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This paper presents a novel approach for optimizing the scheduling and control of Pan-Tilt-Zoom (PTZ) cameras in dynamic surveillance environments. The proposed method integrates Kalman filters for motion prediction with a dynamic network…
Robot navigation within complex environments requires precise state estimation and localization to ensure robust and safe operations. For ambulating mobile robots like robot snakes, traditional methods for sensing require multiple embedded…
In this paper, we present a real-time robust multi-view pedestrian detection and tracking system for video surveillance using neural networks which can be used in dynamic environments. The proposed system consists of two phases: multi-view…
Visual servoing is fundamental to robotic applications, enabling precise positioning and control. However, applying it to textureless objects remains a challenge due to the absence of reliable visual features. Moreover, adverse visual…
In this paper, we present a novel vision-based framework for tracking dynamic objects using guidance laws based on a rendezvous cone approach. These guidance laws enable an unmanned aircraft system equipped with a monocular camera to…
Edge computing pushes the cloud computing boundaries beyond uncertain network resource by leveraging computational processes close to the source and target of data. Time-sensitive and data-intensive video surveillance applications benefit…
Nonlinearity in dynamics has long been a major challenge in robotics, often causing significant performance degradation in existing control algorithms. For example, the navigation of bipedal robots can exhibit nonlinear behaviors even under…
Tracking people in a video sequence is one of the fields of interest in computer vision. It has broad applications in motion capture and surveillance. However, due to the complexity of human dynamic structure, detecting and tracking are not…
This paper addresses the problem of tracking the position of a cable-suspended payload carried by an unmanned aerial vehicle, with a focus on real-world deployment and minimal hardware requirements. In contrast to many existing approaches…
This paper is concerned with the problem of distributed extended object tracking, which aims to collaboratively estimate the state and extension of an object by a network of nodes. In traditional tracking applications, most approaches…
Computer vision has received a significant attention in recent year, which is one of the important parts for robots to obtain information about the external environment. Visual trackers can provide the necessary physical and environmental…
High-resolution radar sensors are able to resolve multiple detections per object and therefore provide valuable information for vehicle environment perception. For instance, multiple detections allow to infer the size of an object or to…
Accurate perception of dynamic obstacles is essential for autonomous robot navigation in indoor environments. Although sophisticated 3D object detection and tracking methods have been investigated and developed thoroughly in the fields of…
We study the problem of devising a closed-loop strategy to control the position of a robot that is tracking a possibly moving target. The robot is capable of obtaining noisy measurements of the target's position. The key idea in active…
In this work we consider the problem of mobile robots that need to manipulate/transport an object via cables or robotic arms. We consider the scenario where the number of manipulating robots is redundant, i.e. a desired object configuration…
State estimation for legged locomotion over a dynamic rigid surface (DRS), which is a rigid surface moving in the world frame (e.g., ships, aircraft, and trains), remains an under-explored problem. This paper introduces an invariant…
Learning dexterous manipulation skills presents significant challenges due to complex nonlinear dynamics that underlie the interactions between objects and multi-fingered hands. Koopman operators have emerged as a robust method for modeling…
Persistent monitoring using robot teams is of interest in fields such as security, environmental monitoring, and disaster recovery. Performing such monitoring in a fully on-line decentralised fashion has significant potential advantages for…
The immersion and the interaction are the important features of the driving simulator. To improve these characteristics, this paper proposes a low-cost and mark-less driver head tracking framework based on the head pose estimation model,…
Event cameras are bioinspired sensors with reaction times in the order of microseconds. This property makes them appealing for use in highly-dynamic computer vision applications. In this work,we explore the limits of this sensing technology…