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 ...

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...

This work investigates the relationship between system observability properties and estimator inconsistency for a Visionaided Inertial Navigation System (VINS). In particular, first we introduce a new methodology for determining the unobservable directions of nonlinear systems by factorizing the observability matrix according to the observable and unobservable modes. Subsequently, we apply this...

This paper presents preliminary development of autonomous sensor-guided behaviors for a six-legged dynamical robot (RHex). These behaviors represent the first exteroceptive closed-loop locomotion strategies for this system. Simple motion models for RHex are described and used to deploy controllers for inertial straight line locomotion and visual line following. Results are experimentally valida...

We consider a fault detection and isolation problem for inertial navigation systems which use redundant inertial sensors. We propose a FDI method using average of multiple parity vectors which reduce false alarm and wrong isolation, and improve correct isolation. We suggest the number of redundant sensors required to isolate simultaneous faults. The performance of the proposed FDI algorithm is ...

This paper presents a tightly integrated navigation system combining global positioning system (GPS) and inertial-based simultaneous localization and mapping (SLAM) for UAV platforms. GPS raw measurements, called pseudorange and pseudorange rate, are directly fused to an inertial SLAM filter. A compressed form of unscented filtering is implemented by partitioning the map into a local and global...

This paper presents a pedestrian indoor navigation system based on the multi-sensor fusion and fuzzy logic estimation algorithms. The proposed navigation system is a self-contained dead reckoning navigation that means no other outside signal is demanded. In order to achieve the self-contained capability, a portable and wearable inertial measure unit (IMU) has been developed. Its adopted sensors...

An accurate calibration of inertial measurement unit errors is increasingly important as the inertial navigation system requirements become more stringent. Developing calibration methods that use as less as possible of IMU signals has 6-DOF gimballed IMU in space-stabilized mode is presented. It is considered as held stationary in the test location incorporating 15 di...

In the current paper we propose a new software procedure for processing data from an inertial navigation system boarded on a moving vehicle, in order to achieve accurate navigation information on the displacement of the vehicle in terms of position, speed, acceleration and direction. We divided our research in three phases. In the first phase of our research, we implemented a realtime evaluatio...

Position information of pedestrian is nowadays very important in many applications. Global Navigation Satellite System is not suitable for indoor navigation because of signal strength attenuation and multipath effects. The positioning techniques based on wireless radio signal, such as Wireless Local Area Network, require additional infrastructure that cannot be used freely. We propose a novel p...