster is accomplished. Real-time tracking of multi-laser-target and real-time picking of multi-laser-signal are introduced using data fusion of the measurements. A prototype device of the algorithm is built up. The results of experiments show that the algorithm is very effective.

  12. Performance limits for exo-clutter Ground Moving Target Indicator (GMTI) radar.

    Energy Technology Data Exchange (ETDEWEB)

    Doerry, Armin Walter

    2010-09-01

    The performance of a Ground Moving Target Indicator (GMTI) radar system depends on a variety of factors, many which are interdependent in some manner. It is often difficult to 'get your arms around' the problem of ascertaining achievable performance limits, and yet those limits exist and are dictated by physics. This report identifies and explores those limits, and how they depend on hardware system parameters and environmental conditions. Ultimately, this leads to a characterization of parameters that offer optimum performance for the overall GMTI radar system. While the information herein is not new to the literature, its collection into a single report hopes to offer some value in reducing the 'seek time'.

  13. Reduced complexity FFT-based DOA and DOD estimation for moving target in bistatic MIMO radar

    KAUST Repository

    Ali, Hussain

    2016-06-24

    In this paper, we consider a bistatic multiple-input multiple-output (MIMO) radar. We propose a reduced complexity algorithm to estimate the direction-of-arrival (DOA) and direction-of-departure (DOD) for moving target. We show that the calculation of parameter estimation can be expressed in terms of one-dimensional fast-Fourier-transforms which drastically reduces the complexity of the optimization algorithm. The performance of the proposed algorithm is compared with the two-dimension multiple signal classification (2D-MUSIC) and reduced-dimension MUSIC (RD-MUSIC) algorithms. It is shown by simulations, our proposed algorithm has better estimation performance and lower computational complexity compared to the 2D-MUSIC and RD-MUSIC algorithms. Moreover, simulation results also show that the proposed algorithm achieves the Cramer-Rao lower bound. © 2016 IEEE.

  14. EEG and Eye Tracking Signatures of Target Encoding during Structured Visual Search.

    Science.gov (United States)

    Brouwer, Anne-Marie; Hogervorst, Maarten A; Oudejans, Bob; Ries, Anthony J; Touryan, Jonathan

    2017-01-01

    EEG and eye tracking variables are potential sources of information about the underlying processes of target detection and storage during visual search. Fixation duration, pupil size and event related potentials (ERPs) locked to the onset of fixation or saccade (saccade-related potentials, SRPs) have been reported to differ dependent on whether a target or a non-target is currently fixated. Here we focus on the question of whether these variables also differ between targets that are subsequently reported (hits) and targets that are not (misses). Observers were asked to scan 15 locations that were consecutively highlighted for 1 s in pseudo-random order. Highlighted locations displayed either a target or a non-target stimulus with two, three or four targets per trial. After scanning, participants indicated which locations had displayed a target. To induce memory encoding failures, participants concurrently performed an aurally presented math task (high load condition). In a low load condition, participants ignored the math task. As expected, more targets were missed in the high compared with the low load condition. For both conditions, eye tracking features distinguished better between hits and misses than between targets and non-targets (with larger pupil size and shorter fixations for missed compared with correctly encoded targets). In contrast, SRP features distinguished better between targets and non-targets than between hits and misses (with average SRPs showing larger P300 waveforms for targets than for non-targets). Single trial classification results were consistent with these averages. This work suggests complementary contributions of eye and EEG measures in potential applications to support search and detect tasks. SRPs may be useful to monitor what objects are relevant to an observer, and eye variables may indicate whether the observer should be reminded of them later.

  15. Distributed Information Compression for Target Tracking in Cluster-Based Wireless Sensor Networks.

    Science.gov (United States)

    Liao, Shi-Kuan; Lai, Kai-Jay; Tsai, Hsiao-Ping; Wen, Chih-Yu

    2016-06-22

    Target tracking is a critical wireless sensor application, which involves signal and information processing technologies. In conventional target position estimation methods, an estimate is usually demonstrated by an average target position. In contrast, this work proposes a distributed information compression method to describe the measurement uncertainty of tracking problems in cluster-based wireless sensor networks. The leader-based information processing scheme is applied to perform target positioning and energy conservation. A two-level hierarchical network topology is adopted for energy-efficient target tracking with information compression. A Level 1 network architecture is a cluster-based network topology for managing network operations. A Level 2 network architecture is an event-based and leader-based topology, utilizing the concept of information compression to process the estimates of sensor nodes. The simulation results show that compared to conventional schemes, the proposed data processing scheme has a balanced system performance in terms of tracking accuracy, data size for transmission and energy consumption.

  16. Cluster-based centralized data fusion for tracking maneuvering targets using interacting multiple model algorithm

    Indian Academy of Sciences (India)

    V Vaidehi; K Kalavidya; S Indira Gandhi

    2004-04-01

    The interacting multiple model (IMM) algorithm has proved to be useful in tracking maneuvering targets. Tracking accuracy can be further improved using data fusion. Tracking of multiple targets using multiple sensors and fusing them at a central site using centralized architecture involves communication of large volumes of measurements to a common site. This results in heavy processing requirement at the central site. Moreover, track updates have to be obtained in the fusion centre before the next measurement arrives. For solving this computational complexity, a cluster-based parallel processing solution is presented in this paper. In this scheme, measurements are sent to the data fusion centre where the measurements are partitioned and given to the slave processors in the cluster. The slave processors use the IMM algorithm to get accurate updates of the tracks. The master processor collects the updated tracks and performs data fusion using ‘weight decision approach’. The improvement in the computation time using clusters in the data fusion centre is presented in this paper.

  17. Robust attitude control for rapid multi-target tracking in spacecraft formation flying

    Institute of Scientific and Technical Information of China (English)

    2008-01-01

    A robust attitude tracking control scheme for spacecraft formation flying is presented.The leader spacecraft with a.rapid mobile antenna and a camera is modeled.While the camera is tracking the ground target,the antenna is tracking the follower spacecraft.By an angular velocity constraint and an angular constraint,two methods are proposed to compute the reference attitude profiles of the camera and antenna,respectively.To simplify the control design problem,this paper first derives the desired inverse system (DIS),which can convert the attitude tracking problem of 3D space into the regulator problem.Based on DIS and sliding mode control (SMC),a robust attitude tracking controller is developed in the presence of mass parameter uncertainties and external disturbance.By Lyapunov stability theory,the closed loop system stability can be achieved.The numerical simulations show that the proposed robust control scheme exhibits significant advantages for the multi-target attitude tracking of a two-spacecraft formation.

