Search results for "Line fitting"
showing 3 items of 3 documents
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…
Measuring guided waves in long bones: Modeling and experiments in free and immersed plates
2005
Guided waves, consistent with the A0 Lamb mode, have previously been observed in bone phantoms and human long bones. Reported velocity measurements relied on line fitting of the observed wave fronts. Such an approach has limited ability to assess dispersion and is affected by interference by other wave modes. For a more robust identification of modes and determination of phase velocities, signal processing techniques using the fast Fourier transform (FFT) were investigated. The limitations of FFT because of spatial resolution were addressed to improve the precision of the measured modes. An inversion scheme was developed for determining the plate thickness from the measured velocity. Experi…
A filtering algorithm for maneuvering target tracking based on smoothing spline fitting
2014
Published version of an article in the journal: Abstract and Applied Analysis. Also available from the publisher at: http://dx.doi.org/10.1155/2014/127643 Open Access Maneuvering target tracking is a challenge. Target's sudden speed or direction changing would make the common filtering tracker divergence. To improve the accuracy of maneuvering target tracking, we propose a tracking algorithm based on spline fitting. Curve fitting, based on historical point trace, reflects the mobility information. The innovation of this paper is assuming that there is no dynamic motion model, and prediction is only based on the curve fitting over the measured data. Monte Carlo simulation results show that, …