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KEMSARAM, Narsimlu, Venkata Rajini Kanth THATIPARTI, Devendra Rao GUNTUPALLI, and Anil KUVVARAPU. "Design and development of an on-board autonomous visual tracking system for unmanned aerial vehicles." Aviation 21, no. 3 (2017): 83–91. http://dx.doi.org/10.3846/16487788.2017.1378265.
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This paper proposes the design and development of an on-board autonomous visual tracking system (AVTS) for unmanned aerial vehicles (UAV). A prototype of the proposed system has been implemented in MATLAB/ Simulink for simulation purposes. The proposed system contains GPS/INS sensors, a gimbaled camera, a multi-level autonomous visual tracking algorithm, a ground stationary target (GST) or ground moving target (GMT) state estimator, a camera control algorithm, a UAV guidance algorithm, and an autopilot. The on-board multi-level autonomous visual tracking algorithm acquires the video frames from the on-board camera and calculates the GMT pixel position in the video frame. The on-board GMT state estimator receives the GMT pixel position from the multi-level autonomous visual tracking algorithm and estimates the current position and velocity of the GMT with respect to the UAV. The on-board non-linear UAV guidance law computes the UAV heading velocity rates and sends them to the autopilot to steer the UAV in the desired path. The on-board camera control law computes the control command and sends it to the camera's gimbal controller to keep the GMT in the camera's field of view. The UAV guidance law and camera control law have been integrated for continuous tracking of the GMT. The on-board autopilot is used for controlling the UAV trajectory. The simulation of the proposed system was tested with a flight simulator and the UAV's reaction to the GMT was observed. The simulated results prove that the proposed system tracks a GST or GMT effectively.
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Alshahir, Ahmed, Mohammed Albekairi, Kamel Berriri, et al. "Quadrotor UAV Dynamic Visual Servoing Based on Differential Flatness Theory." Applied Sciences 13, no. 12 (2023): 7005. http://dx.doi.org/10.3390/app13127005.
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In this paper, we propose 2D dynamic visual servoing (Dynamic IBVS), where a quadrotor UAV tries to track a moving target using a single facing-down perspective camera. As an application, we propose the tracking of a car-type vehicle. In this case, data related to the altitude and the lateral angles have no importance for the visual system. Indeed, to perform the tracking, we only need to know the longitudinal displacements (along the x and y axes) and the orientation along the z-axis. However, those data are necessary for the quadrotor’s guidance problem. Thanks to the concept of differential flatness, we demonstrate that if we manage to extract the displacements according to the three axes and the orientation according to the yaw angle (the vertical axis) of the quadrotor, we can control all the other variables of the system. For this, we consider a camera equipped with a vertical stabilizer that keeps it in a vertical position during its movement (a gimbaled camera). Other specialized sensors measure information regarding altitude and lateral angles. In the case of classic 2D visual servoing, the elaboration of the kinematic torsor of the quadrotor in no way guarantees the physical realization of instructions, given that the quadrotor is an under-actuated system. Indeed, the setpoint has a dimension equal to six, while the quadrotor is controlled only by four inputs. In addition, the dynamics of a quadrotor are generally very fast, which requires a high-frequency control law. Furthermore, the complexity of the image processing stage can cause delays in motion control, which can lead to target loss. A new dynamic 2D visual servoing method (Dynamic IBVS) is proposed. This method makes it possible to generate in real time the necessary movements for the quadrotor in order to carry out the tracking of the target (vehicle) using a single point of this target as visual information. This point can represent the center of gravity of the target or any other part of it. A control by flatness has been proposed, which guarantees the controllability of the system and ensures the asymptotic convergence of the generated trajectory in the image plane. Numerical simulations are presented to show the effectiveness of the proposed control strategy.
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K., Narsimlu *. Dr. T. V. Rajini Kanth Dr. Devendra Rao Guntupalli Anil Kuvvarapu. "A HYBRID AUTONOMOUS VISUAL TRACKING ALGORITHM FOR MICRO AERIAL VEHICLES." INTERNATIONAL JOURNAL OF ENGINEERING SCIENCES & RESEARCH TECHNOLOGY 5, no. 8 (2016): 524–35. https://doi.org/10.5281/zenodo.60095.
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An efficient image tracking algorithm plays a major role in an autonomous surveillance and monitoring the environment from micro aerial vehicle. A hybrid autonomous visual tracking algorithm is proposed based on cam-shift and extended kalman filter estimator for micro aerial vehicle. The proposed algorithm identifies and tracks the ground moving target continuously, even ground moving target moves quickly, and the color of the other ground moving target or background similar to that of the ground moving target. A MATLAB based simulation tool is developed for determining the proposed algorithm performance. The results exhibit that the proposed algorithm tracks the ground moving target very accurately
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Papakonstantinou, Charalampos, Vaios Lappas, and Vassilis Kostopoulos. "A Gimballed Control Moment Gyroscope Cluster Design for Spacecraft Attitude Control." Aerospace 8, no. 9 (2021): 273. http://dx.doi.org/10.3390/aerospace8090273.
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This paper addresses the problem of singularity avoidance in a cluster of four Single-Gimbal Control Moment Gyroscopes (SGCMGs) in a pyramid configuration when used for the attitude control of a satellite by introducing a new gimballed control moment gyroscope (GCMG) cluster scheme. Four SGCMGs were used in a pyramid configuration, along with an additional small and simple stepper motor that was used to gimbal the full cluster around its vertical (z) axis. Contrary to the use of four variable-speed control moment gyroscopes (VSCMGs), where eight degrees of freedom are available for singularity avoidance, the proposed GCMG design uses only five degrees of freedom (DoFs), and a modified steering law was designed for the new setup. The proposed design offers the advantages of SGCMGs, such as a low weight, size, and reduced complexity, with the additional benefit of overcoming the internal elliptic singularities, which create a minor attitude error. A comparison with the four-VSCMG cluster was conducted through numerical simulations, and the results indicated that the GCMG design was considerably more efficient in terms of power while achieving a better gimbal configuration at the end of the simulation, which is essential when it is desired for different manoeuvres to be consecutively executed. Additionally, for a nano-satellite of a few kilograms, the results prove that it is feasible to manufacture the GCMG concept by using affordable and lightweight commercial off-the-shelf (COTS) stepper motors.
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Lin, Psang Dain, and Chi-Kuen Sung. "Camera Calibration Based on Snell’s Law." Journal of Dynamic Systems, Measurement, and Control 128, no. 3 (2005): 548–57. http://dx.doi.org/10.1115/1.2192824.
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In this paper we present a camera calibration method using Snell’s Law. Traditional camera calibration is based on the pinhole model, which is an approximation algorithm using untrue geometrical assumptions and giving a single lumped result for the various optical elements in the camera system. Using full modeling of lens geometry, the proposed method establishes the geometric relationship between images and objects via Snell’s Law. A matrix equation that relates the intrinsic/extrinsic parameters of image the plane and six pose parameters of each element is determined from sensitivity analysis. These parameters can be identified using the least square method by observing points with known coordinates. An illustrative example using a two-camera stereo coordinate measurement system demonstrates that system performance via the proposed method is better than the pinhole model.
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Ratcliffe, Jerry H., and Elizabeth R. Groff. "A Longitudinal Quasi-Experimental Study of Violence and Disorder Impacts of Urban CCTV Camera Clusters." Criminal Justice Review 44, no. 2 (2018): 148–64. http://dx.doi.org/10.1177/0734016818811917.
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Methodological challenges have hampered a number of previous studies into the crime reduction effectiveness of closed-circuit television (CCTV) surveillance systems. These have included the use of arbitrary fixed distances to represent estimated camera deterrence areas and a lack of control for camera sites with overlapping surveillance areas. The current article overcomes the first of these challenges by using camera view areas individually constructed by researchers viewing and manipulating cameras to determine precise camera viewsheds. The second challenge is addressed by grouping cameras into clusters of combined viewshed areas. The longitudinal crime and disorder reduction effectiveness of these clusters of overlapping CCTV cameras is tested in Philadelphia, PA. Multilevel mixed-effects models with time-varying covariates and measures from a noncomparable control area are applied to 10 years of crime data (2003–2012) within the viewsheds of 86 CCTV cameras grouped into 13 clusters. Models applied across violent street felonies and disorder incidents find no significant impact associated with the introduction of CCTV surveillance. Potential reasons for this are discussed.
