This paper presents a robust and recursive means of tracking and modeling faces in near-field video sequences. An Extended Kalman Filter is coupled with a generic wire-frame face model and a correlation based 2D tracking process, providing a recursive means of recovering simple camera geometry, head pose and object structure. Head pose parameters are used to animate the texture-mapped face mode...

This paper describes a synthesizing method for multi-robot collaborative localization. A distributed extended Kalman filter based on robot odometry and external North Star signals for data fusion is first designed for the localization of individuals in the robot group. Relying on relative observation by infrared sensors and gyroscopes mounted on robots, and the ‘uncertainty volume’ strategy, th...

a r t i c l e i n f o a b s t r a c t Keywords: Adaptation Unscented Kalman filter Masreliez–Martin filter Relative navigation Robot arm tracking Unscented Kalman filter (UKF) has been extensively used for state estimation of nonlinear stochastic systems, which suffers from performance degradation and even divergence when the noise distribution used in the UKF and the truth in a real system are...

Some signals are transmitted as periodic pulse trains where information is in the timing of the arrival of the pulses. A number of pulse trains arriving over the same time interval are said to be interleaved. We propose an on-line method for estimating pulse train phases and fine-tuning pulse repetition frequency (PRF) estimates of a known number of interleaved pulse trains. The computational e...

In this paper, we present a method for the fault detection and isolation based on the residual generation. The main idea is to reconstruct the outputs of the system from the measurement using the extended Kalman filter. The estimations are compared to the values of the reference model and so, deviations are interpreted as possible faults. The reference model is simulated by the dynamic hybrid s...

We study the use of overlapping and non-overlapping camera layouts in estimating the ego-motion of a moving robot. To estimate the location and orientation of the robot, we investigate using four cameras as non-overlapping individuals, and as two stereo pairs. The pros and cons of the two approaches are elucidated. The cameras work independently and can have larger field of view in the non-over...

This work examines three methods of adaptive output feedback control for robotic manipulators. Implementing output feedback for control, instead of full-state feedback, allows use of only the position information. The position can be measured quite accurately, while velocity and acceleration measurements tend to get corrupted by noise. As well, having only a position sensor reduces costs in pro...

Using a model of an edge's motion through a sequence of images, the problem of its recognition can be formulated as a stochastic filtering problem. The Extended Kalman Filter for such a system is considered in detail and is shown to be interpretable as a sequence of oriented spatial convolutions. Preliminary results show that the edge localization obtained using this filter is substatinally bet...

ABSTRACT Small UAV performance is limited by the sensors and software filters used in the navigational systems. Several solutions of various complexity and cost exist, however no ready-made solutions exist for a high-accuracy, low-cost UAV system. Presented is the design (low-level system as well as high-level extended Kalman filter) for a specifically designed small-UAV navigation platform, Ag...

In this note, we illustrate the effect of nonlinear state propagation in the unscented Kalman filter (UKF). We consider a simple nonlinear system, consisting of a two-axis inertial measurement unit. Our intent is to show that the propagation of a set of sigma points through a nonlinear process model in the UKF can produce a counterintuitive (but correct) updated state estimate. We compare the r...