Concept

Filtre de Kalman d'ensemble

Publications associées (169)

Order Matters: A Distributed Sampling Method for Multi-Object Tracking

Multi-Object tracking (MOT) is an important problem in a number of vision applications. For particle filter (PF) tracking, as the number of objects tracked increases, the search space for random sampling explodes in dimension. Partitioned sampling (PS) sol ...

IDIAP2004

SLAM with Corner Features Based on a Relative Map

Roland Siegwart, Nicola Tomatis

This paper presents a solution to the Simultaneous Localization and Mapping (SLAM) problem in the stochastic map framework for a mobile robot navigating in an indoor environment. The approach is based on the concept of the relative map. The idea consists i ...

2004

Multi-resolution SLAM for Real World Navigation

Roland Siegwart, Adriana Tapus, Kai Oliver Arras

In this paper a hierarchical multi-resolution approach allowing for high precision and distinctiveness is presented. The method combines topological and metric paradigm. The metric approach, based on the Kalman Filter, uses a new concept to avoid the probl ...

2003

An Optimized Extended Kalman Filter Algorithm for Hybrid Stepper Motors

Yves Perriard, Jan Persson

In this article a high performance Extended Kalman filter algorithm is used to estimate rotor speed, rotor position and load torque in a Hybrid Stepper Motor (HSM). Together with a PI speed controller, the Kalman filter forms a very robust sensorless close ...

2003

Vessel Segmentation and Branching Detection using an Adaptive Profile Kalman Filter in Retinal Blood Vessel Structure Analysis

Pedro Manuel Da Silva Quelhas

This report presents an improved tracking based method for retinal vessel segmentation that uses blood vessel morphology to adapt the tracking parameters. The method includes branching detection and avoidance methods. A bi-level threshold method, based on ...

IDIAP2003

Vessel Segmentation and Branching Detection using an Adaptive Profile Kalman Filter in Retinal Blood Vessel Structure Analysis

Pedro Manuel Da Silva Quelhas

This paper presents an improved tracking based method for retinal vessel segmentation that uses blood vessel morphology to adapt the tracking parameters. The method includes branching detection and avoidance methods. A bi-level threshold method, based on l ...

2003

Estimating the Odometry Error of a Mobile Robot during Navigation

Roland Siegwart

This paper addresses the problem of the odometry error estimation during the robot navigation. The robot is equipped with an external sensor (like laser range finder). Concerning the systematic error an augmented Kalman Filter is introduced. This filter es ...

2003

Wavelets Versus Resels in the Context of fMRI: Establishing the Link with SPM

Michaël Unser, Dimitri Nestor Alice Van De Ville, Thierry Blu

Statistical Parametric Mapping (SPM) is a widely deployed tool for detecting and analyzing brain activity from fMRI data. One of SPM's main features is smoothing the data by a Gaussian filter to increase the SNR. The subsequent statistical inference is bas ...

SPIE2003

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

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