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Fink, Geoff, Hui Xie, Alan F. Lynch, and Martin Jagersand. "Dynamic Visual Servoing for a Quadrotor Using a Virtual Camera." Unmanned Systems 05, no. 01 (2017): 1–17. http://dx.doi.org/10.1142/s2301385017500017.
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This paper presents a dynamic image-based visual servoing (IBVS) control law for a quadrotor unmanned aerial vehicle (UAV) equipped with a single fixed on-board camera. The motion control problem is to regulate the relative position and yaw of the vehicle to a moving planar target located within the camera’s field of view. The control law is termed dynamic as it’s based on the dynamics of the vehicle. To simplify the kinematics and dynamics, the control law relies on the notion of a virtual camera and image moments as visual features. The convergence of the closed-loop is proven to be globally asymptotically stable for a horizontal target. In the case of nonhorizontal targets, we modify the control using a homography decomposition. Experimental and simulation results demonstrate the control law’s performance.
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Chang, Kuei Ying, Huai Jen Hsu, Pendry Alexandra, and Min Fan Ricky Lee. "Trajectory Control Using Linear Control System on Mobile Robot." Advanced Materials Research 383-390 (November 2011): 1619–22. http://dx.doi.org/10.4028/www.scientific.net/amr.383-390.1619.
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A lot of studies have been conducted and published on how to control the wheeled mobile robot to reach the desired target smoothly and many simulation results have been presented. However, very few of the control theorems have been applied on a real mobile robot platform to test the feasibility. This paper focuses on the experimental validation by applying the kinematic model and the control law suggested by Siegwart et al [6] on a nonholonomic wheeled mobile robot. The omni-directional camera mounted on ceiling is used to capture the initial position of robot and monitor the trajectory. Our experiment results proved with the proposed control law, the mobile robot can reach the final goal and stop.
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Hsieh, Yi-Hui, Wei-Chong Chang, Pei-Hsiou Ding, and Meng-Yu Tsai. "Using acoustic camera technology on inspection of noisy vehicles in Taiwan." INTER-NOISE and NOISE-CON Congress and Conference Proceedings 268, no. 4 (2023): 4421–29. http://dx.doi.org/10.3397/in_2023_0630.
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In recent years, noise complaints on motor vehicles had shown an increasing trend and became an environmental concern issue in Taiwan. Since 2021, innovative acoustic camera technology used to inspect high-noise vehicles exceeding "Vehicle Noise Control Standard" would be fined. There are 111 sets of acoustic camera equipment using in 21 counties and cities in Taiwan, and local government issued 4,099 fines to violating vehicle owners. This environmental policy has been supported by people living near major road with ninety percent satisfaction. Currently, acoustic camera technology with sound radar adopted by some cities in France to locate noisy vehicles accurately and issue fines automatically. Array sound camera technology has been used to inspect noisy vehicles in Netherlands and Germany. Taiwan is the first country in Asia to use acoustic camera technology conducting inspections and law enforcement against noisy vehicles. The sound camera technology system is mainly composed of high-speed camera equipment, sound level meter and license plate recognition system. Fixed systems are prior to set on specific road in hot spots of public complaint to inspect and outlaw noisy vehicles. After implementation of acoustic camera technology in these years, some challenges need to overcome. First, people doubt with accuracy and fairness of law enforcement equipment. Second, noise judgment of multi-source vehicle with law enforcement. To improve accuracy of law enforcement and multi-sound source vehicle noise judgment, technology of combining sound photography with array microphones is developing in Taiwan. In the future, we plan to conduct research on multi-source vehicle noise judgment technology to improve inspection efficiency and ensure a peaceful environment.
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Cieśluk, Jakub, Zdzisław Gosiewski, Leszek Ambroziak, and Sławomir Romaniuk. "Computationaly Simple Obstacle Avoidance Control Law for Small Unmanned Aerial Vehicles." Acta Mechanica et Automatica 9, no. 1 (2015): 50–56. http://dx.doi.org/10.1515/ama-2015-0010.
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Abstract The investigations of the system which allow to avoid obstacles by the unmanned aerial vehicles (UAV) are presented in the paper. The system is designed to enable the full autonomous UAV flight in an unknown environment. As an information source about obstacles digital camera was used. Developed algorithm uses the existing relations between the imaging system and the parameters read from the UAV autopilot. Synthesis of the proposed obstacle avoidance control law was oriented for computational simplicity. Presented algorithm was checked during simulation studies and in-flight tests.
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Coronell, Garis, Julián Arellana, and Víctor Cantillo. "LOCATION OF SPEED CONTROL CAMERAS ON HIGHWAYS: A GEOSPATIAL ANALYSIS." Transport 36, no. 3 (2021): 199–212. http://dx.doi.org/10.3846/transport.2021.15117.
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This research proposes a methodology to identify critical sections of highways where the location of speeding control may be beneficial. The method relies on a spatial and statistical analysis of infrastructure risks, along with traffic accident frequency and severity. A relevant feature of this methodology is related to its potential to be used in areas where there are no detailed historical records about traffic crashes, which is common in Global South countries. We applied the methodology to a rural road network in Colombia, where a recent law established that technical criteria should support the location of speed cameras. The case study uses accident information from six years, and risk data from a road safety audit carried out in the area under study. Even though historical records of accidents in the area were not fully available, the methodology allowed prioritising speed camera installations in the zone and identifying the relevant variables to define camera location. The relevant variables were the geometric characteristics of the road, traffic flows, risk factors, and proximity to populated centres. The use of speed controls should be part of a road safety management system, which allows defining camera location according to robust technical criteria.
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Krishnan, Megha G., Abhilash T. Vijayan, and Ashok Sankar. "Performance enhancement of two-camera robotic system using adaptive gain approach." Industrial Robot: the international journal of robotics research and application 47, no. 1 (2019): 45–56. http://dx.doi.org/10.1108/ir-08-2019-0174.
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Purpose This paper aims to improve the performance of a two-camera robotic feedback system designed for automatic pick and place application by modifying its velocity profile during switching of control. Design/methodology/approach Cooperation of global and local vision sensors ensures visibility of the target for a two-camera robotic system. The master camera, monitoring the workspace, guides the robot such that image-based visual servoing (IBVS) by the eye-in-hand camera transcends its inherent shortcomings. A hybrid control law steers the robot until the system switches to IBVS in a region proven for its asymptotic stability and convergence through a qualitative overview of the scheme. Complementary gain factors can ensure a smooth transition in velocity during switching considering the versatility and range of the workspace. Findings The proposed strategy is verified through simulation studies and implemented on a 6-DOF industrial robot ABB IRB 1200 to validate the practicality of adaptive gain approach while switching in a hybrid visual feedback system. This approach can be extended to any control problem with uneven switching surfaces or coarse/fine controllers which are subjected to discrete time events. Practical implications In complex workspace where robots operate in parallel with other robots/humans and share workspaces, the supervisory control scheme ensures convergence. This study proves that hybrid control laws are more effective than conventional approaches in unstructured environments and visibility constraints can be overcome by the integration of multiple vision sensors. Originality/value The supervisory control is designed to combine the visual feedback data from eye-in-hand and eye-to-hand sensors. A gain adaptive approach smoothens the velocity characteristics of the end-effector while switching the control from master camera to the end-effector camera.
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Song, Chao, Caizhi Fan, and Mengmeng Wang. "Image-Based Adaptive Staring Attitude Control for Multiple Ground Targets Using a Miniaturized Video Satellite." Remote Sensing 14, no. 16 (2022): 3974. http://dx.doi.org/10.3390/rs14163974.
