Navigational sensors are evolving both on a commercial and research level. However, the limitation still lies in the accuracy of the respective sensors. For a navigation system to reach a certain accuracy, multi sensors or fusion sensors are used. In this paper, a framework of fuzzy sensor data fusing is proposed to obtain an optimised navigational system. Different types of sensors without a known state of inaccuracy can be fused using the same method proposed. This is demonstrated by fusing compass/accelerometer and GPS signal. GPS has evolved as a choice of navigation method for outdoor autonomous system. Despite it emerging trend and application, one problem remains is that it is still prone to inaccuracies due to environmental factors. These factors are available and evaluated in the GPS receiver architecture. These inaccuracies are available in the extracted NMEA(National Maritime Electronics Association) protocols as SNR (Signal to noise ratio) and HDOP (Horizontal Dillusion of Precision). Dead reckoning sensors on the other hand does not depend on external radio signal coverage and can be used in areas with low coverage. Unfortunately, the errors are unbounded and has an accumulative effect over time.
Nowadays, vehicle tracking is a vital approach to assist and improve the road traffic control, surveillance and security systems by having the detail of the captured vehicle information. In past, many tracking techniques have been implemented and suffered from the well known 'occlusion' problems. Increasing the accuracy of the tracking algorithm has caused the computational cost due to the inflexibility to adapt the partial and fully occluded situations. Besides occlusion, appearance of new objects and background noises in the captured videos increase the difficulties of continuously tracking the labelled vehicles. In this paper, an adaptive particle filter approach has been proposed as the tracking algorithm to solve the vehicle occlusion problem. In order to solve the common particle filter degeneracy problem, the proposed particle filter is equipped with the adaptive resampling algorithm which is capable of dealing with various occlusion incidents. The experimental results show that enhancement of the particle filter via resampling algorithm has been robustly tracking the vehicles, and significantly improve the accuracy in tracking the occluded vehicles without compromising the processing time.
This paper relates the theoretical aspect of intention reading from the engineering perspective including the definitions and concepts. Intention reading offers a platform for a friendly human interface between human and machines. A classification to categorize intention reading has been proposed. In the classification, intention reading is divided into 5 categories. Successful applications towards the elderly and people with disabilities are reviewed. Some issues related to intention reading are also presented.
Two dimensional human body pose modelling system detects the human body parts, estimates their posture and then models them in an image plane using specified shape. In this paper, two windowing techniques are presented and then compared for the human head and torso pose modelling. The first technique, namely Windowing technique I estimates the torso followed by the head of the human. In this technique, the size of the head and torso are manually computed and then the position of the targeted parts is determined. The second technique, namely Windowing technique II, estimates the head followed by the torso of the human. The size and the position of the targeted parts are determined automatically with the implementation of distant transform and several assumptions on human body size and position. The windowing techniques only requires silhouette image as input image. In experimentation, the size and the position of each body part are evaluated from 100 images in indoor environment. From the overall results, the Windowing technique II performs better in terms of correct size and position estimation.
This paper describes the development of EMG signal acquisition system application for model cart control. The main application of this type of control is to assist disabled people or frail people to control a cart or device via their healthy muscle. In this project, the circuit was simulated, developed and troubleshoots. The aim of model cart control was to control four basic directions which is forward, backward, turn left and turn right. Threshold voltage level comparison method is used in this project for model cart control. By considering the user friendly issue for the application system, EMG signal acquisition method was decided to be used and obtained with surface electrode. There are two stages to be done for this system, in which the first stage is the signal acquisition system and the second stage is to control the action of model cart. First stage included pre-amplifier, rectification and filtering, which were done with instrumentation amplifier, active low pass and high pass filter and precision full wave rectifier. Second stage included the microcontroller and motor driver in which the microcontroller functions to read the two channel EMG signal and give signal for the motor driver to control the DC geared motor. The result of the hardware testing is compared with the software simulation where the same output is obtained. There were also some limitation and problem which have not been solved. There was wire connected to the model cart where it is not very convenient for the model cart to move around or further.
Human body pose modelling system is directly influenced by the image features used in the system, its model representation and also its application. This paper presents silhouette, edge and colour extraction methodology for detecting the human body parts in image sequences. Silhouette is used as input for head and torso pose estimation. Meanwhile, edge and colour are used respectively as input for non-occluded and occluded arms pose estimation. The body parts are estimated using histogram analysis and template matching techniques, which is then represented by rectangular shape.
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