Target Tracking Precision Research Articles

Design of Adaptive Target Tracking Algorithm for Robots Based on Visual Attention Mechanism

Adaptive target tracking with visual attention represents a sophisticated approach to object detection and localization in dynamic environments. With principles inspired by human visual perception, this methodology employs mechanisms of selective attention to prioritize relevant visual information for tracking moving targets. By dynamically adjusting attentional focus based on salient visual cues and target motion characteristics, adaptive target tracking enhances the efficiency and accuracy of object localization in cluttered scenes. This research presents a novel adaptive target tracking algorithm designed for robotic systems, integrating a visual attention mechanism with the Fuzzy Clustering Multi-Point Tracking utilizing the Green Channel (FC-MPT-GC) approach. The proposed FC-MPT-GC model comprises of Fuzzy Clustering for the extraction of features in the robots-based environment. The FC-MPT-GC model uses the estimation of green channels in the classification environment. With the estimation of features in the environment with Fuzzy C-means clustering green channels are deployed in the deep learning, The proposed algorithm aims to enhance the adaptability and precision of target tracking in dynamic environments. By incorporating a visual attention mechanism, the algorithm dynamically allocates attentional focus to salient regions of the visual input, optimizing the tracking process for moving targets. The FC-MPT-GC methodology further refines target localization by utilizing fuzzy clustering and multi-point tracking strategies, particularly leveraging information from the Green Channel to improve robustness in various lighting conditions. Simulation analysis demonstrated that the proposed FC-MPT-GC model tracking accuracy is achieved at 95.1% with the minimal computation time of 15.2 ms.

UAV Target Tracking Algorithm Based on Illumination Adaptation and Future Awareness in Low Illumination Scenes

Aiming at problems such as tracking failure caused by illumination changes often encountered during unmanned aerial vehicle (UAV) tracking, a target tracking algorithm with illumination adaptive and future-aware correlation filters is proposed based on the background-aware correlation filters (BACF) algorithm, which realizes reliable UAV tracking tasks at night. First, the dark scene is recognized, and an efficient image enhancement module is used to enhance the brightness of low illumination images. Then a future-aware module is constructed to train the tracking model using the contextual information of the target in the next frame for better robustness. Finally, the model updating stage involves adaptive filter updating and adaptive learning rate updating to enhance target tracking precision. The results of the comparison experiments with the state-of-the-art algorithms on the UAVDark135, UAVDT, and DTB70 datasets show that the algorithm in this paper outperforms the state-of-the-art tracking methods and has better tracking performance under light changes and fast motion (FM) scenarios. The tracking speed on a single Central processing unit (CPU) reaches 49 FPS, which satisfies the real-time requirement of UAV tracking.

Impact of Channel Aging on Dual-Function Radar-Communication Systems: Performance Analysis and Resource Allocation

In conventional dual-function radar-communication (DFRC) systems, the radar and communication channels are routinely estimated at fixed time intervals based on their worst-case operation scenarios. Such situation-agnostic repeated estimations cause significant training overhead and dramatically degrade the system performance, especially for applications with dynamic sensing/communication demands and limited radio resources. In this paper, we leverage the channel aging characteristics to reduce training overhead and to design a situation-dependent channel re-estimation interval optimization-based resource allocation in a multi-target tracking DFRC system. Specifically, we exploit the channel temporal correlation to predict radar and communication channels for reducing the need for training preamble retransmission. Then, we characterize the channel aging effects on the Cramer-Rao lower bounds (CRLBs) for radar tracking performance analysis and achievable rates with maximum ratio transmission (MRT) and zero-forcing (ZF) transmit beamforming for communication performance analysis. In particular, the aged CRLBs and achievable rates are derived as closed-form expressions with respect to the channel aging time, bandwidth, and power. Based on the analyzed results, we optimize these factors to maximize the average total aged achievable rate subject to individual target tracking precision demand, communication rate requirement, and other practical constraints. Since the formulated problem belongs to a non-convex problem, we develop an efficient one-dimensional search based optimization algorithm to obtain its suboptimal solutions. Finally, simulation results are presented to validate the correctness of the derived theoretical results and the effectiveness of the proposed allocation scheme.