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A miniaturized video satellite can observe the ground targets by recording real-time video clips in staring control mode and therefore obtains a unique advantage over traditional remote sensing techniques. To further extend the application of a video satellite, a strategy for simultaneously observing a group of ground targets is to be developed. To cope with the impacts of an uncalibrated camera on the pointing accuracy which can lead to the failure of a multi-target observation task, an adaptive attitude control method is to be exploited. Hence, to observe multiple ground targets using an onboard uncalibrated camera, this paper proposes an image-based adaptive staring attitude controller. First, a target-selection strategy is proposed to realize a more balanced staring observation of the target group. Second, an updating law is proposed to estimate the camera parameters according to the projection equations. At last, an adaptive staring controller based on the estimated parameters is formulated, so that the center of mass of the ground targets on the image can be controlled towards its desired location, which is normally the image center. The stability of the proposed staring controller is proved using Barbalat’s Lemma. The simulation results show that even though the camera parameters are uncertain, the adaptive control method effectively achieves the staring observation for multiple ground targets by keeping their midpoint at the image center.
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Wang, Qi Zhi, and Xiao Xia Wang. "Mobile Robot Tracking Control Based on Lyapunov Method." Advanced Materials Research 468-471 (February 2012): 1512–15. http://dx.doi.org/10.4028/www.scientific.net/amr.468-471.1512.
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This paper presents adaptive control rules, in the dynamics level, for the nonholonomic mobile robots. Adaptive controls are derived for mobile robots, using Lyapunov stability technique, for tracking a reference trajectory and stability to a fixed posture. The presented control law can render system asymptotically stabilization at a desired target. The simulation shows it has good position tracking performance. This template explains and demonstrates how to prepare your camera-ready paper for Trans Tech Publications. The best is to read these instructions and follow the outline of this text.
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Heinlein, Bracy W., Rachael E. Urbanek, Colleen Olfenbuttel, and Casey G. Dukes. "Effects of different attractants and human scent on mesocarnivore detection at camera traps." Wildlife Research 47, no. 4 (2020): 338. http://dx.doi.org/10.1071/wr19117.
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Abstract ContextCamera traps paired with baits and scented lures can be used to monitor mesocarnivore populations, but not all attractants are equally effective. Several studies have investigated the efficacy of different attractants on the success of luring mesocarnivores to camera traps; fewer studies have examined the effect of human scent at camera traps. AimsWe sought to determine the effects of human scent, four attractants and the interaction between attractants and human scent in luring mesocarnivores to camera traps. Methods We compared the success of synthetic fermented egg (SFE), fatty acid scent (FAS) tablets, castor oil, and sardines against a control of no attractant in luring mesocarnivores to camera traps. We deployed each attractant and the control with either no regard to masking human scent or attempting to restrict human scent for a total of 10 treatments, and replicated treatments eight to nine times in two different phases. We investigated whether: (1) any attractants increased the probability of capturing a mesocarnivore at a camera trap; (2) not masking human scent affected the probability of capturing a mesocarnivore at a camera trap; and (3) any attractants increased the probability of repeat detections at a given camera trap. We also analysed the behaviour (i.e. speed and distance to attractant) of each mesocarnivore in relation to the attractants. Key resultsSardines improved capture success compared with the control treatments, whereas SFE, castor oil, and FAS tablets had no effect when all mesocarnivores were included in the analyses. Masking human scent did not affect detection rates in the multispecies analyses. Individually, the detection of some species depended on the interactions between masking (or not masking) human scent and some attractants. ConclusionsSardines were the most effective as a broad-based attractant for mesocarnivores. Mesocarnivores approached traps baited with sardines at slower rates, which allows for a higher success of capturing an image of the animal. ImplicationsHuman scent may not need to be masked when deploying camera traps for multispecies mesocarnivore studies, but researchers should be aware that individual species respond differently to attractants and may have higher capture success with species-specific attractants.
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Simonsen, Karen-Margrethe. "OVERVÅGNING SOM LOVGIVNING - HASAN ELAHI OG SURVEILLANCE CAMERA PLAYERS SOM EKSEMPEL." K&K - Kultur og Klasse 38, no. 110 (2010): 129–46. http://dx.doi.org/10.7146/kok.v38i110.15778.
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SURVEILLANCE AS LAW. CASE-STUDIES OF HASAN ELAHI AND THE SURVEILLANCE CAMERA PLAYERSThis article traces sousveillance strategies in two pieces of contemporary art, namely in Hasan Elahi’s Tracking Transience (2002), and 1984 by The Surveillance Camera Players. It discusses the ways that contemporary art reflects surveillance in an ironic and metareflective way. The article is based on the idea that the conditions for understanding the logics of surveillance have changed since World War II. It takes its point of departure in Gilles Deleuze’s proposition that we live in post-disciplinarian societies and that contemporary surveillance should be understood not according to the logic of the panopticon but according to the logic of a coded ‘control society’ based on modulations. It also follows the idea, proposed by Larry Catá Backer that surveillance not only is a phenomenon facilitated by law but is also a phenomenon that creates its own law and regulation.
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Adams, Delene, Helen M. Paterson, and Hamish G. MacDougall. "Law and (rec)order: Updating memory for criminal events with body-worn cameras." PLOS ONE 15, no. 12 (2020): e0243226. http://dx.doi.org/10.1371/journal.pone.0243226.
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Body-worn video is increasingly relied upon in the criminal justice system, however it is unclear how viewing chest-mounted video may affect a police officer’s statement about an event. In the present study, we asked whether reviewing footage from an experienced event could shape an individual’s statement, and if so, whether reporting before reviewing may preserve an officer’s original experience. Student participants (n = 97) were equipped with chest-mounted cameras as they viewed a simulated theft in virtual reality. One week later, half of the participants recalled the event in an initial statement while the other half did not. Participants then viewed either their body-worn video or a control video. Finally, participants provided their statement (no initial statement condition) or were given the opportunity to amend their original account (initial statement condition). Results revealed that viewing body-worn video enhanced the completeness and accuracy of individuals’ free recall statements. However, whilst reviewing footage enabled individuals to exclude errors they had written in their initial statements, they also excluded true details that were uncorroborated by the camera footage (i.e., details which individuals experienced, but that their camera did not record). Such camera conformity is discussed in light of the debate on when an officer should access their body-worn video during an investigation and the influence of post-event information on memory.
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Bechlioulis, Charalampos P., Panagiotis Vlantis, and Kostas J. Kyriakopoulos. "Coordination of Multiple Robotic Vehicles in Obstacle-Cluttered Environments." Robotics 10, no. 2 (2021): 75. http://dx.doi.org/10.3390/robotics10020075.
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In this work, we consider the motion control problem for a platoon of unicycle robots operating within an obstacle-cluttered workspace. Each robot is equipped with a proximity sensor that allows it to perceive nearby obstacles as well as a camera to obtain its relative position with respect to its preceding robot. Additionally, no robot other than the leader of the team is able to localize itself within the workspace and no centralized communication network exists, i.e., explicit information exchange between the agents is unavailable. To tackle this problem, we adopt a leader–follower architecture and propose a novel, decentralized control law for each robot-follower, based on the Prescribed Performance Control method, which guarantees collision-free tracking and visual connectivity maintenance by ensuring that each follower maintains its predecessor within its camera field of view while keeping static obstacles out of the line of sight for all time. Finally, we verify the efficacy of the proposed control scheme through extensive simulations.
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Zhong, Chen, Qingjia Kong, Ke Wang, et al. "Central Dioptric Line Image-Based Visual Servoing for Nonholonomic Mobile Robot Corridor-Following and Doorway-Passing." Actuators 14, no. 4 (2025): 183. https://doi.org/10.3390/act14040183.
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Autonomous navigation in indoor environments demands reliable perception and control strategies for nonholonomic mobile robots operating under geometric constraints. While visual servoing offers a promising framework for such tasks, conventional approaches often rely on explicit 3D feature estimation or predefined reference trajectories, limiting their adaptability in dynamic scenarios. In this paper, we propose a novel nonholonomic mobile robot corridor-following and doorway-passing method based on image-based visual servoing (IBVS) by using a single dioptric camera. Based on the unifying central spherical projection model, we present the projection mechanism of 3D lines and properties of line images for two 3D parallel lines under different robot poses. In the normalized image plane, we define a triangle enclosed by two polar lines in relation to line image conic features, and adopt a polar representation for visual features, which will naturally become zero when the robot follows the corridor middle line. The IBVS control law for the corridor-following task does not need to pre-calculate expected visual features or estimate the 3D information of image features, and is extended to doorway-passing by simply introducing an upper door frame to modify visual features for the control law. Simulations including straight corridor-following, anti-noise performance, convergence of the control law, doorway-passing, and loop-closed corridor-following are conducted. We develop a ROS-based IBVS system on our real robot platform; the experimental results validate that the proposed method is suitable for the autonomous indoor visual navigation control task for a nonholonomic mobile robot equipped with a single dioptric camera.
