The Infona portal uses cookies, i.e. strings of text saved by a browser on the user's device. The portal can access those files and use them to remember the user's data, such as their chosen settings (screen view, interface language, etc.), or their login data. By using the Infona portal the user accepts automatic saving and using this information for portal operation purposes. More information on the subject can be found in the Privacy Policy and Terms of Service. By closing this window the user confirms that they have read the information on cookie usage, and they accept the privacy policy and the way cookies are used by the portal. You can change the cookie settings in your browser.
Obstacle detection and tracking is a fundamental task for several Advanced Driver Assistance Systems (ADAS) and self-driving cars. Several approaches have been presented in the literature in the last years and many of them are based on visual sensors. In this paper we propose an approach that uses only stereo cameras to detect and track obstacles and compute visual odometry to get the vehicle's ego-velocity...
The autonomous navigation of unmanned aerial vehicles (UAVs) require a lot of sensing modalities to improve their cruise efficiency. This paper presents a system for autonomous navigation and path planning of UAVs in GPS-denied environment based on the fusion of geo-registered 3D point clouds with proprioceptive sensors (IMU, odometry and barometer) and the 2D Google maps. The contributions of this...
In underground low-pressure gas pipelines, a leak may result in a complication more dangerous and difficult to detect, known as the water ingress problem. Groundwater enters the gas pipeline through a crack, and eventually blocks the gas flow. Vibration sensors are used to detect the water ingress problem. The sensor output indicates a marked increase in the occurrence of spikes from the vibration...
Distributed Stream Processing Systems (DSPS) like Apache Storm and Spark Streaming enable composition of continuous dataflows that execute persistently over data streams. They are used by Internet of Things (IoT) applications to analyze sensor data from Smart City cyber-infrastructure, and make active utility management decisions. As the ecosystem of such IoT applications that leverage shared urban...
This paper studies a selection of estimation schemes for tracking problems where sensors measure range and Doppler while no directional measurements are provided. The selected estimators are relatives of the Kalman filter where either the state propagation equation or the measurement equation is non-linear. Known schemes are compared with a new filter operating in Cartesian state space. The new filter...
Unmanned Aerial Vehicle (UAV) is being used in a wide range of human life. Researcher preferred quadrotor as it can be brought into the first generation of simulator map of an aircraft. It can be developed into larger manned flight. In this regard, extensive research in Fault detection (FD) is necessary, so that it can enhance its safety features. FD is designed to respond and to exclude the wrong...
A real-time posture estimation system by interacting multiple model (IMM) based unscented Kalman filters (UKFs) is presented in this paper. The system is developed on an inertial measurement unit (IMU) development board which is integrated with multi-sensors, microcontroller, and WIFI module, aiming at obtaining high accuracy posture estimation. In order to reduce the overall estimation error of the...
Multispectral setups have a great potential to tackle problems such as collision avoidance or pedestrian detection. However, multispectral odometry is nowadays less precise than most stereo visible setups, so there is a need to improve such systems. With this work, we investigate the fusion of inertial data with visual information to improve the performance of multispectral setups. Inertial data are...
This article presents a system for determining the position and orientation of unmanned aerial vehicles. The system has two hardware layers coupled in both directions. One layer stabilizes the vehicle while the other determines lateral displacements. The two-directional coupling between layers allows the system to minimize estimation errors. The proposed implementation is evaluated on real hardware...
A smart-phone based hand-held indoor positioning system is presented in this paper. The system collects data using the accelerometers, gyroscopes, barometers and gravity sensors embedded in the smart-phone. The accelerometer and gravity data are used for zero-velocity detection and calculating the vertical displacement of each walking step, and then the inverted pendulum model is applied to calculate...
High accuracy in indoor navigation with foot-mounted sensors attracts a lot of researchers in the last decades. Most indoor positioning schemes based on strap-down inertial navigation can only be used for normal walking. This paper present a 3D foot-mounted inertial navigation system, which can meet the challenge of the multi-gaits. During walking, the foot will have a contact with the ground in every...
Depending on standards and class, dynamically positioned ships make use of different numbers of redundant sensors to determine current ship position. The paper presents a multi-sensor data fusion algorithm for the dynamic positioning system which allows it to record the proper signal from a number of sensors (GPS receivers). In the research, the Particle Kalman Filter with data fusion was used to...
A different way to detect maneuvers in Kalman-filter-based target tracking is discussed. By examining the behavior of the Kalman gains, a target maneuver may be detected prior to the state change being detected. A first look at this approach is presented. The individual Kalman gains of the target tracking algorithm are monitored over time. Variations in the gains' behaviors such as zero crossings...
this paper introduces a new generation an error modelling of wireless indoor localization. A newly designed algorithm modelling by using Kalman Filter is developed to optimize the wireless indoor localization system based on iBeacon sensors. It is designed to detect and minimize the errors. Matlab simulations, implementation, and validation are presented in the paper.
We consider the problem of range-based cooperative localization for multiple agents in a GPS-denied environment. For the minimal reference purpose, there exists only one single landmark whose global position is known to a subset of agents. All agents which are equipped with Ultra Wideband (UWB) radars are able to measure the relative distance between themselves and their communicating neighbours....
The paper is concerned with the target tracking in range-only wireless sensor networks (WSNs). To integrate the separated measurements from the WSN, a sequential fusion estimation method is presented in the sense of linear minimum mean squared error (LMMSE). Moreover, the un-scented transformation is used to implement the recursion of means and covariances, and this kind estimator is termed as sequential...
This paper is concerned with the fusion estimation problem for multi-sensor discrete time-invariant linear systems with multiple time delays and colored measurement noise. A fast sequential covariance intersection (SCI) fusion Kalman filter is given based on the augmented Kalman filter in the linear minimum variance sense, which avoids the calculation of the cross covariance matrices between local...
This paper presents three iterative methods for orientation estimation. The first two are based on iterated Extended Kalman filter (IEKF) formulations with different state representations. The first is using the well-known unit quaternion as state (q-IEKF) while the other is using orientation deviation which we call IMEKF. The third method is based on nonlinear least squares (NLS) estimation of the...
The optimal sensor selection for scalar state parameter estimation in wireless sensor networks is studied in the paper. A subset of N candidate sensing locations is selected to measure a state parameter and send the observation to a fusion center via wireless AWGN channel. In addition to selecting the optimal sensing location, the sensor type to be placed in these locations is selected from a pool...
This paper provides experimental results for dead reckoning of a fixed-wing UAV using a non-linear observer (NLO) and a more recent tool called eXogenous Kalman Filter (XKF), which uses the NLO itself as a first-stage filter. The sensors used are an IMU (accelerometers, inclinometers, and rate gyros), a camera, and an altimeter; the observed states are position, velocity, and attitude. A machine vision...
Set the date range to filter the displayed results. You can set a starting date, ending date or both. You can enter the dates manually or choose them from the calendar.