This paper describes a robust localization method for an outdoor robot that gives tours of the Rice University campus. The robot fuses odometry and GPS data using extended Kalman filtering. We propose and experimentally test a technique for handling two types of non-stationarity in GPS data quality: abrupt changes in GPS position readings caused by sudden obstructions to line of sight access to...

This paper presents an Extended Kalman filter (EKF) based real-time simultaneous localization and mapping (SLAM) method for a robot with an omnidirectional camera. In the EKF part, we employ a sequential process that utilizes features in turn for updating the robot pose estimate. This approach enables us to efficiently reduce the computational complexity and predict feature search regions. Thus...

We do a study of the real representations of the Poincare group, motivated by the following: i) the classical electromagnetic field —from which the Poincare group was originally defined— transforms as a real representation of the Poincare group; ii) the localization of complex unitary representations of the Poincare group is incompatible with causality, Poincare covariance and energy positivity...

We quantize the solution to Belinski-Khalatnikov-Lifshitz (BKL) scenario using integral quantization method. Quantization smears gravitational singularity avoiding its localization in configuration space. The latter is defined terms of spatial and temporal coordinates, which are treated on same footing that enables respecting covariance general relativity. relative quantum perturbations grow as...

To avoid both the inconsistency of the Kalman filter and the performance conservation of the covariance intersection (CI) in the case of unknown correlations, an internal ellipsoidal approximation (IEA) method is proposed to fuse the local estimations. A numerical example of three-state radar tracking system is presented to illustrate the implementation and effectiveness of the proposed algorit...

In this paper, we propose a Foot-Instability-Based Adaptive (FIBA) covariance to dynamically adjust the matrix for pseudo-zero-velocity measurements in Zero velocity UPdaTe (ZUPT)-aided Inertial Navigation Systems (INS). The proposed ZUPT-aided INS using FIBA is implemented an Extended Kalman Filter (EKF) framework, which utilizes time-varying measurement that updated each iteration according c...

objectives: the aim of the present study was to assess the auditory lateralization ability in children with (central) auditory processing disorder. methods: participants were divided in two groups: 15 children with central auditory processing disorder (8-10 years) and 80 normal children (8-11 years) from both genders with pure-tone air-conduction thresholds better than 20 db hl bilaterally and ...

a wireless sensor network (wsn) is a wireless decentralized structure network consists of many nodes. nodes can be fixed or mobile. wsn applications typically observe some physical phenomenon through sampling of the environment so determine the location of events is an important issue in wsn. wireless localization used to determine the position of nodes. the precise localization in wsns is a co...

Abstract Linear transformations are widely used in data assimilation for covariance modeling, reducing dimensionality (such as averaging dense observations to form “superobs”), and managing sampling error ensemble assimilation. Here we describe a linear transformation that is optimal the sense that, transformed space, state variables have uncorrelated errors, diagonal gain matrix update step. W...