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Bo, Liu, and Lin Tang. "The Dynamic Swing-Up Control of Ball and Beam System Based on Periodic Input." Applied Mechanics and Materials 635-637 (September 2014): 1275–80. http://dx.doi.org/10.4028/www.scientific.net/amm.635-637.1275.
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This template explains and demonstrates how to prepare your camera-ready paper for Trans Tech Publications. The best is to read these instructions and follow the outline of this text. In this paper, the motion of the ball and beam system based on periodic input is studied, the chaos of the system is discussed , and the relationship of the chaos and the input parameters is analyzed . on the premise of avoiding chaos, the trajectory motion law of points with suitable oscillation parameters is studied in the poincare cross-sectional view. And the swing-up control law of ball and beam system is submitted, it consists of such three parts: increasing the range of swing , adjustment and maintain constant swing .Finally, the simulations result is given to verify the efficiency of control law.
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Guo, Jun, Xin Min Dong, Long Wang, Hong Bo Li, and Yong Chen. "Control and Robust Vision Relative Navigation for Autonomous Aerial Refueling." Advanced Materials Research 383-390 (November 2011): 1953–59. http://dx.doi.org/10.4028/www.scientific.net/amr.383-390.1953.
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A relative navigation and control scheme based on multiple camera systems was presented for autonomous operations in close proximity for autonomous air refueling (AAR) mission. The relative navigation system employed non-iterative fast global optimal pose estimation algorithm, and the result was filtered and fused with velocity’s measurements to increase accuracy and robustness by using Kalman filtering algorithm. To attenuate effect of tanker’s vortex and atmospheric turbulence, an H-infinity tracking control law was designed for docking phase of air refueling. Simulation results showed that accuracy of both vision navigation system and trajectory tracking could meet requirements of aerial refueling.
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Dekkers, Tim, Maartje van der Woude, and Robert Koulish. "Objectivity and accountability in migration control using risk assessment tools." European Journal of Criminology 16, no. 2 (2018): 237–54. http://dx.doi.org/10.1177/1477370818771831.
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In recent years immigration control has seen an increase in the implementation of risk assessment technology. According to proponents, such technologies would lead to more objective decision-making compared with the discretionary decisions made by street-level bureaucrats. However, because empirical research on risk assessment technology is limited, it is not quite clear how risk assessment technology in migration control impacts the decision-making process and to what extent it does make the decision-making process more objective. This article aims to shine a light on this issue by making use of a case study of Amigo-boras, a smart camera system used by the Royal Netherlands Marechaussee (RNM) for migration control purposes. Qualitative data show that Dutch immigration officers are still able to exercise discretion in the execution of their tasks, placing doubt on claims to objectivity. This finding is confirmed in quantitative data based on a US case study. Although quantitative data on the decision-making process would be able to show if these doubts were justified, the RNM has no such data on the outcomes and selection process using Amigo-boras. This information gap raises new issues regarding the objectivity of the selection process and the individual accountability of RNM officers.
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Paschal, O’Gorman, Williams Stefan, Fang Hui, et al. "WED 112 Seeing invisible parkinsonian tremor with a smartphone camera." Journal of Neurology, Neurosurgery & Psychiatry 89, no. 10 (2018): A12.1—A12. http://dx.doi.org/10.1136/jnnp-2018-abn.43.
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Arthur C Clarke’s ‘third law’ states that any sufficiently advanced technology is indistinguishable from magic. Computer vision is the processing of images or video by computer to extract useful information. A technique termed ‘Eulerian magnification’ involves amplification of tiny movements from video recordings, so that very small motions can become visible to the human eye. This has the potential to detect tremor that is of such small amplitude it cannot otherwise be seen. Crucially, the only hardware required is a camera and computer processor, items that are ubiquitous. There is only one previous report of Eulerian magnification applied to a simple video of a Parkinson’s patient, but Parkinsonian signs could clearly be seen in the pre-processing video, and no control video was shown. We present remarkable video in which no tremor is seen in either patient or control before processing, and yet a Parkinsonian tremor is revealed in patient but not control after amplification. Blinded clinician ratings detect a greater number of Parkinsonian tremors after computer processing. Furthermore, we report a method using an ‘optical flow’ computing technique that records pixel motion vectors, and enables the computer to measure the direction and relative amplitude of this amplified movement.
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Xin, Jing, Han Cheng, and Baojing Ran. "Visual servoing of robot manipulator with weak field-of-view constraints." International Journal of Advanced Robotic Systems 18, no. 1 (2021): 172988142199032. http://dx.doi.org/10.1177/1729881421990320.
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Aiming at the problem of servoing task failure caused by the manipulated object deviating from the camera field-of-view (FOV) during the robot manipulator visual servoing (VS) process, a new VS method based on an improved tracking learning detection (TLD) algorithm is proposed in this article, which allows the manipulated object to deviate from the camera FOV in several continuous frames and maintains the smoothness of the robot manipulator motion during VS. Firstly, to implement the robot manipulator visual object tracking task with strong robustness under the weak FOV constraints, an improved TLD algorithm is proposed. Then, the algorithm is used to extract the image features (object in the camera FOV) or predict image features (object out of the camera FOV) of the manipulated object in the current frame. And then, the position of the manipulated object in the current image is further estimated. Finally, the visual sliding mode control law is designed according to the image feature errors to control the motion of the robot manipulator so as to complete the visual tracking task of the robot manipulator to the manipulated object in complex natural scenes with high robustness. Several robot manipulator VS experiments were conducted on a six-degrees-of-freedom MOTOMANSV3 industrial manipulator under different natural scenes. The experimental results show that the proposed robot manipulator VS method can relax the FOV constraint requirements on real-time visibility of manipulated object and effectively solve the problem of servoing task failure caused by the object deviating from the camera FOV during the VS.
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Huynh, Thinh, Minh-Thien Tran, Dong-Hun Lee, Soumayya Chakir, and Young-Bok Kim. "A Study on Vision-Based Backstepping Control for a Target Tracking System." Actuators 10, no. 5 (2021): 105. http://dx.doi.org/10.3390/act10050105.
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This paper proposes a new method to control the pose of a camera mounted on a two-axis gimbal system for visual servoing applications. In these applications, the camera should be stable while its line-of-sight points at a target located within the camera’s field of view. One of the most challenging aspects of these systems is the coupling in the gimbal kinematics as well as the imaging geometry. Such factors must be considered in the control system design process to achieve better control performances. The novelty of this study is that the couplings in both mechanism’s kinematics and imaging geometry are decoupled simultaneously by a new technique, so popular control methods can be easily implemented, and good tracking performances are obtained. The proposed control configuration includes a calculation of the gimbal’s desired motion taking into account the coupling influence, and a control law derived by the backstepping procedure. Simulation and experimental studies were conducted, and their results validate the efficiency of the proposed control system. Moreover, comparison studies are conducted between the proposed control scheme, the image-based pointing control, and the decoupled control. This proves the superiority of the proposed approach that requires fewer measurements and results in smoother transient responses.
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Kreplins, T. L., M. S. Kennedy, P. J. Adams, P. W. Bateman, S. D. Dundas, and P. A. Fleming. "Fate of dried meat baits aimed at wild dog (Canis familiaris) control." Wildlife Research 45, no. 6 (2018): 528. http://dx.doi.org/10.1071/wr17182.
