Abstract: A Gaussian sum filter (GSF) is proposed in this paper on simultaneous localization and mapping (SLAM) for mobile robot navigation. In particular, the SLAM problem is tackled here for cases when only bearing measurements are available. Within the stochastic mapping framework using an extended Kalman filter (EKF), a Gaussian probability density function (pdf) is assumed to describe the ...

This paper motivates the use of Dynamic Mel-Frequency Cepstral Coefficient (DMFCC) feature and combination of DMFCC and MFCC features for robust language and text-independent speaker identification. MFCC feature, modeled on the human auditory system has been the widely used feature for speaker recognition because of its less vulnerability to noise perturbation and little session variability. Bu...

This paper presents convergence results for the Box Gaussian Mixture Filter (BGMF). BGMF is a Gaussian Mixture Filter (GMF) that is based on a bank of Extended Kalman Filters. The critical part of GMF is the approximation of probability density function (pdf) as pdf of Gaussian mixture such that its components have small enough covariance matrices. Because GMF approximates prior and posterior a...

The particle filter is an effective image denoising technique. An important issue with the application of the particle filter is the selection of the filter parameters, which affect the results significantly. There are two main contributions of this paper. The first contribution is an estimation of the noise level. The second contribution is an improved particle filter (Rao-Blackwellized Partic...

background: butterworth, gaussian, hamming, hanning, and parzen are commonly used spect filters during filtered back-projection (fbp) reconstruction, which greatly affect the quality and size accuracy of image. materials and methods: this study involved a cardiac phantom in which 1.10 cm thick cold defect was inserted into its myocardium wall and filled with 4.0 μci/ml (0.148 mbq/ml) 99mtc conc...

Speech recognition systems that operate in real world environments have to be robust against additive noises. In this work, a technique that uses a voicing-dependent exponent in the computation of the filter-bank parameters to improve their robustness to additive noise is presented. Speech recognition experiments with the Aurora 1.0 database and recognition setup are reported to show the potent...

We study the problem of robust human detection. In this paper, a new descriptor, Pyramidal Statistics of Oriented Filtering (PSOF), is proposed for human shape representation. Unlike traditional one-scale gradient-based methods, the PSOF descriptor utilizes a Gabor filter bank to obtain multi-scale pixel-level orientation information and makes use of locally normalized pyramidal statistics of t...

One of the great today’s challenges in speech recognition is to ensure the robustness of the used speech representation. Usually, the recognition rate is strongly reduced when the speech is corrupted, e.g. by convolutional or additive noise, and the speech features are not designed to be robust. In this paper we study the effect of additive noise on the logarithmic filter-bank energy representa...

Standard Mel frequency cepstrum coefficient (MFCC) computation technique utilizes discrete cosine transform (DCT) for decorrelating log energies of filter bank output. The use of DCT is reasonable here as the covariance matrix of Mel filter bank log energy (MFLE) can be compared with that of highly correlated Markov-I process. This full-band based MFCC computation technique where each of the fi...

Background: Butterworth, Gaussian, Hamming, Hanning, and Parzen are commonly used SPECT filters during filtered back-projection (FBP) reconstruction, which greatly affect the quality and size accuracy of image. Materials and Methods: This study involved a cardiac phantom in which 1.10 cm thick cold defect was inserted into its myocardium wall and filled with 4.0 μCi/ml (0.148 MBq/ml) 99mTc conc...