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Moving target detection is an important technique in visual surveillance systems. If a camera is freely moving, it becomes more difficult to detect a moving target, especially in the environment of a wide-range background. To compensate for the global motion of a wide-range background, a disparity-based adaptive multi-homography method is proposed. The proposed method comprises four steps: 1) feature point extraction; 2) generation of adaptive multi-homography matrices using motion grouping; 3) generation of background model and detection of background; and 4) target detection. Experimental results show that the proposed method can robustly detect moving targets in sequences taken by a freely moving camera. [ABSTRACT FROM PUBLISHER]

In this article, an adaptive approximation-based output-feedback tracking control scheme is presented for a class of stochastic switched lower-triangular nonlinear systems with input saturation and unmeasurable state variables. First, to overcome the design obstacle caused by the nondifferential saturation nonlinearity, a carefully selected nonlinear function of the control input signal is applied to estimate the saturation function. Then, a reduced-order state observer is designed to model the unmeasured system states, which also means the error system can be established. Furthermore, the fuzzy-logic systems are utilized to approximate the unknown system nonlinearities in the adaptive backstepping-based controller design procedure. It is ensured that all the closed-loop system variables are bounded in probability and the error signal belongs to a compact set in the mean square sense. Finally, the effectiveness and the practicability of the proposed control scheme are shown by two examples. [ABSTRACT FROM AUTHOR]