  18. Main sea clutter characteristics impacting small slow moving targets detection by marine radars

    Directory of Open Access Journals (Sweden)

    O. D. Mrachkovskiy

    2013-04-01

    Full Text Available Searching of the sea clutter mathematical model is carried out in this paper. It is suitable to create based on it algorithm for small slow moving targets detection by marine radars. The compound Gaussian model for modeling sea clutter amplitude stochastic distribution is selected as a result of the sources analysis, because it was confirmed by most of researches. The discussed in the literature model based on chaos theory is choosen as perspective alternative for stochastic model; its advantage of using it for such problems solution must be definitively proved or denied. It was proposed many different distributions for high resolution sea clutter amplitude data modeling. The most frequently reported in the literature are K, Log-Normal and Weibull distributions. K distribution belonging to a compound-Gaussian model has the most significant theoretical and experimental background. This distribution choice is physically explained basing on the processes taking place when electromagnetic waves scattered from capillarity and gravity sea waves create a composed echo. Signal representing this echo is the product of two random components, called texture and speckle. Texture is the result of scattering from gravity waves, has a Gamma pdf (in case of K distribution and corresponds to slow-varying large-scale structure. Speckle is the result of scattering from isolated scatterers (capillarity waves, has a Rayleigh pdf and corresponds to rapid varying small-scale structure. So, K distribution envelope is a compound distribution consisting of a locally Rayleigh distribution speckle whose mean is modulated by a gamma distribution texture. All researches consider Rayleigh pdf for speckle. The lognormal, generalized Gaussian, inverse gamma and some other distributions were proposed for the texture. Due to literature analyses it is seen that texture distribution depends on radar range resolution, but strong dependence is not proved. Some scientists modified K

  19. Targeted illumination and tracking using optical fiber probe for optogenetics application

    Science.gov (United States)

    Shinde, Anant; Perinchery, Sandeep M.; Matham, Murukeshan V.

    2016-03-01

    There was a renewed interest, during the recent years, in the imaging and tracking of targeted cells or organelles for a variety of biomedical and lab-on a chip applications that include particles movement. However, nonspecific illumination during tracking can have adverse effects such as heating, reduced image contrast and photo bleaching. In fact, current available tracking and imaging systems are unable to selectively illuminate the particle being tracked. To fill this void, we have developed a fiber optics based probe system incorporating a spatial light modulator (SLM) and an imaging fiber bundle for selective illumination on the targeted particle. A GRIN lens is attached at the distal endface of the image fiber bundle for optimised illumination and collection. A tracking algorithm is developed in order to enable controlled illumination through SLM to target the illumination point or location in accordance with the particle movement and size variation. Further with this probe, particles can be illuminated with light pulses of controllable duty cycle and frequency. The proposed methodology and developed probe have good significance and expected to find potential applications areas such as optogenetics, cell signalling studies, and lab-on a chip systems.

  20. Feedback strategy on real-time multiple target tracking in cognitive vision system

    Science.gov (United States)

    Shao, Jie; Jia, Zhen; Li, Zhipeng; Liu, Fuqiang; Zhao, Jianwei; Peng, Pei-Yuan

    2011-10-01

    Under pedestrian and vehicle mixed traffic conditions, the potential accident rate is high due to a complex traffic environment. In order to solve this problem, we present a real-time cognitive vision system. In the scene-capture level, foreground objects are extracted based on the combination of spatial and temporal information. Then, a coarse-to-fine algorithm is employed in tracking. After filtering-based normal tracking, problems of the target blob missing, merging, and splitting are resolved by the adaptive tracking modification method in fine tracking. For greater robustness, the key idea of our approach is adaptively adjusting the classification sensibility of each pixel by employing tracking results as feedback cues for target detection in the next frame. On the basis of the target trajectories, behavior models are evaluated according to a decision logic table in the behavior-evaluation level. The decision logic table is set based on rules of real scenes. The resulting system interprets different kinds of traffic behavior and warns in advance. Experiments show robust and accurate results of abnormality detection and forewarning under different conditions. All the experimental results run at real-time frame rates (>=25 fps) on standard hardware. Therefore, the system is suitable for actual Intelligent Traffic System applications.

  1. Research on Key Technologies of Network Centric System Distributed Target Track Fusion

    Directory of Open Access Journals (Sweden)

    Yi Mao

    2017-01-01

    Full Text Available To realize common tactical picture in network-centered system, this paper proposes a layered architecture for distributed information processing and a method for distributed track fusion on the basis of analyzing the characteristics of network-centered systems. Basing on the noncorrelation of three-dimensional measurement of surveillance and reconnaissance sensors under polar coordinates, it also puts forward an algorithm for evaluating track quality (TQ using statistical decision theory. According to simulation results, the TQ value is associated with the measurement accuracy of sensors and the motion state of targets, which is well matched with the convergence process of tracking filters. Besides, the proposed algorithm has good reliability and timeliness in track quality evaluation.

  2. INFLUENCE OF STOCHASTIC NOISE STATISTICS ON KALMAN FILTER PERFORMANCE BASED ON VIDEO TARGET TRACKING

    Institute of Scientific and Technical Information of China (English)

    Chen Ken; Napolitano; Zhang Yun; Li Dong

    2010-01-01

    The system stochastic noises involved in Kalman filtering are preconditioned on being ideally white and Gaussian distributed. In this research,efforts are exerted on exploring the influence of the noise statistics on Kalman filtering from the perspective of video target tracking quality. The correlation of tracking precision to both the process and measurement noise covariance is investigated; the signal-to-noise power density ratio is defined; the contribution of predicted states and measured outputs to Kalman filter behavior is discussed; the tracking precision relative sensitivity is derived and applied in this study case. The findings are expected to pave the way for future study on how the actual noise statistics deviating from the assumed ones impacts on the Kalman filter optimality and degradation in the application of video tracking.

  3. FISST Based Method for Multi-Target Tracking in the Image Plane of Optical Sensors

    Directory of Open Access Journals (Sweden)

    Dan Xu

    2012-03-01

    Full Text Available A finite set statistics (FISST-based method is proposed for multi-target tracking in the image plane of optical sensors. The method involves using signal amplitude information in probability hypothesis density (PHD filter which is derived from FISST to improve multi-target tracking performance. The amplitude of signals generated by the optical sensor is modeled first, from which the amplitude likelihood ratio between target and clutter is derived. An alternative approach is adopted for the situations where the signal noise ratio (SNR of target is unknown. Then the PHD recursion equations incorporated with signal information are derived and the Gaussian mixture (GM implementation of this filter is given. Simulation results demonstrate that the proposed method achieves significantly better performance than the generic PHD filter. Moreover, our method has much lower computational complexity in the scenario with high SNR and dense clutter.

  4. Road-Aided Ground Slowly Moving Target 2D Motion Estimation for Single-Channel Synthetic Aperture Radar.

    Science.gov (United States)

    Wang, Zhirui; Xu, Jia; Huang, Zuzhen; Zhang, Xudong; Xia, Xiang-Gen; Long, Teng; Bao, Qian

    2016-03-16

    To detect and estimate ground slowly moving targets in airborne single-channel synthetic aperture radar (SAR), a road-aided ground moving target indication (GMTI) algorithm is proposed in this paper. First, the road area is extracted from a focused SAR image based on radar vision. Second, after stationary clutter suppression in the range-Doppler domain, a moving target is detected and located in the image domain via the watershed method. The target's position on the road as well as its radial velocity can be determined according to the target's offset distance and traffic rules. Furthermore, the target's azimuth velocity is estimated based on the road slope obtained via polynomial fitting. Compared with the traditional algorithms, the proposed method can effectively cope with slowly moving targets partly submerged in a stationary clutter spectrum. In addition, the proposed method can be easily extended to a multi-channel system to further improve the performance of clutter suppression and motion estimation. Finally, the results of numerical experiments are provided to demonstrate the effectiveness of the proposed algorithm.