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Context Livestock predation is a worldwide phenomenon, causing financial losses and emotional strain on producers. Wild dogs (Canis familiaris) cause millions of dollars of damage to cattle, sheep and goat production in Australia every year, and despite on-going control (baiting, trapping, shooting, and fencing), they remain a significant problem for livestock producers across many pastoral and agricultural regions of Australia. Aims We aimed to quantify the uptake of dried meat baits by wild dogs and determine whether an olfactory lure (fish oil) could increase uptake. Methods Camera traps and sand pads were used to monitor bait uptake for three baiting events on two pastoral properties in the southern rangelands of Western Australia in 2016 and 2017. Key results Of the 337 monitored baits with a known outcome, young wild dogs (<8 months old) removed only four, three of which were covered in a fish-oil lure. In warmer months, baits were largely consumed by varanids, and in cooler months, when baits were taken it was predominantly by corvids. Varanids and corvids took more baits than expected on the basis of activity indices. Kangaroos, feral cats and wild dogs consumed significantly fewer baits than expected from their activity on camera. Conclusions We have no evidence that adult wild dogs removed baits, despite many opportunities to do so (wild dogs passing cameras), and fewer wild dogs took baits than expected on the basis of activity events seen on camera. Olfactory lures may have the potential to increase bait uptake by naïve individuals (i.e. young dogs), but the sample size was small. Implications Increasing the number of baiting events per year, trialling novel baits, and baiting during low non-target activity are some of the recommended methods that may increase bait persistence and uptake by wild dogs.
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Zhang, Ying Chun, Fan Zhang, Shi Jie Zhang, and Wei Chao Zhong. "Distributed Attitude Consensus Control of Multiple Homogeneous Spacecrafts While Preserving Connectivity." Applied Mechanics and Materials 157-158 (February 2012): 1356–60. http://dx.doi.org/10.4028/www.scientific.net/amm.157-158.1356.
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In this paper, a distributed attitude consensus control law has been proposed in the context of multiple homogeneous spacecraft formation flying only through local interactions while the GPS and antenna are denied. One of the engineering problems of implementing the aforementioned spacecraft formation is that some relative measurement sensors, e.g. the camera, have limited field-of-view (FOV). It raises that the maximum relative attitude of any two neighbor spacecrafts in the formation should not be greater than the constant attitude deviation determined by the FOV of these immobile sensors during formation maneuvers and keeping. Our approach to this problem is based on the state-weight strategy for network consensus problems, which has been a little investigated in the literature. We present a leaderless distributed attitude consensus control law such that all the attitudes of the formation flying spacecrafts can globally reach consensus, and the connectivity of the interconnected commination topology is strictly preserved. Throughout this paper, the interconnected communication topology is assumed to be undirected. Simulation results demonstrate the effectiveness of the control law. The future research has been discussed in the end.
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Gani S. F., Abd, Miskon M. F, Hamzah R. A, et al. "A Live-Video Automatic Number Plate Recognition (ANPR) System Using Convolutional Neural Network (CNN) with Data Labelling on an Android Smartphone." International Journal of Emerging Technology and Advanced Engineering 11, no. 10 (2021): 88–95. http://dx.doi.org/10.46338/ijetae1021_11.
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Automatic Number Plate Recognition (ANPR) combines electronic hardware and complex computer vision software algorithms to recognize the characters on vehicle license plate numbers. Many researchers have proposed and implemented ANPR for various applications such as law enforcement and security, access control, border access, tracking stolen vehicles, tracking traffic violations, and parking management system. This paper discusses a live-video ANPR system using CNN developed on an Android smartphone embedded with a camera with limited resolution and limited processing power based on Malaysian license plate standards. In terms of system performance, in an ideal outdoor environment with good lighting and direct or slightly skewed camera angle, the recognition works perfectly with a computational time of 0.635 seconds. However, this performance is affected by poor lighting, extremely skewed angle of license plates, and fast vehicle movement.
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Mahini, Farshad, Leonard DiWilliams, Kevin Burke, and Hashem Ashrafiuon. "An experimental setup for autonomous operation of surface vessels in rough seas." Robotica 31, no. 5 (2013): 703–15. http://dx.doi.org/10.1017/s0263574712000720.
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SUMMARYA small-scale experimental setup for autonomous target tracking of a surface vessel in the presence of obstacles is presented. The experiments are performed in simulated rough seas through wave, current, and wind generation in a small indoor pool. Absolute position of the agent and the target as well as the obstacle size and position are provided through an overhead camera by detecting color light emitting diodes installed on all objects. Ordinary differential equations with stable limit-cycle solutions are used to define transitional trajectories around obstacles based on the camera data. A sliding mode control law is implemented for real-time tracking control which is capable of rejecting large disturbances from the generated waves and wind. The sliding mode control signals are sent to wireless receivers on the autonomous vessel where a proportional integral speed controller maintains the commanded speed. A special scaling method is presented to show that the environmental forces are similar to those of moderate through high sea states. Several experiments are presented where the autonomous vessel catches and follows a target boat moving in arbitrary trajectories in both the presence and absence of obstacles.
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Fu, Tianlei, Yanbin Gao, Lianwu Guan, and Chao Qin. "A Camera Stabilized Platform Based on the Feedforward Strap-Down Control with Approximate Dead-Zone Model and a Compensator with LESO." Machines 11, no. 1 (2023): 65. http://dx.doi.org/10.3390/machines11010065.
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A feedforward strap-down control with a compensator base on the linear extended state observer (LESO) is proposed for a miniaturized camera stabilized platform, which reduces the influence of the dead zone in speed regulation and uncertainties in parameters to reduce the level of angular bias to the field of vision (FOV) in a low-cost stabilized platform. Firstly, the feedforward control is inspired by an approximate linear model proposed for the dead zone to improve the response velocity of the system when tracking the varying reference. Then, the compensator, combining the LESO and proportional differential (PD) law, is designed to eliminate the disturbances including the model bias in the dead zone, inaccuracy in the plant model, and external disturbance. Moreover, the observation performance of the LESO is improved by a preprocessor based on a tracking differentiator (TD) to deal with the time delay and nonlinearities in sampling the state variables. Meanwhile, the complex and uncertain control plant is also simplified by an approximate model combining a disturbance compensator for practical application. Finally, the feasibility of the proposed controller is verified and analyzed by the simulation, and its effectiveness is simultaneously validated by the 2-DOF camera stabilized platform.
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Fink, Geoff, Hui Xie, Alan F. Lynch, and Martin Jagersand. "Nonlinear dynamic image-based visual servoing of a quadrotor." Journal of Unmanned Vehicle Systems 3, no. 1 (2015): 1–21. http://dx.doi.org/10.1139/juvs-2014-0011.
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This paper proposes a dynamic image-based visual servoing (IBVS) control law for a quadrotor unmanned aerial vehicle (UAV) equipped with a single fixed on-board camera facing downward. The motion control problem is to regulate the relative lateral position of the vehicle to a stationary target located on the ground. The control law is termed dynamic as it is based on the dynamics and kinematics of the vehicle. The proposed design uses a nonlinear input-dependent change of state coordinates and its error dynamics are proven to be locally exponentially stable with an estimate provided for the region of attraction. Experimental and simulation results demonstrate the method's ease of on-board implementation, performance, and robustness. The simulation and experimental results include a comparison with an established dynamic IBVS method. This comparison shows the proposed method can provide similar performance with the benefit of reduced complexity.
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Ishiguro, Minoru, Yotsumi Yoshii, Toshimasa Chaki, and Keigo Kasaya. "An Easy Snowpack Depth Evaluation Using Smartphone, Bluetooth Device, and Augmented Reality Marker of Open Computer Vision Package." Sustainability 15, no. 11 (2023): 8887. http://dx.doi.org/10.3390/su15118887.
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An easy method to evaluate a remote place’s snowpack depth has been discussed for helping later-stage elderly persons’ life. The method of using a smartphone camera and an augmented reality marker (AR marker) has been investigated. The general smartphone with a high image resolution camera was used to observe snowpack depth in remote places and remote control the robot via Bluetooth device. And image processing using artificially integrated technology (AI technology) was adapted for detecting the AR markers and for evaluating the snowpack depth.
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Chen, Hua, Bingyan Chen, Baojun Li, and Jinbo Zhang. "Practical Stabilization of Uncertain Nonholonomic Mobile Robots Based on Visual Servoing Model with Uncalibrated Camera Parameters." Mathematical Problems in Engineering 2013 (2013): 1–9. http://dx.doi.org/10.1155/2013/395410.
