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A Kalman Filter-based Algorithm for IMU-Camera Calibration

by Faraz M. Mirzaei, et al. , 2007
"... Vision-aided Inertial Navigation Systems (V-INS) can provide precise state estimates for the 3D motion of a vehicle when no external references (e.g., GPS) are available. This is achieved by combining inertial measurements from an IMU with visual observations from a camera under the assumption that ..."
Abstract - Cited by 71 (14 self) - Add to MetaCart
that the rigid transformation between the two sensors is known. Errors in the IMU-camera calibration process causes biases that reduce the accuracy of the estimation process and can even lead to divergence. In this paper, we present a Kalman filter-based algorithm for precisely determining the unknown

Kalman Filter-based Algorithms for Estimating Depth from Image Sequences

by Larry Matthies, Takeo Kanade, Richard Szeliski , 1989
"... Using known camera motion to estimate depth from image sequences is an important problem in robot vision. Many applications of depth-from-motion, including navigation and manipulation, require algorithms that can estimate depth in an on-line, incremental fashion. This requires a representation that ..."
Abstract - Cited by 259 (26 self) - Add to MetaCart
Kalman filtering algorithm. We compare the performance of the two approaches by analyzing their theoretical convergence rates, by conducting quantitative experiments with images of a flat poster, and by conducting qualitative experiments with images of a realistic outdoor-scene model. The results show

0 1989 Kluwer Academic Publishers, Manufactured in The Netherlands. Kalman Filter-based Algorithms for Estimating Depth from Image Sequences

by Larry Matthies, Take Kanade, Richard Szeliski
"... Using known camera motion to estimate depth from image sequences is an important problem in robot vision. Many applications of depth-from-motion, including navigation and manipulation, require algorithms that can estimate depth in an on-line, incremental fashion. This requires a representation that ..."
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Kalman filtering algorithm. We compare the performance of the two approaches by analyzing their theoretical convergence rates, by conducting quantitative experiments with images of a flat poster, and by conducting qualitative experiments with images of a realistic outdoor-scene model. The results show

A Hybrid Kalman Filter Based Algorithm for Real-time Visual Obstacle Detection

by Erik Einhorn, Christof Schröter, Hans-joachim Böhme, Horst-michael Gross
"... In this paper we present a real-time scene reconstruction algorithm for mobile robots which is applicable for visual collision avoidance and online map building. Our method processes a sequence of images which are taken by a single camera mounted on a mobile robot. In contrast to similar monocular s ..."
Abstract - Cited by 6 (3 self) - Add to MetaCart
shapefrom-motion algorithms, we combine two different approaches: A classic motion stereo approach and an algorithm for scene reconstruction based on extended Kalman filters. We show that the disadvantages of the classic stereo approach are compensated by the Kalman filter and vice versa. Our special method

1A Hybrid Kalman Filter Based Algorithm for Real-time Visual Obstacle Detection

by Erik Einhorn, Horst-michael Gross
"... In this paper we present a real-time scene reconstruction al-gorithm for mobile robots which is applicable for visual collision avoidance and online map building. Our method processes a sequence of images which are taken by a single camera mounted on a mobile robot. In contrast to similar monocular ..."
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shape-from-motion algorithms, we combine two different approaches: A classic motion stereo approach and an algorithm for scene reconstruction based on extended Kalman filters. We show that the disadvantages of the classic stereo approach are compensated by the Kalman filter and vice versa. Our special

Three Nested Kalman Filters-Based Algorithm for Real-Time Estimation of Optical Flow, UAV Motion and Obstacles Detection

by Farid Kendoul , Isabelle Fantoni , Gérald Dherbomez
"... Abstract-We aim at developing a vision-based autopilot for autonomous small aerial vehicle applications. This paper presents a new approach for the estimation of optical flow, aircraft motion and scene structure (range map), using monocular vision and inertial data. The proposed algorithm is based ..."
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on 3 Nested Kalman Filters (3NKF) and results in an efficient and robust estimation process. The 3NKF-based algorithm was tested extensively in simulation using synthetic images, and in real-time experiments. Index Terms-Small flying robots, optical flow computation, structure from motion, vision-based

A Hybrid Kalman Filter Based Algorithm for Real-time Visual Obstacle Detection

by unknown authors
"... Obstacle detection and collision avoidance must be considered important capabilities of mobile robots. Vision-based approaches provide a large field of view and supply a large amount of information about the structure of the local surroundings. In this paper we present a sparse feature-based “shape- ..."
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Obstacle detection and collision avoidance must be considered important capabilities of mobile robots. Vision-based approaches provide a large field of view and supply a large amount of information about the structure of the local surroundings. In this paper we present a sparse feature-based “shape

unknown title

by unknown authors
"... comparison of Kalman filter based algorithms for turbulent phase control in an adaptive optics system ..."
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comparison of Kalman filter based algorithms for turbulent phase control in an adaptive optics system

FastSLAM: A Factored Solution to the Simultaneous Localization and Mapping Problem

by Michael Montemerlo, Sebastian Thrun, Daphne Koller, Ben Wegbreit - In Proceedings of the AAAI National Conference on Artificial Intelligence , 2002
"... The ability to simultaneously localize a robot and accurately map its surroundings is considered by many to be a key prerequisite of truly autonomous robots. However, few approaches to this problem scale up to handle the very large number of landmarks present in real environments. Kalman filter-base ..."
Abstract - Cited by 599 (10 self) - Add to MetaCart
The ability to simultaneously localize a robot and accurately map its surroundings is considered by many to be a key prerequisite of truly autonomous robots. However, few approaches to this problem scale up to handle the very large number of landmarks present in real environments. Kalman filter-based

Iterative and Sequential Kalman Filter-based Speech Enhancement

by Sharon Gannot, Student Member, David Burshtein, Ehud Weinstein - IEEE Trans. Speech Audio Process , 1998
"... Abstract—Speech quality and intelligibility might significantly deteriorate in the presence of background noise, especially when the speech signal is subject to subsequent processing. In par-ticular, speech coders and automatic speech recognition (ASR) systems that were designed or trained to act on ..."
Abstract - Cited by 49 (3 self) - Add to MetaCart
on clean speech signals might be rendered useless in the presence of background noise. Speech enhancement algorithms have therefore attracted a great deal of interest in the past two decades. In this paper, we present a class of Kalman filter-based algorithms with some extensions, modifications
Results 1 - 10 of 16,246