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In this paper, an efficient stereo vision based visual odometry algorithm is proposed to solve the long-range outdoor localization problem of a mobile robot using a binocular camera. An improved method of feature matching and tracking based on SIFT algorithm is presented. The color information is used to effectively eliminate wrong feature matching, and the BBF tree is adopted to speed up the search...
Kalman filters are often used to estimate the state variables of a dynamic system. This paper proposed a method of Kalman filtering with linear inequality constraints and applied to certain turbofan aeroengine sensors fault diagnosis. It not only maintains the state variable estimates within a user-defined limit, but also ensures that the state variable estimates vary smoothly and slowly with time...
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