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Efficient RGB-D data processing for feature-based self-localization of mobile robots

Marek Kraft, Michał Nowicki, Rudi Penne, Adam Schmidt, Piotr Skrzypczyński (2016)

International Journal of Applied Mathematics and Computer Science

The problem of position and orientation estimation for an active vision sensor that moves with respect to the full six degrees of freedom is considered. The proposed approach is based on point features extracted from RGB-D data. This work focuses on efficient point feature extraction algorithms and on methods for the management of a set of features in a single RGB-D data frame. While the fast, RGB-D-based visual odometry system described in this paper builds upon our previous results as to the general...

Estimació del pol i de la variància del soroll d'un model AR (1) mitjançant filtratge no lineal.

M.ª Pilar Muñoz Gracia, Juan José Egozcue Rubí, Manuel Martí Recobert (1988)

Qüestiió

La estimación de los parámetros asociados a un proceso ARMA puede plantearse como un problema de filtrado no lineal. Para determinar un estimador recursivo de estos parámetros se define un vector de estado ampliado que incluye las variables de estado y los parámetros a estimar. Con un enfoque bayesiano se determina la distribución a posteriori del vector de estado ampliado. La síntesis del filtro no lineal permite: i) estimar los parámetros y determinar su precisión para un tamaño de muestra dado,...

Estimation of feedwater heater parameters based on a grey-box approach

Tomasz Barszcz, Piotr Czop (2011)

International Journal of Applied Mathematics and Computer Science

The first-principle modeling of a feedwater heater operating in a coal-fired power unit is presented, along with a theoretical discussion concerning its structural simplifications, parameter estimation, and dynamical validation. The model is a part of the component library of modeling environments, called the Virtual Power Plant (VPP). The main purpose of the VPP is simulation of power generation installations intended for early warning diagnostic applications. The model was developed in the Matlab/Simulink...

Estimation of hidden Markov models for a partially observed risk sensitive control problem

Bernard Frankpitt, John S. Baras (1998)

Kybernetika

This paper provides a summary of our recent work on the problem of combined estimation and control of systems described by finite state, hidden Markov models. We establish the stochastic framework for the problem, formulate a separated control policy with risk-sensitive cost functional, describe an estimation scheme for the parameters of the hidden Markov model that describes the plant, and finally indicate how the combined estimation and control problem can be re-formulated in a framework that...

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