984results about How to "Improve tracking performance" patented technology

Dense range data obtained at real-time rates is employed to estimate the pose of an articulated figure. In one approach, the range data is used in combination with a model of connected patches. Each patch is the planar convex hull of two circles, and a recursive procedure is carried out to determine an estimate of pose which most closely correlates to the range data. In another aspect of the invention, the dense range data is used in conjunction with image intensity information to improve pose tracking performance. The range information is used to determine the shape of an object, rather than assume a generic model or estimate structure from motion. In this aspect of the invention, a depth constraint equation, which is a counterpart to the classic brightness change constraint equation, is employed. Both constraints are used to jointly solve for motion estimates.

Embodiments relate to a method for real-time facial animation, and a processing device for real-time facial animation. The method includes providing a dynamic expression model, receiving tracking data corresponding to a facial expression of a user, estimating tracking parameters based on the dynamic expression model and the tracking data, and refining the dynamic expression model based on the tracking data and estimated tracking parameters. The method may further include generating a graphical representation corresponding to the facial expression of the user based on the tracking parameters. Embodiments pertain to a real-time facial animation system.

A resist composition for immersion exposure, including a base component (A) that exhibits changed solubility in an alkali developing solution under action of acid, an acid generator component (B) that generates acid upon exposure, and a fluorine-containing compound (C) represented by a general formula (c-1) shown below that is decomposable in an alkali developing solution:wherein R1 represents an organic group which may contain a polymerizable group, with the proviso that said polymerizable group has a carbon-carbon multiple bond, and the carbon atoms forming the multiple bond are not directly bonded to the carbon atom within the —C(═O)— group in general formula (c-1); and R2 represents an organic group having a fluorine atom.

Dense range data obtained at real-time rates is employed to estimate the pose of an articulated figure. In one approach, the range data is used in combination with a model of connected patches. Each patch is the planar convex hull of two circles, and a recursive procedure is carried out to determine an estimate of pose which most closely correlates to the range data. In another aspect of the invention, the dense range data is used in conjunction with image intensity information to improve pose tracking performance. The range information is used to determine the shape of an object, rather than assume a generic model or estimate structure from motion. In this aspect of the invention, a depth constraint equation, which is a counterpart to the classic brightness change constraint equation, is employed. Both constraints are used to jointly solve for motion estimates.

A camera control apparats (10) comprises a control device for controlling the zoom, pan and tilt conditions of a camera. Data relating to the positioning of the camera in pan, tilt and zoom is transmitted to the control means and the control means converts the data into a value in a co-ordinate system, for example (3D) polar co-ordinates. The camera may be controlled and directed by pointing a pointer to an area in the image displayed whereby in response to selection of a point on a display the control means pans and / or tilts the camera so that the image viewed by the camera is centred substantially on the point selected. Still further, an area of the screen can be selected, for example by tracking and dropping a box using a mouse pointer on a computer screen and the control means is arranged to pan and tilt the camera so the image is centred on the centre of the selected area and zoomed so that the selected area becomes substantially the entire image viewed by the camera. In a further aspect a multiple camera control apparatus is provided in which a plurality of cameras may be controlled using the aforesaid control apparatus and the multiple camera control apparatus includes data relating to the location of the cameras with reference to the site plan so that multiple cameras can be co-ordinated to provide better image data, blind spot illumination and 'hand over' functionality. Still further a security apparatus is provided in which a camera views an image and the security apparatus includes image processing means and data relating to the site viewed by the camera so as to determine the location and size of an object viewed.

The invention relates to a multi-platform target tracking and distributed interactive simulation system in the technical field of simulation. The system comprises a target generation module, an aerial sensing platform, an emergency processing platform, a ground control center platform and an HLA distributed interactive simulation module, wherein, the target generation module generates a system tracking object at random; the aerial sensing platform comprises various detecting devices for performing fusion to the detected information and then transmitting the information to the ground control center platform; the ground control center platform integrates all the field information, evaluates the entire field situation and promptly makes an emergency decision; the emergency processing platform receives the information and the commands and realizes target tracking by using airborne equipment; and the HLA distributed interactive simulation module enables the modules to establish an HLA distributed system structure through a distributed network and realizes the multi-information network interconnection. The invention has the advantages of flexibility and extendability, can improve the tracking effect, enhance the visibility of scene demonstration and be widely applied to the fields such as public safety, disaster relief assistance and the like.

