Institutionen för systemteknik Department of Electrical Engineering Resampling in particle filters

Institutionen för systemteknik Department of Electrical Engineering TCP performance in an EGPRS system

Institutionen för systemteknik Department of Electrical Engineering Examensarbete Localization algorithms for indoor UAVs

The increased market for navigation, localization and mapping system has encouraged the research to dig deeper into these new and challenging areas. The remarkable development of computer softand hardware have also opened up many new doors. Things which more or less where impossible ten years ago are now reality. The possibilities of using a mathematical approach to compensate for the need of e...

Institutionen för systemteknik Department of Electrical Engineering Examensarbete Indoor 3 DMapping using Kinect

In recent years several depth cameras have emerged on the consumer market, creating many interesting possibilities for both professional and recreational usage. One example of such a camera is the Microsoft Kinect sensor originally used with the Microsoft Xbox 360 game console. In this master thesis a system is presented that utilizes this device in order to create an as accurate as possible 3D...

Institutionen för fysik, kemi och biologi

Unscented Auxiliary Particle Filter Implementation of the Cardinalized Probability Hypothesis Density Filters

The probability hypothesis density (PHD) filter suffers from lack of precise estimation of the expected number of targets. The Cardinalized PHD (CPHD) recursion, as a generalization of the PHD recursion, remedies this flaw and simultaneously propagates the intensity function and the posterior cardinality distribution. While there are a few new approaches to enhance the Sequential Monte Carlo (S...