A General Bayesian Framework for Ellipse-based and Hyperbola-based Damage Localisation in Anisotropic Composite Plates

This paper focuses on Bayesian Lamb wave-based damage localization in structural health monitoring of anisotropic composite materials. A Bayesian framework is applied to take account for uncertainties from experimental time-of-flight measurements and angular dependent group velocity within the composite material. An original parametric analytical expression of the direction dependence of group velocity is proposed and validated numerically and experimentally for anisotropic composite and sandwich plates. This expression is incorporated into time-of-arrival (ToA: ellipse-based) and time-difference-of-arrival (TDoA: hyperbola-based) Bayesian damage localization algorithms. This way, the damage location as well as the group velocity profile are estimated jointly and a priori information taken into consideration. The proposed algorithm is general as it allows to take into account for uncertainties within a Bayesian framework, and to model effects of anisotropy on group velocity. Numerical and experimental results obtained with different damage sizes or locations and for different degrees of anisotropy validate the ability of the proposed algorithm to estimate both the damage location and the group velocity profile as well as the associated confidence intervals. Results highlight the need to consider for anisotropy in order to increase localization accuracy, and to use Bayesian analysis to quantify uncertainties in damage localization.Projet CORALI

A practical multirobot localization system

We present a fast and precise vision-based software intended for multiple robot localization. The core component of the software is a novel and efficient algorithm for black and white pattern detection. The method is robust to variable lighting conditions, achieves sub-pixel precision and its computational complexity is independent of the processed image size. With off-the-shelf computational equipment and low-cost cameras, the core algorithm is able to process hundreds of images per second while tracking hundreds of objects with a millimeter precision. In addition, we present the method's mathematical model, which allows to estimate the expected localization precision, area of coverage, and processing speed from the camera's intrinsic parameters and hardware's processing capacity. The correctness of the presented model and performance of the algorithm in real-world conditions is verified in several experiments. Apart from the method description, we also make its source code public at \emph{http://purl.org/robotics/whycon}; so, it can be used as an enabling technology for various mobile robotic problems

Geometric Interpretation of Theoretical Bounds for RSS-based Source Localization with Uncertain Anchor Positions

The Received Signal Strength based source localization can encounter severe problems originating from uncertain information about the anchor positions in practice. The anchor positions, although commonly assumed to be precisely known prior to the source localization, are usually obtained using previous estimation algorithm such as GPS. This previous estimation procedure produces anchor positions with limited accuracy that result in degradations of the source localization algorithm and topology uncertainty. We have recently addressed the problem with a joint estimation framework that jointly estimates the unknown source and uncertain anchors positions and derived the theoretical limits of the framework. This paper extends the authors previous work on the theoretical performance bounds of the joint localization framework with appropriate geometric interpretation of the overall problem exploiting the properties of semi-definiteness and symmetry of the Fisher Information Matrix and the Cram{\`e}r-Rao Lower Bound and using Information and Error Ellipses, respectively. The numerical results aim to illustrate and discuss the usefulness of the geometric interpretation. They provide in-depth insight into the geometrical properties of the joint localization problem underlining the various possibilities for practical design of efficient localization algorithms.Comment: 30 pages, 15 figure

Comparison of Gravitational Wave Detector Network Sky Localization Approximations

Gravitational waves emitted during compact binary coalescences are a promising source for gravitational-wave detector networks. The accuracy with which the location of the source on the sky can be inferred from gravitational wave data is a limiting factor for several potential scientific goals of gravitational-wave astronomy, including multi-messenger observations. Various methods have been used to estimate the ability of a proposed network to localize sources. Here we compare two techniques for predicting the uncertainty of sky localization -- timing triangulation and the Fisher information matrix approximations -- with Bayesian inference on the full, coherent data set. We find that timing triangulation alone tends to over-estimate the uncertainty in sky localization by a median factor of $4$ for a set of signals from non-spinning compact object binaries ranging up to a total mass of $20 M_\odot$, and the over-estimation increases with the mass of the system. We find that average predictions can be brought to better agreement by the inclusion of phase consistency information in timing-triangulation techniques. However, even after corrections, these techniques can yield significantly different results to the full analysis on specific mock signals. Thus, while the approximate techniques may be useful in providing rapid, large scale estimates of network localization capability, the fully coherent Bayesian analysis gives more robust results for individual signals, particularly in the presence of detector noise.Comment: 11 pages, 7 Figure