A variable volume raft containing adjustable ratio and amounts of air and or water. The buoyancy and ballast of the raft are routinely adjusted to accommodate additional occupants and changing weather conditions. A manual pump can be the primary or back up source for initial inflation. The torque pump twisted by hand or amplified by a lever arm generates air pressure for maintenance and repairing deflating lacerations at sea. The pumps collector gathers and pressurizes rain water for drinking in one chamber while pressurizing sea water as a stabilizing ballast in another chamber. A double hull or full floor chamber allows huge variations in buoyancy or ballast as dictated by changing needs for stability versus mobility. A compressed liquid or two-part foam confers puncture resistance to a portion of the raft. A thrown self-righting manual air horn, worn water-activated air horns and water activated transmitted signals, mark the site for rescuers.

A direct multilateration target tracking system is provided with the TOA time stamp as an input. A technique of tracking targets with varying receiver combinations is provided. Methods of correlating and combining Mode A, Mode C, and Mode S messages to enhance target tracking in a passive surveillance system are provided. A direct multilateration target tracking system is provided by TOA tracking and smoothing. A technique for selecting best receiver combination and / or solution of multilateration equations from a multitude of combinations and / or solutions is provided. A technique for correcting pseudorange values with atmospheric conditions is provided. A technique for improving height determination for regions of poor VDOP in a 3D multilateration system is provided.

A positive resist composition including a base component, an acid-generator component and a fluorine-containing polymer component (F) in a specific amount, the fluorine-containing polymer component (F) including a fluorine-containing polymer (F1) consisting of a structural unit (F-1) represented by general formula (F-1) (RC represents a hydrogen atom or a methyl group, R1 and R2 represent a hydrogen atom, an alkyl group or a fluorinated alkyl group, R3 represents a fluorine atom or a fluorinated alkyl group, and R4 represents an alkyl group or a fluorinated alkyl group) or a fluorine-containing copolymer (F2) containing the structural unit (F-1) and at least one structural unit selected from the group consisting of a structural unit (F-2) derived from an acrylate ester containing an acid dissociable, dissolution inhibiting group and a structural unit (F-3) represented by general formula (F-3) (RC represents a hydrogen atom or a methyl group, Z represents a single bond or a divalent linking group, and r represents an integer of 0 to 2).

The invention relates to a multi-objective coordination-typed self-adaptive cruise control method for a vehicle, comprising the following steps: 1) according to the detail requirements of the multi-objective coordination-typed self-adaptive cruise control for a vehicle, the performance indicators and I / O restriction of MTC ACC are designed, and multi-objective optimization control problem is established; and 2) MTC ACC control law rolling time domain is used for solving the objective optimal control problem, and the optimal open-loop control quantity is used for carrying out feedback and achieving closed-loop control. Based on the steps, the control method comprises the following four parts of contents: 1. the modeling for the longitudinal dynamics of a traction system; 2. the performance indicators of MTC ACC; 3. the I / O restriction design of MTC ACC; and 4. solution by the MTC ACC control law rolling time domain. By constructing multi-objective optimization problem, the control method not only solves the contradiction among the fuel economy, the track performance and the feeling of the driver, moreover, on the same simulation conditions, compared with the LQ ACC control, the control method simultaneously reduces the fuel consumption and vehicle tracking error of the vehicle, and achieves the multi-objective coordinating control function.

The invention provides a method for tracing the position and pose of a 3D human face in a video sequence. In the method, based on the principal component analysis, by using a deformable 3D grid model, minimizing the distance between a key point on the grid model and a corresponding key point on an input image, the model can fit the head figure of a user; the human face texture can be obtained by using the 3D model at an initial phase, so as to render human face images under different poses; the feature points can be selected in the rendered images, and a corresponding position can be searched on the input image; the matching faults can be removed by using a random sampling mode; then, mode pose changed parameters can be estimated according to the corresponding relationship between the feature points, so as to update a hypothetical state; finally, a distance between the rendered image and an actual image can be calculated by using the average normalized correlation algorithm, so as to calculate a hypothetical weight. Experiments show that the method can effectively trace the pose of the 3D head in the video.

