We consider the problem of performing simultaneous localization and mapping (SLAM) with a stereo vision sensor, where image features are matched and triangulated for use as landmarks. We explain how we obtain landmark measurements from image features, and describe them with a Gaussian noise model for use with a Rao-Blackwellized particle filter-based SLAM algorithm called FastSLAM. This algorit...

This paper considers the problem of estimating the spectrum of real-valued signals. We propose real-valued versions of the Capon and the APES spectral estimators. The estimators are derived as members of the Matched-Filterbank (MAFI) estimator class as introduced in [1]. Furthermore, we show that the real-valued estimators will be unbiased, whereas the complex-valued estimators will have a (sli...

Abstract. In this paper, we propose a uniaxial perfectly matched layer (PML) method for solving the time-harmonic scattering problems in layered media. The exterior region of the scatterer is divided into two half spaces by an infinite plane, on two sides of which the wave number takes different values. We surround the computational domain where the scattering field is interested by a PML layer...

This note is intended as a brief introduction to the theory and practice of per­ fectly matched layer (PML) absorbing boundaries for wave equations, intended for future use in the courses 18.369 and 18.336 at MIT. It focuses on the complex stretched-coordinate viewpoint, and also discusses the limitations of PML.

INTRODUCTION Post processing of MR images is omnipresent: for fMRI in particular, smoothing of the raw images is frequently applied to gain SNR on the spatial scale of the BOLD response (‘matched filter’). This shaping of the point spread function (PSF) acts complementary to sampling itself, where the choice of a k-space trajectory imposes an intrinsic filter onto the data. We combine both appr...

The uniaxial perfectly matched layer (PML) method uses rectangular domain to define the PML problem and thus provides greater flexibility and efficiency in dealing with problems involving anisotropic scatterers. In this paper we first derive the uniaxial PML method for solving the time-domain scattering problem based on the Laplace transform and the complex coordinate stretching in the frequenc...

In this paper, Gaussian and elliptic high pass filters are analyzed for image sharpening qualitatively and quantatively . The filters are implemented in frequency domain using matlab software. Experiments are performed to compare the performance of both the filters ,processed images are presented. The results demonstrate that elliptic yields better results.

We consider interference suppression for direct sequence code division multiple access systems when long codes are used for spreading. In particular, we evaluate the performance of a Least Mean Square (LMS) type adaptive receiver on AWGN and correlated Rayleigh fading channels. The receiver uses a chip matched filter followed by an adaptive equalizer structure which performs despreading and int...