Search results for "Kalman Filter"
showing 10 items of 108 documents
New novel idea for Cloud Computing: How can we use Kalman filter in security of Cloud Computing
2012
Cloud is a virtual image about some amount of undefined powers, that is widespread and had unknown power and inexact amount of hardware and software configurations, and because of we have not any information about clouds location and time dimensions and also the amounts of its sources we tell that Cloud Computing. This technology presents lots of abilities and opportunities such as processing power, storage and accessing it from everywhere, supporting, working - team group - with the latest versions of software and etc., by the means of internet. On the other hand, in such a large scale networks we should consider the reliability and powerfulness of such networks in facing with events such …
Probabilistic Self-Localization and Mapping - An Asynchronous Multirate Approach
2008
[EN] In this paper, we present a set of robust and efficient algorithms with O(N) cost for the solution of the Simultaneous Localization And Mapping (SLAM) problem of a mobile robot. First, we introduce a novel object detection method, which is mainly based on multiple line fitting method for landmark detection with regular constrained angles. Second, a line-based pose estimation method is proposed, based on LeastSquares (LS). This method performs the matching of lines, providing the global pose estimation under assumption of known Data-Association. Finally, we extend the FastSLAM (FActored Solution To SLAM) algorithm for mobile robot self-localisation and mapping by considering the asynchr…
FastSLAM 2.0: Least-Squares Approach
2006
In this paper, we present a set of robust and efficient algorithms with O(N) cost for the following situations: object detection with a laser ranger; mobile robot pose estimation and a FastSLAM improved implementation. Objected detection is mainly based on a novel multiple line fitting method, related with walls at the environment. This method assumes that walls at the environment constitute a regular constrained angles. A line-based pose estimation method is also proposed, based on Least-Squares (LS). This method performs the matching of detected lines and estimated map lines and it can provide the global pose estimation under assumption of known Data-Association. FastSLAM 1.0 has been imp…
Real-time people counting system using a single video camera
2008
This is the copy of journal's version originally published in Proc. SPIE 6811. Reprinted with permission of SPIE: http://spie.org/x10.xml?WT.svl=tn7 There is growing interest in video-based solutions for people monitoring and counting in business and security applications. Compared to classic sensor-based solutions the video-based ones allow for more versatile functionalities, improved performance with lower costs. In this paper, we propose a real-time system for people counting based on single low-end non-calibrated video camera. The two main challenges addressed in this paper are: robust estimation of the scene background and the number of real persons in merge-split scenarios. The latter…
Assessment of the SMAP Level-4 Surface and Root-Zone Soil Moisture Product Using In Situ Measurements
2017
International audience; The Soil Moisture Active Passive (SMAP) mission Level-4 Surface and Root-Zone Soil Moisture (L4_SM) data product is generated by assimilating SMAP L-band brightness temperature observations into the NASA Catchment land surface model. The L4_SM product is available from 31 March 2015 to present (within 3 days from real time) and provides 3-hourly, global, 9-km resolution estimates of surface (0-5 cm) and root-zone (0-100 cm) soil moisture and land surface conditions. This study presents an overview of the L4_SM algorithm, validation approach, and product assessment versus in situ measurements. Core validation sites provide spatially averaged surface (root zone) soil m…
Asynchronous sensor fusion of GPS, IMU and CAN-based odometry for heavy-duty vehicles
2021
[EN] In heavy-duty vehicles, multiple signals are available to estimate the vehicle's kinematics, such as Inertial Measurement Unit (IMU), Global Positioning System (GPS) and linear and angular speed readings from wheel tachometers on the internal Controller Area Network (CAN). These signals have different noise variance, bandwidth and sampling rate (being the latter, possibly, irregular). In this paper we present a non-linear sensor fusion algorithm allowing asynchronous sampling and non-causal smoothing. It is applied to achieve accuracy improvements when incorporating odometry measurements from CAN bus to standard GPS+IMU kinematic estimation, as well as the robustness against missing da…
State and parameter update in a coupled energy/hydrologic balance model using ensemble Kalman filtering
2012
Summary The capability to accurately monitor and describe daily evapotranspiration (ET) in a cost effective manner is generally attributed to hydrological models. However, continuous solution of energy and water balance provides precise estimations only when a detailed knowledge of sub-surface characteristics is available. On the other hand, residual surface energy balance models, based on remote observation of land surface temperature, are characterised by sufficient accuracy, but their applicability is limited by the lack of high frequency and high resolution thermal data. A compromise between these two methodologies is represented by the use of data assimilation scheme to include sparse …
Kalman filter tracking and vertexing in a silicon detector for neutrino physics
2002
Abstract This article describes the application of Kalman filter techniques for the tracking and vertexing of particles inside the NOMAD-STAR detector, a silicon vertex detector installed in NOMAD, one of the neutrino oscillation experiments at the CERN-SPS. The use of the Kalman filter simplifies computationally the tracking and vertex procedure for NOMAD-STAR. The alignment of NOMAD-STAR is shown as an example of the application of the Kalman filter for tracking purposes. The accuracy of the method is such that one obtains alignment residuals between 9 and 12 μm . Furthermore, a preliminary measure of the impact parameter (with an RMS ∼36 μm ) illustrates the vertexing capabilities of thi…
Iterative altitude-aiding algorithm for improved GNSS positioning
2011
The system proposed in this study relies on a WAVE P2P network, which is a proper standard to fit the vehicular environment wireless communications requests. Starting from the chance to exchange information given by this infrastructure, the possibility to improve the performance of a global navigation satellite system (GNSS) receiver based on a Kalman filter is considered. This improvement is obtained exploiting the external altitude measurements provided by other peers in the network, equipped with GNSS receivers. The topic of an altitude-aided system has been described in a previous work, that highlighted the need for a parameter that points out the effectiveness and the consistency of th…
An Extended Kalman Filter-Based Technique for On-Line Identification of Unmanned Aerial System Parameters
2015
ABSTRACT: The present article deals with the identification, at the same time, of aircraft stability and control parameters taking into account dynamic damping derivatives. Such derivatives, due to the rate of change of the angle of attack, are usually neglected. So the damping characteristics of aircraft dynamics are attributed only on pitch rate derivatives. To cope with the dynamic effects of these derivatives, authors developed devoted procedures to estimate them. In the present paper, a complete model of aerodynamic coefficients has been tuned-up to identify simultaneously the whole set of derivatives. Besides, in spite of the employed reduced order model and/or decoupled dynamics, a s…