In scenes where there are lighting changes, localization may fail for visual SLAM due to feature point tracking failure. Thus, a feature point tracking method based on multi-condition constraints is proposed for visual SLAM. The proposed method track...
Three-dimensional (3D) single-object tracking (3D SOT) is a fundamental yet not well-solved problem in 3D vision, where the complexity of feature matching and the sparsity of point clouds pose significant challenges. To handle abrupt changes in appea...
In large bowel investigations using endoscopic capsules and upon detection of significant findings, physicians require the location of those findings for a follow-up therapeutic colonoscopy. To cater to this need, we propose a model based on tracking...
To address the issues of intense image noise interference and computational intensity faced by traditional vision-based weld tracking systems, we propose WeldLight, a lightweight and noise-resistant convolutional neural network for precise classifica...
There is a well-known problem of video sequence analysis when it is necessary to identify and localize areas of abnormal movement of objects. This is necessary to attract the attention of the operator in the process of work or when analyzing the arch...
To obtain large-scale seabed surface image, this paper proposes a side-scan sonar (SSS) image mosaic method using couple feature points (CFPs) with constraint of track line positions. The SSS geocoded images are firstly used to form a coarsely mosaic...
Recently, many studies have actively dealt with the issue of driver-gaze tracking for monitoring the forward gaze and physical condition. Driver-gaze tracking is an effective method of measuring a driver’s inattention that is one of the major causes...
Monocular visual–inertial odometry based on the MSCKF algorithm has demonstrated computational efficiency even with limited resources. Moreover, the MSCKF-VIO is primarily designed for localization tasks, where environmental features such as po...
The track-to-track association (T2TA) problem is a fundamental and critical challenge in information fusion, situational awareness, and target tracking. Existing algorithms based on statistical mathematics, fuzzy mathematics, gray theory, and artific...
In this paper, we propose a robust and integrated visual odometry framework exploiting the optical flow and feature point method that achieves faster pose estimate and considerable accuracy and robustness during the odometry process. Our method utili...
The welding seam tracking operation ensures that the welding torch of the welding robot can go with the welding seam during the whole symmetrical robotic welding procession. To achieve three-dimensional complex welding seams tracking, a four-step wel...
The seam tracking operation is essential for extracting welding seam characteristics which can instruct the motion of a welding robot along the welding seam path. The chief tasks for seam tracking would be divided into three partitions. First, starti...
We propose a novel method for detecting features on normal maps and describing binary features, called BIFNOM, which is three-dimensionally rotation invariant and detects and matches interest points at high speed regardless of whether a target is tex...
Laser vision seam tracking enhances robotic welding by enabling external information acquisition, thus improving the overall intelligence of the welding process. However, camera images captured during welding often suffer from distortion due to stron...
An accurate ego-motion estimation solution is vital for autonomous vehicles. LiDAR is widely adopted in self-driving systems to obtain depth information directly and eliminate the influence of changing illumination in the environment. In LiDAR odomet...
Linear perspective has long been used to create the illusion of three-dimensional space on the picture plane. One of its central axioms comes from Euclidean geometry and holds that all parallel lines converge in a single vanishing point. Although lin...
Traditional Micro-Aerial Vehicles (MAVs) are usually equipped with a low-cost Inertial Measurement Unit (IMU) and monocular cameras, how to achieve high precision and high reliability navigation under the framework of low computational complexity is...
This article investigates the usage of terrestrial laser scanner (TLS) point clouds for monitoring the gradual movements of soil masses due to freeze–thaw activity and water saturation, commonly referred to as solifluction. Solifluction is a geomorph...
Joint estimation of the human body is suitable for many fields such as human–computer interaction, autonomous driving, video analysis and virtual reality. Although many depth-based researches have been classified and generalized in previous review or...
This paper presents an experimental study utilizing the vision-aided inertial navigation system (VaINS) on a fixed-wing unmanned aerial vehicle (UAV). VaINS operates as a data-logging box, collecting sensor data, processing them, and transmitting the...
The current civil infrastructure conditions can be assessed through the measurement of displacement using conventional contact-type sensors. To address the disadvantages of traditional sensors, vision-based sensor measurement systems have been derive...
Traditionally, visual-based RGB-D SLAM systems only use correspondences with valid depth values for camera tracking, thus ignoring the regions without 3D information. Due to the strict limitation on measurement distance and view angle, such systems a...
This article primarily focuses on the localization and extraction of multiple moving objects in images taken from a moving camera platform, such as image sequences captured by drones. The positions of moving objects in the images are influenced by bo...
Motivated by biological interests in analyzing navigation behaviors of flying animals, we attempt to build a system measuring their motion states. To do this, in this paper, we build a vision system to detect unknown fast moving objects within a give...
At present, feature-based 3D reconstruction and tracking technology is widely applied in the medical field. In minimally invasive surgery, the surgeon can achieve three-dimensional reconstruction through the images obtained by the endoscope in the hu...