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The practical stabilization problem is addressed for a class of uncertain nonholonomic mobile robots with uncalibrated visual parameters. Based on the visual servoing kinematic model, a new switching controller is presented in the presence of parametric uncertainties associated with the camera system. In comparison with existing methods, the new design method is directly used to control the original system without any state or input transformation, which is effective to avoid singularity. Under the proposed control law, it is rigorously proved that all the states of closed-loop system can be stabilized to a prescribed arbitrarily small neighborhood of the zero equilibrium point. Furthermore, this switching control technique can be applied to solve the practical stabilization problem of a kind of mobile robots with uncertain parameters (and angle measurement disturbance) which appeared in some literatures such as Morin et al. (1998), Hespanha et al. (1999), Jiang (2000), and Hong et al. (2005). Finally, the simulation results show the effectiveness of the proposed controller design approach.
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Deepika Pathak, Dheeraj Kumar Yadav, Arihant Dubey, Manish Prajapati, and Mr. Abhishek Tiwari. "Drone for Surveillance." Economic Sciences 20, no. 1 (2024): 32–37. http://dx.doi.org/10.69889/aw746p03.
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This project focuses on the development of an autonomous surveillance drone capable of recording high-quality video footage. Equipped with advanced cameras and sensors, the drone is designed to record stable live video from the air, using computer vision and real-time communication systems to navigate and transmit clear footage. The drone automatically avoids obstacles during flight and ensures safe operation. Its ground control station facilitates mission planning and monitoring. Despite the increasing use of small camera-equipped drones for security and law enforcement purposes, current models face significant limitations such as short battery life, unstable video, difficult target tracking, poor weather conditions and regulatory restrictions. This study aims to address these issues by improving the functionality and usability of camera drones for continuous surveillance. By overcoming these challenges, the project aims to provide a more efficient and cost-effective solution for aerial surveillance that makes autonomous surveillance drones more practical and reliable for various applications.
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Huynh, Thinh, and Young-Bok Kim. "A Study on Robust Finite-Time Visual Servoing with a Gyro-Stabilized Surveillance System." Actuators 13, no. 3 (2024): 82. http://dx.doi.org/10.3390/act13030082.
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This article presents the design and validation of a novel visual servoing scheme for a surveillance system. In this system, a two-axis gimbal mechanism operates the rotation of a camera which is able to provide visual information on the tracked target for the control system. The control objective is to bring the target’s projection to the center of the image plane with the smallest steady-state error and a smooth transient response, even with the unpredictable motion of the target and the influence of external disturbances. To fulfill these tasks, the proposed control scheme is designed consisting of two parts: (1) an observer estimates simultaneously the matched and unmatched disturbances; and (2) a motion control law guarantees the finite-time stability and visual servoing performance. Finally, experiments are conducted for validation and evaluation. The proposed control system shows its consistency and ought to perform better than previous approaches.
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Wu, Chunfu, Guodong Li, Qingshun Tang, and Fengyu Zhou. "Adaptive Hybrid Visual Servo Regulation of Mobile Robots Based on Fast Homography Decomposition." Journal of Control Science and Engineering 2015 (2015): 1–10. http://dx.doi.org/10.1155/2015/739894.
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For the monocular camera-based mobile robot system, an adaptive hybrid visual servo regulation algorithm which is based on a fast homography decomposition method is proposed to drive the mobile robot to its desired position and orientation, even when object’s imaging depth and camera’s position extrinsic parameters are unknown. Firstly, the homography’s particular properties caused by mobile robot’s 2-DOF motion are taken into account to induce a fast homography decomposition method. Secondly, the homography matrix and the extracted orientation error, incorporated with the desired view’s single feature point, are utilized to form an error vector and its open-loop error function. Finally, Lyapunov-based techniques are exploited to construct an adaptive regulation control law, followed by the experimental verification. The experimental results show that the proposed fast homography decomposition method is not only simple and efficient, but also highly precise. Meanwhile, the designed control law can well enable mobile robot position and orientation regulation despite the lack of depth information and camera’s position extrinsic parameters.
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van Hespen, Rosanna, Cindy E. Hauser, Joe Benshemesh, Libby Rumpff, and José J. Lahoz Monfort. "Designing a camera trap monitoring program to measure efficacy of invasive predator management." Wildlife Research 46, no. 2 (2019): 154. http://dx.doi.org/10.1071/wr17139.
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Context Evaluating predator management efficacy is difficult, especially when resources are limited. Carefully designing monitoring programs in advance is critical for data collection that is sufficient to evaluate management success and to inform decisions. Aims The aim was to investigate how the design of camera trap studies can affect the ability to reliably detect changes in red fox (Vulpes vulpes) activity over space and time. Specifically, to examine the effect of study duration, camera cost and detection zone under various environmental and management scenarios, including different fox densities, management impacts, monitoring budgets and levels of spatial and temporal variation. Methods A generalised linear mixed model was used to analyse simulated datasets from control sites and sites with predator management actions implemented, following a before–after or control–impact sampling design. Statistical power analyses were conducted to evaluate whether a change in fox abundance could be detected across various environmental and management scenarios. Key results Results showed that a before–after sampling design is less sensitive than a control–impact sampling design to the number of cameras used for monitoring. However, a before–after sampling design requires a longer monitoring period to achieve a satisfactory level of power, due to higher sensitivity to study duration. Given a fixed budget, there can be a trade-off between purchasing a small number of high quality cameras with large detection zones, or a larger number of cameras with smaller detection zones. In a control-impact design we found that if spatial heterogeneity was high, a larger number of cameras with smaller detection zones provided more power to detect a difference in fox abundance. Conclusion This simulation-based approach demonstrates the importance of exploring various monitoring designs to detect the effect of predator management across plausible environmental and budgetary scenarios. Implications The present study informs the monitoring design of an adaptive management program that aims to understand the role of managing fox predation on malleefowl (Leipoa ocellata), a threatened Australian bird. Furthermore, this approach provides a useful guide for developing cost-effective camera trap monitoring studies to assess efficacy of conservation management programs. Power analyses are an essential step for designing efficient monitoring, and indicate the strength of ecological signals that can realistically be detected through the noise of spatial and temporal heterogeneity under various budgetary constraints.
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Armando, Saenz, Santibañez Victor, and Bugarin Eusebio. "Image Based Visual Servoing for Omnidirectional Wheeled Mobile Robots in Voltage Mode." International Journal of Engineering Research & Science 4, no. 4 (2018): 48–53. https://doi.org/10.5281/zenodo.1238761.
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<strong><em>Abstract</em></strong><strong>—</strong><em>This paper presents a new image based visual servoing (IBVS) control scheme for omnidirectional wheeled mobile robots with four swedish wheels. The contribution is the proposal of a scheme that consider the overall dynamic of the system; this means, we put together mechanical and electrical dynamics. The actuators are direct current (DC) motors, which imply that the system input signals are armature voltage applied to DC motors. In our control scheme the PD control law and eye-to-hand camera configuration are used to compute the armature voltages and to measure system states, respectively. Stability proof is performed via Lypunov direct method and LaSalle’s invariance principle. Simulation and experimental results were performed in order to validate the theoretical proposal and to show the good performance of the posture errors.</em>
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Panetsos, Fotis, Panagiotis Rousseas, George Karras, Charalampos Bechlioulis, and Kostas J. Kyriakopoulos. "A Vision-Based Motion Control Framework for Water Quality Monitoring Using an Unmanned Aerial Vehicle." Sustainability 14, no. 11 (2022): 6502. http://dx.doi.org/10.3390/su14116502.
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In this paper, we present a vision-aided motion planning and control framework for the efficient monitoring and surveillance of water surfaces using an Unmanned Aerial Vehicle (UAV). The ultimate goal of the proposed strategy is to equip the UAV with the necessary autonomy and decision-making capabilities to support First Responders during emergency water contamination incidents. Toward this direction, we propose an end-to-end solution, based on which the First Responder indicates visiting and landing waypoints, while the envisioned strategy is responsible for the safe and autonomous navigation of the UAV, the refinement of the way-point locations that maximize the visible water surface area from the onboard camera, as well as the on-site refinement of the appropriate landing region in harsh environments. More specifically, we develop an efficient waypoint-tracking motion-planning scheme with guaranteed collision avoidance, a local autonomous exploration algorithm for refining the way-point location with respect to the areas visible to the drone’s camera, water, a vision-based algorithm for the on-site area selection for feasible landing and finally, a model predictive motion controller for the landing procedure. The efficacy of the proposed framework is demonstrated via a set of simulated and experimental scenarios using an octorotor UAV.
