Real-time target tracking for a gun-turret using low cost visual servoing
- Brauer, Herman Daniel Bertrus
- Authors: Brauer, Herman Daniel Bertrus
- Date: 2008-05-22T07:35:45Z
- Subjects: Targets (Shooting) , Turrets , Automatic control , Automatic tracking , Programmable controllers
- Type: Thesis
- Identifier: uj:2112 , http://hdl.handle.net/10210/445
- Description: Prof. A.L. Nel
- Full Text: false
- Authors: Brauer, Herman Daniel Bertrus
- Date: 2008-05-22T07:35:45Z
- Subjects: Targets (Shooting) , Turrets , Automatic control , Automatic tracking , Programmable controllers
- Type: Thesis
- Identifier: uj:2112 , http://hdl.handle.net/10210/445
- Description: Prof. A.L. Nel
- Full Text: false
The contour tracking of a rugby ball : an application of particle filtering
- Authors: Janse van Rensburg, Tersia
- Date: 2012-02-06
- Subjects: Electric filters , Automatic tracking , Image processing , Monte Carlo method
- Type: Thesis
- Identifier: uj:1996 , http://hdl.handle.net/10210/4350
- Description: M.Ing. , Object tracking in image sequences, in its general form, is very challenging. Due to the prohibitive complexity thereof, research has lead to the idea of tracking a template exposed to low-dimensional deformation such as translation, rotation and scaling. The inherent non-Gaussianity of the data acquired from general tracking problems renders the trusted Kalman filtering methodology futile. For this reason the idea of particle filtering was developed recently. Particle filters are sequential Monte Carlo methods based on multiple point mass (or "particle") representations of probability densities, which can be applied to any dynamical model and which generalize the traditional Kalman filtering methods. To date particle filtering has already been proved to be successful filtering method in different fields of science such as econometrics, signal processing, fluid mechanics, agriculture and aviation. In this dissertation, we discuss the problem of tracking a rugby ball in an image sequence as the ball is being passed to and fro. First, the problem of non-linear Bayesian tracking is focused upon, followed by a particular instance of particle filtering known as the condensation algorithm. Next, the problem of fitting an elliptical contour to the travelling rugby ball is dealt with in detail, after which the problem of tracking this evolving ellipse (representing the rugby ball's edge) over time along the image sequence by means of the condensation algorithm follows. Experimental results are presented and discussed and concluding remarks follow at the end.
- Full Text:
- Authors: Janse van Rensburg, Tersia
- Date: 2012-02-06
- Subjects: Electric filters , Automatic tracking , Image processing , Monte Carlo method
- Type: Thesis
- Identifier: uj:1996 , http://hdl.handle.net/10210/4350
- Description: M.Ing. , Object tracking in image sequences, in its general form, is very challenging. Due to the prohibitive complexity thereof, research has lead to the idea of tracking a template exposed to low-dimensional deformation such as translation, rotation and scaling. The inherent non-Gaussianity of the data acquired from general tracking problems renders the trusted Kalman filtering methodology futile. For this reason the idea of particle filtering was developed recently. Particle filters are sequential Monte Carlo methods based on multiple point mass (or "particle") representations of probability densities, which can be applied to any dynamical model and which generalize the traditional Kalman filtering methods. To date particle filtering has already been proved to be successful filtering method in different fields of science such as econometrics, signal processing, fluid mechanics, agriculture and aviation. In this dissertation, we discuss the problem of tracking a rugby ball in an image sequence as the ball is being passed to and fro. First, the problem of non-linear Bayesian tracking is focused upon, followed by a particular instance of particle filtering known as the condensation algorithm. Next, the problem of fitting an elliptical contour to the travelling rugby ball is dealt with in detail, after which the problem of tracking this evolving ellipse (representing the rugby ball's edge) over time along the image sequence by means of the condensation algorithm follows. Experimental results are presented and discussed and concluding remarks follow at the end.
- Full Text:
Volgfilters vir toepassing by bewegende teikens
- Authors: Van Zyl, Marthinus Wilhelm
- Date: 2014-03-10
- Subjects: Tracking radar , Prediction theory , Automatic tracking , Kalman filtering
- Type: Thesis
- Identifier: uj:4235 , http://hdl.handle.net/10210/9594
- Description: M.Ing. , The results of this study indicate that developments in tracking filter theory and microprocessor technology during the past two decades have been responsible for more accurate real-time state estimation and prediction. An overview of tracking filters and p~predictors is presented. A rep~esentative selection of tracKing filters and p~edictors drawn from literature publ ished over the past two decades, was reviewed. The selection consisted of adaptive, constant non-adaptive, second and third order filters. A velocity, constant acceleration and correlated acceleration predictors are evaluated. The tracking filter and position prediction evaluation consisted of a theoretical analysis of tracking filters and a Monte-Carlo simulation of tracking filters and predictors for a one dimensional trajectory and two real istic target trajectories. The outstanding tracKing fil ters characteristics of the are their relatively second order ideal dynamic behaviour and an exceptional sensitivity to target accelerations. Excessive transients and the absence of lag for constant acceleration ta~gets characterise third order filters. The choice of an optimal filter-predictor combination is shown to be strictly appl ication dependent
- Full Text:
- Authors: Van Zyl, Marthinus Wilhelm
- Date: 2014-03-10
- Subjects: Tracking radar , Prediction theory , Automatic tracking , Kalman filtering
- Type: Thesis
- Identifier: uj:4235 , http://hdl.handle.net/10210/9594
- Description: M.Ing. , The results of this study indicate that developments in tracking filter theory and microprocessor technology during the past two decades have been responsible for more accurate real-time state estimation and prediction. An overview of tracking filters and p~predictors is presented. A rep~esentative selection of tracKing filters and p~edictors drawn from literature publ ished over the past two decades, was reviewed. The selection consisted of adaptive, constant non-adaptive, second and third order filters. A velocity, constant acceleration and correlated acceleration predictors are evaluated. The tracking filter and position prediction evaluation consisted of a theoretical analysis of tracking filters and a Monte-Carlo simulation of tracking filters and predictors for a one dimensional trajectory and two real istic target trajectories. The outstanding tracKing fil ters characteristics of the are their relatively second order ideal dynamic behaviour and an exceptional sensitivity to target accelerations. Excessive transients and the absence of lag for constant acceleration ta~gets characterise third order filters. The choice of an optimal filter-predictor combination is shown to be strictly appl ication dependent
- Full Text:
Stereo vision based target tracking for a gun turret utilizing low performance components
- Authors: Ferreira, Gideon
- Date: 2009-02-26T12:19:48Z
- Subjects: Targets (Shooting) , Turrets , Automatic control , Automatic tracking , Programmable controllers
- Type: Thesis
- Identifier: uj:8159 , http://hdl.handle.net/10210/2165
- Description: M.Ing.
- Full Text:
- Authors: Ferreira, Gideon
- Date: 2009-02-26T12:19:48Z
- Subjects: Targets (Shooting) , Turrets , Automatic control , Automatic tracking , Programmable controllers
- Type: Thesis
- Identifier: uj:8159 , http://hdl.handle.net/10210/2165
- Description: M.Ing.
- Full Text:
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