Visual Receding Horizon Estimation for human presence detection
نویسنده
چکیده
This paper deals with human presence detection by using a receding horizon estimator based on computer vision results. The visual position estimation problem is formulated into a nonlinear constrained optimization problem in the image plane. A global model combining the behavior of the human motion and the camera model is used to estimate the evolution of the visual features on a past finite horizon. The main interest of this method is the capability to easily take into account constraints. Experimentations in two different configurations highlight the efficiency of the proposed approach, especially with an image occlusion treated as a visual constraint.
منابع مشابه
Predictive Visual Feedback Control with Eye-In/to-Hand Configuration Via Stabilizing Receding Horizon Approach
This paper investigates vision based robot control via a receding horizon control strategy for an eye-in/to-hand system, as a predictive visual feedback control. Firstly, the dynamic visual feedback system with the eye-in/to-hand configuration is reconstructed in order to improve the performance of the estimation. Next, a stabilizing receding horizon control for the 3D dynamic visual feedback s...
متن کاملReceding Horizon Based Control of Disturbed Upright Balance with Consideration of Foot Tilting(RESEARCH NOTE)
In some situations, when an external disturbance occurs, humans can rock stably backward and forward by lifting the toe or the heel to keep the upright balance without stepping. Many control schemes have been proposed for standing balance control under external disturbances without stepping. But, in most of them researchers have only considered a flat foot phase. In this paper a framework is pr...
متن کاملStabilizing Receding Horizon Control for Three Dimensional Visual Feedback System with Fixed Camera Configuration
This paper investigates vision based robot control based on a receding horizon control strategy, as a first step for a predictive visual feedback control. Firstly, the brief summary of the 3D dynamic visual feedback system with fixed camera configuration is given. Next, a stabilizing receding horizon control for the 3D dynamic visual feedback system, a highly nonlinear and relatively fast syste...
متن کاملDesign of a Robust Nonlinear Receding-Horizon Observer - Application to a Biological System
The objective of this study is to design a robust receding-horizon observer for systems described by nonlinear models with uncertain parameters. Robustification in the presence of model uncertainties naturally leads to the formulation of a nonlinear min-max optimization problem, which can either be solved numerically or which can be converted to a simpler minimization problem using linearizatio...
متن کاملOn The Use of Nonlinear Receding-Horizon Observers in Batch Terpolymerization Processes
In this paper, a nonlinear receding-horizon observer is proposed for state reconstruction in batch terpolymerization reactors. The related investigations show that the state reconstruction problem may be quite ill conditioned in the sense that different states may exist that lead to roughly the same output. It seems however that when constrained receding-horizon estimation is used together with...
متن کامل