This paper presents a monocular vision framework enabling feature-oriented appearance-based navigation in large outdoor environments containing other moving objects. The framework is based on a hybrid topological-geometrical environment representation, constructed from a learning sequence acquired during a robot motion under human control. The framework achieves the desired navigation functiona...

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AT&T participated in two tasks at TRECVID 2010: contentbased copy detection (CCD) and instance-based search (INS). The CCD system developed for TRECVID 2009 was enhanced for efficiency and scale and was augmented by audio features [1]. As a pilot task, participation in INS was meant to evaluate a number of algorithms traditionally used for search in a fully automated setting. In this paper, we ...

This article presents an inexpensive inertial attitude and position reference system for a small unmanned aerial vehicle (UAV) that utilizes low cost inertial sensors in conjunction with a global positioning system (GPS) sensor. The attitude estimates are obtained from a complementary filter and a Kalman filter by combining the measurements from the inertial sensors with the supplementary attit...

This paper proposes an aiding technique to enhance error estimation in low-cost strapdown inertial navigation systems with application to Unmanned Air Vehicles (UAVs). The paper summarizes a high-accuracy, multi-rate integrated Global Positioning System/Inertial Navigation System (GPS/INS) using Extended Kalman Filter (EKF) for error compensation. A proposed new technique decomposes and optimal...

a specific form of the inertial law is presented by which we can gain a deeper insight into the essence of mass and inertia. in this modified theory, there is no need to keep the concept of absolute space and newton's third law as principles, by introducing a convenient form for gravitational law the coupling constant g becomes a function of inertial parameters of the universe

This paper addresses the development of an error reduction strategy for an inertial-sensor-based system for measuring the displacement of parallel kinematic machine (PKM) struts and hence the tool centre point pose. The error reduction strategy can significantly improve the performance of low-cost accelerometers and has many potential generic inertial measurement applications. Inertial measurem...

This paper focuses on accuracy and other technology trends for inertial sensors, Global Positioning Systems (GPS), and integrated Inertial Navigation System (INS)/GPS systems, including considerations of interference, that will lead to better than 1 meter accuracy navigation systems of the future. For inertial sensors, trend-setting sensor technologies will be described. A vision of the inertia...

For more accurate navigation, lever arm compensation is considered. The compensation method for GPS and an odometer is introduced and new compensation methods are proposed for an odometer to consider the effect of coordinate transformation errors and the scale factor error. The methods are applied to a GPS/INS/odometer integrated system and the simulation and experimental results show its effec...

A radical new Inertial Electrostatic Confinement (IEC) concept, the Magnetically-Channeled Spherical-IEC Array (MCSA) fusion propulsion system, was proposed earlier for use in the high performance Space Ship II fusion propulsion ship (Burton, 2003). This ship was designed for a fast manned round trip mission to Jupiter. The MCSA fusion power plant represents a key enabling technology needed for...