Search results for "STIMA"
showing 10 items of 1809 documents
Cross-Layer MAC Protocol for Unbiased Average Consensus Under Random Interference
2019
Wireless Sensor Networks have been revealed as a powerful technology to solve many different problems through sensor nodes cooperation. One important cooperative process is the so-called average gossip algorithm, which constitutes a building block to perform many inference tasks in an efficient and distributed manner. From the theoretical designs proposed in most previous work, this algorithm requires instantaneous symmetric links in order to reach average consensus. However, in a realistic scenario wireless communications are subject to interferences and other environmental factors, which results in random instantaneous topologies that are, in general, asymmetric. Consequently, the estimat…
Adaptive Consensus-Based Distributed Kalman Filter for WSNs with Random Link Failures
2016
Wireless Sensor Networks have emerged as a very powerful tool for the monitoring and control, over large areas, of diverse phenomena. One of the most appealing properties of these networks is their potentiality to perform complex tasks in a total distributed fashion, without requiring a central entity. In this scenario, where nodes are constrained to use only local information and communicate with one-hop neighbors, iterative consensus algorithms are extensively used due to their simplicity. In this work, we propose the design of a consensus-based distributed Kalman filter for state estimation, in a sensor network whose connections are subject to random failures. As a result of this unrelia…
Integrated GNSS/IMU Hub Motion Estimator for Offshore Wind Turbine Blade Installation
2019
Abstract Offshore wind turbines (OWTs) have become increasingly popular for their ability to harvest clean offshore wind energy. Bottom-fixed foundations are the most used foundation type. Because of its large diameter, the foundation is sensitive to wave loads. For typical manually assisted blade-mating operations, the decision to perform the mating operation is based on the relative distance and velocity between the blade root center and the hub, and in accordance with the weather window. Hence, monitoring the hub real-time position and velocity is necessary, whether the blade installation is conducted manually or automatically. In this study, we design a hub motion estimation algorithm f…
Static and Dynamic Objects Analysis as a 3D Vector Field
2017
International audience; In the context of scene modelling, understanding, and landmark-based robot navigation, the knowledge of static scene parts and moving objects with their motion behaviours plays a vital role. We present a complete framework to detect and extract the moving objects to reconstruct a high quality static map. For a moving 3D camera setup, we propose a novel 3D Flow Field Analysis approach which accurately detects the moving objects using only 3D point cloud information. Further, we introduce a Sparse Flow Clustering approach to effectively and robustly group the motion flow vectors. Experiments show that the proposed Flow Field Analysis algorithm and Sparse Flow Clusterin…
Homography based egomotion estimation with a common direction
2017
International audience; In this paper, we explore the different minimal solutions for egomotion estimation of a camera based on homography knowing the gravity vector between calibrated images. These solutions depend on the prior knowledge about the reference plane used by the homography. We then demonstrate that the number of matched points can vary from two to three and that a direct closed-form solution or a Gröbner basis based solution can be derived according to this plane. Many experimental results on synthetic and real sequences in indoor and outdoor environments show the efficiency and the robustness of our approach compared to standard methods.
An adaptive multi-rate system for visual tracking in augmented reality applications
2016
The visual tracking of an object is a well-known problem, and it involves many fields of applications. Often a single sensor, the camera, could not provide enough information in order to track the whole object trajectory due to a low updating rate; therefore a multi-sensor system, based also on inertial measurements, could be necessary to improve the tracking accuracy. This leads to the fundamental question: how can information from different sensors be combined when they work at different rates? In this paper an approach based on recursive parameter estimation focusing on multi-rate situations is suggested. The problem is here formulated as the state-of-the-art problem of the visual tracki…
Input-Output Feedback Linearization Control with On-line MRAS Based Inductor Resistance Estimation of Linear Induction Motors Including the Dynamic E…
2016
This paper proposes the theoretical framework and the consequent application of the input–output feedback linearization (FL) control technique to linear induction motors (LIMs). LIM, additionally to rotating induction motor, presents other strong nonlinearities caused by the dynamic end effects, leading to a space-vector dynamic model with time-varying inductance and resistance terms and a braking force term. This paper, starting from a recently developed dynamic model of the LIM taking into consideration its end effects, defines a FL technique suited for LIMs, since it inherently considers its dynamic end effects. Additionally, it proposes a technique for the on-line estimation of the indu…
Optimization of Vehicle-to-Vehicle Frontal Crash Model Based on Measured Data Using Genetic Algorithm
2017
In this paper, a mathematical model for vehicle-to-vehicle frontal crash is developed. The experimental data are taken from the National Highway Traffic Safety Administration. To model the crash scenario, the two vehicles are represented by two masses moving in opposite directions. The front structures of the vehicles are modeled by Kelvin elements, consisting of springs and dampers in parallel, and estimated as piecewise linear functions of displacements and velocities, respectively. To estimate and optimize the model parameters, a genetic algorithm approach is proposed. Finally, it is observed that the developed model can accurately reproduce the real kinematic results from the crash test…
Real time UAV altitude, attitude and motion estimation from hybrid stereovision
2012
International audience; Knowledge of altitude, attitude and motion is essential for an Unmanned Aerial Vehicle during crit- ical maneuvers such as landing and take-off. In this paper we present a hybrid stereoscopic rig composed of a fisheye and a perspective camera for vision-based navigation. In contrast to classical stereoscopic systems based on feature matching, we propose methods which avoid matching between hybrid views. A plane-sweeping approach is proposed for estimating altitude and de- tecting the ground plane. Rotation and translation are then estimated by decoupling: the fisheye camera con- tributes to evaluating attitude, while the perspective camera contributes to estimating t…
Adapted Approach for Omnidirectional Egomotion Estimation
2011
Egomotion estimation is based principally on the estimation of the optical flow in the image. Recent research has shown that the use of omnidirectional systems with large fields of view allow overcoming the limitation presented in planar-projection imagery in order to address the problem of motion analysis. For omnidirectional images, the 2D motion is often estimated using methods developed for perspective images. This paper adapts motion field calculated using adapted method which takes into account the distortions existing in the omnidirectional image. This 2D motion field is then used as input to the egomotion estimation process using spherical representation of the motion equation. Expe…