The invention discloses a 3D free head moving type gaze tracking system belonging to the technical field of image processing and pattern recognition. The 3D free head moving type gaze tracking system is realized by using the method comprising the steps of: calibration of camera internal parameters, the establishment of a hardware system, the extraction of the center calibrates of pupils in images and a flare point, the determination of the three-dimensional calibrate of a cornea center, the determination of the three-dimensional of the pupil center, the reconstruction of a visual axis and the final error correction treatment. A camera and two LED light sources are adopted in the gaze tracking system which overcomes the restriction that a head part of a traditional 2 D gaze tracking system need be strictly fixed and the disadvantage that a plurality of cameras or auxiliary devices are required to position the three-dimensional calibrate information of human eyes for 3D gaze tracking, and the invention further provides a gaze tracking method with convenient use, low cost and high accuracy.

A positive resist composition including a polymeric compound (A1) having a structural unit (a0) represented by general formula (a0-1) (R represents a hydrogen atom, an alkyl group of 1 to 5 carbon atoms or a halogenated alkyl group of 1 to 5 carbon atoms, R2 represents a divalent linking group, R3 represents a cyclic group containing —SO2— within the ring skeleton thereof) and a structural unit (a1) derived from an acrylate ester containing an acid dissociable, dissolution inhibiting group, an acid-generator component (B) and a fluorine-containing polymeric compound (F1) having a structural unit containing a base dissociable group.

A fluorine-containing polymeric compound which contains a structural unit (f1) that is decomposable in an alkali developing solution as a block copolymer portion, a base component (A) that exhibits increased solubility in an alkali developing solution under the action of acid, and an acid generator component (B) that generates acid upon exposure.

A digital broadcasting receiver, a driving method, and a self-diagnosis method thereof, are provided. The digital broadcasting receiver includes: a digital demodulator for demodulating a digital broadcasting signal; a lock detector for detecting lock signals from the digital demodulator; and a lock processor for controlling the digital demodulator according to the detected lock signal.

The invention relates to a catheter. A catheter wall thereof sequentially comprises a smooth layer, a strengthened layer and a jacket layer from inside to outside, wherein the smooth layer and the jacket layer are both formed by compounding polymer materials, and the strengthened layer is a support layer and is respectively connected with the smooth layer and the jacket layer, therefore, every two layers of the catheter are connected. The catheter also sequentially comprises a proximal end part and an extension part along the direction from the near to the distance. In addition, the strengthened layer is in a braided structure at the proximal end part and is in a spiral structure at the extension part. The invention has the advantages that the structure can enhance the flexibility, the torsional resistance, the tracing property, the supporting property and the anti-fold property of the catheter when reducing the size of the catheter, and therefore, the catheter is suitable for penetrating through a distal vessel in a cranium.

An object of the present invention is to provide a gas turbine control device which is capable of performing correction on the basis of a fuel composition of fuel gas to be supplied to a gas turbine, and is capable of changing an amount of correction in response to variation with time of the gas turbine. To attain this, a frequency analyzing unit 25 performs a frequency analysis of combustion oscillation of a combustor and splits a result of the analysis into respective frequency bands. Then, a state grasping unit 22 checks an operating state of the gas turbine on the basis of the result of the analysis of the combustion oscillation and process value of the gas turbine, and corrects the checked operating state on the basis of a fuel composition or a heat capacity of fuel gas measured by a fuel characteristic measuring unit 200. A countermeasure determining unit 23 conducts a countermeasure for controlling an operating action of the gas turbine on the basis of the operating state thus checked.