  5. Model of Large-format EO-IR sensor for calculating the probability of true and false detection and tracking for moving and fixed objects

    Science.gov (United States)

    Korb, Andrew R.; Grossman, Stanley I.

    2015-05-01

    A model was developed to understand the effects of spatial resolution and Signal to Noise ratio on the detection and tracking performance of wide-field, diffraction-limited electro-optic and infrared motion imagery systems. False positive detection probability and false positive rate per frame were calculated as a function of target-to-background contrast and object size. Results showed that moving objects are fundamentally more difficult to detect than stationary objects because SNR for fixed objects increases and false positive probability detection rates diminish rapidly with successive frames whereas for moving objects the false detection rate remains constant or increases with successive frames. The model specifies that the desired performance of a detection system, measured by the false positive detection rate, can be achieved by image system designs with different combinations of SNR and spatial resolution, usually requiring several pixels resolving the object; this capability to tradeoff resolution and SNR enables system design trades and cost optimization. For operational use, detection thresholds required to achieve a particular false detection rate can be calculated. Interestingly, for moderate size images the model converges to the Johnson Criteria. Johnson found that an imaging system with an SNR >3.5 has a probability of detection >50% when the resolution on the object is 4 pixels or more. Under these conditions our model finds the false positive rate is less than one per hundred image frames, and the ratio of the probability of object detection to false positive detection is much greater than one. The model was programmed into Matlab to generate simulated images frames for visualization.

  6. Analysis of LFM-waveform Libraries for Cognitive Tracking Maneuvering Targets

    Directory of Open Access Journals (Sweden)

    Wang Hongyan

    2016-01-01

    Full Text Available Based on the idea of the waveform agility in cognitive radars,the waveform libraries for maneuvering target tracking are discussed. LFM-waveform libraries are designed according to different combinations of chirp parameters and FrFT rotation angles. By applying the interact multiple model (IMM algorithm in tracking maneuvering targets, transmitted waveform is called real time from the LFM-waveform libraries. The waveforms are selected from the library according to the criterion of maximum mutual information between the current state of knowledge of the model and the measurement. Simulation results show that waveform library containing certain amount LFM-waveforms can improve the performance of cognitive tracking radar.

  7. The Recognition Techniques of Single Moving Target from Two Frames of Sequence Images

    Institute of Scientific and Technical Information of China (English)

    LIJinzong; WEIXiangquan; LINingning; MAZimo

    2005-01-01

    The binary quadric model for piecewise grayvalue distribution of an image and the F-test model for change detection are successively established so as torecognize single moving target from two frames of a sequence image. Firstly, the optimal estimators of the coefficients of the binary quadric model which is the best approach to piecewise grayvalue distribution are deduced by using the least quadratic multiplication. Then, F-test model is ulteriorly deduced by the statistic hypothesis testing based on the quadratic model, whose degrees of free-dom is (n+3, 2n-12). The results of detecting change using only F-test generally include two kinds of errors, i.e., the false alarm and the target loss, therefore, the techniques of clustering analysis and filling holes are specially designed,which can make both errors to approach to zero. The experimental results made with the television- and infrared sequence images have fully proven the validity and compatibility of the technique scheme and the key techniques proposed in this paper.

  8. Collaborative 3D Target Tracking in Distributed Smart Camera Networks for Wide-Area Surveillance

    Directory of Open Access Journals (Sweden)

    Xenofon Koutsoukos

    2013-05-01

    Full Text Available With the evolution and fusion of wireless sensor network and embedded camera technologies, distributed smart camera networks have emerged as a new class of systems for wide-area surveillance applications. Wireless networks, however, introduce a number of constraints to the system that need to be considered, notably the communication bandwidth constraints. Existing approaches for target tracking using a camera network typically utilize target handover mechanisms between cameras, or combine results from 2D trackers in each camera into 3D target estimation. Such approaches suffer from scale selection, target rotation, and occlusion, drawbacks typically associated with 2D tracking. In this paper, we present an approach for tracking multiple targets directly in 3D space using a network of smart cameras. The approach employs multi-view histograms to characterize targets in 3D space using color and texture as the visual features. The visual features from each camera along with the target models are used in a probabilistic tracker to estimate the target state. We introduce four variations of our base tracker that incur different computational and communication costs on each node and result in different tracking accuracy. We demonstrate the effectiveness of our proposed trackers by comparing their performance to a 3D tracker that fuses the results of independent 2D trackers. We also present performance analysis of the base tracker along Quality-of-Service (QoS and Quality-of-Information (QoI metrics, and study QoS vs. QoI trade-offs between the proposed tracker variations. Finally, we demonstrate our tracker in a real-life scenario using a camera network deployed in a building.

  9. Visual information about past, current and future properties of irregular target paths in isometric force tracking.

    Science.gov (United States)

    Mazich, Molly M; Studenka, Breanna E; Newell, Karl M

    2015-01-01

    In visual-motor tracking, information about past, current, and future properties of a target path can be available but, because they are typically manipulated independently, the relative contribution of these information categories to tracking performance is not well understood. The aim of the current study was to investigate the role of visual information pertaining to past, current, and future states of the target path in guiding isometric tracking performance as a function of the irregularity of the target path (sine wave, brown/pink noise, white noise). The findings from local and global properties of the force output showed that the role of visual information about the past, current, and future states of target paths is dependent on the regularity of the signal to be tracked. The brown/pink noise pathway condition was most strongly influenced by future and past-future visual information for both local error properties (lead/lag, root mean square error (RMSE)) and global properties of the force output (ApEn, cross correlation). The highly irregular white noise pathway did not benefit from past or future information and the highly regular sine wave was only influenced for the local error properties of RMSE and lead/lag. It appears that visual information about past and future tracking states is more effective with a pathway that is middling with respect to regularity/irregularity. This is consistent with the role of visual information in tracking to be dependent on the potential adaptability for change in the dimension of the motor output.

  10. Online Variational Bayesian Filtering-Based Mobile Target Tracking in Wireless Sensor Networks

    Directory of Open Access Journals (Sweden)

    Bingpeng Zhou

    2014-11-01

    Full Text Available The received signal strength (RSS-based online tracking for a mobile node in wireless sensor networks (WSNs is investigated in this paper. Firstly, a multi-layer dynamic Bayesian network (MDBN is introduced to characterize the target mobility with either directional or undirected movement. In particular, it is proposed to employ the Wishart distribution to approximate the time-varying RSS measurement precision’s randomness due to the target movement. It is shown that the proposed MDBN offers a more general analysis model via incorporating the underlying statistical information of both the target movement and observations, which can be utilized to improve the online tracking capability by exploiting the Bayesian statistics. Secondly, based on the MDBN model, a mean-field variational Bayesian filtering (VBF algorithm is developed to realize the online tracking of a mobile target in the presence of nonlinear observations and time-varying RSS precision, wherein the traditional Bayesian filtering scheme cannot be directly employed. Thirdly, a joint optimization between the real-time velocity and its prior expectation is proposed to enable online velocity tracking in the proposed online tacking scheme. Finally, the associated Bayesian Cramer–Rao Lower Bound (BCRLB analysis and numerical simulations are conducted. Our analysis unveils that, by exploiting the potential state information via the general MDBN model, the proposed VBF algorithm provides a promising solution to the online tracking of a mobile node in WSNs. In addition, it is shown that the final tracking accuracy linearly scales with its expectation when the RSS measurement precision is time-varying.