Switch points are a specific kind of cue point that DJs carefully look for when mixing music tracks. As the name says, a switch point is the point in time where the current track in a DJ mix is replaced by the upcoming track. Being able to identify t...
Traditional Multiple Object Tracking (MOT) methods in satellite videos mostly follow the Detection-Based Tracking (DBT) framework. However, the DBT framework assumes that all objects are correctly recognized and localized by the detector. In practice...
Visual simultaneous localization and mapping (SLAM), based on point features, achieves high localization accuracy and map construction. They primarily perform simultaneous localization and mapping based on static features. Despite their efficiency an...
Aiming at the problem of feature point tracking loss caused by large head rotation and facial occlusion in doctors, this paper designs a head-position-tracking system based on geometric triangles and unscented Kalman filtering. By interconnecting the...
Multi-satellite sequential detection is crucial for maritime target identification and tracking. However, inherent satellite revisit patterns and maritime target motion often result in fragmented track segments, necessitating effective multi-satellit...
Motion estimation is crucial to predict where other traffic participants will be at a certain period of time, and accordingly plan the route of the ego-vehicle. This paper presents a novel approach to estimate the motion state by using region-level i...
Automatic vehicle detection and counting are considered vital in improving traffic control and management. This work presents an effective algorithm for vehicle detection and counting in complex traffic scenes by combining both convolution neural net...
Object tracking from LiDAR point clouds, which are always incomplete, sparse, and unstructured, plays a crucial role in urban navigation. Some existing methods utilize a learned similarity network for locating the target, immensely limiting the advan...
Unmanned aerial vehicle (UAV) vision-based sensing has become an emerging technology for structural health monitoring (SHM) and post-disaster damage assessment of civil infrastructure. This article proposes a framework for monitoring structural displ...
In this study, a multi-level scale stabilizer intended for visual odometry (MLSS-VO) combined with a self-supervised feature matching method is proposed to address the scale uncertainty and scale drift encountered in the field of monocular visual odo...
LiDAR-based simultaneous localization and mapping (SLAM) offer robustness against illumination changes, but the inherent sparsity of LiDAR point clouds poses challenges for continuous tracking and navigation, especially in feature-deprived scenarios....
In Photovoltaic (PV) systems with Distributed Maximum Power Point Tracking (DMPPT) architecture each panel is connected to a DC/DC converter, whose outputs are connected in series to feed a grid-connected inverter. The series-connection forces the ou...
Person tracking is an important issue in both computer vision and robotics. However, most existing person tracking methods using 3D point cloud are based on the Bayesian Filtering framework which are not robust in challenging scenes. In contrast with...
The head-mounted eye-tracking technology is often used to manipulate the motion of servo platform in remote tasks, so as to achieve visual aiming of servo platform, which is a highly integrated human-computer interaction effect. However, it is diffic...
For a SLAM system operating in a dynamic indoor environment, its position estimation accuracy and visual odometer stability could be reduced because the system can be easily affected by moving obstacles. In this paper, a visual SLAM algorithm based o...
Gaze tracking is a human-computer interaction technology, and it has been widely studied in the academic and industrial fields. However, constrained by the performance of the specific sensors and algorithms, it has not been popularized for everyone....
With the rapid advancement of hyperspectral imaging technology, hyperspectral object tracking (HOT) has become a research hotspot in the field of remote sensing. Advanced HOT methods have been continuously proposed and validated on scarce datasets in...
Millimeter-wave (mmWave) radar is increasingly used in smart environments for human detection due to its rich sensing capabilities and sensitivity to subtle movements. However, indoor multipath propagation causes severe ghost target issues, reducing...
In this paper, we proposed Mix-VIO, a monocular and binocular visual-inertial odometry, to address the issue where conventional visual front-end tracking often fails under dynamic lighting and image blur conditions. Mix-VIO adopts a hybrid tracking a...
The aim of the paper is to elaborate on and evaluate a multiperspective cartographic visualization of the spatial behavior of pedestrians in urban space. The detailed objective is to indicate the level of usefulness of the proposed visualization meth...
A tightly coupled hybrid monocular visual SLAM system for unmanned underwater vehicles (UUVs) is introduced in this paper. Specifically, we propose a robust three-step hybrid tracking strategy. The feature-based method initially provides a rough pose...
The target is often obstructed by obstacles with the dynamic tracking scene, leading to a loss of target information and a decrease in tracking accuracy or even complete failure. To address these challenges, we leverage the capabilities of Geiger-mod...
Autonomous systems need to localize and track surrounding objects in 3D space for safe motion planning. As a result, 3D multi-object tracking (MOT) plays a vital role in autonomous navigation. Most MOT methods use a tracking-by-detection pipeline, wh...
To solve the problem of false tracks generated by breakdowns and clutter in point-target tracking in polar coordinates, a fusion tracking algorithm based on a converted measurement Kalman filter and random matrix expansion is proposed. The converted...
Although a controller is well-tuned for set-point tracking, it shows poor control results for load disturbance rejection and vice versa. In this paper, a modified two-degree-of-freedom (2-DOF) control framework to solve this problem is proposed, and...
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