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Ozbaran, Yavuz, and Serkan Tasgin. "Using cameras of automatic number plate recognition system for seat belt enforcement a case study of Sanliurfa (Turkey)." Policing: An International Journal 42, no. 4 (2019): 688–700. http://dx.doi.org/10.1108/pijpsm-07-2018-0093.
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Purpose The purpose of this paper is to quantify the effect of the enforcement, which was carried out with ANPRs, on seat belt use. Though the Seat belt Act was enacted in 1992, it did not lead to an expected increase in seat belt use in Turkey including Sanliurfa, which is one of the immense provinces with a population of over 2m. The Sanliurfa Police Department set in an enforcement campaign, in which automatic number plate recognition (ANPR) cameras were used to facilitate an increment in using seat belts in the city center. Under the police leadership, seat belt use enforcement campaign was hugely publicized and sustained throughout the city. Design/methodology/approach The ANPRs did not have a feature to detect seat belt wearing automatically. Thus, this study tested whether automated plate recognition cameras have a deterrence effect on seat belt usage. To assess the efficacy of this enforcement project, the authors employed a pre/post-implementation design. For this study, the records of the 11 ANPR camera sites, 2 non-camera sites and 2 control sites were utilized. Findings The results of this study revealed that the seat belt use rate was around 8 percent, before camera enforcement in Sanliurfa. Overall increases were 12 percent during the warning period, 60 percent for the beginning period and 78 percent three months after enforcement began at camera sites. One-way ANOVA results suggested the differences between means of seat belt use counts were statistically significant F (3, 61,596)=15,456, p=0.000. Research limitations/implications The findings suggest that there are several reasons for the substantial increase in the seat belt use rate. The first reason for the success of the cameras was their deterrent effect on the drivers, because the drivers were aware that the traffic offense had become readily observable via camera detection in the intersections, and the drivers did not want to be penalized. Second, it is considered that a well-organized publicity of the cameras made a significant contribution to the effectiveness of the enforcement by increasing perceived detection risk. Finally, it is considered that the reason behind the sudden increase in seat belt use was the red-light cameras that had been already in use in Sanliurfa. Namely, the experience of the drivers about camera enforcement gave rise to the rapid decrease in seat belt violation rate in the warning period. Practical implications Using cameras (automatic or not) for seat belt enforcement and publicizing this enforcement can help to save resources and lives. Originality/value This study found a lot of news about similar enforcement on the internet, but no study was found in the literature that reveals if the enforcement can produce an effective result. Thus, this is the first study in Turkey, may be in the world, that evaluated if cameras of the ANPRS can generate effective seat belt enforcement. Furthermore, the study betokened that traffic violations, which cannot be automatically detected by cameras such as cell phone use and smoking in a vehicle can be effectively enforced by non-automatic cameras. Therefore, we believe that the study will contribute policing and the traffic safety literature.
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Kurashiki, Keita, Mareus Aguilar, and Sakon Soontornvanichkit. "Visual Navigation of a Wheeled Mobile Robot Using Front Image in Semi-Structured Environment." Journal of Robotics and Mechatronics 27, no. 4 (2015): 392–400. http://dx.doi.org/10.20965/jrm.2015.p0392.
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<div class=""abs_img""> <img src=""[disp_template_path]/JRM/abst-image/00270004/09.jpg"" width=""300"" /> Mobile robot with a stereo camera</div> Autonomous mobile robots has been an active research recently. In Japan, the Tsukuba Challenge is held annually since 2007 in order to realize autonomous mobile robots that coexist with human beings safely in society. Through technological incentives of such effort, laser range finder (LRF) based navigation has rapidly improved. A technical issue of these techniques is the reduction of the prior information because most of them require precise 3D model of the environment, that is poor in both maintainability and scalability. On the other hand, in spite of intensive studies on vision based navigation using cameras, no robot in the Challenge could achieve full camera navigation. In this paper, an image based control law to follow the road boundary is proposed. This method is a part of the topological navigation to reduce prior information and enhance scalability of the map. As the controller is designed based on the interaction model of the robot motion and image feature in the front image, the method is robust to the camera calibration error. The proposed controller is tested through several simulations and indoor/outdoor experiments to verify its performance and robustness. Finally, our results in Tsukuba Challenge 2014 using the proposed controller is presented. </span>
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Bielikov, A. S., I. A. Sokolov, Yu E. Strezhekurov, O. P. Todorov, and S. Yu Ragimov. "IMPROVEMENT OF THERMAL IMAGING CAMERA FOR ASSESSING HEAT FLOW IN WORKPLACES." Ukrainian Journal of Civil Engineering and Architecture, no. 6 (024) (December 27, 2024): 84–91. https://doi.org/10.30838/ujcea.2312.271224.84.1115.
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Problem statement. This article analyzes methods for determining the thermal insulation properties of building structures. The research also investigates the application of an express method for determining the thermal insulation properties of materials against infrared radiation. By relying on Wien's Law, through controlling the frequency of infrared radiation, conditions with different temperature sources can be modeled. By relying on Wien's Law, through controlling the frequency of infrared radiation, conditions with different temperature sources can be modeled. This is achieved using structurally non-standard devices and an approach to solving the problem across a wide range This is achieved using structurally non-standard devices and an approach to solving the problem across a wide range of temperatures. The main objectives include – Achieving the result through the use of modern programming techniques for algorithmizing the operation of the sensor and receiver at high frequencies, and designing the device using a microprocessor controller. Achieving the result through the use of modern programming techniques for algorithmizing the operation of the sensor and receiver at high frequencies, and designing the device using a microprocessor controller. Conclusion. 1. The methodology for processing data from sensors and options for methods of information fixation in databases. This allows for a rapid method to determine the actual efficiency of energy-saving materials in construction and energy, and to enhance the quality of independent control over the compliance of protective clothing and building structures with regulations. 2. Based on the relationship between the main optical and thermophysical characteristics, electrical conductivity from the reflective capacity of the surface layer of thermal insulation materials, a reflectometer device has been developed and implemented for express analysis of these characteristics. 3. The reflectometer allows for determining the efficiency of energy-saving materials during their operation and design stages. 4. Based on the relationship between the main optical and thermophysical characteristics, electrical conductivity from the reflective capacity of the surface layer of thermal insulation materials, a reflectometer device has been developed and implemented for express analysis of these characteristics.
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Cheng, Yang, and Wang Qi. "Study on Mechanical Law of Vibration Abscission of Camellia Oleifera Fruit Based on High-Speed Camera Technology." JOURNAL OF ADVANCES IN AGRICULTURE 10 (April 30, 2019): 1713–25. http://dx.doi.org/10.24297/jaa.v10i0.8265.
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The movement and mechanical characteristics of oil-tea camellia fruit coupling with flower simultaneously during the harvest period were studied to provide an indispensable theoretical guideline for the mechanized picking machine. The mechanical properties of Camellia oleifera were obtained by investigating its flowers and fruits, and the vibration harvesting of Camellia oleifera was studied by using dynamic vibration device. The i-Speed3 high-speed camera was used to record the harvesting process, and the image analysis and calculation were carried out by its own Control-Pro software. The results showed that different varieties of Camellia oleifera had different flowering periods, ranging from 30 to 55 days; their weight also varied among varieties; there was no inevitable relationship between the binding force (pulling force and torque) of fruit stalks and their varieties, locations and diameter of fruit stalks. More importantly, during the vibration process, the fruit peeling speed is related to the vibration source clamping position and vibration parameters. Under the condition of short clamping distance and high frequency and low amplitude, the fruit is more likely to fall off.
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Qin, Tian, Wan Chun Chen, and Xiao Lan Xing. "Vision-Based Guidance for an Unmanned Aerial Vehicle Following a Moving Target." Advanced Materials Research 383-390 (November 2011): 7556–62. http://dx.doi.org/10.4028/www.scientific.net/amr.383-390.7556.
