62,222 research outputs found
Compressive Matched-Field Processing
Source localization by matched-field processing (MFP) generally involves
solving a number of computationally intensive partial differential equations.
This paper introduces a technique that mitigates this computational workload by
"compressing" these computations. Drawing on key concepts from the recently
developed field of compressed sensing, it shows how a low-dimensional proxy for
the Green's function can be constructed by backpropagating a small set of
random receiver vectors. Then, the source can be located by performing a number
of "short" correlations between this proxy and the projection of the recorded
acoustic data in the compressed space. Numerical experiments in a Pekeris ocean
waveguide are presented which demonstrate that this compressed version of MFP
is as effective as traditional MFP even when the compression is significant.
The results are particularly promising in the broadband regime where using as
few as two random backpropagations per frequency performs almost as well as the
traditional broadband MFP, but with the added benefit of generic applicability.
That is, the computationally intensive backpropagations may be computed offline
independently from the received signals, and may be reused to locate any source
within the search grid area
CDDT: Fast Approximate 2D Ray Casting for Accelerated Localization
Localization is an essential component for autonomous robots. A
well-established localization approach combines ray casting with a particle
filter, leading to a computationally expensive algorithm that is difficult to
run on resource-constrained mobile robots. We present a novel data structure
called the Compressed Directional Distance Transform for accelerating ray
casting in two dimensional occupancy grid maps. Our approach allows online map
updates, and near constant time ray casting performance for a fixed size map,
in contrast with other methods which exhibit poor worst case performance. Our
experimental results show that the proposed algorithm approximates the
performance characteristics of reading from a three dimensional lookup table of
ray cast solutions while requiring two orders of magnitude less memory and
precomputation. This results in a particle filter algorithm which can maintain
2500 particles with 61 ray casts per particle at 40Hz, using a single CPU
thread onboard a mobile robot.Comment: 8 pages, 14 figures, ICRA versio
Relativistic Stereometric Coordinates from Relativistic Localizing Systems and the Projective Geometry of the Spacetime Manifold
Relativistic stereometric coordinates supplied by relativistic auto-locating
positioning systems made up of four satellites supplemented by a fifth one are
defined in addition to the well-known emission and reception coordinates. Such
a constellation of five satellites defines a so-called relativistic localizing
system. The determination of such systems is motivated by the need to not only
locate (within a grid) users utilizing receivers but, more generally, to
localize any spacetime event. The angles measured on the celestial spheres of
the five satellites enter into the definition. Therefore, there are, up to
scalings, intrinsic physical coordinates related to the underlying conformal
structure of spacetime. Moreover, they indicate that spacetime must be endowed
everywhere with a local projective geometry characteristic of a so-called
generalized Cartan space locally modeled on four-dimensional, real projective
space. The particular process of localization providing the relativistic
stereometric coordinates is based, in a way, on an enhanced notion of parallax
in space and time generalizing the usual parallax restricted to space only.Comment: Preprint version of Sec. VIII in the HAL-INRIA document with
reference: hal-00945515, v1. One bibliographic reference (Blagojevic et al.)
more with respect to version
Accounting for model error in Tempered Ensemble Transform Particle Filter and its application to non-additive model error
In this paper, we trivially extend Tempered (Localized) Ensemble Transform
Particle Filter---T(L)ETPF---to account for model error. We examine T(L)ETPF
performance for non-additive model error in a low-dimensional and a
high-dimensional test problem. The former one is a nonlinear toy model, where
uncertain parameters are non-Gaussian distributed but model error is Gaussian
distributed. The latter one is a steady-state single-phase Darcy flow model,
where uncertain parameters are Gaussian distributed but model error is
non-Gaussian distributed. The source of model error in the Darcy flow problem
is uncertain boundary conditions. We comapare T(L)ETPF to a Regularized
(Localized) Ensemble Kalman Filter---R(L)EnKF. We show that T(L)ETPF
outperforms R(L)EnKF for both the low-dimensional and the high-dimensional
problem. This holds even when ensemble size of TLETPF is 100 while ensemble
size of R(L)EnKF is greater than 6000. As a side note, we show that TLETPF
takes less iterations than TETPF, which decreases computational costs; while
RLEnKF takes more iterations than REnKF, which incerases computational costs.
This is due to an influence of localization on a tempering and a regularizing
parameter
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