  11. Online variational Bayesian filtering-based mobile target tracking in wireless sensor networks.

    Science.gov (United States)

    Zhou, Bingpeng; Chen, Qingchun; Li, Tiffany Jing; Xiao, Pei

    2014-11-11

    The received signal strength (RSS)-based online tracking for a mobile node in wireless sensor networks (WSNs) is investigated in this paper. Firstly, a multi-layer dynamic Bayesian network (MDBN) is introduced to characterize the target mobility with either directional or undirected movement. In particular, it is proposed to employ the Wishart distribution to approximate the time-varying RSS measurement precision's randomness due to the target movement. It is shown that the proposed MDBN offers a more general analysis model via incorporating the underlying statistical information of both the target movement and observations, which can be utilized to improve the online tracking capability by exploiting the Bayesian statistics. Secondly, based on the MDBN model, a mean-field variational Bayesian filtering (VBF) algorithm is developed to realize the online tracking of a mobile target in the presence of nonlinear observations and time-varying RSS precision, wherein the traditional Bayesian filtering scheme cannot be directly employed. Thirdly, a joint optimization between the real-time velocity and its prior expectation is proposed to enable online velocity tracking in the proposed online tacking scheme. Finally, the associated Bayesian Cramer-Rao Lower Bound (BCRLB) analysis and numerical simulations are conducted. Our analysis unveils that, by exploiting the potential state information via the general MDBN model, the proposed VBF algorithm provides a promising solution to the online tracking of a mobile node in WSNs. In addition, it is shown that the final tracking accuracy linearly scales with its expectation when the RSS measurement precision is time-varying.

  12. Joint Target Detection and Tracking Filter for Chilbolton Advanced Meteorological Radar Data Processing

    Science.gov (United States)

    Pak, A.; Correa, J.; Adams, M.; Clark, D.; Delande, E.; Houssineau, J.; Franco, J.; Frueh, C.

    2016-09-01

    Recently, the growing number of inactive Resident Space Objects (RSOs), or space debris, has provoked increased interest in the field of Space Situational Awareness (SSA) and various investigations of new methods for orbital object tracking. In comparison with conventional tracking scenarios, state estimation of an orbiting object entails additional challenges, such as orbit determination and orbital state and covariance propagation in the presence of highly nonlinear system dynamics. The sensors which are available for detecting and tracking space debris are prone to multiple clutter measurements. Added to this problem, is the fact that it is unknown whether or not a space debris type target is present within such sensor measurements. Under these circumstances, traditional single-target filtering solutions such as Kalman Filters fail to produce useful trajectory estimates. The recent Random Finite Set (RFS) based Finite Set Statistical (FISST) framework has yielded filters which are more appropriate for such situations. The RFS based Joint Target Detection and Tracking (JoTT) filter, also known as the Bernoulli filter, is a single target, multiple measurements filter capable of dealing with cluttered and time-varying backgrounds as well as modeling target appearance and disappearance in the scene. Therefore, this paper presents the application of the Gaussian mixture-based JoTT filter for processing measurements from Chilbolton Advanced Meteorological Radar (CAMRa) which contain both defunct and operational satellites. The CAMRa is a fully-steerable radar located in southern England, which was recently modified to be used as a tracking asset in the European Space Agency SSA program. The experiments conducted show promising results regarding the capability of such filters in processing cluttered radar data. The work carried out in this paper was funded by the USAF Grant No. FA9550-15-1-0069, Chilean Conicyt - Fondecyt grant number 1150930, EU Erasmus Mundus MSc

  13. Analysis of Geosynchronous Satellite-air Bistatic SAR Clutter Characteristics from the Point of View of Ground Moving Target Indication

    Directory of Open Access Journals (Sweden)

    Zhang Dan-dan

    2013-09-01

    Full Text Available Under the geometry of geosynchronous satellite-air bistatic SAR where the geosynchronous satellite is the transmitter and aerostat is the receiver, in order to suppress clutter and detect slowly moving target using Space Time Adaptive Processing (STAP, it is necessary to analyze the clutter characteristics. From the point of view of ground moving target indication, the theory model of the clutter characteristics under the geometry of geosynchronous satellite-space bistatic SAR is analyzed and established in this paper; especially, the range-dependence characteristics of the angle-Doppler curve of the clutter is analyzed. Finally, the simulation verifies correctness of the analysis. The theory model and the conclusion in this paper indicates the clutter characteristics of the new geosynchronous satellite-air bistatic SAR mode, and provide theory basis for the selection and research of ground moving target indication method under this mode.

  14. Detection and Imaging of Slowly Moving Target of Airborne SAR Based on the GMCWD-Hough Transform

    Institute of Scientific and Technical Information of China (English)

    WANGLing; TAORar; ZHOUSiyong; WANGYue

    2004-01-01

    In this paper, the features of airborne SAR moving target echoes are analysed, the Generalizedmarginal Choi-Williams Distribution-Hough transform (GMCWD-HT) is also introduced. According to the echo model of airborne SAR, a new method based on the Generalized-marginal Choi-Williams Distribution-Hough transform for detecting and imaging the slowly moving targets of airborne SAR is proposed in the paper. This method can be used to perform the slowly moving target detection and imaging of airborne SAR in the low signal to clutter ratio, its detecting performance is better than the common method based on Wigner-Ville distribution. Computer simulation results have proven the validity of the approach.

  15. Optimized swimmer tracking system based on a novel multi-related-targets approach

    Science.gov (United States)

    Benarab, D.; Napoléon, T.; Alfalou, A.; Verney, A.; Hellard, P.

    2017-02-01

    Robust tracking is a crucial step in automatic swimmer evaluation from video sequences. We designed a robust swimmer tracking system using a new multi-related-targets approach. The main idea is to consider the swimmer as a bloc of connected subtargets that advance at the same speed. If one of the subtargets is partially or totally occluded, it can be localized by knowing the position of the others. In this paper, we first introduce the two-dimensional direct linear transformation technique that we used to calibrate the videos. Then, we present the classical tracking approach based on dynamic fusion. Next, we highlight the main contribution of our work, which is the multi-related-targets tracking approach. This approach, the classical head-only approach and the ground truth are then compared, through testing on a database of high-level swimmers in training, national and international competitions (French National Championships, Limoges 2015, and World Championships, Kazan 2015). Tracking percentage and the accuracy of the instantaneous speed are evaluated and the findings show that our new appraoach is significantly more accurate than the classical approach.

