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The Auxiliary Variable Trick for deriving Kalman Smoothers

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Design, Optimization, and Sensorless Control of a Linear Actuator

Joël Maridor

Electrical contactors are relays for interputing high currents (up to 2000 A). They consist of three main distinct parts: the low voltage circuit, the high voltage circuit and the linear actuator that moves the contact. The purpose of this thesis is to des ...

EPFL2011

Optimally Localized Wavelets and Smoothing Kernels

Kunal Narayan Chaudhury

It is well-known that the Gaussian functions and, more generally, their modulations-translations (the Gabor functions) have the unique property of being optimally localized in space and frequency in the sense of Heisenberg's uncertainty principle. In this ...

EPFL2011

Development of a robotic mobile mapping system by vision-aided inertial navigation

Fadi Atef Bayoud

Vision-based inertial-aided navigation is gaining ground due to its many potential applications. In previous decades, the integration of vision and inertial sensors was monopolised by the defence industry due to its complexity and unrealistic economic burd ...

EPFL2006

General state-space models

Thomas Gsponer

In time series analysis state-space models provide a wide and flexible class. The basic idea is to describe an unobservable phenomenon of interest on the basis of noisy data. The first constituent of such a model is the so-called state equation, which char ...

EPFL2004

Fast initialization of particle filters using a modified Metropolis-Hastings algorithm: Mode-hungry approach

Volkan Cevher

As a recursive algorithm, the particle filter requires initial samples to track a state vector. These initial samples must be generated from the received data and usually obey a complicated distribution. The Metropolis-Hastings (M-H) algorithm is used for ...

2004

New algorithmic methods for real-time transportation problems

Frank Crittin

Two of the most basic problems encountered in numerical optimization are least-squares problems and systems of nonlinear equations. The use of more and more complex simulation tools on high performance computers requires solving problems involving an incre ...

EPFL2004

A Mixed-State I-Particle Filter for Multi-Camera Speaker Tracking

Daniel Gatica-Perez, Jean-Marc Odobez, Guillaume Lathoud

Tracking speakers in multi-party conversations represents an important step towards automatic analysis of meetings. In this paper, we present a probabilistic method for audio-visual (AV) speaker tracking in a multi-sensor meeting room. The algorithm fuses ...

IDIAP2003

A Mixed-State I-Particle Filter for Multi-Camera Speaker Tracking

Daniel Gatica-Perez, Jean-Marc Odobez, Guillaume Lathoud

2003

The Scrambled Net Filter

Thomas Gsponer

The standard Kalman filter is a powerful and widely used tool to perform prediction, filtering and smoothing in the fields of linear Gaussian state-space models. In its standard setting it has a simple recursive form which implies high computational effici ...

2002

The Scrambled Net Filter

Thomas Gsponer

2002