This brief technical note elaborates three well-known state estimators, which are used extensively in practice. These are the rather old-fashioned extended Kalman filter (EKF) and the recently-designed cubature Kalman filtering (CKF) and un-scented Kalman filtering (UKF) algorithms. Nowadays, it is commonly accepted that the contemporary techniques outperform always the traditional EKF in the a...

In recent works, the first author has developed a constraint estimation technique that can be applied to the kinematic tracking problem. This a posteriori technique maintains an unconstrained estimate based solely on the measurements while the constrained estimate is computed, if necessary, at each time step. This technique has been expanded to incorporate nonlinear systems and time-varying sys...

In this paper, we present an algorithm for autonomous stair climbing with a tracked vehicle. The proposed method achieves robust performance under real-world conditions, without assuming prior knowledge of the stair geometry, the dynamics of the vehicle’s interaction with the stair surface, or lighting conditions. Our approach relies on fast and accurate estimation of the robot’s heading and it...

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In general, the information of mass properties is required to control a spacecraft. The mass properties, mass and inertia, are changed by some activities, e.g., consumption of propellant, deployment of solar panel, sloshing, etc. Various estimation methods have been studied to obtain the accurate mass properties. The gyro-based attitude data including noise and bias needs to be compensated for ...

This paper presents methods for tracking moving objects in an outdoor environment. A robust tracking is achieved using feature fusion and multiple cameras. The proposed method integrates spatial position, shape and color information to track object blobs. The trajectories obtained from individual cameras are incorporated by an extended Kalman filter (EKF) to resolve object occlusion. Our result...

In this paper, the extended Kalman filtering (EKF) technique is considered for 3-dimensional tracking of vehicle movement using a fixed camera that provides vehicle images showing several marks, easily detectable, fixed to the vehicle body. The algorithm will be implemented in a minihelicopter hover-stabilization application. For this problem, we present results on the convergence and the domai...

This paper presents new algorithms to implement simultaneous localisation and map building (SLAM) in environments with very large number of features. The algorithms present an efficient solution to the full update required by the Compressed Extended Kalman Filter algorithm (CEKF). It makes uses of the Relative Landmark Representation (RLR) to develop very close to optimal de-correlation solutio...

This paper addresses the problem of visual-inertial navigation when processing camera observations of both point and line features detected within a Manhattan world. First, we prove that the observations of: (i) a single point, and (ii) a single line of known direction perpendicular to gravity (e.g., a non-vertical structural line of a building), provide sufficient information for rendering all...

We aimed to record and visualize the investigation activities of search and rescue dogs. The dog’s trajectory is required to create this visualization, and the dog’s velocity needs to be determined to estimate its trajectory. In this study, we examined a method for velocity estimation that uses a dog’s gait. We measured a Labrador dog’s gaits (walk and trot) and analyzed the gait data. From the...