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Fusion of Optical Flow and Inertial Measurements for Robust Egomotion Estimation

Publications associées (50)

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Hybrid Tracking for Augmented Reality

Touradj Ebrahimi

Accurate registration between real and virtual objects is critical for Augmented Reality (AR) applications. State of the art shows that no tracking device is individually adequate. We present a data fusion framework that combines orientation measurements o ...

2005

Proposal strategies for joint state-space tracking with particle filters

Volkan Cevher

A proposal function determines the random particle support of a particle filter. When this support is distributed close to the true target density, filter's estimation performance increases for a given number of particles. In this paper, a proposal strateg ...

2005

An acoustic multiple target tracker

Volkan Cevher

We propose a particle filter acoustic tracker to track multiple maneuvering targets using a state space formulation with a locally linear motion model. The observations are a batch of direction-of-arrival (DOA) estimates at various frequencies. The data li ...

2005

Tracking the Multi Person Wandering Visual Focus of Attention

Daniel Gatica-Perez, Jean-Marc Odobez, Silèye Oumar Ba, Kevin Smith

Estimating the {\em wandering visual focus of attention} (WVFOA) for multiple people is an important problem with many applications in human behavior understanding. One such application, addressed in this paper, monitors the attention of passers-by to outd ...

IDIAP2005

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

Design of robust filters with improved robustness margins via parameter scaling

Ali H. Sayed

The paper describes a procedure for improving the robustness margins of robust filters via parameter scaling. The scaling parameter is chosen as the square-root factor of the inverse of a positive-definite solution to certain matrix inequalities. This choi ...

2001

Detection and filtering of short-term (1/f) noise in inertial sensors

Jan Skaloud

Systematic and random errors inherently present in all inertial sensors contribute to the long-term divergence of the navigation solution of an Inertial Navigation System (INS). To keep such long-term divergence under control while taking advantage of thei ...

Cambridge University Press1999

Three-Dimensional Motion Estimation of Objects for Video Coding

Luciano Sbaiz

Three-dimensional (3-D) motion estimation is applied to the problem of motion compensation for video coding. We suppose that the video sequence consists of the perspective projections of a collection of rigid bodies which undergo a rototranslational motion ...

1998

Robustness of Gauss—Newton recursive methods: A deterministic feedback analysis

Ali H. Sayed

This paper provides a time-domain feedback analysis of the robustness performance of Gauss-Newton recursive methods that are often used in identification and control. These are recursive estimators that also involve updates of sample covariance matrices. S ...

Elsevier1996

Local and global passivity relations for Gauss-Newton methods in adaptive filtering

Ali H. Sayed

We provide a time-domain analysis of the robustness and stability performance of Gauss- Newton recursive methods that are often used in identification and control. Several free parameters are included in the filter description while combining the covarianc ...

1995