Automatic palmprint identification has received much attention in security applications and law enforcement. The performance of a palmprint identification system is improved by means of feature extraction and classifi...Automatic palmprint identification has received much attention in security applications and law enforcement. The performance of a palmprint identification system is improved by means of feature extraction and classification. Feature extraction methods such as Subspace learning are highly sensitive to the rotation variances, translation and illumination in image identification. Thus, Histogram of Oriented Lines (HOL) has not obtained promising performance for palmprint recognition so far. In this paper, we propose a new descriptor of palmprint named Improved Histogram of Oriented Lines (IHOL), which is an alternative of HOL. Improved HOL is not very sensitive to changes of translation and illumination, and has the robustness against small transformations whereas the small translation and rotations make no change in histogram value adjustment of the proposed work. The experiment results show that based on IHOL, with Principal Component Analysis (PCA) subspace learning can achieve high recognition rates. The proposed method (IHOL-Cosine distance) improves 1.30% on PolyU I database, and similarly (IHOL-Euclidean distance) improves 2.36% on COEP database compared with existing HOL method.展开更多
A novel method is proposed to dynamically control the path following of a ground Ackerman steering robot to avoid a collision.The method consists of collision prediction module,collision avoidance module and global pa...A novel method is proposed to dynamically control the path following of a ground Ackerman steering robot to avoid a collision.The method consists of collision prediction module,collision avoidance module and global path following module.The elliptic repulsive potential field method（ER-PFM）and the enhanced vector polar histogram method（VPH＋）based on the Ackerman steering model are proposed to predict the collision in a dynamic environment.The collision avoidance is realized by the proposed cost function and speed control law.The global path following process is achieved by pure pursuit.Experiments show that the robot can fulfill the dynamic path following task safely and efficiently using the proposed method.展开更多
文摘Automatic palmprint identification has received much attention in security applications and law enforcement. The performance of a palmprint identification system is improved by means of feature extraction and classification. Feature extraction methods such as Subspace learning are highly sensitive to the rotation variances, translation and illumination in image identification. Thus, Histogram of Oriented Lines (HOL) has not obtained promising performance for palmprint recognition so far. In this paper, we propose a new descriptor of palmprint named Improved Histogram of Oriented Lines (IHOL), which is an alternative of HOL. Improved HOL is not very sensitive to changes of translation and illumination, and has the robustness against small transformations whereas the small translation and rotations make no change in histogram value adjustment of the proposed work. The experiment results show that based on IHOL, with Principal Component Analysis (PCA) subspace learning can achieve high recognition rates. The proposed method (IHOL-Cosine distance) improves 1.30% on PolyU I database, and similarly (IHOL-Euclidean distance) improves 2.36% on COEP database compared with existing HOL method.
基金Supported by the National Natural Science Foundation of China(91420203)
文摘A novel method is proposed to dynamically control the path following of a ground Ackerman steering robot to avoid a collision.The method consists of collision prediction module,collision avoidance module and global path following module.The elliptic repulsive potential field method（ER-PFM）and the enhanced vector polar histogram method（VPH＋）based on the Ackerman steering model are proposed to predict the collision in a dynamic environment.The collision avoidance is realized by the proposed cost function and speed control law.The global path following process is achieved by pure pursuit.Experiments show that the robot can fulfill the dynamic path following task safely and efficiently using the proposed method.
