In this article we propose a method for estimating the camera motion from a video-sequence acquired in the presence of general 3D structures. Solutions to this problem are commonly based on the tracking of point-like features, as they usually back-project onto viewpoint-invariant 3D features. In order to improve the robustness, the accuracy and the generality of the approach, we are interested ...

In order to improve the soil temperature profile predictions in land-surface models, an assimilation scheme using the extended Kalman filter is developed. This formulation is based on the discretized diffusion equation of heat transfer through the soil column. The scheme is designed to incorporate the knowledge of the uncertainties in both the model and the measurement. Model uncertainty is est...

In radar tracking target motion is best modeled in Cartesian coordinates. Its position is however measured in polar coordinates (range and azimuth). Tracking in Cartesian coordinates with noisy polar measurements requires either converting the measurements to a Cartesian frame of reference and then applying the linear Kalman lter to the converted measurement [1] or using the extended Kalman lte...

In this study, it is aimed to design a speed sensorless DTC system for induction motors (IMs). All the states required for DTC system in addition to the load torque are estimated using an Extended Kalman Filter (EKF). Simulation results demonstrate a good performance and robustness.

In this paper we propose a novel training algorithm for RBF networks that is based on extended kalman filter and fuzzy logic.After the user choose how many prototypes to include in the network, the extended kalman filter simultancously solves for the prototype vectors and the weight matrix.The fuzzy logic is used to cope with the devergence problem caused by the insufficiently known a priori fi...

In this paper, the extended Kalman filtering (EKF) technique is considered for 3-dimensional tracking of vehicle movement using a fixed camera that provides vehicle images showing several marks, easily detectable, fixed to the vehicle body. The algorithm will be implemented in a minihelicopter hover-stabilization application. For this problem, we present results on the convergence and the domai...

This paper presents new algorithms to implement simultaneous localisation and map building (SLAM) in environments with very large number of features. The algorithms present an efficient solution to the full update required by the Compressed Extended Kalman Filter algorithm (CEKF). It makes uses of the Relative Landmark Representation (RLR) to develop very close to optimal de-correlation solutio...

This paper addresses the problem of visual-inertial navigation when processing camera observations of both point and line features detected within a Manhattan world. First, we prove that the observations of: (i) a single point, and (ii) a single line of known direction perpendicular to gravity (e.g., a non-vertical structural line of a building), provide sufficient information for rendering all...

We aimed to record and visualize the investigation activities of search and rescue dogs. The dog’s trajectory is required to create this visualization, and the dog’s velocity needs to be determined to estimate its trajectory. In this study, we examined a method for velocity estimation that uses a dog’s gait. We measured a Labrador dog’s gaits (walk and trot) and analyzed the gait data. From the...

We describe a model-based object tracking system that updates the configuration 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 parame...