The invention provides a motor servo system jitter-free sliding mode position control method based on disturbance compensation. According to the method, the nonlinear friction characteristic, external disturbance and other modeling uncertainty of a system are considered, continuous and smooth friction compensation is made for nonlinear friction, and the low-speed servo performance of the motor position servo system is further improved; uncertainty such as non-modeling disturbance is estimated through an extended state observer, feedforward compensation is made when a controller is designed, and the robustness of the actual motor position servo system to external disturbance is improved; jitter and singularity will not be caused to voltage output of the designed terminal sliding mode controller, the controller can guarantee that the state of the system tends to be balanced in a limited time, and the tracking performance of the system is greatly improved; the designed terminal sliding mode controller is simple, has certain robustness to system parameter variation and is more favorable for being applied to engineering practice.

The invention discloses a self-adaptive tracking loop, which comprises an unscented Kalman filter (UKF), an observation noise variance matrix detection module, a fuzzy inference system, an unscented transformation (UT) scale factor regulation module, a state compensator, a carrier wave numerical controlled oscillator (NCO), scale factors, a code NCO, an integration and zero-clearing module, a code loop phase discriminator and a second order code loop filter, and additionally discloses an implementation method for the self-adaptive tracking loop. The implementation method comprises a step 1 ofsignal correlation, integration and zero clearing; a step 2 of code phase tracking; a step 3 of UKF modeling; a step 4 of observation noise variance matrix estimation; a step 5 of process noise variance matrix estimation; a step 6 of UT scale factor regulation; a step 7 of state estimation deviation compensation; and a step 8 of assistance of the carrier wave NCO in the code NCO. According to theself-adaptive tracking loop, the UKF, the observation noise variance matrix detection module and the fuzzy inference system are designed in the carrier tracking loop, so not only can a contradiction between thermal noise vibration in the tracking loop and a dynamic stress error be solved, but a process noise variance matrix and an observation noise variance matrix can be regulated in a self-adaptive manner according to changes of the external environment, and thereby the self-adaptive ability of the tracking loop under complex changeable environments of high dynamic, strong interference, and the like is effectively improved.

Methods and apparatus for estimating and correcting carrier frequency offsets in a bust multi-tone receiver are described. Course and fine carrier frequency estimates are generated from the signal's preamble. Decision directed carrier frequency offset estimates are then generated from the signal field and data fields of the multi-tone signal. Frequency error estimates are generated for each tone of the signal and combined using a weighted average to generate the frequency error estimate used to perform the correction operation. Error estimates corresponding to noisy data tones are weighted less then estimates corresponding to less noisy data tones. In cases of low SNR frequency error estimates corresponding to pilots are weighted by an extra amount as compared to error estimates corresponding to tones used to transmit data symbols. During times of high SNR error estimates corresponding to pilot tones are weighted in the same manner as error estimates corresponding to data tones.

Techniques are disclosed for detecting foreground objects in a scene captured by a surveillance system and tracking the detected foreground objects from frame to frame in real time. A motion flow field is used to validate foreground objects(s) that are extracted from the background model of a scene. Spurious foreground objects are filtered before the detected foreground objects are provided to the tracking stage. The motion flow field is also used by the tracking stage to improve the performance of the tracking as needed for real time surveillance applications.

The invention discloses a satellite signal vector tracking method based on SINS / GPS deep integration data fusion. In the method, compensation is carried out on inertia element errors through channel filter information fusion, SINS / GPS deep integration navigation data fusion and an SINS system based on an SINS / GPS deep integration navigation system; and position and speed parameters of a current computation period are corrected to obtain accurate navigation parameters and generate local inference signals as well as keep the tracking for all visual GPS satellite signals; and a loop formed by channel filters and a main filter is utilized to complete the vector tracking and integration navigation information processing to the GPS satellite signals. The invention has excellent noise inhibitioncapacity and dynamic tracking performance, can ensure the navigation accuracy and the reliability of an integration system during the temporary interruption of the GPS satellite signals, and can maintain better pseudo code phase and carrier frequency tracking property in an environment with low carrier-to-noise ratio.

The invention discloses a method for tracking a high maneuvering target, and mainly solves the problems of model mismatching and low tracking precision brought by high maneuvering of a target in the prior art. The method comprises the following steps of: (1) initializing motion states and model parameters; (2) establishing an improved jerk model; (3) forecasting a state of a target; (4) solving a forecast error of an observed value according to receiving data and a state forecast value of radar; (5) determining a fading factor; (6) determining filter gain; and (7) updating the state of the target, and thus realizing target tracking. By the method, the tracking precision of a general maneuvering target is kept, and the tracking performance during sudden change of the state of the target is improved; and moreover, the method can be used for tracking a high maneuvering target.