  16. 水下声自导武器目标跟踪方法研究%Study on target tracking of acoustic homing weapon

    Institute of Scientific and Technical Information of China (English)

    杨向锋; 杨云川; 陈亚林

    2013-01-01

    The base is moved and the detect time is varied when the acoustic homing weapon detecting and tracking target. It causes the Kalman filter hard in application to track target immediately. The parameters of location and attitude provided by the acoustic homing weapon navigation system and the target information detected by the acoustic homing weapon are used to resolve the problem. The target coordinates in acoustic homing weapon coordinate systems are transformed to terrestrial coordinate systems by coordinate conversion to resolve the problem of base moving. Every detecting time is used to calculate the sampling time to resolve problem of detecting time-varying. The model of acoustic homing weapon target tracking based on adaptive memory attenuate Kalman filter is proposed. The application method of choosing filter initialization values is presented. Simulation results show that the model is accurate. The tracking algorithm can achieve target tracking in ten times detection and provides better effect on convergence and mobile target tracking.%水下声自导武器采用主动方式检测、跟踪目标时,目标跟踪过程表现为一个动基座时变过程,难以直接运用卡尔曼滤波进行目标跟踪.利用水下声自导武器导航定位及航行姿态参数和水下声自导武器检测到的目标信息,通过坐标变换将目标坐标从水下声自导武器坐标系变换到大地坐标系解决了观测基座运动的问题,通过每次观测时间实时计算每次观测的采样时间解决了观测时变问题,建立了基于自适应衰减记忆卡尔曼滤波的水下声自导武器目标跟踪模型,给出了滤波初值选取的工程方法,仿真实验证明该模型正确,跟踪算法能够在10次观测内实现对目标的跟踪,具有较强的机动目标跟踪能力,算法收敛速度较快.

  17. Greenhouse gas emission trends and projections in Europe 2012. Tracking progress towards Kyoto and 2020 targets

    Energy Technology Data Exchange (ETDEWEB)

    Gores, S.; Scheffler, M.; Graichen, V. [Oeko-Institut (Oeko), Freiburg (Germany)] [and others

    2012-10-15

    At the end of 2011, almost all European countries were on track towards their Kyoto targets for 2008-2012. The EU-15 also remained on track to achieve its Kyoto target. Italy, however, was not on track. Spain plans to acquire a large quantity of Kyoto units through the KP's flexible mechanisms to achieve its target. With emission caps already set for the economic sectors under the EU Emissions Trading Scheme (EU ETS), emissions reductions during 2012 in the sectors outside the EU ETS together with reductions by carbon sinks will set the frame for how many Kyoto units Member States need to acquire to reach their individual targets. Hence, both the development and delivery of adequate plans to acquire enough Kyoto credits is becoming increasingly important. ETS emissions from 2008 to 2011 were on average 5 % below these caps, which results in an oversupply of allowances. The EU ETS is undergoing important changes in view of the third trading phase from 2013 to 2020. Most EU Member States project that in 2020, their emissions outside the EU ETS will be lower than their national targets set under the Climate and Energy Package. However, further efforts will be necessary to achieve longer term reductions. (Author)

  18. Belief Consensus Algorithms for Distributed Target Tracking in Wireless Sensor Networks

    CERN Document Server

    Savic, Vladimir; Zazo, Santiago

    2012-01-01

    In distributed target tracking in wireless sensor networks (WSN), agreement on the target state is usually achieved by the construction and maintenance of a communication path. Such an approach lack robustness to failures, and is not applicable to asynchronous networks. Recently, methods have been proposed that can solve these problems using consensus algorithms. However, these methods suffer from at least one of the following problems: i) they do not use fastest consensus methods, and ii) they cannot handle all parametric and nonparametric likelihood functions. In this paper, we propose a general framework for target tracking using distributed particle filtering (DPF) based on three asynchronous belief consensus (BC) algorithms: standard belief consensus (SBC), broadcast gossip (BG), and belief propagation (BP). Since DPF can be also solved (without consensus) by exchanging the observed data, we determine under which conditions BC-based methods are preferred. Finally, we perform extensive simulations to anal...

  19. Passive Target Tracking in Non-cooperative Radar System Based on Particle Filtering

    Institute of Scientific and Technical Information of China (English)

    LI Shuo; TAO Ran

    2006-01-01

    We propose a target tracking method based on particle filtering(PF) to solve the nonlinear non-Gaussian target-tracking problem in the bistatic radar systems using external radiation sources. Traditional nonlinear state estimation method is extended Kalman filtering (EKF), which is to do the first level Taylor series extension. It will cause an inaccuracy or even a scatter estimation result on condition that there is either a highly nonlinear target or a large noise square-error. Besides, Kalman filtering is the optimal resolution under a Gaussian noise assumption, and is not suitable to the non-Gaussian condition. PF is a sort of statistic filtering based on Monte Carlo simulation that is using some random samples (particles) to simulate the posterior probability density of system random variables. This method can be used in any nonlinear random system. It can be concluded through simulation that PF can achieve higher accuracy than the traditional EKF.

  20. ESAM: Endocrine inspired Sensor Activation Mechanism for multi-target tracking in WSNs

    Science.gov (United States)

    Adil Mahdi, Omar; Wahab, Ainuddin Wahid Abdul; Idris, Mohd Yamani Idna; Znaid, Ammar Abu; Khan, Suleman; Al-Mayouf, Yusor Rafid Bahar

    2016-10-01

    Target tracking is a significant application of wireless sensor networks (WSNs) in which deployment of self-organizing and energy efficient algorithms is required. The tracking accuracy increases as more sensor nodes are activated around the target but more energy is consumed. Thus, in this study, we focus on limiting the number of sensors by forming an ad-hoc network that operates autonomously. This will reduce the energy consumption and prolong the sensor network lifetime. In this paper, we propose a fully distributed algorithm, an Endocrine inspired Sensor Activation Mechanism for multi target-tracking (ESAM) which reflecting the properties of real life sensor activation system based on the information circulating principle in the endocrine system of the human body. Sensor nodes in our network are secreting different hormones according to certain rules. The hormone level enables the nodes to regulate an efficient sleep and wake up cycle of nodes to reduce the energy consumption. It is evident from the simulation results that the proposed ESAM in autonomous sensor network exhibits a stable performance without the need of commands from a central controller. Moreover, the proposed ESAM generates more efficient and persistent results as compared to other algorithms for tracking an invading object.

  1. A new algorithm of bearings-only multi-target tracking of bistatic system

    Institute of Scientific and Technical Information of China (English)

    Benlian XU; Zhiquan WANG

    2006-01-01

    Much research mainly focuses on the batch processing method (e.g. maximum likelihood method) when bearings-only multiple targets tracking of bistatic sonar system is considered. In this paper, the idea of recursive processing method is presented and employed, and corresponding data association algorithms, i.e. a multi-objective ant-colony-based optimization algorithm and an easy fast assignment algorithm are developed to solve the measurements-to-measurements and measurements-to-tracks data association problems of bistatic sonar system, respectively. Monte-Carlo simulations are induced to evaluate the effectiveness of the proposed methods.

  2. Study of A New Method for Vision Based Robot Target-Tracking Problem

    Institute of Scientific and Technical Information of China (English)

    2001-01-01

    Focused on several problems during robot target tracking, and proposed a new kind of scheme and algorithm for it. The hybrid systematic structure reduces the control complexity and guarantees the tracking effectiveness as well as the control stability. The convergence and the feasibility of the algorithm are analyzed and proofed thoroughly. An on-line updating method for navigation coefficient is presented. Finally, the control scheme and proposed algorithm is applied to the real robotic system. The simulation and experimental results show its effectiveness.

