To address the problem of using fixed feature and single apparent model which is difficult to adapt to the complex scenarios, a Kernelized correlation filter target tracking algorithm based on online saliency feature ...To address the problem of using fixed feature and single apparent model which is difficult to adapt to the complex scenarios, a Kernelized correlation filter target tracking algorithm based on online saliency feature selection and fusion is proposed. It combined the correlation filter tracking framework and the salient feature model of the target. In the tracking process, the maximum Kernel correlation filter response values of different feature models were calculated respectively, and the response weights were dynamically set according to the saliency of different features. According to the filter response value, the final target position was obtained, which improves the target positioning accuracy. The target model was dynamically updated in an online manner based on the feature saliency measurement results. The experimental results show that the proposed method can effectively utilize the distinctive feature fusion to improve the tracking effect in complex environments.展开更多
For being able to deal with the nonlinear or non-Gaussian problems, particle filters have been studied by many researchers. Based on particle filter, the extended Kalman filter （EKF） proposal function is applied to ...For being able to deal with the nonlinear or non-Gaussian problems, particle filters have been studied by many researchers. Based on particle filter, the extended Kalman filter （EKF） proposal function is applied to Bayesian target tracking. Markov chain Monte Carlo （MCMC） method, the resampling step, ere novel techniques are also introduced into Bayesian target tracking. And the simulation results confirm the improved particle filter with these techniques outperforms the basic one.展开更多
This paper considers the problems of target tracking and obstacle avoidance for multi-agent systems. To solve the problem that multiple agents cannot effectively track the target while avoiding obstacle in dynamic env...This paper considers the problems of target tracking and obstacle avoidance for multi-agent systems. To solve the problem that multiple agents cannot effectively track the target while avoiding obstacle in dynamic environment, a novel control algorithm based on potential function and behavior rules is proposed. Meanwhile, the interactions among agents are also considered. According to the state whether an agent is within the area of its neighbors＇ influence, two kinds of potential functions are presented. Meanwhile, the distributed control input of each agent is determined by relative velocities as well as relative positions among agents, target and obstacle. The maximum linear speed of the agents is also discussed. Finally, simulation studies are given to demonstrate the performance of the proposed algorithm.展开更多
In this paper, the problems of target tracking and obstacle avoidance for multi-agent networks with input constraints are investigated. When there is a moving obstacle, the control objectives are to make the agents tr...In this paper, the problems of target tracking and obstacle avoidance for multi-agent networks with input constraints are investigated. When there is a moving obstacle, the control objectives are to make the agents track a moving target and to avoid collisions among agents. First, without considering the input constraints, a novel distributed controller can be obtained based on the potential function. Second, at each sampling time, the control algorithm is optimized. Furthermore, to solve the problem that agents cannot effectively avoid the obstacles in dynamic environment where the obstacles are moving, a new velocity repulsive potential is designed. One advantage of the designed control algorithm is that each agent only requires local knowledge of its neighboring agents. Finally, simulation results are provided to verify the effectiveness of the proposed approach.展开更多
A fast algorithm based on the grayscale distribution of infrared target and the weighted kernel function was proposed for the moving target detection(MTD) in dynamic scene of image series. This algorithm is used to de...A fast algorithm based on the grayscale distribution of infrared target and the weighted kernel function was proposed for the moving target detection(MTD) in dynamic scene of image series. This algorithm is used to deal with issues like the large computational complexity, the fluctuation of grayscale, and the noise in infrared images. Four characteristic points were selected by analyzing the grayscale distribution in infrared image, of which the series was quickly matched with an affine transformation model. The image was then divided into 32×32 squares and the gray-weighted kernel(GWK) for each square was calculated. At last, the MTD was carried out according to the variation of the four GWKs. The results indicate that the MTD can be achieved in real time using the algorithm with the fluctuations of grayscale and noise can be effectively suppressed. The detection probability is greater than 90% with the false alarm rate lower than 5% when the calculation time is less than 40 ms.展开更多
