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Search results for: particle filter
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Performance evaluation of the parallel object tracking algorithm employing the particle filter
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Performance evaluation of the parallel object tracking algorithm employing the particle filter
PublicationAn algorithm based on particle filters is employed to track moving objects in video streams from fixed and non-fixed cameras. Particle weighting is based on color histograms computed in the iHLS color space. Particle computations are parallelized with CUDA framework. The algorithm was tested on various GPU devices: a desktop GPU card, a mobile chipset and two embedded GPU platforms. The processing speed depending on the number...
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Particle Filter Modification using Kalman Optimal Filtering Method as Applied to Road Detection from Satellite Images
PublicationIn the paper recursive state estimation approach is presented as applied to satellite images. Especially, a model of dynamic systems of the non-linear and non-Gaussian systems is presented, and finally the Kalman filter and particle filter and an integration of both is figured out. Special attention is paid to the application for satellite image analysis.
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Designing Particle Kalman Filter for Dynamic Positioning
PublicationThe article presents a comparative analysis of two variants of the Particle Kalman Filter designed by using two different ship motion models. The first filter bases only on the kinematic model of the ship and can be used in many types of vehicles, regardless of the vehicle dynamics model. The input value to the filter is the noisy position of the ship. The second filter makes use of the kinematic and dynamic models of the moving...
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Tracking Moving Objects in Video Surveillance Systems with Kalman and Particle Filters – A Practical Approach
PublicationThis Chapter focuses on the first type of object tracking algorithms, namely on Kalman and particle filters. A theory of these algorithms may be found in many publications, there are also reports on implementation of these approaches to object tracking in video. However, developers of VCA systems still face two important problems. The first one is related to obtaining accurate measurements of positions and sizes of the tracked...
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Data fusion of GPS sensors using Particle Kalman Filter for ship dynamic positioning system
PublicationDepending on standards and class, dynamically positioned ships make use of different numbers of redundant sensors to determine current ship position. The paper presents a multi-sensor data fusion algorithm for the dynamic positioning system which allows it to record the proper signal from a number of sensors (GPS receivers). In the research, the Particle Kalman Filter with data fusion was used to estimate the position of the vessel....
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Modelling of Objects Behaviour for Their Re-identification in Multi-camera Surveillance System Employing Particle Filters and Flow Graphs
PublicationAn extension of the re-identification method of modeling objects behavior in muti-camera surveillance systems, related to adding a particle filter to the decision-making algorithm is covered by the paper. A variety of tracking methods related to a single FOV (Field of Vision) are known, proven to be quite different for inter-camera tracking, especially in case of non-overlapping FOVs. The re-identification methods refer to the...
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Analysis of data fusion algorithms for the vessel with the dynamic positioning system
PublicationThe dynamic positioning (DP) system on the vessel is operated to control the position and heading of the vessel with the use of propellers and thrusters installed on the board. On DP vessels redundant measurement systems of position, heading and the magnitude and direction of environmental forces are required for safety at sea. In this case, a fusion of data is needed from individual measurement devices. The article proposes a...
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Influence of the particle size of carbonate-siliceous rock on the efficiency of phosphorous removal from domestic wastewater
PublicationtThe aim of the study was to determine the influence of the particle size of carbonate–silica rock (opoka)used in rock filters on the efficiency of phosphorus removal from domestic wastewater. The investigationswere carried out in a laboratory using a model consisting of three vertical flow filters with carbonate–silicarock of different particle sizes (G1= 1–2 mm; G2= 2–5 mm; G3= 5–10 mm). The tested rock was subjectedto decarbonising...
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Testing Stability of Digital Filters Using Multimodal Particle Swarm Optimization with Phase Analysis
PublicationIn this paper, a novel meta-heuristic method for evaluation of digital filter stability is presented. The proposed method is very general because it allows one to evaluate stability of systems whose characteristic equations are not based on polynomials. The method combines an efficient evolutionary algorithm represented by the particle swarm optimization and the phase analysis of a complex function in the characteristic equation....
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Sterowanie predykcyjne i fuzja danych w systemie dynamicznego pozycjonowania statku
PublicationRozprawa doktorska poświęcona jest badaniu zastosowania fuzji danych oraz sterowania predykcyjnego w systemie dynamicznego pozycjonowania statku. W pierwszej części pracy przedstawiono historię rozwoju systemów dynamicznego pozycjonowania, różne metody estymacji położenia statku, metody sterowania oraz cel i tezę pracy. Następnie zaprezentowano model matematyczny statku, kinematykę oraz dynamikę. W kolejnej części przedstawiono...