Generalized Maximum Correntropy Kalman Filter for Target Tracking in TianGong-2 Space Laboratory

Target tracking plays an important role in the construction, operation, and maintenance of the space station by the robot, which puts forward high requirements on the accuracy of target tracking. However, the special space environment may cause complex non-Gaussian noise in target tracking data. And the performance of traditional Kalman Filter will deteriorate seriously when the error signals are non-Gaussian, which may lead to mission failure. In the paper, a novel Kalman Filter algorithm with Generalized Maximum Correntropy Criterion (GMCKF) is proposed to improve the tracking accuracy with non-Gaussian noise. The GMCKF algorithm, which replaces the default Gaussian kernel with the generalized Gaussian density function as kernel, can adapt to multi-type non-Gaussian noises and evaluate the noise accurately. A parameter automatic selection algorithm is proposed to determine the shape parameter of GMCKF algorithm, which helps the GMCKF algorithm achieve better performance for complex non-Gaussian noise. The performance of the proposed algorithm has been evaluated by simulations and the ground experiments. Then, the algorithm has been applied in the maintenance experiments in TianGong-2 space laboratory of China. The results validated the feasibility of the proposed method with the target tracking precision improved significantly in complex non-Gaussian environment.

Generalized pseudo Bayesian algorithms for tracking of multiple model underwater maneuvering target

The strength of Generalized Pseudo Bayesian (GPB) algorithms is exploited in the presented study to enhance the target tracking precision, effective model approximation and rapid convergence of multimodel maneuvering object tracking. The GPB methods are considered to be suitable for approximating systems whose dynamics follow discrete-time and fixed state Markov process. Underwater maneuvering target tracking problems are usually solved with nonlinear Bayesian algorithms, in which kinetics of object are associated with passive bearings using state-space modeling. Here accuracy and convergence of GPB methods based on Interacting Multiple Model Extended Kalman Filter (IMMEKF), Interacting Multiple Model Extended Kalman Smoother (IMMEKS), Interacting Multiple Model Unscented Kalman Filter (IMMUKF) and Interacting Multiple Model Unscented Kalman Smoother (IMMUKS) are efficiently analyzed for tracking of multimodel maneuvering target in complex ocean environment. Application of these algorithms is systematically presented for estimating the real-time state of a maneuvering object that follows a coordinated turn trajectory. Performance analysis of IMM Kalman filters and smoothers is done with variations in the standard deviation of white Gaussian measurement noise by following Bearings Only Tracking (BOT) phenomena. Least Mean Square Error (MSE) between approximated and the real position of maneuvering target in rectangular coordinates is calculated for analyzing the performance of filtering and smoothing techniques. Simulation results of the Monte Carlo runs validate the effectiveness of IMMEKS and IMMUKS over IMMEKF and IMMUKF for scenario of given framework.

Improved GSO Algorithms and Their Applications in Multi-Target Detection and Tracking Field

Fast detection and high-precision tracking of multiple UAVs are the keys to achieving efficient low-altitude defense. However, as there are many hyper-parameters which need to be optimized in target detection network, commonly used methods such as random search method are computationally intensive and cannot quickly obtain multiple optimal hyper-parameters combinations. In addition, angular random walk due to low-frequency noise of speed sensor in servo loop can cause target tracking accuracy to decrease. Fortunately, those two problems can be regarded as a single-mode function optimization problem and a multi-mode function optimization problem, respectively. In the paper, in order to overcome the aforementioned problems, GSOM (glowworm swarm optimization mutation) algorithm and GSOMLDW (glowworm swarm optimization mutation linearly decreasing weight) algorithm are firstly proposed. Furthermore, the global convergence of GSOMLDW has been proven in the paper, which has not been analyzed in currently available literature. Then, experimental results on four multi-modal benchmark functions have strongly illustrated that the novel GSOM algorithm can enhance glowworms’ memory ability and improve peak detection rate effectively. When it is used for optimizing hyper-parameters of multi-target detection network, it can be expected to obtain much more hyper-parameter combination selections. Meanwhile, experimental results on ten uni-modal benchmark functions have obviously demonstrated that GSOMLDW algorithm can balance glowworms’ exploration and exploitation abilities powerfully and obtain superior global solution accuracy at last. When the GSOMLDW algorithm is used for servo system identification and drift error model identification, the final position error fluctuation after compensation is almost zero while it reaches $1500~urad$ before compensation. Consequently, the proposed method can effectively improve target tracking precision.

Internet of target perception event driven based on machine vision using a fast extraction algorithm

ABSTRACT With the complexity and diversity in real-time recognition and tracking of target in the complicated electromagnetic environment in mind, the paper proposes a target recognition and tracking method based on scale invariant feature by dint of the technology of image registration to effectively reflect the features distribution of target image, thereby improving the reliability of tracking and recognition system. The experiment shows that this method can effectively reduce errors of tracking, precisely recognize target position and improve target tracking precision when the target changes with large angle and the background transforms violently.

