Essays about: "Extended Kalman Filter"

Showing result 1 - 5 of 135 essays containing the words Extended Kalman Filter.

  1. 1. Region Proposal Based Object Detectors Integrated With an Extended Kalman Filter for a Robust Detect-Tracking Algorithm

    University essay from Karlstads universitet/Fakulteten för hälsa, natur- och teknikvetenskap (from 2013)

    Author : Gabriel Khajo; [2019]
    Keywords : Object Detection; Extended Kalman Filter; Tracking;

    Abstract : In this thesis we present a detect-tracking algorithm (see figure 3.1) that combines the detection robustness of static region proposal based object detectors, like the faster region convolutional neural network (R-CNN) and the region-based fully convolutional networks (R-FCN) model, with the tracking prediction strength of extended Kalman filters, by using, what we have called, a translating and non-rigid user input region of interest (RoI-) mapping. READ MORE

  2. 2. GPS-oscillation-robust Localization and Visionaided Odometry Estimation

    University essay from KTH/Maskinkonstruktion (Inst.)

    Author : HONGYI CHEN; [2019]
    Keywords : Adaptive Extended Kalman Filter; Localization; Stereo visual odometry; GPS outage; Adaptivt förlängt Kalmanfilter; lokalisering; stereovisuell odometri; GPS avbrott;

    Abstract : GPS/IMU integrated systems are commonly used for vehicle navigation. The algorithm for this coupled system is normally based on Kalman filter. However, oscillated GPS measurements in the urban environment can lead to localization divergence easily. READ MORE

  3. 3. Unmanned Aerial Vehicle Positioning Using a Phased Array Radio and GNSS Independent Sensors

    University essay from Linköpings universitet/Reglerteknik

    Author : Carl Rapp; [2019]
    Keywords : Sensorfusion; Kalman filter; Phased Array Radio; UAV; Positioning;

    Abstract : This thesis studies the possibility to replace the global navigation satellite system (GNSS) with a phased array radio system (PARS) for positioning and navigation of an unmanned aerial vehicle (UAV). With the increase of UAVs in both civilian and military applications, the need for a robust and accurate navigation solution has increased. READ MORE

  4. 4. IR-Based Indoor Localisation and Positioning System

    University essay from Linköpings universitet/Fysik och elektroteknikLinköpings universitet/Tekniska fakulteten; Linköpings universitet/Fysik och elektroteknikLinköpings universitet/Tekniska fakulteten

    Author : Simon Agmell; Marcus Dekker; [2019]
    Keywords : ;

    Abstract : This thesis presents a prototype beacon-based indoor positioning system using IR-based triangulation together with various inertial sensors mounted onto the receiver. By applying a Kalman filter, the mobile receivers can estimate their position by fusing the data received from the two independent measurement systems. READ MORE

  5. 5. Evaluation of Target Tracking Using Multiple Sensors and Non-Causal Algorithms

    University essay from Linköpings universitet/Reglerteknik; Linköpings universitet/Reglerteknik

    Author : Albin Vestin; Gustav Strandberg; [2019]
    Keywords : evaluation; target tracking; multiple sensors; non-causal; smoother; smoothing; tracking; vehicle tracking; camera; lidar; estimate; estimation; prediction; vehicle dynamics; sensor fusion; real-time tracking; extended kalman filter; filter validation; validation; position estimation; velocity estimation; dynamic model; model complexity; multi object tracking; multiple object; tracking; single object tracking; data association; tracking fundamentals; iterated kalman filter; track management; gnn; global nearest neighbour; mahalanobis; mahalanobis distance; performance evaluation; differential gps; dgps; roi; ego; several sensors; sensors; rmse; root mean square error; invertible motion; anti-causal motion; anti-causal tracking; constant velocity; gnn; imu; tfs; two filter smoother; ekf; rts; radar; inertial measurement unit; nonlinear; nonlinear systems; mono camera; monocular camera; noise model; tracking performance; fixed interval smoothing; m n logic; centralized fusion; non-causal object tracker; car tracking; car dynamics; automotive; active safety; object tracking; automotive industry; thesis; master; reverse dynamics; reverse tracking; reverse sequence; sequence tracking; data propagation; ground truth; estimating ground truth; additional sensors; mounted sensors; true estimates; environment; comparison; algorithm; independent targets; overlapping; measurements; occluded; track switch; improve; lower; uncertainty; more; certain; state; process; noise; covariance; sampling; image; sprt; adas; cnn; cv; pdf; track; target; ego; tracker; tentative track; observatiom; online tracking; offline tracking; online; offline; recorded; sequences; robust; self driving; self-driving; car; traffic; trajectory; true state; scenario; scenarios; future; accurate; output; advanced; driver; assistance; systems; non-linear; complex noise; pedestrian; truck; bus; maneuvering; vehicles; processed; measurement; frame; state; correction; probability; density; function; tuning; likelihood; transition; measurement; motion; model; recursion; gaussian; approximation; distribution; linear; jacobian; multiplicative; noise; ratio; ad; hoc; ad hoc; state; space; approach; backward; auction; euclidean; distance; statistical; threshold; gating; association; margin; normalize; covariance; matrix; fusion; confirmed; rejected; tentative; history; absolute; error; modular; ego motion; parameters; variables; logg; hardware; specification; fused; causal; factorization; independent; uncorrelated; transform; moving; rotation; translation; oncoming; overtaking;

    Abstract : Today, the main research field for the automotive industry is to find solutions for active safety. In order to perceive the surrounding environment, tracking nearby traffic objects plays an important role. READ MORE