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In this letter, we investigate the convergence and consistency properties of an invariant-extended Kalman filter (RI-EKF) based simultaneous localization and mapping (SLAM) algorithm. Basic convergence properties of this algorithm are proven. These proofs do not require the restrictive assumption that the Jacobians of the motion and observation models need to be evaluated at the ground truth. It is...
The purpose of this study was to explore a new parameter set for clubfoot identification. Based on the installation of a customized foot pressure measurement and analysis system, the original data for plantar pressure were obtained from 20 normal foot adults and 30 clubfoot patients. Peak pressures and regional contact area were deduced from the original pressure data, and then were analyzed in ten...
The hybrid linear modeling problem is to identify a set of d-dimensional affine sets in RD. It arises, for example, in object tracking and structure from motion. The hybrid linear model can be considered as the second simplest (behind linear) manifold model of data. In this paper we will present a very simple geometric method for hybrid linear modeling based on selecting a set of local best fit flats...
With the rapid growing of internet and networks applications, data security becomes more important than ever before. Encryption algorithms play a crucial role in information security systems. In this paper, we have a study of the two popular encryption algorithms: DES and Blowfish. We overviewed the base functions and analyzed the security for both algorithms. We also evaluated performance in execution...
We describe the Median K-flats (MKF) algorithm, a simple online method for hybrid linear modeling, i.e., for approximating data by a mixture of flats. This algorithm simultaneously partitions the data into clusters while finding their corresponding best approximating ??1 d-flats, so that the cumulative ??1 error is minimized. The current implementation restricts d-flats to be d-dimensional linear...
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