A Sensor Self-aware Distributed Consensus Filter for Simultaneous Localization and Tracking

Simultaneous localization and tracking (SLAT) has become a very hot topic in both academia and industry for its potential wide applications in robotic equipment, sensor networks and smart devices. In order to exploit the advantages supported by state filtering and parameter estimation, researchers have proposed adaptive structures for solving SLAT problems. Existing solutions for SLAT problems that rely on belief propagation often have limited accuracy or high complexity. To adapt the brain decision mechanism for solving SLAT problems, we introduce a specific framework that is suitable for wireless sensor networks. Motivated by the high efficiency and performance of brain decision making built upon partial information and information updating, we propose a cognitively distributed SLAT algorithm based on an adaptive distributed filter, which is composed of two stages for target tracking and sensor localization. The first stage is consensus filtering that updates the target state with respect to each sensor. The second stage employs a recursive parameter estimation that exploits an on-line optimization method for refining the sensor localization. As an integrated framework, each consensus filter is specific to a separate sensor subsystem and gets feedback information from its parameter estimation. The performance comparison in terms of positioning accuracy with respect to RMSE is shown and the simulation results demonstrate that the proposed ICF-RML performs better than the BPF-RML. This is expected since the distributed estimation with sufficient communication mechanism often achieves higher accuracy than that of less sufficient cases. Furthermore, the performance of the ICF-RML is comparable with that of the BPF-RML even if the latter assumes known prior network topology. We also observe from the results of tracking errors that ICF-RML accomplishes a remarkable improvement in the precision of target tracking and achieves more stable convergence than BPF-RML, in the scenario that all sensors are used to calculate the effect from data association errors. We apply this approach to formulate the SLAT problem and propose an effective solution, summarized in the paper. For small-size sensor networks with Gaussian distribution, our algorithm can be implemented through a distributed version of weighted information filter and a consensus protocol. Comparing the existing method, our solution shows a higher accuracy in estimation but with less complexity.

Feed Forward Compensation Control of Dual-Axis Photoelectric Stabilized Platform

Xie, C.; Wang, Z.; Wang, R., and Jiang, Z., 2015. Feed forward compensation control of dual-axis photoelectric stabilized platform.The carrier angular motion and disturbance torque are the two main problems limiting stable accuracy of the line of sight (LOS) of airborne optical stabilized platform. Angular rate isolation and torque stiffness analysis of the servo system are proposed to improve the stable accuracy. A PII2 control scheme is taken to obtain fast response, low overshot and zero steady-state error. In order to achieve higher target tracking precision compared with PII2 scheme, a feed forward compensation has been presented against the low tracking accuracy problems caused by pure lag of the system image tracking instruction. Simulation results indicate that the servo system designed has strong capability of isolating angular movement and disturbance torque. Tracking accuracy of the stabilized platform servo control system can be efficiently improved when appropriate feed forward control is introduced.

带宽自适应的均值漂移红外目标跟踪算法

For the fixed-bandwidth windows,the tracking target will be lost in traditional mean shift algorithm with target scale changed.To solve this problem,an adaptive-bandwidth mean shift tracking algorithm was proposed.The shape features were extracted under the algorithm in the framework of mean shift,the bandwidth was adjusted adaptively based on target shape motions,and the target template was updated.Experimental results indicate that the proposed algorithm can track the target with scale changed and improve the target tracking precision effectively.

Error-space estimation method and simplified algorithm for space target tracking

To improve space target tracking precision and the stability of mobile optoelectronic tracking equipment, an error-space estimation method based on the Kalman filter is discussed, and a simplified algorithm is presented to reduce calculation cost. Based on an available measurement of a space target without sufficient validity and accuracy, the actual position related to the tracking equipment is decomposed to an earlier offline prediction of the kinetic model method and prediction errors. By regarding prediction errors as the motion of a weak maneuver target, the errors can be estimated more accurately in error space. By synthesizing estimation of the errors and offline prediction, the space target position is obtained with higher accuracy to improve tracking performance.

A novel method to improve spatial resolution of acousto-optic deflector

In this paper, a novel method of laser beam deflecting is introduced to improve the spatial resolution of an acoustic-optic deflector (AOD). We use double AOD (DAOD) to control laser beam. Compared with single AOD, the double AOD can improve speed and precision of target tracking and pointing significantly. Finally, a method of calculating the static and dynamic number of resolvable poins (NRP) is and it is supported by the experimental data excellently.