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In this paper, an effective online method used for finite-horizon, nonlinear, stochastic tracking problems, is presented. The method incorporates the finite-horizon State Dependent Riccati Equation (SDRE) with Kaiman filter to account for the stochastic environment thereby extending the application spectrum to nonlinear systems and overcoming the hurdle with linear tracking systems limited to small...
Tracking objects under the presence of noise, objects with partial and full occlusions in complex environments is a challenge for classical mean shift and unscented Kalman filter algorithms. In this paper we propose a new algorithm combining mean shift algorithm with corrected background-weighted histogram (CBWH) and unscented Kalman filter (UKF). The CBWH scheme can effectively reduce background's...
This paper addresses attitude estimation for UUVs(Unmanned Underwater Vehicles) using low-cost MEMS(Microelectromechanical Systems) AHRS(Attitude Heading Reference System). It compares extended Kaiman filter, unscented Kaiman filter, and complementary filter method used for attitude estimation. The experiment uses the estimated attitude for localization of a UUV(Unmanned Underwater Vehicle) based...
In recent years, various robot hands and arms have been developed for achieving dexterous manipulation tasks. However, there are few robots that are able not only to move quickly but also to handle tools dexterously. Motion in the Japanese game kendama is one example of dynamic manipulation and skillful handling. Although robotic kendma has been studied in the past, these robotic hands cannot be used...
This paper presents a computational system to perform, simultaneously, the control of th 3D position and trajectory of two commercial unmanned aerial vehicles (UAVs), the Parrot AR. Drone quad copter. The developed system runs in a main computer, allowing the automatic control of the vehicles in flight missions. In this work, are presented the experimental platform, the mathematical and the computational...
This paper presents a vision-aided method to restrain INS from drifting in GPS-denied periods. This system is composed of two cameras and an inertial measurement unit. Contrary to traditional SLAM, the coordinates of the feature points or any other priori information are not indispensable in this method. By using the tracked feature point from two consecutive frames, incremental displacement and velocity...
This paper is devoted to the navigation of an autonomous underwater vehicle (AUV) with a mobile hydroacoustic beacon, which is transported by an autonomous surface vehicle (ASV). Two algorithms for AUV position estimation on base of data from the onboard reckoning system and a synthetic long base line acoustical positioning system (APS) were considered. The first algorithm is based on the discrete...
A persistent question in multivariate neural signal processing is how best to characterize the statistical association between brain regions known as functional connectivity. Of the many metrics available for determining such association, the standard Pearson correlation coefficient (i.e., the zero-lag cross-correlation) remains widely used, particularly in neuroimaging. Generally, the cross-correlation...
The acceptance of artificial devices like prostheses or other wearable robots requires their integration into the body schemas of the users. Different factors induce, influence and support the integration and acceptance of the device that substitutes or augments a part of the body. Previous studies have shown that the inducing and maintaining factors are visual, tactile and proprioceptive informations...
This paper focuses on forecasting of pedestrian's short-time trajectories up to 2.5 s for traffic safety applications. We present a self-learning approach based on artificial neural network movement models and compare it to traditional constant velocity Kalman Filter prediction and extrapolation of polynomials fitted using a least-squares error. Trajectories of uninstructed pedestrians in public traffic...
As the density of road traffic increases, it becomes ever more important to analyze the traffic information for improving the transportation safety and reducing vehicle congestion. Vehicle trajectory may provide useful information. This paper presents a novel vehicle trajectory analysis system based on computer vision technology. By utilizing super pixel segmentation and object modeling, the proposed...
A novel human motion estimation method is presented in this paper. The motion of the human is estimated by an Unscented Kalman filter (UKF), in which a nonlinear dynamic model is used to predict trajectory of human. This dynamic model is obtained from sample data by using Gaussian Process (GP) regression. The sample data includes information of body segment posture and trajectory data collected by...
For insufficient applications of the SINS/GNSS integrated navigation system in the tactical cruise missiles, a new navigation system composed by the SINS and the infrared goniometer system(IGS) is presented. And then, the application of this new integrated navigation system of the tactical cruise missiles is analyzed. With the flight data of missiles, the simulation study is made based on the Kalman...
Anti-ship missile is a kind of typical high maneuvering target, which has the characteristics of strong motor and multiple mobile. Especially its unique form of “snake maneuver” brought great difficulties to the tracking system. This article used the IMM algorithm and the “current” statistical model constituted model set, together with the method of UKF filter which avoid extended kalman tedious Jacobi...
This paper addresses the problem of navigation algorithms in the context of high accuracy motion control for a unmanned surface crafts. The effectiveness of an unscented Kalman filter algorithm in combination with a detailed nonlinear 3DOF dynamical model for motion estimation is shown. Water currents are regarded as slowly varying parameters estimated by the filter which has been augmented by two...
A threshold sensing strategy for improving measurement accuracy of a piezoelectric microactuator in calibration of miniature Inertial Measurement Units (IMUs) is presented. An asynchronous threshold sensor is hypothesized as a way to improve state estimates obtained from analog sensor measurements of microactuator motion. To produce accurate periodic signals using the proposed piezoelectric actuator...
In this paper, an online technique for finite-horizon nonlinear stochastic tracking problems is presented. The idea of the proposed technique is to integrate the Kalman filter algorithm and the State Dependent Riccati Equation (SDRE) technique. Unlike the ordinary methods which deal with the linearized system, this technique will estimate the unmeasured states of the nonlinear system directly, and...
In this paper we propose and describe the algorithm of sequential target tracking based on local trajectory parameters estimation. The target backscattering model is Swerling III signal model, while the clutter model is Swerling I signal model. In accordance with the target and sensor models probability distribution used for modeling interference is a Rayleigh distribution, and for modeling signal...
This paper introduces the novel concept of LQR smoothing, which analogous to Kalman smoothing consists of both a backward pass and a forward pass. In the backward pass the cost-to-go function is computed using the standard LQR Riccati equation that runs backward in time, and in the forward pass the cost-to-come function is computed using a Riccati equation that runs forward in time. The sum of the...
The Automatic Identification System (AIS) is becoming a cornerstone of maritime situational awareness. Nevertheless, AIS suffers the lack of security measures that makes it prone to receiving vessel positions that are unintentionally incorrect, jammed or deliberately falsified. In this work we consider the processing of Time Difference of Arrival measurements from a network of AIS base stations using...
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