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Full-Text Articles in Engineering
Gaze Estimation And Tracking For Assisted Living Environments, Paris Her
Gaze Estimation And Tracking For Assisted Living Environments, Paris Her
Master's Theses (2009 -)
Assisted living environments must be able to efficiently and unobtrusively gather information on a person's well-being. Human gaze direction provides some of the strongest indicators of how a person behaves and interacts with their environment. To that end, this thesis proposes a gaze tracking method that uses a neural network regressor to estimate gaze direction from facial keypoints and integrates them over time using various temporal methods, specifically through moving averages and a Kalman filter. Our gaze regression model uses confidence gated units to handle cases of keypoint occlusion and is able to estimate its own prediction uncertainty. This approach …
An Interactive Likelihood For The Multi-Bernoulli Filter, Anthony B. Hoak
An Interactive Likelihood For The Multi-Bernoulli Filter, Anthony B. Hoak
Master's Theses (2009 -)
In this thesis, a simple yet effective technique is presented for increasing the accuracy of multi-target tracking algorithms with a focus on sequential Monte-Carlo implementations of random finite set-based approaches. This technique, referred to throughout this work as an interactive likelihood, exploits the spatial information that exists in any given measurement, reducing the need for data association and allowing for more target interaction thereby increasing overall tracking accuracy. The interactive likelihood is constructed entirely within the random finite set framework and is integrated with a multi-Bernoulli filter. In addition, a state-of-the-art deep neural network for pedestrian detection is combined in …
Flight Control And Hardware Design Of Multi-Rotor Systems, Nathan M. Zimmerman
Flight Control And Hardware Design Of Multi-Rotor Systems, Nathan M. Zimmerman
Master's Theses (2009 -)
This thesis overviews crucial concepts involved in achieving quadcopter flight such as orientation estimation and control system implementation. This thesis also presents researchers with comprehensive hardware and software specifications for a quadcopter system. The primary application for this system would be for research with regards to the implementation of advance control techniques as well as data acquisition. Key constructs of this system include hardware software specifications for a flight controller, the radio system, and the sensorless brushless motor controllers. Firstly, the thesis starts by developing a reference frame and a mathematical model for the quadcotper system. Next, flight orientation estimation …
Predicting Multiple Target Tracking Performance For Applications On Video Sequences, Juan Esteban Tapiero Bernal
Predicting Multiple Target Tracking Performance For Applications On Video Sequences, Juan Esteban Tapiero Bernal
Dissertations (1934 -)
This dissertation presents a framework to predict the performance of multiple target tracking (MTT) techniques. The framework is based on the mathematical descriptors of point processes, the probability generating functional (p.g.fl). It is shown that conceptually the p.g.fls of MTT techniques can be interpreted as a transform that can be marginalized to an expression that encodes all the information regarding the likelihood model as well as the underlying assumptions present in a given tracking technique. In order to use this approach for tracker performance prediction in video sequences, a framework that combines video quality assessment concepts and the marginalized transform …
Novel Convergence Results In Nonlinear Filtering, Jennifer Lynn Bonniwell
Novel Convergence Results In Nonlinear Filtering, Jennifer Lynn Bonniwell
Dissertations (1934 -)
In this dissertation, the discrete-time extended Kalman filter is analyzed for its ability to attenuate finite-energy disturbances, known as the H-infinity property. Though the extended Kalman filter is designed to be a locally optimal minimum variance estimator, this dissertation proves that it has additional properties, such as H-infinity. This analysis is performed with the extended Kalman filter in direct form. Since this form reduces assumptions placed on the system in previous works on convergence and H-2 properties of the extended Kalman filter, the extended Kalman filter used as a nonlinear observer for noise-free models is revisited using the direct form …