  3. Knowledge-Aided STAP Processing for Ground Moving Target Indication Radar Using Multilook Data

    Directory of Open Access Journals (Sweden)

    Page Douglas

    2006-01-01

    Full Text Available Knowledge-aided space-time adaptive processing (KASTAP using multiple coherent processing interval (CPI radar data is described. The approach is based on forming earth-based clutter reflectivity maps to provide improved knowledge of clutter statistics in nonhomogeneous terrain environments. The maps are utilized to calculate predicted clutter covariance matrices as a function of range. Using a data set provided under the DARPA knowledge-aided sensor signal processing and expert reasoning (KASSPER Program, predicted distributed clutter statistics are compared to measured statistics to verify the accuracy of the approach. Robust STAP weight vectors are calculated using a technique that combines covariance tapering, adaptive estimation of gain and phase corrections, knowledge-aided prewhitening, and eigenvalue rescaling. Techniques to suppress large discrete returns, expected in urban areas, are also described. Several performance metrics are presented, including signal-to-interference-plus-noise ratio (SINR loss, target detections and false alarms, receiver operating characteristic (ROC curves, and tracking performance. The results show more than an order of magnitude reduction in false alarm density when compared to standard STAP processing.

  4. Greenhouse gas emission trends and projections in Europe 2011. Tracking progress towards Kyoto and 2020 targets

    Energy Technology Data Exchange (ETDEWEB)

    Busche, J.; Scheffler, M.; Graichen, V. (Umweltbundesamt, Vienna (Austria)) (and others)

    2011-10-15

    At the end of 2010, the EU-15 was on track to achieve its Kyoto target but three EU-15 Member States (Austria, Italy and Luxembourg) were not on track to meet their burden-sharing targets. These countries must therefore seriously consider further action to ensure compliance, in particular revising their plans on using flexible mechanisms. Among the EEA member countries outside the EU, Liechtenstein and Switzerland were not on track to achieve their Kyoto target at the end of 2009. All other European countries are on track to meet their targets, either based on domestic emissions only or with the assistance of Kyoto mechanisms. The economic recession had a significant impact on the EU's total greenhouse gas (GHG) emission trends but a more limited effect on progress towards Kyoto targets. This is because emissions in the sectors covered by the EU Emissions Trading Scheme (ETS), which were most affected by the crisis, do not affect Kyoto compliance once ETS caps have been set. With existing national measures, Member States do not project enough emission reductions for the EU to meet its unilateral 20 % reduction commitment in 2020. Additional measures currently planned by Member States will help further reduce emissions but will be insufficient to achieve the important emission cuts needed in the longer term. By 2020 Member States must enhance their efforts to reduce emissions in non-EU ETS sectors, such as the residential, transport or agriculture sectors, where legally binding national targets have been set under the EU's 2009 climate and energy package. (Author)

  5. Nonsearching Doppler parameter and velocity estimation method for synthetic aperture radar ground moving target imaging

    Science.gov (United States)

    Li, Zhongyu; Wu, Junjie; Huang, Yunlin; Yang, Haiguang; Yang, Jianyu

    2016-07-01

    For synthetic aperture radar (SAR), ground moving target (GMT) imaging necessitates the compensation of the additional azimuth modulation contributed by the unknown movement of the GMT. That is to say, it is necessary to estimate the Doppler parameters of the GMT without a priori knowledge of the GMT's motion parameters. This paper presents a Doppler parameter and velocity estimation method to refocus the GMT from its smeared response in SAR image. The main idea of this method is that an azimuth reference function is constructed to do the correlation integral with the azimuth signal of the GMT. And in general, the Doppler parameters of the presumed azimuth reference function are different from those of the GMT's azimuth signal since the velocity parameters of the GMT are unknown. Therefore, the correlation operation referred to here is actually mismatched, and the processing result of is shifted and defocused. The shifted and defocused result is utilized to get the real Doppler parameters and the velocity parameters of the GMT. One advantage of this method is that it is a nonsearching method. Another advantage is that both the Doppler centroid and the Doppler frequency rate of the GMT can be simultaneously estimated according to the relationships between the Doppler parameters and the smeared response of the GMT. In addition, the velocity of the GMT can also be obtained based on the estimated Doppler parameters. Numerical simulations and experimental data processing verify the validity of the method proposed.

  6. Neural network data association with application to multiple-target tracking

    Science.gov (United States)

    Leung, Henry

    1996-03-01

    Data association is the process of relating sensor measurements in a data fusion system. It can be structured in a basic framework very similar to that of the classic traveling salesman problem. The derivation of the energy function is presented, and the solution is based on a modified Hopfield network which uses the Runge-Kutta method and Aiyer's network structure. The neural data association is then applied to the problem of multiple-target tracking (MTT). The proposed neural MTT system consists of a modified Hough transform track initiator, a Kalman filter state estimator and the Hopfield probabilistic data association. Real- life air surveillance data are used to evaluate the practicality of the neural MTT system, and the results show that the neural system works efficiently in real-life tracking environments.

  7. A Method for Testing the Dynamic Tracking Accuracy of Airborne Infrared Target Tracking Sensor%一种机载红外跟瞄器动态跟踪精度测试方法

    Institute of Scientific and Technical Information of China (English)

    杨旭

    2014-01-01

    针对红外跟瞄器在机载大角速度运动条件下的使用要求,提出实验室内目标跟踪精度的动态测试方法。利用原有“静态测试”的方法,结合红外跟瞄器的特点,对“目标信息”的生成和测试系统数据通讯进行详细设计,实现多源数据的有效交联。对测试原理和测试系统进行了简要介绍,并对数据进行了详细分析,实验结果表明,利用提出的动态跟踪精度测试方法可在实验室条件下实现对红外跟瞄器动态跟踪精度性能参数的有效测试,为客观评价机载红外跟瞄器的目标跟踪性能提供了有效的测试方法。%Considering that the infrared target tracking sensor often works under moving conditions of large angular velocity,a dynamic method was proposed for testing the accuracy of target tracking in laboratory .Based on the existing “static testing” method and the characteristics of the infrared target tracking sensor,the generation of target information and data communication of test system were redesigned .Data communication among multi-source data was realized .The test principle and test data are discussed in detail in this paper . The experimental result showed that this method is suitable for testing the accuracy of target tracking in laboratory,which supplies a reliable testing method for objective evaluation to target tracking performance of infrared target tracking sensor .

  8. An Adaptive Moving Target Imaging Method for Bistatic Forward-Looking SAR Using Keystone Transform and Optimization NLCS.

