Despite a lot of research efforts in sports video analysis, soccer video indexing remains a challenging task due to the lack of structure in a soccer game that could help in structure analysis. In particular, little work was done in detecting and tracking the ball whose trajectory could play a crucial role for detecting key events. We propose a novel framework for accurately detecting the ball ...

obviously navigation is one of the most complicated issues in mobile robots.intelligent algorithms are often used for error handling in robot navigation. thispaper deals with the problem of inertial measurement unit (imu) error handling byusing extended kalman filter (ekf) as an expert algorithms. our focus is put onthe field of mobile robot navigation in the 2d environments. the main challenge...

This paper has investigated a novel method of using vehicle dynamic information in de-noising raw INS sensor noises. Vehicle dynamics can constitute additional observation information to be used for improving the integration performance. Since vehicle dynamic model has a low pass filter characteristic, passing the raw INS sensor measurements through it would effectively reduce the high frequenc...

In the several past years, Extended Kalman Filter (EKF) and Unscented Kalman Filter (UKF) havebecame basic algorithm for state-variables and parameters estimation of discrete nonlinear systems.The UKF has consistently outperformed for estimation. Sometimes least estimation error doesn't yieldwith UKF for the most nonlinear systems. In this paper, we use a new approach for a two variablestate no...

Improving a priori stochastic models of the process and measurement noise vectors in Kalman Filer (KF) has always been a challenge. As one preferable technique to address this challenge, the variance component estimation (VCE) applied on the Kalman Filter’s process and measurement noise covariance matrix (Q & R) has been proved in plenty of applications. Unsurprisingly, VCE was expected to re-e...

This note is devoted to deriving the measurement update of the geometric extended Kalman filter using the multiplicative extended Kalman filtering approach, resulting in the attitude estimator referred as geometric multiplicative extended Kalman filter. The equivalence of the derived geometric multiplicative extended Kalman filter and geometric extended Kalman filter is also demonstrated in thi...