11 years 5 months ago
Finite Element based sequential Bayesian Non-Rigid Structure from Motion
Navier’s equations modelling linear elastic solid deformations are embedded within an Extended Kalman Filter (EKF) to compute a sequential Bayesian estimate for the Non-Rigid St...
Antonio Agudo, Begoña Calvo, J. M. M. Monti...
230views Education» more  CORR 2012»
11 years 10 months ago
RT-SLAM: A Generic and Real-Time Visual SLAM Implementation
Abstract. This article presents a new open-source C++ implementation to solve the SLAM problem, which is focused on genericity, versatility and high execution speed. It is based on...
Cyril Roussillon, Aurélien Gonzalez, Joan S...
157views Communications» more  MBEC 2010»
12 years 9 months ago
Ambulatory human motion tracking by fusion of inertial and magnetic sensing with adaptive actuation
Over the last years, inertial sensing has proven to be a suitable ambulatory alternative to traditional human motion tracking based on optical position measurement systems, which a...
H. Martin Schepers, Daniel Roetenberg, Peter H. Ve...
13 years 14 days ago
Potential Fire Detection based on Kalman-driven Change Detection
A new active fire event detection algorithm for data collected with the Spinning Enhanced Visible and Infrared Imager (SEVIRI) sensor, based on the extended Kalman filter, is intr...
Frans van den Bergh, Gustave Udahemuka, Barend J. ...
149views Robotics» more  ICRA 2010»
13 years 1 months ago
Observability analysis of relative localization for AUVs based on ranging and depth measurements
— The paper studies the observability properties of the relative localization of two Autonomous Underwater Vehicles (AUVs) equipped with depth sensors, linear/angular velocity se...
Gianluca Antonelli, Filippo Arrichiello, Stefano C...
70views more  RAS 2000»
13 years 2 months ago
Feature extraction and tracking for scanning range sensors
A solution to the problem of simultaneously extracting and tracking a piecewise-linear range representation of a mobile robot's local environment is presented. The classical ...
Nick E. Pears
94views more  JFR 2007»
13 years 2 months ago
Vision-aided inertial navigation for pin-point landing using observations of mapped landmarks
In this paper we describe an Extended Kalman Filter (EKF) algorithm for estimating the pose and velocity of a spacecraft during Entry, Descent and Landing (EDL). The proposed esti...
Nikolas Trawny, Anastasios I. Mourikis, Stergios I...
164views more  ENGL 2007»
13 years 2 months ago
Vision Based Target-Tracking Realized with Mobile Robots using Extended Kalman Filter
— The paper presents a novel scheme for target-tracking realized with two mobile robots, where one robot is configured as tracker and the other as moving target. Fuzzy C-means cl...
Sheli Sinha Chaudhuri, Amit Konar
193views more  IVC 2006»
13 years 2 months ago
Object tracking in an outdoor environment using fusion of features and cameras
This paper presents methods for tracking moving objects in an outdoor environment. A robust tracking is achieved using feature fusion and multiple cameras. The proposed method int...
Quming Zhou, J. K. Aggarwal
171views more  AUTOMATICA 2010»
13 years 2 months ago
An adaptive high-gain observer for nonlinear systems
The main contribution of this paper is to provide a solution to the noise sensitivity of high-gain observers. We propose a nonlinear observer that possesses simultaneously the pro...
Nicolas Boizot, Eric Busvelle, Jean-Paul Gauthier