简介:Bycombininghistogramoforientedgradientandhistogramsofshearletcoefficients,whichanalyzesimagesatmultiplescalesandorientationsbasedonshearlettransforms,asthefeatureset,weproposedanovelhumandetectionfeature.Weemploypartialleastsquaresanalysis,anefficientdimensionalityreductiontechnique,toprojectthefeatureontoamuchlowerdimensionalsubspace.WetestitinINRIApersondatasetbyusingalinearSVM,andityieldsanerrorrateof1.38%withafalsenegatives(FN)rateof0.40%andafalsepositive(FP)rateof0.98%,whiletheerrorrateofHOGis7.11%,withaFNrateof4.09%andaFPrateof3.02%.
简介:根据移动机器人领域中普遍应用的Ackermann’s模型,推导出了适用于ARV移动机器人路径跟踪控制算法的运动学模型.该模型是利用参考路径的曲率、车体相对于参考路径的偏航角以及位置偏移量等变量参数来建立的;然后应用“链式系统”控制理论把该运动学模型转换为链式模型,并由链式模型设计出用于路径跟踪的控制律;最后对该控制律进行了仿真分析.仿真结果表明,应用该控制算法进行路径跟踪控制时,能够较好地跟随预设路径,满足整车控制要求.