Implicit Cooperative Positioning in Vehicular Networks

Absolute positioning of vehicles is based on Global Navigation Satellite Systems (GNSS) combined with on-board sensors and high-resolution maps. In Cooperative Intelligent Transportation Systems (C-ITS), the positioning performance can be augmented by means of vehicular networks that enable vehicles to share location-related information. This paper presents an Implicit Cooperative Positioning (ICP) algorithm that exploits the Vehicle-to-Vehicle (V2V) connectivity in an innovative manner, avoiding the use of explicit V2V measurements such as ranging. In the ICP approach, vehicles jointly localize non-cooperative physical features (such as people, traffic lights or inactive cars) in the surrounding areas, and use them as common noisy reference points to refine their location estimates. Information on sensed features are fused through V2V links by a consensus procedure, nested within a message passing algorithm, to enhance the vehicle localization accuracy. As positioning does not rely on explicit ranging information between vehicles, the proposed ICP method is amenable to implementation with off-the-shelf vehicular communication hardware. The localization algorithm is validated in different traffic scenarios, including a crossroad area with heterogeneous conditions in terms of feature density and V2V connectivity, as well as a real urban area by using Simulation of Urban MObility (SUMO) for traffic data generation. Performance results show that the proposed ICP method can significantly improve the vehicle location accuracy compared to the stand-alone GNSS, especially in harsh environments, such as in urban canyons, where the GNSS signal is highly degraded or denied.Comment: 15 pages, 10 figures, in review, 201

Localizing coalescing massive black hole binaries with gravitational waves

Massive black hole binary coalescences are prime targets for space-based gravitational wave (GW) observatories such as {\it LISA}. GW measurements can localize the position of a coalescing binary on the sky to an ellipse with a major axis of a few tens of arcminutes to a few degrees, depending on source redshift, and a minor axis which is $2 - 4$ times smaller. Neglecting weak gravitational lensing, the GWs would also determine the source's luminosity distance to better than percent accuracy for close sources, degrading to several percent for more distant sources. Weak lensing cannot, in fact, be neglected and is expected to limit the accuracy with which distances can be fixed to errors no less than a few percent. Assuming a well-measured cosmology, the source's redshift could be inferred with similar accuracy. GWs alone can thus pinpoint a binary to a three-dimensional ``pixel'' which can help guide searches for the hosts of these events. We examine the time evolution of this pixel, studying it at merger and at several intervals before merger. One day before merger, the major axis of the error ellipse is typically larger than its final value by a factor of $\sim 1.5-6$. The minor axis is larger by a factor of $\sim 2-9$, and, neglecting lensing, the error in the luminosity distance is larger by a factor of $\sim 1.5-7$. This large change over a short period of time is due to spin-induced precession, which is strongest in the final days before merger. The evolution is slower as we go back further in time. For $z = 1$, we find that GWs will localize a coalescing binary to within $\sim 10\ \mathrm{deg}^2$ as early as a month prior to merger and determine distance (and hence redshift) to several percent.Comment: 30 pages, 10 figures, 5 tables. Version published in Ap

Calibration and Sensitivity Analysis of a Stereo Vision-Based Driver Assistance System

Az http://intechweb.org/ alatti "Books" fül alatt kell rákeresni a "Stereo Vision" címre és az 1. fejezetre

RT-SLAM: A Generic and Real-Time Visual SLAM Implementation

This article presents a new open-source C++ implementation to solve the SLAM problem, which is focused on genericity, versatility and high execution speed. It is based on an original object oriented architecture, that allows the combination of numerous sensors and landmark types, and the integration of various approaches proposed in the literature. The system capacities are illustrated by the presentation of an inertial/vision SLAM approach, for which several improvements over existing methods have been introduced, and that copes with very high dynamic motions. Results with a hand-held camera are presented.Comment: 10 page

Fast and Accurate Algorithm for Eye Localization for Gaze Tracking in Low Resolution Images

Iris centre localization in low-resolution visible images is a challenging problem in computer vision community due to noise, shadows, occlusions, pose variations, eye blinks, etc. This paper proposes an efficient method for determining iris centre in low-resolution images in the visible spectrum. Even low-cost consumer-grade webcams can be used for gaze tracking without any additional hardware. A two-stage algorithm is proposed for iris centre localization. The proposed method uses geometrical characteristics of the eye. In the first stage, a fast convolution based approach is used for obtaining the coarse location of iris centre (IC). The IC location is further refined in the second stage using boundary tracing and ellipse fitting. The algorithm has been evaluated in public databases like BioID, Gi4E and is found to outperform the state of the art methods.Comment: 12 pages, 10 figures, IET Computer Vision, 201