This paper presents a nonlinear multidimensional scaling model, called kernelized fourth quantifica- tion theory, which is an integration of kernel techniques and the fourth quantification theory. The model can deal w...This paper presents a nonlinear multidimensional scaling model, called kernelized fourth quantifica- tion theory, which is an integration of kernel techniques and the fourth quantification theory. The model can deal with the problem of mineral prediction without defining a training area. In mineral target prediction, the pre-defined statistical cells, such as grid cells, can be implicitly transformed using kernel techniques from input space to a high-dimensional feature space, where the nonlinearly separable clusters in the input space are ex- pected to be linearly separable. Then, the transformed cells in the feature space are mapped by the fourth quan- tifieation theory onto a low-dimensional scaling space, where the sealed cells can be visually clustered according to their spatial locations. At the same time, those cells, which are far away from the cluster center of the majority of the sealed cells, are recognized as anomaly cells. Finally, whether the anomaly cells can serve as mineral potential target cells can be tested by spatially superimposing the known mineral occurrences onto the anomaly ceils. A case study shows that nearly all the known mineral occurrences spatially coincide with the anomaly cells with nearly the smallest scaled coordinates in one-dimensional sealing space. In the case study, the mineral target cells delineated by the new model are similar to those predicted by the well-known WofE model.展开更多
Sensor management plays an important role in data fusion system, and this paper presents an algorithm of sensor management that can be used in target detection, identification and tracking. First, the basic concept, r...Sensor management plays an important role in data fusion system, and this paper presents an algorithm of sensor management that can be used in target detection, identification and tracking. First, the basic concept, rule, range and function of sensor management are introduced. Then, the quantifying problems of target priority and sensor (or combination)-target pairing in multisensor management are discussed and the efficiency and waste functions are established based on the functions of target priority and sensor-target pairing. On this basis, a distribution algorithm of multi-sensor resources is given, which is optimized by the principle of maximum synthesis efficiency in the multisensor system and constrained by sensor maximum tracking power and what target must be scanned. In addition, the waste measure of sensor resources is introduced to improve the algorithm. Finally, a tactical task that includes three sensors and ten targets is set, and the simulation results show that the algorithm is feasible and effective.展开更多
The state estimation of a maneuvering target,of which the trajectory shape is independent on dynamic characteristics,is studied.The conventional motion models in Cartesian coordinates imply that the trajectory of a ta...The state estimation of a maneuvering target,of which the trajectory shape is independent on dynamic characteristics,is studied.The conventional motion models in Cartesian coordinates imply that the trajectory of a target is completely determined by its dynamic characteristics.However,this is not true in the applications of road-target,sea-route-target or flight route-target tracking,where target trajectory shape is uncoupled with target velocity properties.In this paper,a new estimation algorithm based on separate modeling of target trajectory shape and dynamic characteristics is proposed.The trajectory of a target over a sliding window is described by a linear function of the arc length.To determine the unknown target trajectory,an augmented system is derived by denoting the unknown coefficients of the function as states in mileage coordinates.At every estimation cycle except the first one,the interaction(mixing)stage of the proposed algorithm starts from the latest estimated base state and a recalculated parameter vector,which is determined by the least squares(LS).Numerical experiments are conducted to assess the performance of the proposed algorithm.Simulation results show that the proposed algorithm can achieve better performance than the conventional coupled model-based algorithms in the presence of target maneuvers.展开更多
The different approaches used for target decomposition （TD） theory in radar polarimetry are reviewed and three main types of theorems are introduced： those based on Mueller matrix, those using an eigenvector analys...The different approaches used for target decomposition （TD） theory in radar polarimetry are reviewed and three main types of theorems are introduced： those based on Mueller matrix, those using an eigenvector analysis of the coherency matrix, and those employing coherent decomposition of the scattering matrix. Support vector machine （SVM）, as a novel approach in pattern recognition, has demonstrated success in many fields. A new algorithm of target classification, by combining target decomposition and the support vector machine, is proposed. To conduct the experiment, the polarimetric synthetic aperture radar （SAR） data are used. Experimental results show that it is feasible and efficient to target classification by applying target decomposition to extract scattering mechanisms, and the effects of kernel function and its parameters on the classification efficiency are significant.展开更多
基金the National Natural Science Foundation (61472196, 61672305)Natural Science Foundation of Shandong Province (BS2015DX010, ZR2015FM012)Key Research and Development Foundation of Shandong Province (2017GGX10133).