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This paper presents a real-time optical flow algorithm for a vision-based guidance of an unmanned aerial vehicle (UAV). The optical flow algorithm detects a moving target, and obtains the optical position and optical flow vectors of the target from the image sequence. Then, a vision-based guidance of the UAV is designed to follow the moving target. Additionally, the control law of the imaging seeker uses visual information from the image sequence for target tracking. The method was tested on a 3 degree of freedom (3DOF) dual-rotor UAV with a video camera and the result proved the effectiveness of this method.
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Latham, A. David M., Graham Nugent, and Bruce Warburton. "Evaluation of camera traps for monitoring European rabbits before and after control operations in Otago, New Zealand." Wildlife Research 39, no. 7 (2012): 621. http://dx.doi.org/10.1071/wr12050.
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Context European rabbits (Oryctolagus cuniculus) are reaching plague proportions again in some parts of New Zealand as the effect of rabbit haemorrhagic disease begins to wane. Effective monitoring techniques are required to quantify the success of alternative methods of controlling rabbits, such as poisoning. Aim To evaluate camera traps as a method of estimating the percentage of rabbits killed in a poison control operation, and to compare results obtained from cameras with those from traditional monitoring methods (spotlight transects and vantage-point counts). Methods We deployed cameras and conducted vantage-point counts and spotlight transects to compare a priori statistical power. We then used these monitoring methods to estimate percentage kill from a case study rabbit-control operation using sodium fluoroacetate (compound 1080). Key results Cameras had good statistical power to detect large reductions in rabbit numbers (>90%) and the percentage kill estimated using cameras was comparable with spotlight transects and vantage-point counts. Conclusions Cameras set up at fixed sampling locations can be an effective method of quantitatively assessing rabbit population control outcomes. We recommend that ≥6 cameras per 100 ha should remain active for at least 5 days before and 5 days following control, so as to obtain reliable estimates of percentage kill. Implications Cameras may be preferable to conventional monitoring methods where there is insufficient area to walk or drive transects, terrain is too rugged or scrubby for transects, and there are no or few vantage points from which to count rabbits.
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Guan, Z., G. Zhang, Y. Jiang, et al. "DETECTION OF THE ANGLE CHANGE BETWEEN CAMERA AND STAR TRACKER BASED ON STAR OBSERVATION." ISPRS Annals of the Photogrammetry, Remote Sensing and Spatial Information Sciences V-1-2022 (May 17, 2022): 77–83. http://dx.doi.org/10.5194/isprs-annals-v-1-2022-77-2022.
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Abstract. Satellites in orbit are affected by changes in thermal environment and other factors, and the angle of optical axis between the camera and star tracker (Cam-ST) changes. As a result, the attitude measurement error of the orbital period appears, leading to a decrease in the accuracy of the geometric positioning of the image. This paper proposes a star observation mode, using the stars as the control point, so as to detect the angle change between the Cam-ST throughout the orbital period. This paper is based on 20 sets of star observation data from the Jilin-1 video satellite. Through methods such as star point extraction and pre-recognition, the camera's pointing in the inertial space is obtained. Then the angle with the optical axis of star tracker (ST) is calculated, and the error law of the angle between the Cam-ST is obtained. The experimental results show that the Cam-ST optical axis angle will produce a regular error change during the satellite orbit period. After fitting, the error of the angle between the camera and the star tracker (Cam-ST) is reduced from 47.86" to 5.63". Through the method of star observation, the errors between Cam-ST angle can be effectively improved. The high accuracy of the camera's pointing measurement within the orbit period range is of great significance for satellite global mapping without ground control points (GCPs).
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Zhao, Zhuoqun, Jiang Wang, and Hui Zhao. "Design of A Finite-Time Adaptive Controller for Image-Based Uncalibrated Visual Servo Systems with Uncertainties in Robot and Camera Models." Sensors 23, no. 16 (2023): 7133. http://dx.doi.org/10.3390/s23167133.
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Aiming at the time-varying uncertainties of robot and camera models in IBUVS (image-based uncalibrated visual servo) systems, a finite-time adaptive controller is proposed based on the depth-independent Jacobian matrix. Firstly, the adaptive law of depth parameters, kinematic parameters, and dynamic parameters is proposed for the uncertainty of a robot model and a camera model. Secondly, a finite-time adaptive controller is designed by using a nonlinear proportional differential plus a dynamic feedforward compensation structure. By applying a continuous non-smooth nonlinear function to the feedback error, the control quality of the closed-loop system is improved, and the desired trajectory of the image is tracked in finite time. Finally, using the Lyapunov stability theory and the finite-time stability theory, the global finite-time stability of the closed-loop system is proven. The experimental results show that the proposed controller can not only adapt to the changes in the EIH and ETH visual configurations but also adapt to the changes in the relative pose of feature points and the camera’s relative pose parameters. At the same time, the convergence rate near the equilibrium point is improved, and the controller has good dynamic stability.
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Li, Meng, Xiao Nian Wang, and Jin Zhu. "A New Virtual Visual Servo Algorithm." Advanced Materials Research 989-994 (July 2014): 1615–20. http://dx.doi.org/10.4028/www.scientific.net/amr.989-994.1615.
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In this paper, on the basis of the robot visual servo system, a virtual visual servo algorithm for pose estimation is put forward. By reducing the image error between the current image features of real object and the features of virtual models, the rotation and translation relation of the virtual model is changed by visual servo control law, until the pose of virtual model overlaps the one of real object, and then object pose estimation is obtained. In addition, RANSAC algorithm is also introduced to improve the robustness of the proposed algorithm. Finally the experiment about camera external parameters estimation shows that our algorithm gets better results than the available parameter estimation algorithms.
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Furquim, Maria Gláucia Dourado, Abadia dos Reis Nascimento, João Vitor Silva Costa, Manuel Eduardo Ferreira, Graciella Corcioli, and Lino Carlos Borges. "REMOTELY PILOTED AIRCRAFT SYSTEMS WITH RGB CAMERA TO MAP COMMERCIAL TABLE TOMATO NURSERIES." Mercator 22, no. 1 (2023): 1–14. http://dx.doi.org/10.4215/rm2023.e22001i.
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Remotely Piloted Aircraft Systems (RPAS) are already a reality in Brazil. They are used in different fields of knowledge to obtain digital products that contribute to the identification, monitoring, control, and precision of the agricultural decision process. However, the cost-benefit of applying this technology to produce seedlings in commercial tomato nurseries needs better evaluation. This research analyzes the use of an RPAS with RGB camera over areas of table tomato seedlings and compares the cartographic products with the information obtained through semi-structured interviews with rural property owners in the States of Goiás, Minas Gerais, and the Federal District (Brasília). The results were not divided into external area applications and internal (greenhouse) mapping, as adopting technology for monitoring the seedling production process inside greenhouses is still economically unfeasible compared to human identification, thus not justifying the investment. Nonetheless, images of the external area provide crucial information for planning a nursery, considering its structural aspects and adequate disposal. Keywords: Seedling production; Digital Image Processing; UAV; Drones.
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Xie, Huangsheng, Guodong Li, Yuexin Wang, Zhihe Fu, and Fengyu Zhou. "Research on Visual Servo Grasping of Household Objects for Nonholonomic Mobile Manipulator." Journal of Control Science and Engineering 2014 (2014): 1–13. http://dx.doi.org/10.1155/2014/315396.
Full textAbstract:
This paper focuses on the problem of visual servo grasping of household objects for nonholonomic mobile manipulator. Firstly, a new kind of artificial object mark based on QR (Quick Response) Code is designed, which can be affixed to the surface of household objects. Secondly, after summarizing the vision-based autonomous mobile manipulation system as a generalized manipulator, the generalized manipulator’s kinematic model is established, the analytical inverse kinematic solutions of the generalized manipulator are acquired, and a novel active vision based camera calibration method is proposed to determine the hand-eye relationship. Finally, a visual servo switching control law is designed to control the service robot to finish object grasping operation. Experimental results show that QR Code-based artificial object mark can overcome the difficulties brought by household objects’ variety and operation complexity, and the proposed visual servo scheme makes it possible for service robot to grasp and deliver objects efficiently.