The invention discloses a method for controlling output feedback of a motor position servo system. The method comprises the following steps that a mathematic model of the motor position servo system is established; an extended state observer is designed, and the state of the system and interference in the mathematic model are observed; a second-order low-pass filter is designed so that an error system of the motor position servo system can be established, and an output feedback controller is designed according to the error system; stability certification is conducted on the motor position servo system according to the Lyapunov stability theory, and a result of the global asymptotic stability of the system is obtained according to the Barbalat lemma. According to the method for controlling output feedback of the motor position servo system, considering uncertainty such as external interference, the extended state observer conducts estimation, compensation is conducted during design of a controller, and therefore the robustness of the actual motor position servo system to external interference is improved; in this way, the problems of a high-frequency dynamic condition, measurement noise and the like caused by high-gain feedback are greatly relieved, so that the shadowing property of the system is improved, and the motor position servo system can be applied to practical engineering more conveniently.

The present invention is a target tracking system for enhanced target identification, target acquisition and track performance that is significantly superior over other methods. Specifically, the target tracking system incorporates an intelligent Tunable Wavelet Target Extraction Preprocessor (TWTEP). The TWTEP, which defines target characteristics in the presence of noise and clutter, 1) enhances and augments the target within the video scene to provide a better tracking source for the externally provided Track Process, 2) implements a tunable target definition from the video image to provide a highly resolved target delineation and selection, and 3) utilizes a weighted pseudo-covariance technique to define target area for shape determination, extraction, and further processing.

A welding robot in which a translational correction calculating unit corrects a target value of a leading electrode using a translational correction amount, to obtain a primary correction target value. The translational correction amount is a correction amount of a position of the leading electrode in a translational direction in a base coordinate system at a next time. A rotational correction calculating unit calculates a rotation correction amount for correcting displacement of an orientation of a torch around the leading electrode with respect to a actual weld line, and calculates a secondary correction target value resulting from correcting the primary correction target value so that the torch rotates around the leading electrode by the rotation correction amount. The displacement is caused by the correction using the translational correction amount. A manipulator is driven on the basis of the secondary correction target value.

The invention discloses a visual tracking method based on target characteristics and bayes filtration. The method comprises the following steps: a system model and an observation model are established according to the actual motion of a target; the color and the gradient of the target are calculated, similarity function is constructed, and the current observed value of the target is obtained by a particle filter; the state average of particulate matter and the covariance are processed by using karman filtration, thus generating new gauss distribution, then new particulate matter is sampled according the gauss distribution generated, thus calculating weight and output; finally, the particulate matter is sampled again; meanwhile, a partition detection method for the target and the corresponding processing algorithm of shading and non shading are proposed; the visual tracking process is finished. Compared with similar algorithm, the method realizes information complementation between the characteristics by the blending of multi-information, therefore, the target is not easy to be affected by external environmental factors such as light, etc. By adopting the combination of particle filtration and the karman filtration, the tracking accuracy of the whole method is higher, thus improving the tracking performance and being adapted to various complicated environments.

An adaptive antenna array has array elements arranged in element rows and element columns and subarrays arranged in subarray rows and subarray columns, for which the subarray phase centers have non-uniform spacing. The adaptive antenna array provides good detection and tracking performance when used in a radar system, while being inexpensive and easy to manufacture. A radar system and a method of adapting a radar array both employ the above described adaptive antenna array.

The invention provides a handheld automatic follow shot device and a target tracking method thereof. The method uses a handheld holder to obtain a video, and then uses a target tracking algorithm to update the real-time position of a target in each frame of the video, so that by calculating the displacement of the target between any two adjacent frames, the holder is controlled to move, and thereby the method ensures that a user can shoot high-precision stable frames anytime and anywhere. A tracking system ensures that the holder automatically follows the movement of the target to move, and the user does not need to make adjustment all the time.