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A multiple spherical arrays structure is proposed to provide an alternative design to the traditional single spherical array for the spherical harmonic decomposition, to obtain better localization performance. The new structure consists of several identical spheres in a given area, and the microphones are placed uniformly on each sphere. The spherical harmonic analysis algorithm using the multiple...
Many real-world applications such as positioning, navigation, and target tracking for autonomous vehicles require the estimation of some time-varying states based on noisy measurements made on the system. Particle filters can be used when the system model and the measurement model are not Gaussian or linear. However, the computational complexity of particle filters prevents them from being widely...
This poster investigates sensory data processing, filtering and sensor fusion methods for autonomous vehicles operating in real-life, urban environments with human and machine drivers, and pedestrians. Extended Kalman Filters were used to develop decentralized data fusion algorithms for communicating vehicles, Particle Filters were improved by assigning trust/confidence values in order to overcome...
Although the Geoscience Laser Altimeter System (GLAS) onboard the NASA Ice, Cloud and Land Elevation Satellite was not designed for urban applications, its 3-D measurement capability over the globe makes it a nice feature for consideration in monitoring urban heights. However, this has not been previously done. In this paper, we report some preliminary assessment of the GLAS data for building height...
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