Search results for "filter"

Estimation of turbulence and state based on EKF for a tandem Canard UAV

2008

This paper deals with the state and turbulence estimation of a model describing the longitudinal dynamics of an Unmanned Aerial Vehicle (UAV). Due to both the high nonlinearities of the model and the stochastic nature of disturbances, an Extended Kalman Filter (EKF) is proposed. To allow the estimator to be employed on low cost UAV systems, it is assumed that the aircraft is equipped with a low performance GPS, characterized by a relatively low refresh rate. The designed EKF is able to work efficiently in both turbulent and calm atmosphere. In order to obtain information about the performances of the proposed estimator for control purposes, a control system, consisting of the EKF, a PID-typ…

Advanced Motion Control in Induction Motor Systems - Modelling, Analysis and Control

Using a unified notation, this thesis collects and discusses the most important steps and issues in the design of estimation and control algorithms for induction motors. It contains many estimation and control algorithms. Their stability is analyzed and their performance is illustrated by simulations and experiments on the same induction motor. An intense and challenging collective research effort is carefully documented and analyzed, with the aim of providing and clarifying the basic intuition and tools required in the analysis and design of nonlinear feedback control algorithms. This material should be of specific interest to engineers who are engaged in the design of control algorithms f…

Robust and Model Predictive Control applied to DC/DC converters and Shunt Active Filters

Al giorno d'oggi, la domanda di energia elettrica incrementa giorno per giorno. La gente spesso la usa con superficialità sottovalutando quanto essa sia preziosa. Fino a qualche decennio fa, la generazione di energia elettrica era centralizzata e dipendeva dallo sfruttamento delle risorse fossili. La limitatezza delle fonti fossili, insieme agli effetti ambientali del loro sfruttamento, hanno portato la ricerca a trovare vettori energetici alternativi poco inquinanti e facilmente reperibili. Lo sviluppo e la diffusione delle fonti energetiche rinnovabili hanno sancito la fine di una rete elettrica centralizzata a favore di una nuova idea di rete elettrica di tipo distribuita che permette di…

Segmentation of MR brain images with bias artifact

2009

Brain MR Images corrupted by RF- Inhomogeneity (bias artifact) exhibit brightness variations across the image. As a consequence, a standard Fuzzy C-Means (fern) segmentation algorithm may fail. In this work we show a new general-purpose bias removing algorithm, which can be used as a pre-processing step for a fern segmentation. We also compare our experimental results with the ones achieved by using E2 D - H U M filter, showing an improvement in brain segmentation and bias removal.

A Gabor-based Technique for Bias Removal in MR images

2007

Magnetic Resonance images are often characterized by irregularly displaced luminance fluctuations that are called bias artifact. This disturb is due to a drop in signal intensity caused by the distance between imaged sample and receiver coil. An original approach to bias removal in Magnetic Resonance images is presented, which is based on the use of Gabor filter to extract the artifact. The proposed technique restores the image using a correction model, which is derived from the attenuation of signal diffusion across the tissues. No hypotheses are made about the structure of the tissues under investigation and the used MR spectrum. The approach is presented in detail, and extensive experime…

Homomorphic Approach to RF-Inhomogeneity Removal Based on Gabor Filter

2007

In this paper a bias correction algorithm for magnetic resonance imaging (MRI) is presented. The magnetic resonance (MR) images affected by this artifact, also called RF-inhomogeneity, exhibit irregular spatial brightness variations caused by magnetic field inhomogeneity. Here we present an original algorithm based on E2D - HUM, already proposed by some of the authors, where a modified Gabor filter is introduced in the elaboration chain to provide directional capabilities to suppress the artifact. The process of restoration doesn't care about the structure of the image and it has been applied to MR images of different parts of body like knee, abdomen, pelvis and brain. A comparison with oth…

Blood vessels and feature points detection on retinal images

2009

In this paper we present a method for the automatic extraction of blood vessels from retinal images, while capturing points of intersection/overlap and endpoints of the vascular tree. The algorithm performance is evaluated through a comparison with handmade segmented images available on the STARE project database (STructured Analysis of the REtina). The algorithm is performed on the green channel of the RGB triad. The green channel can be used to represent the illumination component. The matched filter is used to enhance vessels w.r.t. the background. The separation between vessels and background is accomplished by a threshold operator based on gaussian probability density function. The len…

Unsupervised Clustering in Personal Photo Collections

2008

In this paper we propose a probabilistic approach for the automatic organization of collected pictures aiming at more effective representation in personal photo albums. Images are analyzed and described in two representation spaces, namely, faces and background. Faces are automatically detected, rectified and represented projecting the face itself in a common low dimensional eigenspace. Backgrounds are represented with low-level visual features based on RGB histogram and Gabor filter energy. Face and background information of each image in the collection is automatically organized by mean-shift clustering technique. Given the particular domain of personal photo libraries, where most of the …

Fast adaptive frame preprocessing for 3D reconstruction

2015

Abstract: This paper presents a new online preprocessing strategy to detect and discard ongoing bad frames in video sequences. These include frames where an accurate localization between corresponding points is difficult, such as for blurred frames, or which do not provide relevant information with respect to the previous frames in terms of texture, image contrast and non-flat areas. Unlike keyframe selectors and deblurring methods, the proposed approach is a fast preprocessing working on a simple gradient statistic, that does not require to compute complex time-consuming image processing, such as the computation of image feature keypoints, previous poses and 3D structure, or to know a prio…

Palmprint principal lines extraction

2014

The palmprint recognition has become a focus in biological recognition and image processing fields. In this process, the features extraction (with particular attention to palmprint principal line extraction) is especially important. Although a lot of work has been reported, the representation of palmprint is still an open issue. In this paper we propose a simple, efficient, and accurate palmprint principal lines extraction method. Our approach consists of six simple steps: normalization, median filtering, average filters along four prefixed directions, grayscale bottom-hat filtering, combination of bottom-hat filtering, binarization and post processing. The contribution of our work is a new…