文摘To address the problem of using fixed feature and single apparent model which is difficult to adapt to the complex scenarios, a Kernelized correlation filter target tracking algorithm based on online saliency feature selection and fusion is proposed. It combined the correlation filter tracking framework and the salient feature model of the target. In the tracking process, the maximum Kernel correlation filter response values of different feature models were calculated respectively, and the response weights were dynamically set according to the saliency of different features. According to the filter response value, the final target position was obtained, which improves the target positioning accuracy. The target model was dynamically updated in an online manner based on the feature saliency measurement results. The experimental results show that the proposed method can effectively utilize the distinctive feature fusion to improve the tracking effect in complex environments.
基金This project was supported by the National Natural Science Foundation of China (50405017) .
文摘For being able to deal with the nonlinear or non-Gaussian problems, particle filters have been studied by many researchers. Based on particle filter, the extended Kalman filter （EKF） proposal function is applied to Bayesian target tracking. Markov chain Monte Carlo （MCMC） method, the resampling step, ere novel techniques are also introduced into Bayesian target tracking. And the simulation results confirm the improved particle filter with these techniques outperforms the basic one.
基金supported by National Basic Research Program of China (973 Program) (No. 2010CB731800)Key Program of National Natural Science Foundation of China (No. 60934003)Key Project for Natural Science Research of Hebei Education Department(No. ZD200908)
文摘This paper considers the problems of target tracking and obstacle avoidance for multi-agent systems. To solve the problem that multiple agents cannot effectively track the target while avoiding obstacle in dynamic environment, a novel control algorithm based on potential function and behavior rules is proposed. Meanwhile, the interactions among agents are also considered. According to the state whether an agent is within the area of its neighbors＇ influence, two kinds of potential functions are presented. Meanwhile, the distributed control input of each agent is determined by relative velocities as well as relative positions among agents, target and obstacle. The maximum linear speed of the agents is also discussed. Finally, simulation studies are given to demonstrate the performance of the proposed algorithm.
基金supported by National Basic Research Program of China (973 Program) (No. 2010CB731800)Key Project of National Science Foundation of China (No. 60934003)+2 种基金National Nature Science Foundation of China (No. 61074065)Key Project for Natural Science Research of Hebei Education Department, PRC(No. ZD200908)Key Project for Shanghai Committee of Science and Technology (No. 08511501600)
文摘In this paper, the problems of target tracking and obstacle avoidance for multi-agent networks with input constraints are investigated. When there is a moving obstacle, the control objectives are to make the agents track a moving target and to avoid collisions among agents. First, without considering the input constraints, a novel distributed controller can be obtained based on the potential function. Second, at each sampling time, the control algorithm is optimized. Furthermore, to solve the problem that agents cannot effectively avoid the obstacles in dynamic environment where the obstacles are moving, a new velocity repulsive potential is designed. One advantage of the designed control algorithm is that each agent only requires local knowledge of its neighboring agents. Finally, simulation results are provided to verify the effectiveness of the proposed approach.
基金Project(61101185)supported by the National Natural Science Foundation of China
文摘A fast algorithm based on the grayscale distribution of infrared target and the weighted kernel function was proposed for the moving target detection(MTD) in dynamic scene of image series. This algorithm is used to deal with issues like the large computational complexity, the fluctuation of grayscale, and the noise in infrared images. Four characteristic points were selected by analyzing the grayscale distribution in infrared image, of which the series was quickly matched with an affine transformation model. The image was then divided into 32×32 squares and the gray-weighted kernel(GWK) for each square was calculated. At last, the MTD was carried out according to the variation of the four GWKs. The results indicate that the MTD can be achieved in real time using the algorithm with the fluctuations of grayscale and noise can be effectively suppressed. The detection probability is greater than 90% with the false alarm rate lower than 5% when the calculation time is less than 40 ms.
