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Line tracking is important for numerous applications of the machine vision, including control of line following robots. Local lacunarity for binary images allows the estimation of line by the detection of spatial differences using statistical properties of textures. Additional tracking algorithm improves the line detection by application of motion model. Such approach allows the extended width line...
In this paper we deal with (step and crease) edge preserving smoothing and normal estimation in low depth-resolution range images. As a result of short base distance stereo, compression or scene geometry, such range images consist of few discrete range values. We propose a method for smoothing such range images by interpolation while preserving boundary and crease edges, and estimating surface normals...
In this paper, we introduce a new framework to combine the central difference information filter (CDIF) with the interacting multiple model (IMM) method for maneuvering object tracking. The CDIF has been recently introduced for solving object tracking problem using multiple sensors. The CDIF uses Stirling's interpolation to generate a number of sigma points for approximating the distribution of Gaussian...
As is well known to all, the multi-agent systems (MASs) are not able to reach consensus with any protocol if the MASs contains system noise. The problem of consensus error calculation for MASs with both system and measurement noises is considered. The contributions of the paper are two aspects. The first one is to design a novel protocol based on the Kalman filtering and information fusion, so that...
A target can be positioned by wireless communication sensors. In practical system, the range based sensors may have biased measurements. The biases are mostly constant value, but they may jump abruptly in some special scenarios. An on-line bias change detection and estimation algorithm is presented in this paper. This algorithm can detect the jump bias based on Chi-Square Test, and then estimate the...
Parallelizability of an algorithm is nowadays a highly desirable property as computer hardware is becoming increasingly parallel. In this paper, a formulation of the particle filtering algorithm, suitable for parallel or distributed computing, is proposed. From the particle set, a series expansion is fitted to the posterior probability density function. The global information provided by the particles...
Discrete-time estimation of rigid body attitude and angular velocity without any knowledge of the attitude dynamics model, is treated using the discrete Lagrange-d'Alembert principle. Using body-fixed sensor measurements of direction vectors and angular velocity, a Lagrangian is obtained as the difference between a kinetic energy-like term that is quadratic in the angular velocity estimation error...
This paper presents a data-driven control scheme to iteratively achieve the desired objective criterion with significant improvement of the convergence performance for linear-time-invariant (LTI) single-input-single-output (SISO) systems. The internal iterative behavior between the current parameter and the optimal parameter is firstly analyzed with mathematic expression. And a novel iterative law...
Consider a set of agents implementing the discrete time consensus algorithm. At each time step, all agents also transmit their states to a central estimator that wishes to identify the underlying topology and eigenvalues of the network. It does so by using a nonlinear least squares (NLS) algorithm to identify the state evolution matrix used in the consensus algorithm. We present a mechanism to protect...
This paper presents novel results on temporally consistent depth estimation with the use of noise removal from video. Basing on the prior works, a novel, more advanced noise reduction algorithm is proposed. It uses motion compensation and additional refinement for elimination of artifacts. Also, exhaustive results, both subjective and objective, are presented for commonly known MPEG multiview test...
Nonlinear adaptive estimation is applied to terrain-referenced navigation in three dimensions. In this scheme, a bank of parallel filters is initialized with different altitude hypotheses, where each filter represents a discrete (gridded) approximation to the Bayes minimum variance estimator. The importance weight of each filter is recursively updated using the measurement residuals. The altitude...
Cochlear nerve deficiency (CND) is one of the primary causes of congenital hearing loss experienced by the new-born babies. The objective of this study was to assess the benefit of new diffusion kurtosis method in evaluating neuronal integrity of the cochlear nerve in order to assess cochlear nerve deficiency. In this study, the fourth-order kurtosis tensor has been estimated using the kurtosis model...
The spectrum sharing between radars and communication networks raises attention in recent years. Unlike communication, the radars usually occupy large extent of frequency bandwidth, and have different kinds of missions, which make the spectrum sharing problem more complicated. In this paper, we model the scenario that multiple imaging radars, which are the most common spectrum demanders, working in...
We consider the problem of distributed detection involving multiple sensor nodes to jointly detect the presence of an unknown signal. To circumvent power/bandwidth constraints, a multilevel quantizer is employed in each sensor to quantize the original observation. The quantized data are transmitted through distortion channels to a fusion center where a generalized likelihood ratio test (GLRT) detector...
Objective evaluation of speech quality is an important part of the quality of communications service, and the speech in high-noise environments affect the people's auditory perception, which is an important factor for people to determine the speech quality. In this paper, a non-intrusive evaluation method for speech quality in high-noise environments is proposed, and a noise tracking and subtraction...
The modified Luise and Reggiannini (L&R) algorithm is one of the frequency offset estimation algorithms suitable for use with the Digital Video Broadcasting — Satellite (DVB-S2) standard. Recently we demonstrated an enhanced poly-polarization multiplexing (EPPM) system incorporating L&R frequency recovery as a hardware prototype in order to evaluate its high spectral-efficiency in a real satellite...
In this paper, the conception and optimization of a new dual-stage haptic device is described. A particular attention is given to the choice of encoder. Compact, consumer grade, but low resolution encoders are particularly used. An issue arising from this particularity is the deterioration of the velocity measurement when Finite Difference method is used. Moreover, when encoders resolution decreases,...
This paper presents a new discrete-derivative method for adaptive-notch-filter (ANF) based frequency estimators to reduce frequency estimation errors. Frequency estimators generally require the first derivative of the filter state. However, differentiating the filter state in the discrete-time domain can result in large estimation errors. If a finite difference method is used, the frequency estimation...
Parameter estimation plays a key role in describing a dynamical system behavior accurately. Thus, the inverse problems to identify the parameter values which characterize the dynamical system have attracted much attention from the engineering field in recent years. The Lankarani-Nikravesh (L-N) contact force model, which is proven to be more consistent with the physics of contact, is employed to describe...
We identify a broad class of decentralized output-feedback LQG systems for which the optimal control strategies have a simple and intuitive estimation structure. We consider cases for which the coupling of dynamics among subsystems and the inter-controller communication are characterized by the same directed graph. For the class of graphs known as multitrees, we show that each controller need only...
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