    Science.gov (United States)

    Li, Zhongyu; Wu, Junjie; Huang, Yulin; Yang, Haiguang; Yang, Jianyu

    2017-01-23

    Bistatic forward-looking SAR (BFSAR) is a kind of bistatic synthetic aperture radar (SAR) system that can image forward-looking terrain in the flight direction of an aircraft. Until now, BFSAR imaging theories and methods for a stationary scene have been researched thoroughly. However, for moving-target imaging with BFSAR, the non-cooperative movement of the moving target induces some new issues: (I) large and unknown range cell migration (RCM) (including range walk and high-order RCM); (II) the spatial-variances of the Doppler parameters (including the Doppler centroid and high-order Doppler) are not only unknown, but also nonlinear for different point-scatterers. In this paper, we put forward an adaptive moving-target imaging method for BFSAR. First, the large and unknown range walk is corrected by applying keystone transform over the whole received echo, and then, the relationships among the unknown high-order RCM, the nonlinear spatial-variances of the Doppler parameters, and the speed of the mover, are established. After that, using an optimization nonlinear chirp scaling (NLCS) technique, not only can the unknown high-order RCM be accurately corrected, but also the nonlinear spatial-variances of the Doppler parameters can be balanced. At last, a high-order polynomial filter is applied to compress the whole azimuth data of the moving target. Numerical simulations verify the effectiveness of the proposed method.

  9. An Adaptive Moving Target Imaging Method for Bistatic Forward-Looking SAR Using Keystone Transform and Optimization NLCS

    Directory of Open Access Journals (Sweden)

    Zhongyu Li

    2017-01-01

    Full Text Available Bistatic forward-looking SAR (BFSAR is a kind of bistatic synthetic aperture radar (SAR system that can image forward-looking terrain in the flight direction of an aircraft. Until now, BFSAR imaging theories and methods for a stationary scene have been researched thoroughly. However, for moving-target imaging with BFSAR, the non-cooperative movement of the moving target induces some new issues: (I large and unknown range cell migration (RCM (including range walk and high-order RCM; (II the spatial-variances of the Doppler parameters (including the Doppler centroid and high-order Doppler are not only unknown, but also nonlinear for different point-scatterers. In this paper, we put forward an adaptive moving-target imaging method for BFSAR. First, the large and unknown range walk is corrected by applying keystone transform over the whole received echo, and then, the relationships among the unknown high-order RCM, the nonlinear spatial-variances of the Doppler parameters, and the speed of the mover, are established. After that, using an optimization nonlinear chirp scaling (NLCS technique, not only can the unknown high-order RCM be accurately corrected, but also the nonlinear spatial-variances of the Doppler parameters can be balanced. At last, a high-order polynomial filter is applied to compress the whole azimuth data of the moving target. Numerical simulations verify the effectiveness of the proposed method.

  10. Road-Aided Ground Slowly Moving Target 2D Motion Estimation for Single-Channel Synthetic Aperture Radar

    Directory of Open Access Journals (Sweden)

    Zhirui Wang

    2016-03-01

    Full Text Available To detect and estimate ground slowly moving targets in airborne single-channel synthetic aperture radar (SAR, a road-aided ground moving target indication (GMTI algorithm is proposed in this paper. First, the road area is extracted from a focused SAR image based on radar vision. Second, after stationary clutter suppression in the range-Doppler domain, a moving target is detected and located in the image domain via the watershed method. The target’s position on the road as well as its radial velocity can be determined according to the target’s offset distance and traffic rules. Furthermore, the target’s azimuth velocity is estimated based on the road slope obtained via polynomial fitting. Compared with the traditional algorithms, the proposed method can effectively cope with slowly moving targets partly submerged in a stationary clutter spectrum. In addition, the proposed method can be easily extended to a multi-channel system to further improve the performance of clutter suppression and motion estimation. Finally, the results of numerical experiments are provided to demonstrate the effectiveness of the proposed algorithm.

  11. Cluster-based Dynamic Energy Management for Collaborative Target Tracking in Wireless Sensor Networks

    Directory of Open Access Journals (Sweden)

    Dao-Wei Bi

    2007-07-01

    Full Text Available A primary criterion of wireless sensor network is energy efficiency. Focused onthe energy problem of target tracking in wireless sensor networks, this paper proposes acluster-based dynamic energy management mechanism. Target tracking problem isformulated by the multi-sensor detection model as well as energy consumption model. Adistributed adaptive clustering approach is investigated to form a reasonable routingframework which has uniform cluster head distribution. Dijkstra’s algorithm is utilized toobtain optimal intra-cluster routing. Target position is predicted by particle filter. Thepredicted target position is adopted to estimate the idle interval of sensor nodes. Hence,dynamic awakening approach is exploited to prolong sleep time of sensor nodes so that theoperation energy consumption of wireless sensor network can be reduced. The sensornodes around the target wake up on time and act as sensing candidates. With the candidatesensor nodes and predicted target position, the optimal sensor node selection is considered.Binary particle swarm optimization is proposed to minimize the total energy consumptionduring collaborative sensing and data reporting. Experimental results verify that theproposed clustering approach establishes a low-energy communication structure while theenergy efficiency of wireless sensor networks is enhanced by cluster-based dynamic energymanagement.

  12. Infrared dim-small target tracking via singular value decomposition and improved Kernelized correlation filter

    Science.gov (United States)

    Qian, Kun; Zhou, Huixin; Rong, Shenghui; Wang, Bingjian; Cheng, Kuanhong

    2017-05-01

    Infrared small target tracking plays an important role in applications including military reconnaissance, early warning and terminal guidance. In this paper, an effective algorithm based on the Singular Value Decomposition (SVD) and the improved Kernelized Correlation Filter (KCF) is presented for infrared small target tracking. Firstly, the super performance of the SVD-based algorithm is that it takes advantage of the target's global information and obtains a background estimation of an infrared image. A dim target is enhanced by subtracting the corresponding estimated background with update from the original image. Secondly, the KCF algorithm is combined with Gaussian Curvature Filter (GCF) to eliminate the excursion problem. The GCF technology is adopted to preserve the edge and eliminate the noise of the base sample in the KCF algorithm, helping to calculate the classifier parameter for a small target. At last, the target position is estimated with a response map, which is obtained via the kernelized classifier. Experimental results demonstrate that the presented algorithm performs favorably in terms of efficiency and accuracy, compared with several state-of-the-art algorithms.

  13. Grey Prediction Fuzzy Control of the Target Tracking System in a Robot Weapon

    Institute of Scientific and Technical Information of China (English)

    WANG Jian-zhong; JI Jiang-tao; WANG Hong-ru

    2007-01-01

    Grey modeling can be used to predict the behavioral development of a system and find out the lead control values of the system. By using fuzzy inference, PID parameters can be adjusted on line by the fuzzy controller with PID parameters self-tuning. According to the characteristics of target tracking system in a robot weapon, grey prediction theory and fuzzy PID control ideas are combined. A grey prediction mathematical model is constructed and a fuzzy PID controller with grey prediction was developed. Simulation result shows fuzzy PID control algorithm with grey prediction is an efficient method that can improve the control equality and robustness of traditional PID control and fuzzy PID control, and has much better performance for target tracking.