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ZASTOSOWANIE FILTRACJI CZĄSTECZKOWEJ DO ESTYMACJI POŁOŻENIA W SYSTEMIE LOKALIZACYJNYM UWB
PublicationNiniejszy artykuł dotyczy kwestii poprawy dokładności estymacji położenia w systemie lokalizacji wewnątrzbudynkowej, bazującym na radiowych pomiarach odległości realizowanych przez modemy UWB. Proponuje się zastosowanie metody filtracji cząsteczkowej do zmniejszenia błędu wyznaczania pozycji obiektu przy braku bezpośredniej widoczności ze stacją referencyjną. W artykule opisano algorytm filtru cząsteczkowego, jego przykładową implementację...
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Performance Evaluation of Selected Parallel Object Detection and Tracking Algorithms on an Embedded GPU Platform
PublicationPerformance evaluation of selected complex video processing algorithms, implemented on a parallel, embedded GPU platform Tegra X1, is presented. Three algorithms were chosen for evaluation: a GMM-based object detection algorithm, a particle filter tracking algorithm and an optical flow based algorithm devoted to people counting in a crowd flow. The choice of these algorithms was based on their computational complexity and parallel...
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ANALIZA NIELINIOWEGO OBSERWATORA I FILTRU CZĄSTECZKOWEGO JAKO ESTYMATORÓW POZYCJI STATKU.
PublicationW artykule została przedstawiona analiza porównawcza dokonana pomiędzy dwoma estymatorami pozycji. Analiza ta została przedstawiona na podstawie różnicy pomiędzy wartością estymowaną a rzeczywistą. Badania estymatorów zostały przeprowadzone na podstawie równania kinematyki i dynamiki statku dynamicznie pozycjonowanego. Wartościami wykorzystywanymi w symulacji są pomiary z symulowanego odbiornika GPS i siły wytworzone przez napędy...
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COMPARISON OF THE CONVENTIONAL AND ALTERNATIVE GRANULAR MATERIALS FOR DUAL-MEDIA FILTRATION OF GROUNDWATER: PILOT PLANT TESTING
PublicationNowadays, occurrence of abnormal mineral or organic natural (geogenic) compounds concentrations, in ground and infiltration water, but also quite often in surface waters, is now a common problem encountered in Poland, Europe and many other countries throughout the world. The most concern is usually paid on the removal of iron (Fe) and manganese (Mn) as well as anthropogenic compounds (in particular referring to the organic compounds...
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Hierarchical Estimation of Human Upper Body Based on 2D Observation Utilizing Evolutionary Programming and 'Genetic Memory'
PublicationNew method of the human body pose estimation based on single camera 2D observation is presented. It employs 3D model of the human body, and genetic algorithm combined with annealed particle filter for searching the global optimum of model state, best matching the object's 2D observation. Additionally, motion cost metric is employed, considering current pose and history of the body movement, favouring the estimates with the lowest...
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Influence of nitrogen and organic matter fractions on wastewater treatment in treatment wetland
PublicationMunicipal wastewater contains both biodegradable and non-degradable pollutants. Moreover, they are present in dissolved, colloidal and particulate forms. These fractions are characterised by various decomposition rates, hence their bioavailability during microbial respiration. It was confirm that biological degradation rate in terms of COD reduction is influenced by particle size speciation. Therefore, the objective of the study...
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Testing Stability of Digital Filters Using Optimization Methods with Phase Analysis
PublicationIn this paper, novel methods for the evaluation of digital-filter stability are investigated. The methods are based on phase analysis of a complex function in the characteristic equation of a digital filter. It allows for evaluating stability when a characteristic equation is not based on a polynomial. The operation of these methods relies on sampling the unit circle on the complex plane and extracting the phase quadrant of a function...
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Genetic programming extension to APF-based monocular human body pose estimation
PublicationNew method of the human body pose estimation based on a single camera 2D observation is presented, aimed at smart surveillance related video analysis and action recognition. It employs 3D model of the human body, and genetic algorithm combined with annealed particle filter for searching the global optimum of model state, best matching the object's 2D observation. Additionally, new motion cost metric is employed, considering current...
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DUAL CONSTELLATION GPS/GALILEO MOBILE SYSTEM FOR IMPROVING NAVIGATION OF THE VISUALLY IMPAIRED IN AN URBAN AREA
PublicationIt is well known by users of Portable Navigation Device (PND) and other GPS-based devices that positioning suffers from (local) significant decreases of accuracy in partially obscured environments like urbanized areas, where buildings (especially high buildings), trees or terrain block large portions of the sky. In such areas, GPS receiver performance is usually deteriorated by the reduced number of currently available satellite...
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DESIGN OF THE DUAL CONSTELLATION GPS/GALILEO MOBILE DEVICE FOR IMPROVING NAVIGATION OF THE VISUALLY IMPAIRED IN AN URBAN AREA
PublicationIt is well known by users of Personal Navigation Device (PND) and other GPS-based devices that positioning suffers from (local) significant decreases of accuracy in partially obscured environments like urbanized areas, where buildings (especially high buildings), trees or terrain block large portions of the sky. In such areas, GPS receiver performance is usually deteriorated by the reduced number of currently available satellite...