1,824 research outputs found
Bibliographic Review on Distributed Kalman Filtering
In recent years, a compelling need has arisen to understand the effects of distributed information structures on estimation and filtering. In this paper, a bibliographical review on distributed Kalman filtering (DKF) is provided.\ud
The paper contains a classification of different approaches and methods involved to DKF. The applications of DKF are also discussed and explained separately. A comparison of different approaches is briefly carried out. Focuses on the contemporary research are also addressed with emphasis on the practical applications of the techniques. An exhaustive list of publications, linked directly or indirectly to DKF in the open literature, is compiled to provide an overall picture of different developing aspects of this area
OCP Based Online Multisensor Data Fusion for Autonomous Ground Vehicle
In this paper, online multisensor data fusion algorithm using CORBA event channel is proposed, in order to deal with simplifying problem in sensor registration and fusion for vehicle’s state estimation. The networked based navigation concept for Autonomous Ground Vehicle (AGV) using several sensors is presented. A simulation of various application scenarios are considered by choosing several parameters of UKF, i.e. weighting constant for sigma points and square root matrix. Normalized mean-square error (MSE) of Monte Carlo simulations are computed and reported in the simulation results. Furthermore, the middleware infrastructure based on Open Control Platform (OCP) to support the interconnection between the whole filter structures also reported
Multisensor-based human detection and tracking for mobile service robots
The one of fundamental issues for service robots is human-robot interaction. In order to perform such a task and provide the desired services, these robots need to detect and track people in the surroundings. In the present paper, we propose a solution for human tracking with a mobile robot that implements multisensor data fusion techniques. The system utilizes a new algorithm for laser-based legs detection using the on-board LRF. The approach is based on the recognition of typical leg patterns extracted from laser scans, which are shown to be very discriminative also in cluttered environments. These patterns can be used to localize both static and walking persons, even when the robot moves. Furthermore, faces are detected using the robot's camera and the information is fused to the legs position using a sequential implementation of Unscented Kalman Filter. The proposed solution is feasible for service robots with a similar device configuration and has been successfully implemented on two different mobile platforms.
Several experiments illustrate the effectiveness of our approach, showing that robust human tracking can be performed within complex indoor environments
Distributed data fusion algorithms for inertial network systems
New approaches to the development of data fusion algorithms for inertial network
systems are described. The aim of this development is to increase the accuracy
of estimates of inertial state vectors in all the network nodes, including the
navigation states, and also to improve the fault tolerance of inertial network
systems. An analysis of distributed inertial sensing models is presented and new
distributed data fusion algorithms are developed for inertial network systems.
The distributed data fusion algorithm comprises two steps: inertial measurement
fusion and state fusion. The inertial measurement fusion allows each node to
assimilate all the inertial measurements from an inertial network system, which
can improve the performance of inertial sensor failure detection and isolation
algorithms by providing more information. The state fusion further increases the
accuracy and enhances the integrity of the local inertial states and navigation
state estimates. The simulation results show that the two-step fusion procedure
overcomes the disadvantages of traditional inertial sensor alignment procedures.
The slave inertial nodes can be accurately aligned to the master node
Extended Object Tracking: Introduction, Overview and Applications
This article provides an elaborate overview of current research in extended
object tracking. We provide a clear definition of the extended object tracking
problem and discuss its delimitation to other types of object tracking. Next,
different aspects of extended object modelling are extensively discussed.
Subsequently, we give a tutorial introduction to two basic and well used
extended object tracking approaches - the random matrix approach and the Kalman
filter-based approach for star-convex shapes. The next part treats the tracking
of multiple extended objects and elaborates how the large number of feasible
association hypotheses can be tackled using both Random Finite Set (RFS) and
Non-RFS multi-object trackers. The article concludes with a summary of current
applications, where four example applications involving camera, X-band radar,
light detection and ranging (lidar), red-green-blue-depth (RGB-D) sensors are
highlighted.Comment: 30 pages, 19 figure
Multisensor Poisson Multi-Bernoulli Filter for Joint Target-Sensor State Tracking
In a typical multitarget tracking (MTT) scenario, the sensor state is either
assumed known, or tracking is performed in the sensor's (relative) coordinate
frame. This assumption does not hold when the sensor, e.g., an automotive
radar, is mounted on a vehicle, and the target state should be represented in a
global (absolute) coordinate frame. Then it is important to consider the
uncertain location of the vehicle on which the sensor is mounted for MTT. In
this paper, we present a multisensor low complexity Poisson multi-Bernoulli MTT
filter, which jointly tracks the uncertain vehicle state and target states.
Measurements collected by different sensors mounted on multiple vehicles with
varying location uncertainty are incorporated sequentially based on the arrival
of new sensor measurements. In doing so, targets observed from a sensor mounted
on a well-localized vehicle reduce the state uncertainty of other poorly
localized vehicles, provided that a common non-empty subset of targets is
observed. A low complexity filter is obtained by approximations of the joint
sensor-feature state density minimizing the Kullback-Leibler divergence (KLD).
Results from synthetic as well as experimental measurement data, collected in a
vehicle driving scenario, demonstrate the performance benefits of joint
vehicle-target state tracking.Comment: 13 pages, 7 figure
Distributed Bayesian Filtering using Logarithmic Opinion Pool for Dynamic Sensor Networks
The discrete-time Distributed Bayesian Filtering (DBF) algorithm is presented
for the problem of tracking a target dynamic model using a time-varying network
of heterogeneous sensing agents. In the DBF algorithm, the sensing agents
combine their normalized likelihood functions in a distributed manner using the
logarithmic opinion pool and the dynamic average consensus algorithm. We show
that each agent's estimated likelihood function globally exponentially
converges to an error ball centered on the joint likelihood function of the
centralized multi-sensor Bayesian filtering algorithm. We rigorously
characterize the convergence, stability, and robustness properties of the DBF
algorithm. Moreover, we provide an explicit bound on the time step size of the
DBF algorithm that depends on the time-scale of the target dynamics, the
desired convergence error bound, and the modeling and communication error
bounds. Furthermore, the DBF algorithm for linear-Gaussian models is cast into
a modified form of the Kalman information filter. The performance and robust
properties of the DBF algorithm are validated using numerical simulations
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