  14. Decentralized Cooperative TOA/AOA Target Tracking for Hierarchical Wireless Sensor Networks

    Directory of Open Access Journals (Sweden)

    Chih-Yu Wen

    2012-11-01

    Full Text Available This paper proposes a distributed method for cooperative target tracking in hierarchical wireless sensor networks. The concept of leader-based information processingis conducted to achieve object positioning, considering a cluster-based network topology. Random timers and local information are applied to adaptively select a sub-cluster for thelocalization task. The proposed energy-efficient tracking algorithm allows each sub-clustermember to locally estimate the target position with a Bayesian filtering framework and a neural networking model, and further performs estimation fusion in the leader node with the covariance intersection algorithm. This paper evaluates the merits and trade-offs of the protocol design towards developing more efficient and practical algorithms for objectposition estimation. 

  15. Event-triggered Kalman-consensus filter for two-target tracking sensor networks.

    Science.gov (United States)

    Su, Housheng; Li, Zhenghao; Ye, Yanyan

    2017-06-24

    This paper is concerned with the problem of event-triggered Kalman-consensus filter for two-target tracking sensor networks. According to the event-triggered protocol and the mean-square analysis, a suboptimal Kalman gain matrix is derived and a suboptimal event-triggered distributed filter is obtained. Based on the Kalman-consensus filter protocol, all sensors which only depend on its neighbors' information can track their corresponding targets. Furthermore, utilizing Lyapunov method and matrix theory, some sufficient conditions are presented for ensuring the stability of the system. Finally, a simulation example is presented to verify the effectiveness of the proposed event-triggered protocol. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.

  16. Decentralized cooperative TOA/AOA target tracking for hierarchical wireless sensor networks.

    Science.gov (United States)

    Chen, Ying-Chih; Wen, Chih-Yu

    2012-11-08

    This paper proposes a distributed method for cooperative target tracking in hierarchical wireless sensor networks. The concept of leader-based information processing is conducted to achieve object positioning, considering a cluster-based network topology. Random timers and local information are applied to adaptively select a sub-cluster for the localization task. The proposed energy-efficient tracking algorithm allows each sub-cluster member to locally estimate the target position with a Bayesian filtering framework and a neural networking model, and further performs estimation fusion in the leader node with the covariance intersection algorithm. This paper evaluates the merits and trade-offs of the protocol design towards developing more efficient and practical algorithms for object position estimation.

  17. Clustering and Fault Tolerance for Target Tracking using Wireless Sensor Networks

    Directory of Open Access Journals (Sweden)

    Sania Bhatti

    2012-10-01

    Full Text Available Over the last few years, the deployment of WSNs (Wireless Sensor Networks has been fostered in diverse applications. WSN has great potential for a variety of domains ranging from scientific experiments to commercial applications. Due to the deployment of WSNs in dynamic and unpredictable environments. They have potential to cope with variety of faults. This paper proposes an energy-aware fault-tolerant clustering protocol for target tracking applications termed as the FTTT (Fault Tolerant Target Tracking protocol. The identification of RNs (Redundant Nodes makes SN (Sensor Node fault tolerance plausible and the clustering endorsed recovery of sensors supervised by a faulty CH (Cluster Head. The FTTT protocol intends two steps of reducing energy consumption: first, by identifying RNs in the network; secondly, by restricting the numbers of SNs sending data to the CH. Simulations validate the scalability and low power consumption of the FTTT protocol in comparison with LEACH protocol.

  18. 基于卡尔曼滤波的运动人体跟踪算法研究%Research on Moving Human Tracking Algorithm Based on Kalman Filter

    Institute of Scientific and Technical Information of China (English)

    乔坤; 郭朝勇; 史进伟

    2012-01-01

    提出一种基于卡尔曼滤波的运动目标快速跟踪算法.利用卡尔曼滤波器的预测功能,预测运动人体目标在下一帧中的位置,在Matlab仿真环境下实现该跟踪算法,实验结果表明:该算法对人体目标的运动趋势能够做出正确的预测估计,跟踪效果和性能较为稳定和可靠.此外,该算法将图像全局搜索问题转换为局部搜索,使运算量减少,满足实时性跟踪要求,实现了对运动目标的快速跟踪.%A real-time moving object tracking algorithm based on Kalman filter is proposed The possible position of the moving human in the next frame is predicted by Kalman filter's predictive function. Based on the Matlab simulation environment to achieve the tracking algorithm and the experimental results show that the algorithm can correctly estimate the human's motion trend and the tracking results and performance is better. In addition, the global searching scope of an image is converted to local scope, thus reduce the computation and meet the requirements of real-time tracking, and the speedy tracking of moving human is realized.

  19. Analiza primene IMM algoritma za praćenje manevrišućih ciljeva / Analysis of IMM algorithm for maneuvering target tracking

    Directory of Open Access Journals (Sweden)

    Zvonko Radosavljević

    2005-05-01

    Full Text Available U radu je analizirana primena IMM algoritma sa tri modela Kalmanovih filtara, za praćenje cilja pomoću osmatračkog radara. Prvi Kalmanov filtar podešen je da prati ciljeve koji se kreću po pravolinijskoj trajektoriji bez ubrzanja, drugi prati ciljeve koji se kreću ubrzano i vrše blag manevar, a treći je namenjen za praćenje ciljeva koji se kreću ubrzano i vrše oštar manevar. Dat je opis algoritma kao i vrednosti odgovarajućih parametara i matrica prelaza za Kalmanove filtre, kao i uporedna analiza algoritma u odnosu na standardan Kalmanov filtar šestog reda. Prikazani rezultati srednje kvadratne greške praćenja po x i у koordinati pokazuju opravdanost izbora predložene metode praćenja. / This paper considers comparative analysis the problem of maneuvering target tracking to IMM algorithm with 3 standard Kalman filters and same standard Kalman filter 6. order, using data from TWS radar. The first Kalman filter from IMM algorithms is tuned for tracking of target moving along the rectilinear trajectory -without acceleration, the second tracks the targets with acceleration and gentle maneuver, and the third Kalman filter tracks the target with acceleration and sharp maneuver. The mathematical model of algorithm and values of appropriate parameters and Kalman filter matrices, are presented. The results of RMSE of tracking in x and у coordinates, show the validity of the proposed method.

  20. Robotics Vision-based Heuristic Reasoning for Underwater Target Tracking and Navigation

    Directory of Open Access Journals (Sweden)

    Chua Kia

    2008-11-01

    Full Text Available This paper presents a robotics vision-based heuristic reasoning system for underwater target tracking and navigation. This system is introduced to improve the level of automation of underwater Remote Operated Vehicles (ROVs operations. A prototype which combines computer vision with an underwater robotics system is successfully designed and developed to perform target tracking and intelligent navigation. This study focuses on developing image processing algorithms and fuzzy inference system for the analysis of the terrain. The vision system developed is capable of interpreting underwater scene by extracting subjective uncertainties of the object of interest. Subjective uncertainties are further processed as multiple inputs of a fuzzy inference system that is capable of making crisp decisions concerning where to navigate. The important part of the image analysis is morphological filtering. The applications focus on binary images with the extension of gray-level concepts. An open-loop fuzzy control system is developed for classifying the traverse of terrain. The great achievement is the system's capability to recognize and perform target tracking of the object of interest (pipeline in perspective view based on perceived condition. The effectiveness of this approach is demonstrated by computer and prototype simulations. This work is originated from the desire to develop robotics vision system with the ability to mimic the human expert's judgement and reasoning when maneuvering ROV in the traverse of the underwater terrain.