基金supported by National Natural Science Foundation of China (No.40872193)
文摘This paper presents a nonlinear multidimensional scaling model, called kernelized fourth quantifica- tion theory, which is an integration of kernel techniques and the fourth quantification theory. The model can deal with the problem of mineral prediction without defining a training area. In mineral target prediction, the pre-defined statistical cells, such as grid cells, can be implicitly transformed using kernel techniques from input space to a high-dimensional feature space, where the nonlinearly separable clusters in the input space are ex- pected to be linearly separable. Then, the transformed cells in the feature space are mapped by the fourth quan- tifieation theory onto a low-dimensional scaling space, where the sealed cells can be visually clustered according to their spatial locations. At the same time, those cells, which are far away from the cluster center of the majority of the sealed cells, are recognized as anomaly cells. Finally, whether the anomaly cells can serve as mineral potential target cells can be tested by spatially superimposing the known mineral occurrences onto the anomaly ceils. A case study shows that nearly all the known mineral occurrences spatially coincide with the anomaly cells with nearly the smallest scaled coordinates in one-dimensional sealing space. In the case study, the mineral target cells delineated by the new model are similar to those predicted by the well-known WofE model.
基金National Natural Science Foundation of China! ( No.6 9772 0 3 1)Natural Science Foundation of Henan Province
文摘Sensor management plays an important role in data fusion system, and this paper presents an algorithm of sensor management that can be used in target detection, identification and tracking. First, the basic concept, rule, range and function of sensor management are introduced. Then, the quantifying problems of target priority and sensor (or combination)-target pairing in multisensor management are discussed and the efficiency and waste functions are established based on the functions of target priority and sensor-target pairing. On this basis, a distribution algorithm of multi-sensor resources is given, which is optimized by the principle of maximum synthesis efficiency in the multisensor system and constrained by sensor maximum tracking power and what target must be scanned. In addition, the waste measure of sensor resources is introduced to improve the algorithm. Finally, a tactical task that includes three sensors and ten targets is set, and the simulation results show that the algorithm is feasible and effective.
基金supported by the National Natural Science Foundation of China(61671181).
文摘The state estimation of a maneuvering target,of which the trajectory shape is independent on dynamic characteristics,is studied.The conventional motion models in Cartesian coordinates imply that the trajectory of a target is completely determined by its dynamic characteristics.However,this is not true in the applications of road-target,sea-route-target or flight route-target tracking,where target trajectory shape is uncoupled with target velocity properties.In this paper,a new estimation algorithm based on separate modeling of target trajectory shape and dynamic characteristics is proposed.The trajectory of a target over a sliding window is described by a linear function of the arc length.To determine the unknown target trajectory,an augmented system is derived by denoting the unknown coefficients of the function as states in mileage coordinates.At every estimation cycle except the first one,the interaction(mixing)stage of the proposed algorithm starts from the latest estimated base state and a recalculated parameter vector,which is determined by the least squares(LS).Numerical experiments are conducted to assess the performance of the proposed algorithm.Simulation results show that the proposed algorithm can achieve better performance than the conventional coupled model-based algorithms in the presence of target maneuvers.
文摘The different approaches used for target decomposition （TD） theory in radar polarimetry are reviewed and three main types of theorems are introduced： those based on Mueller matrix, those using an eigenvector analysis of the coherency matrix, and those employing coherent decomposition of the scattering matrix. Support vector machine （SVM）, as a novel approach in pattern recognition, has demonstrated success in many fields. A new algorithm of target classification, by combining target decomposition and the support vector machine, is proposed. To conduct the experiment, the polarimetric synthetic aperture radar （SAR） data are used. Experimental results show that it is feasible and efficient to target classification by applying target decomposition to extract scattering mechanisms, and the effects of kernel function and its parameters on the classification efficiency are significant.
