نتایج جستجو برای: aadaptive extended kalman filter

تعداد نتایج: 337903  

Journal: :I. J. Robotics Res. 2007
Anastasios I. Mourikis Nikolas Trawny Stergios I. Roumeliotis Daniel M. Helmick Larry H. Matthies

In this paper, we present an algorithm for autonomous stair climbing with a tracked vehicle. The proposed method achieves robust performance under real-world conditions, without assuming prior knowledge of the stair geometry, the dynamics of the vehicle’s interaction with the stair surface, or lighting conditions. Our approach relies on fast and accurate estimation of the robot’s heading and it...

2012
Javier Civera Andrew J. Davison J. M. M. Montiel

We present here because it will be so easy for you to access the internet service. As in this new era, much technology is sophistically offered by connecting to the internet. No any problems to face, just for this day, you can really keep in mind that the book is the best book for you. We offer the best here to read. After deciding how your feeling will be, you can enjoy to visit the link and g...

2010
Dong Hoon Kim Sungwook Yang Dong-Ik Cheon Sangchul Lee Hwa-Suk Oh

In general, the information of mass properties is required to control a spacecraft. The mass properties, mass and inertia, are changed by some activities, e.g., consumption of propellant, deployment of solar panel, sloshing, etc. Various estimation methods have been studied to obtain the accurate mass properties. The gyro-based attitude data including noise and bias needs to be compensated for ...

Journal: :Image Vision Comput. 2006
Quming Zhou Jake K. Aggarwal

This paper presents methods for tracking moving objects in an outdoor environment. A robust tracking is achieved using feature fusion and multiple cameras. The proposed method integrates spatial position, shape and color information to track object blobs. The trajectories obtained from individual cameras are incorporated by an extended Kalman filter (EKF) to resolve object occlusion. Our result...

2006
Nathan Faggian Andrew P. Paplinski Jamie Sherrah

Estimating the structure of the human face is a long studied and difficult task. In this paper we present a new method for estimating facial structure from only a minimal number of salient feature points across a video sequence. The presented method uses both an Extended Kalman Filter (EKF) and a Kalman Filter (KF) to regress 3D Morphable Model (3DMM) shape parameters and solve 3D pose using a ...

1998
Kevin Nickels Seth Hutchinson

We describe a model-based object tracking system that updates the connguration parameters of an object model based upon information gathered from a sequence of monocular images. Realistic object and imaging models are used to determine the expected visibility of object features, and to determine the expected appearance of all visible features. We formulate the tracking problem as one of paramet...

Journal: :Robotics 2016
Luciano Cantelli Samuel Ligama Giovanni Muscato Davide Spina

Abstract: This paper describes an automatic calibration procedure adopted to improve the localization of an outdoor mobile robot. The proposed algorithm estimates, by using an extended Kalman filter, the main kinematic parameters of the vehicles, such as the wheel radii and the wheelbase as well as the magnetometer offset. Several trials have been performed to validate the proposed strategy on ...

2009
BORIS GERSHGORIN ANDREW MAJDA

Abstract. A three-mode nonlinear slow-fast system with the fast forcing is studied here as a model for filtering turbulent signals from partial observations. The model describes the interaction of two externally driven fast modes with a slow mode through catalytic nonlinear coupling. The special structure of the nonlinear interaction allows for the analytical solution for the first and second o...

2008
Saeid Habibi

The Extended Kalman Filter (EKF) can be used for parameter as well as for state estimation. However, when used for parameter estimation, EKF is sensitive to modeling uncertainties and prone to instability. In this paper, the Variable Structure filtering concept is introduced and used for modifying the EKF into a robust form. The proposed method is model-based and has a guaranteed stability give...

2006
Miao Zhang Stefan Knedlik Otmar Loffeld

The posterior Cramér-Rao lower bound (PCRB) for estimating the position and velocity of a Mobile Station (MS) by integrating two different kinds of measurement from GSM networks, Timing Advance (TA) and Received Signal Strength (RSS), is derived. The bound shows that theoretically the data fusion approach yields better accuracy than using a single kind of measurement. The performance of an exte...

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